version: 66.04
glider: 166
mission: 2
dive: 459
start: 8 8 109 18 3 2
data:
$ID,166
$MISSION,2
$DIVE,459
$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,330
$T_MISSION,396
$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,-14859.616
$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,77
$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
$GPS1,175406,2415.401,12543.287,37,1.2,42,-3.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.9
$GPS2,180237,2415.302,12543.229,11,1.4,16,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2356.200,12530.000
$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,236.9,41870,-13.9,-10.000
$D_GRID,1392
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.07,-243.4,0.0,0.0,0,88,0.00,0.00,-70.03,0.000,2,0.000,0.000,140,2099,2543
$GC,92,-1.07,-243.4,3.4,-5.2,11,145,9.20,2.20,-36.17,0.000,4,0.224,0.053,2407,649,3938
$GC,208,-1.07,-243.4,22.2,-15.7,30,215,0.00,2.08,0.00,0.000,6,0.000,0.032,2398,2031,3942
$GC,554,-1.07,-243.4,75.9,-14.6,91,562,0.00,2.15,0.00,0.000,4,0.000,0.044,2390,3465,3940
$GC,676,-1.07,-243.4,94.8,-16.5,112,684,0.08,2.05,0.00,0.000,6,0.151,0.028,2414,2065,3940
$GC,1022,-1.07,-243.4,142.0,-13.1,173,1029,0.00,2.08,0.00,0.000,4,0.000,0.040,2417,662,3941
$GC,1116,-1.07,-243.4,154.3,-13.1,189,1123,0.00,2.08,0.00,0.000,6,0.000,0.032,2413,2082,3941
$GC,1462,-1.07,-243.4,195.9,-11.1,250,1468,0.00,2.08,0.00,0.000,4,0.000,0.045,2410,3468,3942
$GC,1499,-1.07,-243.4,200.3,-12.3,256,1506,0.00,2.03,0.00,0.000,6,0.000,0.028,2413,2079,3942
$GC,1846,-1.07,-243.4,236.6,-11.2,317,1852,0.00,2.10,0.00,0.000,4,0.000,0.041,2411,664,3942
$GC,1910,-1.07,-243.4,244.6,-12.2,328,1916,0.00,2.12,0.00,0.000,6,0.000,0.033,2409,2091,3942
$GC,2255,-1.07,-243.4,284.2,-11.1,389,2261,0.00,2.08,0.00,0.000,4,0.000,0.047,2408,3465,3942
$GC,2284,-1.07,-243.4,287.4,-10.4,394,2291,0.00,2.00,0.00,0.000,6,0.000,0.028,2410,2100,3941
$GC,2618,-1.07,-243.4,320.8,-11.6,436,2622,0.00,2.12,0.00,0.000,4,0.000,0.042,2410,671,3941
$GC,2686,-1.07,-243.4,329.0,-12.5,442,2690,0.00,2.08,0.00,0.000,6,0.000,0.033,2408,2079,3941
$GC,3020,-1.07,-243.4,367.3,-11.1,473,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2080,3940
$GC,3348,-1.07,-243.4,401.8,-10.8,504,3352,0.00,2.10,0.00,0.000,4,0.000,0.048,2409,3463,3938
$GC,3422,-1.07,-243.4,410.3,-11.2,510,3428,0.00,2.03,0.00,0.000,6,0.000,0.030,2409,2063,3938
$GC,3747,-1.07,-243.4,445.9,-10.7,541,3751,0.00,2.15,0.00,0.000,4,0.000,0.048,2409,3459,3936
$GC,3788,-1.07,-243.4,450.3,-11.3,544,3794,0.00,2.03,0.00,0.000,6,0.000,0.030,2411,2059,3936
$GC,4117,-1.07,-243.4,484.0,-10.6,575,4121,0.00,2.10,0.00,0.000,4,0.000,0.044,2411,660,3934
$GC,4152,-1.07,-243.4,488.3,-11.2,578,4156,0.00,2.12,0.00,0.000,6,0.000,0.035,2410,2084,3934
$GC,4480,-1.07,-243.4,521.8,-9.9,599,4483,0.00,2.10,0.00,0.000,4,0.000,0.051,2409,3460,3932
$GC,4558,-1.07,-243.4,529.9,-9.7,602,4562,0.00,2.00,0.00,0.000,6,0.000,0.031,2411,2086,3931
$GC,4881,-1.07,-243.4,557.2,-8.2,618,4885,0.00,2.12,0.00,0.000,4,0.000,0.051,2413,3461,3928
$GC,4942,-1.07,-243.4,563.2,-10.1,620,4949,0.00,2.00,0.00,0.000,6,0.000,0.033,2417,2116,3928
$GC,5259,-1.07,-243.4,593.3,-9.7,636,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2116,3925
$GC,5571,-1.07,-243.4,625.3,-10.9,651,5575,0.00,2.10,0.00,0.000,4,0.000,0.054,2415,3463,3922
$GC,5633,-1.07,-243.4,632.7,-11.6,653,5639,0.00,1.98,0.00,0.000,6,0.000,0.034,2418,2123,3922
$GC,5949,-1.07,-243.4,666.7,-10.6,669,5953,0.00,2.22,0.00,0.000,4,0.000,0.048,2417,666,3920
$GC,5996,-1.07,-243.4,671.9,-11.0,671,6000,0.00,2.17,0.00,0.000,6,0.000,0.041,2415,2099,3919
$GC,6330,-1.07,-243.4,705.5,-9.6,687,6334,0.00,2.12,0.00,0.000,4,0.000,0.057,2415,3465,3917
$GC,6408,-1.07,-243.4,713.7,-10.1,690,6412,0.00,2.00,0.00,0.000,6,0.000,0.035,2418,2114,3917
$GC,6731,-1.07,-243.4,745.1,-9.2,706,6735,0.00,2.12,0.00,0.000,4,0.000,0.056,2404,3470,3913
$GC,6793,-1.07,-243.4,751.5,-10.1,708,6799,0.00,2.00,0.00,0.000,6,0.000,0.037,2410,2149,3913
$GC,7110,-1.07,-243.4,780.9,-9.5,724,7114,0.00,2.08,0.00,0.000,4,0.000,0.058,2393,3469,3911
$GC,7149,-1.07,-243.4,785.1,-10.3,725,7155,0.00,1.95,0.00,0.000,6,0.000,0.036,2394,2154,3910
$GC,7466,-1.07,-243.4,817.4,-10.8,741,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2154,3909
$GC,7777,-1.07,-243.4,850.5,-10.8,756,7781,0.00,2.08,0.00,0.000,4,0.000,0.060,2382,3465,3907
$GC,7868,-1.07,-243.4,861.1,-11.4,760,7872,0.12,1.95,0.00,0.000,6,0.133,0.041,2418,2176,3906
$GC,8201,-1.07,-243.4,895.1,-10.3,776,8204,0.00,2.05,0.00,0.000,4,0.000,0.061,2412,3469,3905
$GC,8241,-1.07,-243.4,899.3,-10.7,777,8246,0.00,1.90,0.00,0.000,6,0.000,0.037,2412,2194,3905
$GC,8557,-1.07,-243.4,931.5,-10.4,793,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2193,3904
$GC,8866,-1.07,-243.4,962.4,-9.8,808,8870,0.00,2.03,0.00,0.000,4,0.000,0.063,2415,3462,3901
$GC,8923,-1.07,-243.4,968.2,-10.2,810,8927,0.00,1.88,0.00,0.000,6,0.000,0.038,2415,2208,3900
$STATE,9159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9159,begin apogee
$GC,9166,-0.28,0.0,990.9,9.4,822,9383,0.77,0.00,210.88,1.467,6,0.099,0.000,2682,1694,2945
$STATE,9383,end apogee,CONTROL_FINISHED_OK
$STATE,9384,begin climb
$GC,9387,1.07,243.4,1006.1,0.0,833,9610,1.15,0.00,218.73,1.423,6,0.048,0.000,3109,1694,1951
$GC,9909,1.07,243.4,957.1,12.0,858,9913,0.00,2.22,0.00,0.000,4,0.000,0.058,3119,281,1944
$GC,9978,1.07,243.4,948.6,12.6,861,9982,0.00,2.15,0.00,0.000,6,0.000,0.044,3119,1680,1943
$GC,10312,1.07,243.4,908.3,11.8,877,10315,0.00,2.22,0.00,0.000,4,0.000,0.056,3118,3105,1941
$GC,10373,1.07,243.4,900.2,12.7,879,10380,0.00,2.20,0.00,0.000,6,0.000,0.043,3129,1660,1940
$GC,10690,1.07,243.4,862.7,12.1,895,10694,0.00,2.28,0.00,0.000,4,0.000,0.063,3129,3100,1939
$GC,10713,1.07,243.4,859.7,12.3,896,10717,0.00,2.17,0.00,0.000,6,0.000,0.044,3136,1675,1938
$GC,11046,1.07,243.4,817.3,12.9,912,11050,0.00,2.17,0.00,0.000,4,0.000,0.056,3146,288,1938
$GC,11108,1.07,243.4,808.9,13.8,914,11117,0.10,2.15,0.00,0.000,6,0.182,0.044,3117,1679,1938
$GC,11424,1.07,243.4,771.2,12.3,930,11428,0.00,2.20,0.00,0.000,4,0.000,0.056,3126,284,1937
$GC,11531,1.07,243.4,757.6,11.8,934,11537,0.00,2.08,0.00,0.000,6,0.000,0.044,3125,1646,1937
$GC,11847,1.07,243.4,718.9,12.2,950,11851,0.00,2.28,0.00,0.000,4,0.000,0.055,3125,3099,1937
$GC,11984,1.07,243.4,701.6,12.4,956,11988,0.00,2.22,0.00,0.000,6,0.000,0.043,3135,1646,1936
$GC,12312,1.07,243.4,663.2,10.9,972,12316,0.00,2.30,0.00,0.000,4,0.000,0.056,3135,3102,1935
$GC,12384,1.07,243.4,655.2,10.2,975,12389,0.15,2.17,0.00,0.000,6,0.191,0.042,3109,1673,1935
$GC,12701,1.09,258.5,625.6,9.6,990,12726,0.00,2.30,14.15,1.034,4,0.000,0.058,3106,3091,1891
$GC,12818,1.09,261.0,613.2,9.9,995,12827,0.00,2.12,4.18,0.821,6,0.000,0.041,3115,1704,1880
$GC,13146,1.09,261.0,578.8,10.9,1011,13150,0.00,2.22,0.00,0.000,4,0.000,0.054,3126,283,1880
$GC,13171,1.09,261.0,576.0,10.9,1012,13175,0.00,2.20,0.00,0.000,6,0.000,0.041,3126,1716,1880
$GC,13504,1.10,265.9,541.7,9.9,1028,13515,0.00,2.28,6.20,0.973,4,0.000,0.054,3135,280,1861
$GC,13664,1.10,265.9,525.0,10.9,1035,13669,0.00,2.25,0.00,0.000,6,0.000,0.043,3136,1745,1860
$GC,13988,1.10,265.9,490.9,11.0,1054,13991,0.00,2.10,0.00,0.000,4,0.000,0.054,3136,3097,1860
$GC,14089,1.10,265.9,478.4,11.3,1063,14093,0.00,2.05,0.00,0.000,6,0.000,0.047,3145,1764,1859
$GC,14424,1.20,350.8,446.0,7.7,1094,14515,0.00,2.22,79.70,1.078,4,0.000,0.052,3146,3099,1513
$GC,14616,1.20,350.8,425.7,12.3,1111,14620,0.00,2.12,0.00,0.000,6,0.000,0.040,3156,1721,1510
$GC,14949,1.20,350.8,382.6,11.6,1142,14953,0.00,2.22,0.00,0.000,4,0.000,0.052,3167,292,1508
$GC,14973,1.20,350.8,379.7,11.1,1144,14977,0.00,2.22,0.00,0.000,6,0.000,0.038,3167,1752,1506
$GC,15298,1.22,367.8,347.9,9.5,1174,15321,0.00,2.10,15.40,0.964,4,0.000,0.049,3169,3100,1445
$GC,15428,1.22,367.8,332.6,13.4,1185,15434,0.00,2.03,0.00,0.000,6,0.000,0.038,3182,1756,1444
$GC,15760,1.22,367.8,286.0,12.6,1225,15766,0.00,2.28,0.00,0.000,4,0.000,0.049,3192,283,1443
$GC,15812,1.22,367.8,279.8,11.5,1234,15819,0.12,2.30,0.00,0.000,6,0.166,0.038,3163,1813,1442
$GC,16158,1.22,367.8,250.1,11.4,1295,16165,0.00,1.95,0.00,0.000,4,0.000,0.048,3160,3098,1442
$GC,16274,1.22,367.8,233.6,14.9,1315,16280,0.00,1.88,0.00,0.000,6,0.000,0.035,3163,1834,1442
$GC,16623,1.25,390.6,193.3,9.4,1376,16649,0.00,2.45,21.67,0.836,4,0.000,0.046,3174,286,1352
$GC,16729,1.25,390.6,182.7,10.3,1394,16736,0.00,2.38,0.00,0.000,6,0.000,0.035,3175,1841,1351
$GC,17075,1.25,390.6,142.6,12.0,1455,17083,0.00,2.38,0.00,0.000,4,0.000,0.043,3187,285,1351
$GC,17187,1.25,390.6,129.3,10.9,1474,17193,0.00,2.28,0.00,0.000,6,0.000,0.033,3188,1822,1351
$GC,17533,1.25,390.6,93.8,11.8,1535,17540,0.00,2.38,0.00,0.000,4,0.000,0.044,3202,287,1351
$GC,17644,1.26,393.2,81.6,9.9,1554,17659,0.12,2.20,4.38,0.514,6,0.149,0.031,3172,1796,1340
$GC,18001,1.39,504.8,50.8,6.9,1616,18104,0.12,2.08,95.72,0.709,4,0.068,0.041,3239,3105,887
$GC,18196,1.39,504.8,29.1,12.7,1648,18203,0.00,2.03,0.00,0.000,6,0.000,0.031,3238,1737,886
$STATE,18410,end climb,SURFACE_DEPTH_REACHED
$STATE,18410,begin surface coast
$FINISH,0.8,0.997626
$STATE,18434,end surface coast,CONTROL_FINISHED_OK
$STATE,18434,begin surface
$SM_CCo,18514,0.00,0.000,0,0,884,505.56
$SM_GC,1.64,8.20,0.00,0.00,0.038,0.000,0.000,167,2095,884,-8.09,0.96,505.56
$IRIDIUM_FIX,2406.29,12546.00,021198,121207
$TT8_MAMPS,0.026845
$HUMID,1609
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.80
$XPDR_PINGS,200
$24V_AH,22.9,101.606
$10V_AH,10.6,66.694
$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,20.150,171.675,671.000,0.000,0.000,23.524,44.145,258.807,58.000,0.000,0.000,16.272,2956.448,10963.203,794.960,3453.587,838.647,0.000,2358.792,0.000,3420.784,0.000,54.421,0.000
$DEVICE_MAMPS,223.964,62.894,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.958,1162.875,1955.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97986,1690
$CAP_FILE_SIZE,175731,0
$CFSIZE,260165632,197320704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.146, 74.9,1
$GPS,080809,231255,2414.854,12543.136,41,1.1,41,-3.6