version: 66.04
glider: 166
mission: 2
dive: 448
start: 8 6 109 10 45 47
data:
$ID,166
$MISSION,2
$DIVE,448
$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,-14613.637
$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,63
$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
$GPS1,103654,2418.109,12539.021,39,1.3,39,-3.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-48.2
$GPS2,104528,2418.153,12538.717,14,99.0,33,-3.6
$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,241.4,43933,-16.4,-12.000
$D_GRID,1642
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-243.4,0.0,0.0,0,110,0.00,0.00,-89.55,0.000,2,0.000,0.000,165,1978,2623
$GC,114,-1.16,-243.4,3.7,-4.3,14,160,9.12,2.08,-29.45,0.000,4,0.228,0.057,2376,3346,3940
$GC,266,-1.16,-243.4,41.8,-24.7,39,272,0.00,2.05,0.00,0.000,6,0.000,0.029,2363,1927,3941
$GC,610,-1.16,-243.4,101.4,-16.4,100,618,0.00,2.08,0.00,0.000,4,0.000,0.041,2363,547,3942
$GC,653,-1.16,-243.4,109.6,-19.0,107,659,0.00,2.08,0.00,0.000,6,0.000,0.032,2363,1969,3942
$GC,999,-1.16,-243.4,167.3,-15.4,168,1006,0.00,2.12,0.00,0.000,4,0.000,0.040,2373,546,3943
$GC,1099,-1.16,-243.4,183.3,-15.5,185,1105,0.00,2.15,0.00,0.000,6,0.000,0.031,2367,2023,3943
$GC,1444,-1.16,-243.4,232.8,-14.0,246,1451,0.10,2.00,0.00,0.000,4,0.163,0.044,2385,3365,3943
$GC,1564,-1.16,-243.4,249.6,-13.6,267,1571,0.00,1.90,0.00,0.000,6,0.000,0.027,2391,2035,3943
$GC,1911,-1.16,-243.4,286.5,-10.4,328,1918,0.00,2.03,0.00,0.000,4,0.000,0.045,2379,3377,3943
$GC,1947,-1.16,-243.4,290.7,-12.4,334,1953,0.00,1.90,0.00,0.000,6,0.000,0.028,2381,2060,3943
$GC,2282,-1.16,-243.4,332.6,-12.0,372,2285,0.00,1.98,0.00,0.000,4,0.000,0.046,2378,3365,3942
$GC,2340,-1.16,-243.4,339.5,-11.9,377,2344,0.00,1.83,0.00,0.000,6,0.000,0.028,2378,2082,3942
$GC,2675,-1.16,-243.4,375.9,-10.8,408,2679,0.00,1.92,0.00,0.000,4,0.000,0.047,2379,3354,3941
$GC,2703,-1.16,-243.4,379.4,-10.6,410,2710,0.00,1.83,0.00,0.000,6,0.000,0.028,2378,2096,3941
$GC,3033,-1.16,-243.4,416.3,-11.3,441,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2097,3939
$GC,3360,-1.16,-243.4,452.6,-11.1,472,3364,0.00,1.95,0.00,0.000,4,0.000,0.049,2379,3351,3937
$GC,3445,-1.16,-243.4,462.2,-11.5,479,3451,0.00,1.75,0.00,0.000,6,0.000,0.029,2380,2126,3937
$GC,3772,-1.16,-243.4,498.3,-11.5,510,3776,0.00,1.88,0.00,0.000,4,0.000,0.051,2381,3357,3934
$GC,3819,-1.16,-243.4,504.1,-12.0,513,3822,0.00,1.75,0.00,0.000,6,0.000,0.030,2380,2136,3934
$GC,4154,-1.16,-243.4,543.2,-11.6,529,4158,0.00,2.38,0.00,0.000,4,0.000,0.043,2382,555,3932
$GC,4211,-1.16,-243.4,550.2,-12.5,531,4217,0.00,2.38,0.00,0.000,6,0.000,0.035,2375,2153,3932
$GC,4531,-1.16,-243.4,585.8,-10.8,547,4535,0.00,1.83,0.00,0.000,4,0.000,0.052,2380,3358,3928
$GC,4578,-1.16,-243.4,591.2,-11.0,549,4582,0.00,1.75,0.00,0.000,6,0.000,0.031,2380,2147,3928
$GC,4913,-1.16,-243.4,625.7,-10.1,565,4917,0.00,2.42,0.00,0.000,4,0.000,0.046,2380,546,3925
$GC,4977,-1.16,-243.4,632.8,-10.8,568,4981,0.00,2.40,0.00,0.000,6,0.000,0.038,2379,2141,3925
$GC,5304,-1.16,-243.4,666.0,-10.1,584,5307,0.00,1.85,0.00,0.000,4,0.000,0.054,2372,3354,3922
$GC,5366,-1.16,-243.4,672.8,-11.3,586,5374,0.00,1.80,0.00,0.000,6,0.000,0.038,2371,2154,3921
$GC,5683,-1.16,-243.4,708.0,-12.0,602,5687,0.00,1.88,0.00,0.000,4,0.000,0.055,2366,3345,3918
$GC,5722,-1.16,-243.4,713.5,-14.1,603,5727,0.00,1.70,0.00,0.000,6,0.000,0.034,2365,2180,3917
$GC,6039,-1.16,-243.4,755.3,-13.0,619,6043,0.00,2.50,0.00,0.000,4,0.000,0.049,2366,548,3915
$GC,6133,-1.16,-243.4,769.0,-15.0,623,6138,0.12,2.40,0.00,0.000,6,0.160,0.041,2388,2130,3914
$GC,6455,-1.16,-243.4,808.2,-11.7,639,6458,0.00,1.88,0.00,0.000,4,0.000,0.058,2381,3343,3911
$GC,6547,-1.16,-243.4,819.1,-11.6,643,6551,0.00,1.77,0.00,0.000,6,0.000,0.036,2382,2161,3911
$GC,6881,-1.16,-243.4,854.9,-10.1,659,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2160,3908
$GC,7190,-1.16,-243.4,885.6,-9.9,674,7195,0.00,2.50,0.00,0.000,4,0.000,0.054,2382,557,3906
$GC,7231,-1.16,-243.4,890.0,-11.9,676,7235,0.00,2.50,0.00,0.000,6,0.000,0.045,2370,2178,3906
$GC,7558,-1.16,-243.4,925.1,-10.0,692,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2178,3903
$GC,7868,-1.16,-243.4,958.7,-11.3,707,7872,0.00,1.83,0.00,0.000,4,0.000,0.062,2365,3342,3901
$GC,7907,-1.16,-243.4,963.8,-13.2,708,7914,0.00,1.75,0.00,0.000,6,0.000,0.040,2365,2188,3901
$STATE,8117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8117,begin apogee
$GC,8125,-0.26,0.0,990.7,12.9,719,8340,1.00,0.00,209.48,1.458,6,0.122,0.000,2681,1593,2945
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8341,begin climb
$GC,8345,1.16,243.4,1006.6,0.0,730,8572,1.25,2.30,216.15,1.416,4,0.050,0.057,3142,2981,1951
$GC,8679,1.16,243.4,977.8,14.0,745,8683,0.00,2.15,0.00,0.000,6,0.000,0.044,3151,1589,1945
$GC,9007,1.16,243.4,932.7,13.9,761,9011,0.00,2.17,0.00,0.000,4,0.000,0.062,3150,2982,1942
$GC,9074,1.16,243.4,923.1,14.0,764,9078,0.00,2.12,0.00,0.000,6,0.000,0.044,3157,1591,1941
$GC,9409,1.16,243.4,876.2,14.0,780,9413,0.00,2.17,0.00,0.000,4,0.000,0.056,3154,2982,1939
$GC,9455,1.16,243.4,869.3,14.5,782,9459,0.00,2.08,0.00,0.000,6,0.000,0.043,3162,1620,1939
$GC,9787,1.16,243.4,824.7,13.4,798,9791,0.00,2.15,0.00,0.000,4,0.000,0.056,3160,2989,1938
$GC,9856,1.16,243.4,815.3,13.7,801,9860,0.00,2.08,0.00,0.000,6,0.000,0.044,3168,1630,1937
$GC,10190,1.16,243.4,769.9,13.5,817,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1630,1937
$GC,10501,1.16,243.4,730.6,12.4,832,10504,0.00,2.12,0.00,0.000,4,0.000,0.056,3166,2985,1936
$GC,10579,1.16,243.4,719.7,13.1,835,10584,0.15,2.10,0.00,0.000,6,0.196,0.044,3140,1610,1935
$GC,10895,1.16,244.9,682.7,11.9,850,10898,0.00,2.22,0.00,0.000,4,0.000,0.058,3150,206,1935
$GC,10946,1.16,244.9,676.1,13.3,852,10950,0.00,2.17,0.00,0.000,6,0.000,0.043,3150,1633,1935
$GC,11273,1.16,244.9,634.8,12.3,868,11277,0.00,2.10,0.00,0.000,4,0.000,0.055,3151,2984,1935
$GC,11387,1.16,244.9,620.0,12.9,873,11391,0.00,2.05,0.00,0.000,6,0.000,0.042,3163,1634,1934
$GC,11721,1.16,244.9,577.9,12.3,889,11725,0.00,2.12,0.00,0.000,4,0.000,0.054,3159,2987,1934
$GC,11795,1.16,244.9,568.3,12.5,892,11798,0.00,2.05,0.00,0.000,6,0.000,0.049,3166,1651,1934
$GC,12123,1.20,272.2,530.3,11.1,908,12159,0.00,2.12,26.27,1.095,4,0.000,0.054,3169,2984,1835
$GC,12187,1.21,281.8,522.2,11.7,910,12207,0.00,2.05,10.32,1.047,6,0.000,0.041,3176,1651,1795
$GC,12519,1.21,281.8,481.8,12.2,932,12522,0.00,2.10,0.00,0.000,4,0.000,0.053,3179,2997,1793
$GC,12537,1.21,281.8,479.4,12.2,933,12544,0.15,2.00,0.00,0.000,6,0.188,0.041,3152,1681,1792
$GC,12864,1.24,309.7,441.4,11.1,964,12909,0.00,2.40,29.85,0.973,4,0.000,0.053,3162,206,1682
$GC,12995,1.30,360.2,427.0,10.3,975,13057,0.00,2.25,48.78,1.039,6,0.000,0.041,3162,1670,1475
$GC,13375,1.30,360.2,381.6,13.6,1011,13379,0.00,2.30,0.00,0.000,4,0.000,0.053,3173,206,1470
$GC,13450,1.30,360.2,371.0,13.8,1017,13455,0.00,2.33,0.00,0.000,6,0.000,0.040,3173,1726,1469
$GC,13779,1.35,393.6,330.7,10.9,1047,13824,0.00,2.42,32.15,0.940,4,0.000,0.051,3184,205,1339
$GC,13853,1.35,393.6,321.7,12.8,1053,13859,0.00,2.45,0.00,0.000,6,0.000,0.038,3183,1799,1337
$GC,14186,1.35,393.6,281.2,12.9,1097,14191,0.00,1.83,0.00,0.000,4,0.000,0.048,3183,3000,1335
$GC,14285,1.35,393.6,268.7,13.4,1114,14292,0.00,1.77,0.00,0.000,6,0.000,0.038,3192,1828,1335
$GC,14631,1.38,424.5,227.9,11.0,1175,14662,0.00,0.00,28.05,0.888,6,0.000,0.000,3192,1827,1213
$GC,15001,1.40,436.6,186.5,11.6,1240,15021,0.00,1.80,12.38,0.798,4,0.000,0.045,3192,3000,1164
$GC,15113,1.40,436.6,173.2,12.5,1259,15119,0.00,1.73,0.00,0.000,6,0.000,0.035,3200,1856,1164
$GC,15459,1.49,509.3,135.9,9.6,1320,15530,0.12,1.83,63.60,0.798,4,0.070,0.042,3256,2989,868
$GC,15611,1.49,509.3,114.8,15.0,1345,15618,0.00,1.80,0.00,0.000,6,0.000,0.033,3263,1807,868
$GC,15957,1.49,509.3,69.3,12.5,1406,15964,0.00,2.47,0.00,0.000,4,0.000,0.047,3276,196,866
$GC,16085,1.49,509.3,53.0,13.0,1428,16092,0.12,2.45,0.00,0.000,6,0.173,0.032,3245,1848,865
$GC,16430,1.49,509.3,8.2,18.2,1489,16437,0.00,2.53,0.00,0.000,4,0.000,0.043,3256,193,865
$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16458,begin surface coast
$FINISH,1.6,1.021686
$STATE,16471,end surface coast,CONTROL_FINISHED_OK
$STATE,16471,begin surface
$SM_CCo,16553,0.00,0.000,0,0,862,510.71
$SM_GC,1.40,8.48,0.00,0.00,0.057,0.000,0.000,167,1956,862,-8.09,0.17,510.71
$IRIDIUM_FIX,2408.65,12537.48,311098,060637
$TT8_MAMPS,0.026845
$HUMID,1646
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,163
$24V_AH,23.1,98.658
$10V_AH,10.6,64.915
$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,20.625,151.125,677.025,0.000,0.000,24.732,41.360,257.940,48.750,0.000,0.000,34.078,2611.084,9732.561,788.632,3148.255,768.386,0.000,2218.249,0.000,3087.193,0.000,54.430,0.000
$DEVICE_MAMPS,227.799,62.127,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.927,1010.222,1735.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88360,1496
$CAP_FILE_SIZE,159954,0
$CFSIZE,260165632,198365184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.101, 42.5,1
$GPS,060809,152330,2418.050,12538.430,72,1.1,72,-3.6