version: 66.04
glider: 166
mission: 2
dive: 465
start: 8 10 109 2 34 50
data:
$ID,166
$MISSION,2
$DIVE,465
$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,-15030.063
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,44
$R_STBD_OVSHOOT,75
$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
$GPS1,022255,2412.769,12546.753,43,1.1,43,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.4
$GPS2,023430,2412.715,12546.658,35,1.3,39,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,212.7,42161,-13.9,-10.000
$D_GRID,1371
$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,-1.11,-243.4,0.0,0.0,0,83,0.00,0.00,-65.40,0.000,2,0.000,0.000,118,2092,2495
$GC,87,-1.11,-243.4,3.1,-4.7,10,140,8.85,2.25,-38.60,0.000,4,0.216,0.051,2377,643,3939
$GC,160,-1.11,-243.4,14.7,-18.5,21,168,0.00,2.05,0.00,0.000,6,0.000,0.032,2368,2035,3940
$GC,508,-1.11,-243.4,73.8,-15.2,82,514,0.00,2.08,0.00,0.000,4,0.000,0.039,2375,645,3941
$GC,618,-1.11,-243.4,92.4,-17.3,101,626,0.00,2.20,0.00,0.000,6,0.000,0.033,2370,2120,3941
$GC,966,-1.11,-243.4,140.4,-11.9,162,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2120,3942
$GC,1309,-1.11,-243.4,182.1,-12.1,223,1315,0.00,2.03,0.00,0.000,4,0.000,0.045,2369,3474,3942
$GC,1381,-1.11,-243.4,191.3,-13.5,235,1387,0.00,1.98,0.00,0.000,6,0.000,0.028,2371,2114,3942
$GC,1725,-1.11,-243.4,232.1,-11.9,296,1732,0.00,2.20,0.00,0.000,4,0.000,0.040,2368,652,3942
$GC,1780,-1.11,-243.4,238.7,-12.6,305,1788,0.00,2.15,0.00,0.000,6,0.000,0.031,2367,2123,3942
$GC,2127,-1.11,-243.4,278.7,-10.8,366,2133,0.00,2.20,0.00,0.000,4,0.000,0.040,2367,645,3942
$GC,2146,-1.11,-243.4,281.2,-11.5,369,2153,0.00,2.17,0.00,0.000,6,0.000,0.034,2365,2120,3941
$GC,2483,-1.11,-243.4,318.2,-10.4,414,2487,0.00,2.03,0.00,0.000,4,0.000,0.048,2365,3463,3940
$GC,2530,-1.11,-243.4,323.1,-10.4,418,2533,0.00,1.95,0.00,0.000,6,0.000,0.028,2365,2102,3940
$GC,2862,-1.11,-243.4,359.2,-11.3,449,2866,0.00,2.12,0.00,0.000,4,0.000,0.041,2366,672,3939
$GC,2901,-1.11,-243.4,364.4,-13.2,452,2907,0.00,2.12,0.00,0.000,6,0.000,0.033,2364,2118,3939
$GC,3230,-1.11,-243.4,400.4,-10.7,483,3233,0.00,2.03,0.00,0.000,4,0.000,0.048,2365,3460,3937
$GC,3266,-1.11,-243.4,404.6,-11.6,486,3269,0.00,1.92,0.00,0.000,6,0.000,0.029,2366,2124,3937
$GC,3601,-1.11,-243.4,441.7,-11.4,517,3604,0.00,2.17,0.00,0.000,4,0.000,0.042,2366,668,3936
$GC,3651,-1.11,-243.4,448.6,-12.7,521,3659,0.12,2.15,0.00,0.000,6,0.154,0.034,2389,2125,3935
$GC,3976,-1.11,-243.4,483.1,-10.1,552,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2126,3934
$GC,4302,-1.11,-243.4,515.1,-9.8,576,4305,0.00,2.22,0.00,0.000,4,0.000,0.044,2389,662,3932
$GC,4335,-1.11,-243.4,519.0,-11.1,577,4339,0.00,2.17,0.00,0.000,6,0.000,0.036,2382,2117,3931
$GC,4657,-1.11,-243.4,552.2,-10.6,593,4661,0.00,2.05,0.00,0.000,4,0.000,0.052,2386,3456,3928
$GC,4725,-1.11,-243.4,559.7,-10.8,596,4729,0.00,1.95,0.00,0.000,6,0.000,0.032,2390,2144,3928
$GC,5059,-1.11,-243.4,595.2,-10.8,612,5063,0.00,2.05,0.00,0.000,4,0.000,0.053,2387,3465,3925
$GC,5087,-1.11,-243.4,598.6,-11.5,613,5090,0.00,1.92,0.00,0.000,6,0.000,0.033,2388,2151,3925
$GC,5415,-1.11,-243.4,634.0,-10.8,629,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2151,3923
$GC,5723,-1.11,-243.4,666.5,-9.9,644,5727,0.00,2.05,0.00,0.000,4,0.000,0.055,2387,3460,3921
$GC,5773,-1.11,-243.4,671.8,-10.4,646,5777,0.00,1.90,0.00,0.000,6,0.000,0.035,2389,2168,3919
$GC,6102,-1.11,-243.4,704.7,-10.0,662,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2168,3917
$GC,6410,-1.11,-243.4,735.6,-10.1,677,6413,0.00,2.03,0.00,0.000,4,0.000,0.057,2386,3457,3915
$GC,6466,-1.11,-243.4,741.8,-10.8,679,6469,0.00,1.92,0.00,0.000,6,0.000,0.036,2386,2177,3914
$GC,6789,-1.11,-243.4,775.1,-10.3,695,6793,0.00,2.30,0.00,0.000,4,0.000,0.048,2388,673,3911
$GC,6817,-1.11,-243.4,778.6,-12.1,696,6821,0.00,2.28,0.00,0.000,6,0.000,0.042,2376,2166,3911
$GC,7135,-1.11,-243.4,812.8,-11.0,711,7139,0.00,2.30,0.00,0.000,4,0.000,0.049,2383,677,3910
$GC,7169,-1.11,-243.4,817.1,-12.3,712,7175,0.00,2.28,0.00,0.000,6,0.000,0.042,2372,2169,3909
$GC,7485,-1.11,-243.4,856.0,-12.5,728,7489,0.00,2.33,0.00,0.000,4,0.000,0.049,2375,664,3907
$GC,7525,-1.11,-243.4,861.3,-13.5,729,7533,0.00,2.25,0.00,0.000,6,0.000,0.042,2365,2139,3906
$GC,7843,-1.11,-243.4,902.0,-12.3,745,7847,0.00,2.08,0.00,0.000,4,0.000,0.059,2359,3463,3905
$GC,7860,-1.11,-243.4,904.4,-12.0,745,7868,0.12,1.98,0.00,0.000,6,0.155,0.038,2390,2139,3905
$GC,8176,-1.11,-243.4,939.7,-10.6,761,8180,0.00,2.10,0.00,0.000,4,0.000,0.063,2381,3456,3903
$GC,8226,-1.11,-243.4,945.7,-12.1,763,8230,0.00,1.92,0.00,0.000,6,0.000,0.038,2383,2167,3902
$GC,8557,-1.11,-243.4,979.9,-10.3,779,8561,0.00,2.35,0.00,0.000,4,0.000,0.055,2385,669,3900
$GC,8597,-1.11,-243.4,984.7,-11.6,781,8601,0.00,2.33,0.00,0.000,6,0.000,0.044,2372,2175,3900
$STATE,8652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8652,begin apogee
$GC,8661,-0.29,0.0,991.1,11.1,784,8877,0.90,0.00,209.73,1.460,6,0.125,0.000,2647,1702,2945
$STATE,8877,end apogee,CONTROL_FINISHED_OK
$STATE,8877,begin climb
$GC,8881,1.11,243.4,1004.8,0.0,795,9110,1.27,2.35,217.15,1.417,4,0.059,0.056,3109,3089,1951
$GC,9151,1.11,243.4,986.8,13.2,807,9155,0.00,2.17,0.00,0.000,6,0.000,0.043,3119,1687,1947
$GC,9473,1.11,243.4,945.1,12.7,823,9476,0.00,2.20,0.00,0.000,4,0.000,0.057,3129,288,1943
$GC,9541,1.11,243.4,936.1,12.9,826,9545,0.00,2.12,0.00,0.000,6,0.000,0.043,3130,1673,1943
$GC,9874,1.11,243.4,894.2,12.5,842,9877,0.00,2.20,0.00,0.000,4,0.000,0.056,3142,280,1941
$GC,9902,1.11,243.4,890.4,13.1,843,9907,0.15,2.12,0.00,0.000,6,0.179,0.043,3105,1673,1941
$GC,10223,1.11,243.4,852.5,11.9,859,10227,0.00,2.22,0.00,0.000,4,0.000,0.057,3104,3098,1939
$GC,10280,1.11,243.4,845.4,12.9,861,10284,0.00,2.17,0.00,0.000,6,0.000,0.044,3114,1660,1939
$GC,10601,1.11,243.4,805.8,12.6,877,10605,0.00,2.25,0.00,0.000,4,0.000,0.057,3114,3093,1938
$GC,10670,1.11,243.4,796.7,13.8,880,10674,0.00,2.15,0.00,0.000,6,0.000,0.048,3122,1681,1937
$GC,11004,1.11,243.4,755.3,12.1,896,11008,0.00,2.17,0.00,0.000,4,0.000,0.055,3134,293,1937
$GC,11054,1.11,243.4,748.9,12.1,898,11058,0.00,2.10,0.00,0.000,6,0.000,0.041,3133,1674,1937
$GC,11383,1.11,243.4,712.2,10.8,914,11386,0.00,2.22,0.00,0.000,4,0.000,0.056,3134,3097,1936
$GC,11524,1.11,243.4,696.1,11.7,920,11529,0.15,2.12,0.00,0.000,6,0.183,0.042,3107,1699,1935
$GC,11845,1.11,243.4,663.5,10.2,936,11849,0.00,2.20,0.00,0.000,4,0.000,0.055,3106,3097,1935
$GC,11870,1.11,243.4,661.0,11.0,937,11874,0.00,2.12,0.00,0.000,6,0.000,0.042,3114,1701,1935
$GC,12203,1.11,243.4,626.6,10.0,953,12207,0.00,2.22,0.00,0.000,4,0.000,0.054,3125,281,1935
$GC,12259,1.11,243.4,620.5,10.1,955,12263,0.00,2.17,0.00,0.000,6,0.000,0.042,3125,1706,1935
$GC,12582,1.11,243.4,588.4,10.0,971,12586,0.00,2.17,0.00,0.000,4,0.000,0.055,3125,3105,1935
$GC,12621,1.11,243.4,584.1,10.1,972,12627,0.00,2.17,0.00,0.000,6,0.000,0.042,3134,1694,1934
$GC,12937,1.11,243.4,551.2,10.6,988,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1694,1934
$GC,13248,1.13,263.1,520.5,9.5,1003,13277,0.00,2.30,18.25,1.032,4,0.000,0.054,3134,3105,1871
$GC,13341,1.15,276.5,510.9,9.6,1007,13360,0.00,2.10,13.90,1.092,6,0.000,0.041,3142,1729,1817
$GC,13676,1.15,276.5,475.7,10.2,1033,13681,0.00,2.28,0.00,0.000,4,0.000,0.053,3151,278,1813
$GC,13739,1.17,297.0,468.7,9.4,1038,13774,0.00,2.22,21.62,1.013,6,0.000,0.040,3150,1729,1733
$GC,14093,1.17,297.0,430.8,11.3,1071,14097,0.00,2.12,0.00,0.000,4,0.000,0.051,3151,3100,1730
$GC,14185,1.17,297.0,419.5,12.2,1079,14189,0.12,2.10,0.00,0.000,6,0.176,0.039,3131,1716,1730
$GC,14515,1.17,297.0,381.5,10.9,1110,14518,0.00,2.15,0.00,0.000,4,0.000,0.051,3131,3094,1730
$GC,14565,1.17,297.0,375.8,12.1,1114,14572,0.00,2.08,0.00,0.000,6,0.000,0.039,3137,1744,1729
$GC,14894,1.21,327.6,345.3,9.2,1145,14929,0.00,2.20,28.35,1.003,4,0.000,0.051,3138,3099,1609
$GC,15020,1.22,333.6,332.4,9.8,1156,15033,0.00,2.03,7.10,0.832,6,0.000,0.038,3147,1770,1583
$GC,15351,1.23,339.8,299.3,9.8,1187,15365,0.00,2.08,6.93,0.808,4,0.000,0.050,3147,3098,1558
$GC,15473,1.23,339.8,286.3,10.5,1208,15479,0.00,1.98,0.00,0.000,6,0.000,0.037,3156,1813,1558
$GC,15820,1.23,341.6,250.1,10.0,1269,15825,0.00,1.98,0.00,0.000,4,0.000,0.048,3158,3097,1558
$GC,15883,1.23,341.6,243.4,10.2,1280,15889,0.00,1.90,0.00,0.000,6,0.000,0.036,3165,1846,1558
$GC,16230,1.23,341.6,208.8,10.5,1341,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1847,1558
$GC,16576,1.27,375.7,170.7,9.1,1402,16615,0.00,2.03,32.95,0.832,4,0.000,0.046,3167,3109,1413
$GC,16708,1.27,375.7,158.0,10.1,1424,16714,0.00,1.92,0.00,0.000,6,0.000,0.034,3177,1843,1412
$GC,17054,1.31,406.4,124.3,9.1,1485,17087,0.00,2.47,27.77,0.772,4,0.000,0.045,3189,283,1288
$GC,17258,1.31,406.4,103.2,12.4,1520,17265,0.00,2.30,0.00,0.000,6,0.000,0.033,3189,1826,1287
$GC,17606,1.35,441.2,67.5,9.0,1581,17644,0.00,1.95,31.30,0.716,4,0.000,0.041,3189,3107,1146
$GC,17685,1.40,480.1,60.4,8.9,1594,17725,0.00,1.98,34.53,0.704,6,0.000,0.031,3194,1800,986
$GC,18067,1.42,496.4,22.9,9.5,1660,18087,0.00,2.05,15.43,0.637,4,0.000,0.040,3197,3104,920
$GC,18112,1.46,528.5,18.5,9.1,1667,18147,0.00,2.03,28.55,0.653,6,0.000,0.031,3207,1732,789
$STATE,18261,end climb,SURFACE_DEPTH_REACHED
$STATE,18261,begin surface coast
$FINISH,0.9,1.006116
$STATE,18288,end surface coast,CONTROL_FINISHED_OK
$STATE,18288,begin surface
$SM_CCo,18369,0.00,0.000,0,0,787,529.36
$SM_GC,1.72,8.02,0.00,0.00,0.032,0.000,0.000,167,2083,787,-8.05,0.62,529.36
$IRIDIUM_FIX,2401.56,12547.92,041198,020239
$TT8_MAMPS,0.026845
$HUMID,1620
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,186
$24V_AH,23.0,103.192
$10V_AH,10.6,67.734
$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,19.725,175.675,693.550,0.000,0.000,45.823,68.212,296.348,54.500,0.000,0.000,39.354,2953.619,10910.972,783.210,3451.964,941.410,0.000,2350.169,0.000,3388.658,0.000,54.421,0.000
$DEVICE_MAMPS,215.527,62.894,1460.368,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.598,1169.568,1967.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97908,1697
$CAP_FILE_SIZE,177218,0
$CFSIZE,260165632,196722688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.187, 68.7,1
$GPS,100809,074207,2411.753,12547.674,30,1.1,30,-3.6