version: 66.04
glider: 166
mission: 2
dive: 440
start: 8 4 109 19 28 35
data:
$ID,166
$MISSION,2
$DIVE,440
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14345.578
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,191924,2423.517,12534.289,23,1.5,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.5
$GPS2,192816,2423.459,12534.344,12,2.3,31,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12522.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,237.3,48205,-16.4,-12.000
$D_GRID,1304
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-243.4,0.0,0.0,0,97,0.00,0.00,-77.93,0.000,2,0.000,0.000,146,1989,2314
$GC,100,-1.16,-243.4,3.1,-6.2,12,160,9.10,2.12,-43.80,0.000,4,0.225,0.056,2380,3332,3940
$GC,286,-1.16,-243.4,36.2,-18.1,43,292,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,1918,3941
$GC,631,-1.16,-243.4,95.4,-15.6,104,638,0.00,2.12,0.00,0.000,4,0.000,0.041,2370,3335,3941
$GC,764,-1.16,-243.4,116.8,-15.7,127,770,0.00,1.95,0.00,0.000,6,0.000,0.026,2362,1980,3941
$GC,1109,-1.16,-243.4,168.4,-14.7,188,1117,0.00,2.03,0.00,0.000,4,0.000,0.040,2356,3336,3942
$GC,1152,-1.16,-243.4,175.2,-15.9,195,1158,0.00,1.90,0.00,0.000,6,0.000,0.025,2362,2015,3942
$GC,1498,-1.16,-243.4,225.5,-13.3,256,1506,0.12,1.98,0.00,0.000,4,0.155,0.039,2382,3339,3943
$GC,1524,-1.16,-243.4,229.0,-12.2,260,1531,0.00,1.88,0.00,0.000,6,0.000,0.025,2384,2020,3943
$GC,1871,-1.16,-243.4,271.3,-12.4,321,1877,0.00,1.98,0.00,0.000,4,0.000,0.042,2381,3342,3943
$GC,1896,-1.16,-243.4,274.4,-12.6,325,1903,0.00,1.85,0.00,0.000,6,0.000,0.026,2385,2025,3942
$GC,2235,-1.16,-243.4,316.9,-11.6,373,2239,0.00,1.98,0.00,0.000,4,0.000,0.041,2378,3347,3942
$GC,2326,-1.16,-243.4,327.9,-12.1,381,2330,0.00,1.80,0.00,0.000,6,0.000,0.026,2378,2067,3942
$GC,2660,-1.16,-243.4,368.1,-12.2,412,2664,0.00,1.90,0.00,0.000,4,0.000,0.044,2378,3332,3941
$GC,2739,-1.16,-243.4,378.3,-13.0,419,2743,0.00,1.75,0.00,0.000,6,0.000,0.027,2378,2115,3940
$GC,3073,-1.16,-243.4,415.6,-11.0,450,3077,0.00,2.30,0.00,0.000,4,0.000,0.038,2378,560,3939
$GC,3102,-1.16,-243.4,419.3,-12.2,452,3106,0.00,2.28,0.00,0.000,6,0.000,0.031,2377,2114,3939
$GC,3427,-1.16,-243.4,454.1,-10.7,482,3431,0.00,1.83,0.00,0.000,4,0.000,0.046,2378,3338,3936
$GC,3477,-1.16,-243.4,459.7,-11.3,486,3483,0.00,1.75,0.00,0.000,6,0.000,0.028,2378,2127,3936
$GC,3806,-1.16,-243.4,496.9,-11.7,517,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2128,3934
$GC,4123,-1.16,-243.4,531.4,-10.2,534,4126,0.00,1.85,0.00,0.000,4,0.000,0.049,2379,3331,3931
$GC,4193,-1.16,-243.4,538.5,-10.9,537,4196,0.00,1.70,0.00,0.000,6,0.000,0.030,2382,2150,3931
$GC,4527,-1.16,-243.4,573.3,-10.7,553,4531,0.00,2.38,0.00,0.000,4,0.000,0.044,2382,576,3928
$GC,4545,-1.16,-243.4,575.5,-10.7,553,4551,0.00,2.33,0.00,0.000,6,0.000,0.038,2379,2132,3928
$GC,4862,-1.16,-243.4,609.6,-10.6,569,4866,0.00,1.83,0.00,0.000,4,0.000,0.052,2379,3330,3925
$GC,4914,-1.16,-243.4,615.1,-11.4,571,4917,0.00,1.67,0.00,0.000,6,0.000,0.032,2379,2170,3924
$GC,5241,-1.16,-243.4,647.7,-10.0,587,5245,0.00,1.80,0.00,0.000,4,0.000,0.054,2380,3336,3920
$GC,5275,-1.16,-243.4,651.1,-9.8,588,5278,0.00,1.67,0.00,0.000,6,0.000,0.033,2380,2182,3920
$GC,5597,-1.16,-243.4,683.4,-10.3,604,5601,0.00,2.45,0.00,0.000,4,0.000,0.047,2380,573,3918
$GC,5620,-1.16,-243.4,686.0,-11.2,605,5624,0.00,2.40,0.00,0.000,6,0.000,0.041,2372,2156,3918
$GC,5943,-1.16,-243.4,720.9,-10.7,621,5947,0.00,1.83,0.00,0.000,4,0.000,0.057,2372,3321,3915
$GC,6005,-1.16,-243.4,728.1,-10.7,623,6011,0.00,1.62,0.00,0.000,6,0.000,0.035,2371,2204,3915
$GC,6323,-1.16,-243.4,761.3,-10.4,639,6327,0.00,1.75,0.00,0.000,4,0.000,0.057,2369,3321,3912
$GC,6371,-1.16,-243.4,766.3,-10.4,641,6375,0.00,1.62,0.00,0.000,6,0.000,0.035,2368,2211,3911
$GC,6706,-1.16,-243.4,800.3,-9.9,657,6710,0.00,1.75,0.00,0.000,4,0.000,0.058,2363,3331,3909
$GC,6740,-1.16,-243.4,803.8,-9.8,658,6744,0.00,1.62,0.00,0.000,6,0.000,0.036,2362,2228,3908
$GC,7063,-1.16,-243.4,835.6,-10.1,674,7067,0.00,2.55,0.00,0.000,4,0.000,0.050,2363,575,3906
$GC,7135,-1.16,-243.4,844.0,-11.6,677,7140,0.12,2.50,0.00,0.000,6,0.150,0.044,2391,2202,3905
$GC,7451,-1.16,-243.4,875.0,-9.8,692,7459,0.00,1.75,0.00,0.000,4,0.000,0.061,2387,3327,3903
$GC,7545,-1.16,-243.4,884.6,-10.1,696,7549,0.00,1.55,0.00,0.000,6,0.000,0.037,2386,2294,3902
$GC,7878,-1.16,-243.4,917.6,-9.6,712,7882,0.00,1.65,0.00,0.000,4,0.000,0.064,2385,3332,3901
$GC,7907,-1.16,-243.4,920.4,-9.8,713,7910,0.00,1.52,0.00,0.000,6,0.000,0.038,2385,2314,3900
$GC,8236,-1.16,-243.4,950.8,-9.1,729,8240,0.00,2.70,0.00,0.000,4,0.000,0.051,2385,576,3898
$GC,8259,-1.16,-243.4,953.3,-10.0,730,8264,0.00,2.65,0.00,0.000,6,0.000,0.050,2373,2274,3898
$GC,8582,-1.16,-243.4,985.5,-10.1,746,8586,0.00,2.65,0.00,0.000,4,0.000,0.052,2374,582,3896
$GC,8604,-1.16,-243.4,988.2,-11.3,747,8609,0.12,2.60,0.00,0.000,6,0.153,0.045,2393,2261,3896
$STATE,8634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8634,begin apogee
$GC,8642,-0.26,0.0,991.5,10.6,749,8857,0.85,0.00,209.10,1.461,6,0.106,0.000,2677,1613,2945
$STATE,8857,end apogee,CONTROL_FINISHED_OK
$STATE,8857,begin climb
$GC,8861,1.16,243.4,1007.4,0.0,760,9086,1.25,0.00,216.95,1.417,6,0.048,0.000,3143,1613,1952
$GC,9385,1.16,243.4,953.6,13.8,785,9389,0.00,2.12,0.00,0.000,4,0.000,0.058,3143,2966,1943
$GC,9492,1.16,243.4,937.9,13.6,789,9499,0.00,2.08,0.00,0.000,6,0.000,0.044,3153,1609,1942
$GC,9808,1.16,243.4,893.6,14.5,805,9811,0.00,2.22,0.00,0.000,4,0.000,0.058,3162,195,1941
$GC,9847,1.16,243.4,887.6,15.9,806,9854,0.00,2.10,0.00,0.000,6,0.000,0.044,3163,1567,1940
$GC,10164,1.16,243.4,841.8,14.0,822,10167,0.00,2.25,0.00,0.000,4,0.000,0.063,3163,2997,1939
$GC,10259,1.16,243.4,827.1,15.1,826,10263,0.15,2.12,0.00,0.000,6,0.195,0.044,3138,1598,1938
$GC,10586,1.16,243.4,784.3,13.0,842,10590,0.00,2.20,0.00,0.000,4,0.000,0.058,3136,2996,1937
$GC,10693,1.16,243.4,769.4,14.8,846,10699,0.00,2.12,0.00,0.000,6,0.000,0.044,3143,1625,1937
$GC,11010,1.16,243.4,726.1,14.0,862,11014,0.00,2.25,0.00,0.000,4,0.000,0.058,3155,198,1936
$GC,11050,1.16,243.4,720.1,14.4,863,11056,0.00,2.17,0.00,0.000,6,0.000,0.044,3155,1619,1936
$GC,11366,1.16,243.4,674.2,14.4,879,11370,0.00,2.15,0.00,0.000,4,0.000,0.061,3155,2984,1935
$GC,11428,1.16,243.4,665.0,13.8,881,11435,0.00,2.08,0.00,0.000,6,0.000,0.043,3163,1618,1935
$GC,11745,1.16,243.4,623.0,12.6,897,11749,0.00,2.17,0.00,0.000,4,0.000,0.063,3164,2991,1935
$GC,11778,1.16,243.4,618.3,12.9,898,11782,0.15,2.05,0.00,0.000,6,0.194,0.043,3137,1643,1934
$GC,12101,1.22,288.9,582.3,10.5,914,12153,0.00,2.35,41.33,1.170,4,0.000,0.056,3146,211,1767
$GC,12171,1.23,302.0,573.8,11.6,917,12196,0.00,2.28,15.48,0.986,6,0.000,0.042,3146,1665,1713
$GC,12521,1.23,302.0,531.1,12.6,934,12525,0.00,2.08,0.00,0.000,4,0.000,0.061,3146,2992,1710
$GC,12583,1.23,302.0,522.7,12.6,936,12589,0.00,2.08,0.00,0.000,6,0.000,0.042,3156,1650,1709
$GC,12903,1.23,302.0,480.4,13.2,959,12907,0.00,2.25,0.00,0.000,4,0.000,0.054,3167,205,1708
$GC,12965,1.23,302.0,472.3,13.3,964,12971,0.00,2.20,0.00,0.000,6,0.000,0.041,3167,1628,1708
$GC,13292,1.23,302.0,430.1,12.6,995,13296,0.00,2.10,0.00,0.000,4,0.000,0.053,3167,2988,1708
$GC,13387,1.23,302.0,417.4,13.4,1003,13393,0.00,2.05,0.00,0.000,6,0.000,0.041,3177,1634,1708
$GC,13716,1.25,319.7,378.8,11.4,1034,13749,0.00,2.17,18.65,0.934,4,0.000,0.051,3178,2984,1641
$GC,13878,1.27,332.3,359.4,11.6,1048,13901,0.00,2.00,12.82,0.969,6,0.000,0.040,3188,1663,1589
$GC,14218,1.27,332.3,316.2,12.8,1080,14222,0.00,2.05,0.00,0.000,4,0.000,0.051,3189,2984,1587
$GC,14321,1.27,332.3,303.3,13.4,1089,14325,0.00,2.00,0.00,0.000,6,0.000,0.038,3198,1654,1586
$GC,14664,1.27,332.3,260.9,12.2,1147,14670,0.00,2.05,0.00,0.000,4,0.000,0.047,3200,2992,1586
$GC,14728,1.27,332.3,253.0,12.2,1158,14735,0.15,2.00,0.00,0.000,6,0.177,0.038,3175,1675,1586
$GC,15076,1.37,413.4,216.8,9.3,1219,15155,0.00,2.35,71.88,0.884,4,0.000,0.048,3187,203,1258
$GC,15269,1.37,413.4,194.5,12.5,1252,15276,0.00,2.30,0.00,0.000,6,0.000,0.035,3187,1731,1256
$GC,15615,1.43,463.9,155.1,10.3,1313,15667,0.12,0.00,44.62,0.808,6,0.071,0.000,3248,1732,1051
$GC,16007,1.48,507.1,107.0,10.6,1381,16052,0.00,2.42,38.15,0.753,4,0.000,0.044,3252,192,877
$GC,16124,1.50,521.7,93.6,11.5,1400,16144,0.00,2.42,14.18,0.691,6,0.000,0.031,3252,1812,818
$GC,16483,1.50,521.7,48.7,12.5,1463,16489,0.00,1.77,0.00,0.000,4,0.000,0.041,3252,2985,818
$GC,16558,1.53,544.5,39.2,11.2,1476,16584,0.00,1.90,21.27,0.670,6,0.000,0.030,3261,1707,724
$STATE,16875,end climb,SURFACE_DEPTH_REACHED
$STATE,16875,begin surface coast
$FINISH,0.8,1.007973
$STATE,16904,end surface coast,CONTROL_FINISHED_OK
$STATE,16906,begin surface
$SM_CCo,16986,0.00,0.000,0,0,723,545.06
$SM_GC,1.65,8.12,0.00,0.00,0.032,0.000,0.000,166,1987,723,-8.12,1.05,545.06
$IRIDIUM_FIX,2415.74,12533.64,291098,141447
$TT8_MAMPS,0.026845
$HUMID,1627
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.40
$XPDR_PINGS,147
$24V_AH,23.1,96.429
$10V_AH,10.6,63.645
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.275,162.075,704.425,0.000,0.000,23.725,31.184,282.755,44.750,0.000,0.000,32.560,2678.342,9975.388,812.864,3230.928,800.593,0.000,2284.143,0.000,3170.360,0.000,60.425,0.000
$DEVICE_MAMPS,224.731,63.661,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.959,1050.403,1794.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88484,1537
$CAP_FILE_SIZE,167700,0
$CFSIZE,260165632,199077888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.233, 70.5,1
$GPS,050809,001254,2423.115,12535.207,35,1.4,35,-3.7