version: 66.04
glider: 166
mission: 2
dive: 451
start: 8 7 109 1 14 51
data:
$ID,166
$MISSION,2
$DIVE,451
$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,-14680.963
$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,18
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$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
$GPS1,010054,2418.203,12538.593,40,1.7,40,-3.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-58.6
$GPS2,011431,2418.509,12539.134,11,1.8,16,-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,233.7,44893,-16.4,-12.000
$D_GRID,1641
$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,15,-1.21,-243.4,0.0,0.0,0,90,0.00,0.00,-72.90,0.000,2,0.000,0.000,167,2075,2437
$GC,94,-1.21,-243.4,3.1,-4.4,11,152,8.93,2.15,-42.03,0.000,4,0.222,0.050,2361,639,3938
$GC,184,-1.21,-243.4,17.7,-20.3,25,190,0.00,2.12,0.00,0.000,6,0.000,0.035,2361,2051,3939
$GC,529,-1.21,-243.4,80.2,-12.8,86,536,0.00,2.15,0.00,0.000,4,0.000,0.044,2346,3484,3939
$GC,590,-1.21,-243.4,89.2,-16.2,96,598,0.12,2.05,0.00,0.000,6,0.164,0.027,2369,2043,3939
$GC,938,-1.21,-243.4,143.2,-14.1,157,944,0.00,2.03,0.00,0.000,4,0.000,0.039,2382,667,3940
$GC,968,-1.21,-243.4,147.4,-13.8,162,974,0.00,2.12,0.00,0.000,6,0.000,0.031,2372,2096,3940
$GC,1314,-1.21,-243.4,195.0,-14.6,223,1320,0.00,2.05,0.00,0.000,4,0.000,0.046,2359,3465,3941
$GC,1344,-1.21,-243.4,199.8,-15.6,228,1356,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,2045,3941
$GC,1694,-1.21,-243.4,247.0,-14.4,289,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2045,3941
$GC,2039,-1.21,-243.4,294.7,-12.1,350,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2045,3940
$GC,2373,-1.21,-243.4,333.0,-11.6,385,2377,0.00,2.17,0.00,0.000,4,0.000,0.046,2353,3463,3939
$GC,2413,-1.21,-243.4,338.1,-12.5,388,2421,0.00,2.03,0.00,0.000,6,0.000,0.028,2353,2079,3939
$GC,2738,-1.21,-243.4,377.8,-12.1,419,2742,0.00,2.10,0.00,0.000,4,0.000,0.041,2353,669,3938
$GC,2762,-1.21,-243.4,380.8,-12.7,421,2766,0.00,2.08,0.00,0.000,6,0.000,0.035,2353,2078,3937
$GC,3093,-1.21,-243.4,421.3,-11.9,452,3097,0.00,2.12,0.00,0.000,4,0.000,0.041,2353,666,3936
$GC,3118,-1.21,-243.4,424.2,-12.6,454,3123,0.00,2.10,0.00,0.000,6,0.000,0.036,2359,2082,3936
$GC,3449,-1.21,-243.4,463.2,-11.7,485,3453,0.00,2.12,0.00,0.000,4,0.000,0.042,2357,672,3934
$GC,3500,-1.21,-243.4,469.6,-12.9,489,3507,0.12,2.05,0.00,0.000,6,0.159,0.033,2377,2064,3933
$GC,3824,-1.21,-243.4,504.7,-10.6,518,3828,0.00,2.15,0.00,0.000,4,0.000,0.051,2386,3467,3930
$GC,3880,-1.21,-243.4,510.9,-10.9,520,3884,0.00,2.05,0.00,0.000,6,0.000,0.030,2390,2058,3930
$GC,4202,-1.21,-243.4,546.1,-11.3,536,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2057,3927
$GC,4513,-1.21,-243.4,580.0,-10.8,551,4516,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,3463,3925
$GC,4541,-1.21,-243.4,583.3,-10.8,552,4545,0.00,2.05,0.00,0.000,6,0.000,0.032,2390,2065,3924
$GC,4868,-1.21,-243.4,618.1,-10.7,568,4872,0.00,2.17,0.00,0.000,4,0.000,0.054,2384,3463,3921
$GC,4915,-1.21,-243.4,623.1,-10.6,570,4919,0.00,2.03,0.00,0.000,6,0.000,0.033,2386,2088,3921
$GC,5248,-1.21,-243.4,657.2,-10.2,586,5252,0.00,2.15,0.00,0.000,4,0.000,0.056,2387,3462,3918
$GC,5294,-1.21,-243.4,662.2,-10.7,588,5298,0.00,2.00,0.00,0.000,6,0.000,0.034,2383,2102,3917
$GC,5628,-1.21,-243.4,697.7,-10.6,604,5632,0.00,2.20,0.00,0.000,4,0.000,0.048,2384,659,3915
$GC,5674,-1.21,-243.4,703.0,-11.5,606,5677,0.00,2.15,0.00,0.000,6,0.000,0.040,2378,2081,3914
$GC,6008,-1.21,-243.4,738.5,-10.8,622,6011,0.00,2.15,0.00,0.000,4,0.000,0.058,2366,3463,3911
$GC,6031,-1.21,-243.4,741.5,-12.1,623,6035,0.00,2.05,0.00,0.000,6,0.000,0.035,2370,2079,3911
$GC,6366,-1.21,-243.4,779.2,-11.0,639,6370,0.00,2.17,0.00,0.000,4,0.000,0.050,2369,659,3908
$GC,6458,-1.21,-243.4,790.4,-12.2,643,6462,0.00,2.15,0.00,0.000,6,0.000,0.043,2360,2068,3907
$GC,6792,-1.21,-243.4,829.7,-11.7,659,6796,0.00,2.20,0.00,0.000,4,0.000,0.060,2360,3463,3904
$GC,6816,-1.21,-243.4,832.7,-12.6,660,6820,0.00,2.10,0.00,0.000,6,0.000,0.036,2361,2057,3904
$GC,7150,-1.21,-243.4,872.6,-11.8,676,7154,0.00,2.15,0.00,0.000,4,0.000,0.051,2361,660,3902
$GC,7211,-1.21,-243.4,881.0,-14.1,678,7218,0.00,2.10,0.00,0.000,6,0.000,0.044,2353,2041,3902
$GC,7528,-1.21,-243.4,922.8,-13.4,694,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2041,3900
$GC,7837,-1.21,-243.4,961.6,-12.1,709,7841,0.00,2.25,0.00,0.000,4,0.000,0.063,2347,3460,3898
$GC,7899,-1.21,-243.4,969.6,-12.2,711,7905,0.00,2.15,0.00,0.000,6,0.000,0.038,2347,2028,3897
$STATE,8067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8075,-0.28,0.0,990.9,12.5,720,8295,1.05,0.00,210.90,1.447,6,0.129,0.000,2669,1687,2945
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8299,1.21,243.4,1006.1,0.0,731,8527,1.33,2.35,216.48,1.414,4,0.051,0.058,3161,3096,1951
$GC,8572,1.21,243.4,985.7,14.3,743,8576,0.00,2.17,0.00,0.000,6,0.000,0.043,3171,1704,1947
$GC,8894,1.21,243.4,942.1,13.6,759,8897,0.00,2.20,0.00,0.000,4,0.000,0.058,3171,3101,1942
$GC,8921,1.21,243.4,938.0,13.9,760,8925,0.00,2.12,0.00,0.000,6,0.000,0.044,3181,1705,1942
$GC,9250,1.21,243.4,893.2,13.9,776,9253,0.00,2.25,0.00,0.000,4,0.000,0.058,3191,275,1941
$GC,9311,1.21,243.4,883.6,15.1,778,9318,0.12,2.22,0.00,0.000,6,0.183,0.044,3144,1709,1940
$GC,9628,1.21,243.4,843.8,12.3,794,9632,0.00,2.17,0.00,0.000,4,0.000,0.057,3136,3098,1939
$GC,9657,1.21,243.4,839.8,13.8,795,9661,0.00,2.12,0.00,0.000,6,0.000,0.043,3141,1702,1939
$GC,9984,1.21,243.4,798.5,12.9,811,9988,0.00,2.22,0.00,0.000,4,0.000,0.057,3150,284,1938
$GC,10091,1.21,243.4,784.0,13.3,815,10098,0.00,2.17,0.00,0.000,6,0.000,0.044,3149,1703,1938
$GC,10408,1.21,243.4,742.2,13.3,831,10411,0.00,2.17,0.00,0.000,4,0.000,0.056,3148,3095,1937
$GC,10486,1.21,243.4,730.4,14.1,834,10490,0.00,2.15,0.00,0.000,6,0.000,0.049,3158,1694,1936
$GC,10809,1.21,243.4,687.6,12.7,850,10812,0.00,2.20,0.00,0.000,4,0.000,0.056,3169,287,1936
$GC,10847,1.21,243.4,682.5,12.1,851,10856,0.00,2.15,0.00,0.000,6,0.000,0.044,3169,1692,1935
$GC,11164,1.24,269.4,646.7,11.1,867,11200,0.00,2.30,24.25,1.161,4,0.000,0.056,3168,3102,1845
$GC,11276,1.24,269.4,631.3,14.7,872,11280,0.00,2.15,0.00,0.000,6,0.000,0.042,3178,1709,1843
$GC,11609,1.24,269.4,586.9,13.0,888,11613,0.00,2.22,0.00,0.000,4,0.000,0.055,3192,290,1843
$GC,11693,1.24,269.4,575.3,13.5,891,11700,0.00,2.17,0.00,0.000,6,0.000,0.043,3190,1708,1842
$GC,12010,1.24,269.4,533.4,13.3,907,12014,0.00,2.17,0.00,0.000,4,0.000,0.055,3191,3102,1842
$GC,12101,1.24,269.4,520.0,15.4,911,12106,0.15,2.10,0.00,0.000,6,0.193,0.041,3167,1720,1840
$GC,12425,1.24,269.4,478.5,12.6,934,12429,0.00,2.25,0.00,0.000,4,0.000,0.054,3175,279,1840
$GC,12511,1.24,269.4,467.1,12.8,941,12515,0.00,2.17,0.00,0.000,6,0.000,0.043,3174,1698,1840
$GC,12847,1.24,269.4,427.6,12.3,972,12851,0.00,2.17,0.00,0.000,4,0.000,0.054,3172,3098,1840
$GC,12927,1.24,270.8,417.0,12.0,979,12931,0.00,2.15,0.00,0.000,6,0.000,0.041,3179,1684,1840
$GC,13260,1.31,323.4,379.4,10.3,1010,13326,0.00,2.35,50.65,1.020,4,0.000,0.053,3179,3106,1625
$GC,13364,1.32,330.5,367.4,11.8,1019,13378,0.00,2.20,7.90,0.882,6,0.000,0.040,3185,1681,1597
$GC,13696,1.34,347.8,327.8,11.4,1050,13719,0.00,2.25,16.40,0.961,4,0.000,0.051,3186,3104,1526
$GC,13839,1.34,347.8,309.4,12.7,1062,13845,0.00,2.08,0.00,0.000,6,0.000,0.039,3194,1734,1524
$GC,14179,1.34,347.8,266.2,12.2,1116,14186,0.00,2.22,0.00,0.000,4,0.000,0.051,3207,293,1524
$GC,14266,1.34,348.2,255.5,12.0,1131,14273,0.00,2.17,0.00,0.000,6,0.000,0.038,3209,1737,1522
$GC,14613,1.34,348.2,212.1,12.2,1192,14619,0.00,2.08,0.00,0.000,4,0.000,0.048,3211,3102,1523
$GC,14745,1.34,348.2,195.7,12.1,1215,14752,0.00,2.03,0.00,0.000,6,0.000,0.036,3221,1740,1523
$GC,15092,1.46,447.3,157.6,8.7,1276,15185,0.00,2.15,87.07,0.832,4,0.000,0.044,3221,3103,1120
$GC,15242,1.46,447.3,140.7,14.1,1300,15248,0.00,2.00,0.00,0.000,6,0.000,0.034,3228,1802,1118
$GC,15589,1.51,487.3,93.4,10.7,1361,15634,0.00,2.40,34.97,0.753,4,0.000,0.048,3241,296,958
$GC,15810,1.51,489.5,66.9,11.9,1399,15817,0.00,2.25,0.00,0.000,6,0.000,0.032,3240,1813,957
$GC,16158,1.51,489.5,25.8,14.7,1460,16164,0.00,1.95,0.00,0.000,4,0.000,0.041,3242,3095,956
$GC,16228,1.51,489.5,14.0,17.1,1472,16234,0.00,1.95,0.00,0.000,6,0.000,0.031,3247,1787,957
$STATE,16307,end climb,SURFACE_DEPTH_REACHED
$STATE,16307,begin surface coast
$FINISH,0.7,1.010811
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16418,0.00,0.000,0,0,955,488.39
$SM_GC,1.65,8.25,0.00,0.00,0.042,0.000,0.000,166,2076,955,-8.11,0.42,488.39
$IRIDIUM_FIX,2408.65,12537.48,011198,010120
$TT8_MAMPS,0.026845
$HUMID,1640
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.80
$XPDR_PINGS,156
$24V_AH,23.0,99.454
$10V_AH,10.6,65.376
$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,20.075,159.650,648.625,0.000,0.000,49.083,67.399,450.786,47.000,0.000,0.000,16.513,2605.143,9735.321,762.279,3079.739,1035.071,0.000,2181.884,0.000,3034.723,0.000,54.438,0.000
$DEVICE_MAMPS,222.430,62.894,1446.562,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.785,1023.268,1722.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88412,1491
$CAP_FILE_SIZE,164630,0
$CFSIZE,260165632,198090752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.273, 71.5,1
$GPS,070809,054936,2418.130,12540.282,29,1.3,29,-3.6