version: 66.04
glider: 166
mission: 2
dive: 466
start: 8 10 109 7 53 51
data:
$ID,166
$MISSION,2
$DIVE,466
$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,-15060.981
$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,51
$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
$GPS1,074207,2411.753,12547.674,30,1.1,30,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.4
$GPS2,075328,2411.939,12547.645,10,3.2,29,-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,220.5,40877,-13.9,-10.000
$D_GRID,1365
$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,-243.4,0.0,0.0,0,93,0.00,0.00,-75.40,0.000,2,0.000,0.000,139,2084,2475
$GC,97,-1.11,-243.4,3.0,-4.5,11,149,8.90,0.00,-39.92,0.000,6,0.217,0.000,2379,2081,3939
$GC,489,-1.11,-243.4,67.1,-16.1,79,495,0.00,2.10,0.00,0.000,4,0.000,0.044,2381,3461,3940
$GC,609,-1.11,-243.4,87.5,-15.9,100,615,0.00,2.05,0.00,0.000,6,0.000,0.028,2376,2033,3940
$GC,955,-1.11,-243.4,136.7,-14.6,161,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2033,3941
$GC,1301,-1.11,-243.4,187.8,-14.2,222,1309,0.00,2.20,0.00,0.000,4,0.000,0.045,2374,3453,3941
$GC,1349,-1.11,-243.4,194.0,-12.7,230,1357,0.00,2.00,0.00,0.000,6,0.000,0.028,2376,2078,3941
$GC,1697,-1.11,-243.4,240.5,-13.1,291,1703,0.00,2.10,0.00,0.000,4,0.000,0.039,2371,660,3941
$GC,1723,-1.11,-243.4,243.9,-13.6,295,1729,0.00,2.08,0.00,0.000,6,0.000,0.033,2368,2075,3941
$GC,2068,-1.11,-243.4,285.3,-14.5,356,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2081,3940
$GC,2398,-1.11,-243.4,328.9,-12.4,396,2402,0.00,2.10,0.00,0.000,4,0.000,0.047,2365,3463,3939
$GC,2494,-1.11,-243.4,340.8,-12.2,404,2500,0.00,2.05,0.00,0.000,6,0.000,0.028,2365,2063,3939
$GC,2820,-1.11,-243.4,378.4,-12.1,435,2823,0.00,2.15,0.00,0.000,4,0.000,0.048,2365,3463,3938
$GC,2892,-1.11,-243.4,387.7,-12.7,441,2898,0.00,1.98,0.00,0.000,6,0.000,0.028,2365,2091,3937
$GC,3217,-1.11,-243.4,428.4,-12.2,472,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2091,3936
$GC,3535,-1.11,-243.4,466.0,-11.9,502,3539,0.00,2.12,0.00,0.000,4,0.000,0.050,2366,3463,3934
$GC,3558,-1.11,-243.4,468.9,-12.3,504,3562,0.00,2.00,0.00,0.000,6,0.000,0.029,2368,2081,3934
$GC,3898,-1.11,-243.4,508.3,-11.5,533,3902,0.00,2.15,0.00,0.000,4,0.000,0.051,2368,3464,3932
$GC,3914,-1.11,-243.4,510.3,-11.4,533,3920,0.00,2.00,0.00,0.000,6,0.000,0.030,2368,2087,3932
$GC,4232,-1.11,-243.4,545.5,-11.3,549,4235,0.00,2.12,0.00,0.000,4,0.000,0.051,2368,3460,3929
$GC,4288,-1.11,-243.4,552.2,-11.5,551,4291,0.00,1.95,0.00,0.000,6,0.000,0.031,2370,2118,3928
$GC,4610,-1.11,-243.4,586.6,-10.7,567,4614,0.00,2.10,0.00,0.000,4,0.000,0.053,2369,3468,3926
$GC,4661,-1.11,-243.4,592.5,-11.6,569,4665,0.00,1.95,0.00,0.000,6,0.000,0.031,2371,2130,3926
$GC,4989,-1.11,-243.4,626.5,-10.4,585,4993,0.00,2.08,0.00,0.000,4,0.000,0.053,2363,3467,3922
$GC,5062,-1.11,-243.4,634.8,-11.3,588,5066,0.00,1.90,0.00,0.000,6,0.000,0.032,2365,2167,3922
$GC,5390,-1.11,-243.4,670.9,-11.1,604,5394,0.00,2.03,0.00,0.000,4,0.000,0.054,2356,3467,3919
$GC,5446,-1.11,-243.4,678.0,-12.4,606,5450,0.12,1.88,0.00,0.000,6,0.145,0.034,2389,2188,3918
$GC,5767,-1.11,-243.4,713.7,-10.8,622,5770,0.00,2.00,0.00,0.000,4,0.000,0.057,2382,3465,3916
$GC,5807,-1.11,-243.4,718.4,-11.5,623,5813,0.00,1.85,0.00,0.000,6,0.000,0.035,2381,2207,3915
$GC,6125,-1.11,-243.4,751.9,-10.4,639,6129,0.00,2.35,0.00,0.000,4,0.000,0.048,2382,672,3912
$GC,6147,-1.11,-243.4,754.7,-11.4,640,6151,0.00,2.35,0.00,0.000,6,0.000,0.042,2374,2221,3911
$GC,6475,-1.11,-243.4,792.0,-12.1,656,6478,0.00,1.92,0.00,0.000,4,0.000,0.059,2371,3456,3910
$GC,6522,-1.11,-243.4,797.9,-13.3,658,6525,0.00,1.80,0.00,0.000,6,0.000,0.035,2371,2235,3909
$GC,6854,-1.11,-243.4,838.2,-11.8,674,6859,0.00,2.42,0.00,0.000,4,0.000,0.049,2377,660,3906
$GC,6934,-1.11,-243.4,848.3,-12.7,677,6940,0.00,2.38,0.00,0.000,6,0.000,0.044,2364,2209,3906
$GC,7250,-1.11,-243.4,887.6,-12.3,693,7254,0.00,2.40,0.00,0.000,4,0.000,0.050,2368,675,3904
$GC,7295,-1.11,-243.4,893.7,-13.4,695,7300,0.15,2.33,0.00,0.000,6,0.152,0.044,2392,2187,3903
$GC,7618,-1.11,-243.4,928.1,-10.5,711,7621,0.00,2.03,0.00,0.000,4,0.000,0.067,2377,3457,3901
$GC,7718,-1.11,-243.4,940.0,-11.7,715,7722,0.00,1.83,0.00,0.000,6,0.000,0.037,2378,2249,3900
$GC,8042,-1.11,-243.4,974.7,-10.4,731,8047,0.00,1.92,0.00,0.000,4,0.000,0.061,2370,3463,3898
$GC,8087,-1.11,-243.4,979.9,-10.7,733,8091,0.00,1.83,0.00,0.000,6,0.000,0.042,2369,2274,3898
$STATE,8190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8190,begin apogee
$GC,8198,-0.29,0.0,991.6,11.0,738,8419,0.88,0.00,211.80,1.460,6,0.107,0.000,2657,1709,2945
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8420,begin climb
$GC,8424,1.11,243.4,1008.1,0.0,749,8652,1.23,2.30,217.62,1.425,4,0.053,0.057,3110,3097,1951
$GC,8720,1.11,243.4,988.1,12.9,762,8727,0.00,2.17,0.00,0.000,6,0.000,0.043,3121,1693,1945
$GC,9037,1.11,243.4,948.8,12.4,778,9040,0.00,2.22,0.00,0.000,4,0.000,0.057,3134,280,1943
$GC,9121,1.11,243.4,937.7,12.7,781,9128,0.00,2.17,0.00,0.000,6,0.000,0.045,3134,1686,1942
$GC,9438,1.11,243.4,899.8,11.9,797,9442,0.00,2.22,0.00,0.000,4,0.000,0.058,3148,280,1940
$GC,9477,1.11,243.4,894.9,11.3,798,9484,0.12,2.15,0.00,0.000,6,0.174,0.044,3111,1668,1940
$GC,9793,1.11,243.4,863.6,10.1,814,9797,0.00,2.25,0.00,0.000,4,0.000,0.058,3111,3102,1938
$GC,9821,1.11,243.4,860.4,11.3,815,9825,0.00,2.22,0.00,0.000,6,0.000,0.043,3120,1642,1938
$GC,10148,1.11,243.4,823.9,11.4,831,10152,0.00,2.30,0.00,0.000,4,0.000,0.057,3120,3098,1937
$GC,10176,1.11,243.4,820.4,12.4,832,10180,0.00,2.17,0.00,0.000,6,0.000,0.042,3130,1670,1937
$GC,10499,1.11,243.4,781.2,12.4,848,10502,0.00,2.17,0.00,0.000,4,0.000,0.057,3141,284,1937
$GC,10583,1.11,243.4,770.1,12.5,851,10589,0.15,2.12,0.00,0.000,6,0.177,0.044,3105,1674,1936
$GC,10901,1.11,243.4,734.4,11.4,867,10904,0.00,2.22,0.00,0.000,4,0.000,0.056,3102,3097,1936
$GC,10974,1.11,243.4,725.1,12.6,870,10978,0.00,2.15,0.00,0.000,6,0.000,0.043,3110,1684,1934
$GC,11302,1.11,243.4,687.1,11.6,886,11305,0.00,2.22,0.00,0.000,4,0.000,0.057,3110,3094,1934
$GC,11329,1.11,243.4,683.5,12.1,887,11333,0.00,2.12,0.00,0.000,6,0.000,0.042,3119,1697,1934
$GC,11658,1.11,243.4,645.6,11.8,903,11662,0.00,2.20,0.00,0.000,4,0.000,0.054,3130,292,1934
$GC,11708,1.11,243.4,639.2,12.6,905,11712,0.00,2.17,0.00,0.000,6,0.000,0.043,3130,1703,1934
$GC,12036,1.11,243.4,601.5,11.7,921,12039,0.00,2.22,0.00,0.000,4,0.000,0.053,3140,291,1934
$GC,12070,1.11,243.4,597.4,11.3,922,12075,0.12,2.12,0.00,0.000,6,0.177,0.042,3111,1688,1934
$GC,12386,1.11,243.4,562.0,11.3,937,12390,0.00,2.20,0.00,0.000,4,0.000,0.054,3107,3094,1934
$GC,12504,1.11,243.4,548.1,11.3,942,12508,0.00,2.15,0.00,0.000,6,0.000,0.041,3115,1676,1933
$GC,12833,1.11,247.0,515.0,9.9,958,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1677,1933
$GC,13145,1.15,280.0,486.6,9.1,979,13190,0.00,2.22,33.10,1.088,4,0.000,0.054,3126,287,1802
$GC,13319,1.15,280.0,467.1,11.7,994,13325,0.00,2.17,0.00,0.000,6,0.000,0.042,3126,1704,1800
$GC,13646,1.15,280.0,430.3,10.6,1025,13650,0.00,2.17,0.00,0.000,4,0.000,0.052,3126,3104,1800
$GC,13765,1.18,299.0,418.3,9.5,1035,13794,0.00,2.08,18.33,1.055,6,0.000,0.041,3134,1737,1724
$GC,14112,1.18,301.7,384.8,9.9,1068,14116,0.00,2.12,0.00,0.000,4,0.000,0.052,3134,3097,1723
$GC,14208,1.19,309.6,375.2,9.8,1076,14226,0.00,2.03,10.50,0.963,6,0.000,0.040,3140,1760,1683
$GC,14545,1.21,325.1,343.3,9.6,1108,14574,0.00,0.00,17.42,0.884,6,0.000,0.000,3139,1760,1619
$GC,14893,1.22,333.2,309.4,9.8,1141,14907,0.00,2.35,8.80,0.871,4,0.000,0.051,3150,289,1586
$GC,15027,1.22,333.2,295.2,10.1,1156,15033,0.00,2.33,0.00,0.000,6,0.000,0.038,3150,1822,1586
$GC,15374,1.22,333.2,260.8,10.3,1217,15380,0.00,1.98,0.00,0.000,4,0.000,0.048,3153,3111,1586
$GC,15422,1.22,333.2,255.6,10.3,1225,15429,0.00,1.92,0.00,0.000,6,0.000,0.036,3164,1816,1586
$GC,15769,1.24,352.5,219.8,9.5,1286,15794,0.00,2.05,18.65,0.864,4,0.000,0.047,3165,3105,1507
$GC,15848,1.28,382.3,212.0,9.2,1299,15884,0.00,1.88,27.58,0.863,6,0.000,0.035,3174,1848,1385
$GC,16223,1.28,382.3,174.3,10.3,1365,16231,0.00,2.40,0.00,0.000,4,0.000,0.047,3185,286,1383
$GC,16312,1.28,382.3,164.4,10.8,1380,16318,0.00,2.42,0.00,0.000,6,0.000,0.035,3185,1903,1382
$GC,16657,1.31,410.8,130.5,9.2,1441,16691,0.00,1.85,26.20,0.785,4,0.000,0.044,3185,3113,1269
$GC,16750,1.31,410.8,120.9,10.8,1456,16756,0.00,1.92,0.00,0.000,6,0.000,0.033,3195,1843,1268
$GC,17095,1.39,476.5,85.6,8.2,1517,17160,0.00,2.45,57.28,0.749,4,0.000,0.049,3206,281,1001
$GC,17336,1.39,476.5,61.5,10.1,1558,17342,0.00,2.35,0.00,0.000,6,0.000,0.031,3206,1863,1000
$GC,17681,1.39,476.5,26.2,10.3,1619,17688,0.00,1.88,0.00,0.000,4,0.000,0.041,3206,3103,1000
$GC,17748,1.42,496.1,19.4,9.5,1630,17773,0.00,2.03,18.10,0.650,6,0.000,0.031,3211,1722,921
$STATE,17903,end climb,SURFACE_DEPTH_REACHED
$STATE,17904,begin surface coast
$FINISH,0.9,1.022005
$STATE,17932,end surface coast,CONTROL_FINISHED_OK
$STATE,17932,begin surface
$SM_CCo,18013,0.00,0.000,0,0,920,496.73
$SM_GC,1.78,8.07,0.00,0.00,0.036,0.000,0.000,165,2112,920,-8.06,1.44,496.73
$IRIDIUM_FIX,2403.92,12547.92,041198,020244
$TT8_MAMPS,0.026845
$HUMID,1639
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.90
$XPDR_PINGS,190
$24V_AH,23.0,103.453
$10V_AH,10.6,67.902
$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,19.750,166.750,665.375,0.000,0.000,49.567,127.971,243.049,55.500,0.000,0.000,30.289,2884.712,10650.264,786.992,3422.883,929.177,0.000,2339.625,0.000,3373.736,0.000,54.426,0.000
$DEVICE_MAMPS,217.061,66.729,1460.368,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1126.441,1149.742,1929.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97945,1662
$CAP_FILE_SIZE,172709,0
$CFSIZE,260165632,196628480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.125, 92.4,1
$GPS,100809,125507,2410.716,12547.887,25,1.4,25,-3.6