version: 66.04
glider: 166
mission: 2
dive: 467
start: 8 10 109 13 3 41
data:
$ID,166
$MISSION,2
$DIVE,467
$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,-15096.456
$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,71
$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
$GPS1,125507,2410.716,12547.887,25,1.4,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.4
$GPS2,130322,2410.818,12547.994,14,99.0,33,-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,213.6,38887,-13.9,-10.000
$D_GRID,1354
$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,-1.11,-243.4,0.0,0.0,0,85,0.00,0.00,-64.03,0.000,2,0.000,0.000,140,2112,2333
$GC,88,-1.11,-243.4,3.1,-5.2,10,154,9.12,2.25,-46.28,0.000,4,0.225,0.051,2386,653,3940
$GC,161,-1.11,-243.4,12.4,-17.7,21,168,0.00,2.05,0.00,0.000,6,0.000,0.031,2384,2051,3940
$GC,508,-1.11,-243.4,72.6,-16.9,82,514,0.00,2.08,0.00,0.000,4,0.000,0.038,2376,650,3941
$GC,577,-1.11,-243.4,85.0,-17.2,94,583,0.00,2.15,0.00,0.000,6,0.000,0.032,2372,2121,3941
$GC,923,-1.11,-243.4,136.9,-13.4,155,930,0.00,2.20,0.00,0.000,4,0.000,0.038,2374,641,3942
$GC,948,-1.11,-243.4,140.7,-14.6,159,956,0.00,2.17,0.00,0.000,6,0.000,0.032,2370,2100,3942
$GC,1298,-1.11,-243.4,188.3,-14.1,220,1304,0.00,2.17,0.00,0.000,4,0.000,0.039,2371,644,3943
$GC,1333,-1.11,-243.4,193.3,-14.6,226,1340,0.00,2.15,0.00,0.000,6,0.000,0.032,2367,2090,3943
$GC,1679,-1.11,-243.4,239.9,-13.2,287,1686,0.00,2.15,0.00,0.000,4,0.000,0.039,2370,653,3943
$GC,1706,-1.11,-243.4,243.2,-13.1,291,1713,0.00,2.12,0.00,0.000,6,0.000,0.032,2368,2103,3943
$GC,2053,-1.11,-243.4,284.7,-11.9,352,2059,0.00,2.05,0.00,0.000,4,0.000,0.047,2367,3468,3942
$GC,2111,-1.11,-243.4,292.4,-13.6,362,2118,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,2057,3943
$GC,2446,-1.11,-243.4,333.5,-11.5,398,2449,0.00,2.15,0.00,0.000,4,0.000,0.047,2366,3462,3942
$GC,2469,-1.11,-243.4,336.1,-11.1,400,2473,0.00,1.95,0.00,0.000,6,0.000,0.028,2366,2105,3942
$GC,2800,-1.11,-243.4,373.6,-11.3,431,2804,0.00,2.08,0.00,0.000,4,0.000,0.047,2365,3462,3941
$GC,2835,-1.11,-243.4,377.8,-12.2,434,2839,0.00,1.90,0.00,0.000,6,0.000,0.028,2365,2134,3941
$GC,3171,-1.11,-243.4,416.8,-11.3,465,3175,0.00,2.20,0.00,0.000,4,0.000,0.041,2366,665,3939
$GC,3206,-1.11,-243.4,421.5,-11.7,468,3210,0.00,2.20,0.00,0.000,6,0.000,0.035,2364,2145,3939
$GC,3537,-1.11,-243.4,459.9,-11.5,499,3541,0.00,2.22,0.00,0.000,4,0.000,0.041,2366,675,3938
$GC,3595,-1.11,-243.4,466.9,-12.9,504,3598,0.00,2.15,0.00,0.000,6,0.000,0.036,2365,2118,3937
$GC,3925,-1.11,-243.4,502.8,-10.7,534,3928,0.00,2.05,0.00,0.000,4,0.000,0.051,2367,3457,3935
$GC,3986,-1.11,-243.4,509.6,-10.7,536,3993,0.00,1.95,0.00,0.000,6,0.000,0.031,2369,2135,3934
$GC,4304,-1.11,-243.4,543.4,-10.8,552,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2135,3933
$GC,4613,-1.11,-243.4,580.4,-12.4,567,4616,0.00,2.08,0.00,0.000,4,0.000,0.052,2370,3463,3928
$GC,4681,-1.11,-243.4,589.2,-12.3,570,4684,0.00,1.95,0.00,0.000,6,0.000,0.031,2372,2130,3928
$GC,5016,-1.11,-243.4,625.9,-10.1,586,5019,0.00,2.22,0.00,0.000,4,0.000,0.045,2372,666,3926
$GC,5117,-1.11,-243.4,636.8,-10.4,590,5121,0.00,2.15,0.00,0.000,6,0.000,0.039,2365,2090,3925
$GC,5439,-1.11,-243.4,669.1,-10.1,606,5443,0.00,2.12,0.00,0.000,4,0.000,0.054,2366,3463,3923
$GC,5478,-1.11,-243.4,673.3,-10.9,607,5485,0.00,2.00,0.00,0.000,6,0.000,0.035,2366,2105,3922
$GC,5797,-1.11,-243.4,704.7,-9.8,623,5801,0.00,2.12,0.00,0.000,4,0.000,0.054,2361,3463,3919
$GC,5821,-1.11,-243.4,707.4,-10.1,624,5825,0.12,2.00,0.00,0.000,6,0.144,0.035,2392,2111,3919
$GC,6154,-1.11,-243.4,741.3,-10.4,640,6158,0.00,2.22,0.00,0.000,4,0.000,0.048,2391,657,3916
$GC,6200,-1.11,-243.4,746.6,-11.4,642,6204,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,2100,3916
$GC,6532,-1.11,-243.4,783.2,-10.9,658,6536,0.00,2.15,0.00,0.000,4,0.000,0.058,2386,3475,3913
$GC,6617,-1.11,-243.4,792.7,-11.1,661,6623,0.00,2.03,0.00,0.000,6,0.000,0.036,2385,2112,3912
$GC,6933,-1.11,-243.4,825.0,-10.0,677,6938,0.00,2.17,0.00,0.000,4,0.000,0.060,2381,3472,3910
$GC,6979,-1.11,-243.4,829.8,-10.9,679,6983,0.00,2.00,0.00,0.000,6,0.000,0.037,2382,2136,3910
$GC,7315,-1.11,-243.4,862.8,-9.8,695,7319,0.00,2.10,0.00,0.000,4,0.000,0.059,2366,3463,3908
$GC,7355,-1.11,-243.4,867.4,-11.5,696,7361,0.00,1.95,0.00,0.000,6,0.000,0.038,2372,2174,3907
$GC,7671,-1.11,-243.4,898.5,-9.6,712,7675,0.00,2.35,0.00,0.000,4,0.000,0.051,2370,654,3905
$GC,7692,-1.11,-243.4,900.2,-9.6,713,7697,0.12,2.38,0.00,0.000,6,0.160,0.045,2391,2193,3905
$GC,8019,-1.11,-243.4,930.4,-9.3,729,8023,0.00,2.05,0.00,0.000,4,0.000,0.064,2382,3474,3904
$GC,8126,-1.11,-243.4,941.6,-10.6,733,8132,0.00,1.88,0.00,0.000,6,0.000,0.038,2384,2219,3903
$GC,8443,-1.11,-243.4,973.1,-10.1,749,8446,0.00,2.00,0.00,0.000,4,0.000,0.063,2378,3470,3901
$GC,8468,-1.11,-243.4,975.6,-10.6,750,8472,0.00,1.83,0.00,0.000,6,0.000,0.039,2379,2255,3901
$STATE,8592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8592,begin apogee
$GC,8602,-0.29,0.0,990.8,11.8,756,8817,0.88,0.00,210.65,1.474,6,0.121,0.000,2656,1693,2945
$STATE,8817,end apogee,CONTROL_FINISHED_OK
$STATE,8817,begin climb
$GC,8820,1.11,243.4,1007.5,0.0,767,9051,1.25,2.40,218.48,1.427,4,0.058,0.058,3100,3099,1951
$GC,9127,1.11,243.4,988.4,12.1,781,9131,0.00,2.17,0.00,0.000,6,0.000,0.044,3112,1699,1946
$GC,9454,1.11,243.4,949.1,11.9,797,9458,0.00,2.25,0.00,0.000,4,0.000,0.058,3126,274,1943
$GC,9477,1.11,243.4,946.3,11.7,798,9481,0.00,2.20,0.00,0.000,6,0.000,0.044,3126,1705,1943
$GC,9805,1.11,243.4,907.6,12.1,814,9808,0.00,2.20,0.00,0.000,4,0.000,0.057,3128,3106,1941
$GC,9843,1.11,243.4,902.3,13.1,815,9851,0.12,2.17,0.00,0.000,6,0.185,0.044,3108,1682,1940
$GC,10160,1.11,243.4,865.3,11.9,831,10163,0.00,2.20,0.00,0.000,4,0.000,0.058,3117,286,1940
$GC,10267,1.11,243.4,852.5,11.6,835,10275,0.00,2.12,0.00,0.000,6,0.000,0.044,3117,1673,1939
$GC,10584,1.11,243.4,815.8,11.8,851,10587,0.00,2.25,0.00,0.000,4,0.000,0.058,3117,3101,1938
$GC,10617,1.11,243.4,811.4,12.3,852,10621,0.00,2.20,0.00,0.000,6,0.000,0.044,3127,1661,1937
$GC,10934,1.11,243.4,773.3,12.0,867,10938,0.00,2.17,0.00,0.000,4,0.000,0.058,3138,281,1937
$GC,11018,1.11,243.4,762.1,12.9,870,11025,0.12,2.12,0.00,0.000,6,0.182,0.045,3108,1672,1937
$GC,11335,1.11,243.4,727.3,10.6,886,11339,0.00,2.25,0.00,0.000,4,0.000,0.058,3106,3102,1937
$GC,11397,1.11,243.4,720.3,10.8,888,11403,0.00,2.17,0.00,0.000,6,0.000,0.044,3113,1671,1936
$GC,11713,1.11,243.4,687.0,10.3,904,11716,0.00,2.25,0.00,0.000,4,0.000,0.057,3114,3094,1936
$GC,11763,1.11,243.4,681.3,10.5,906,11767,0.00,2.15,0.00,0.000,6,0.000,0.042,3122,1684,1936
$GC,12090,1.11,243.4,646.7,10.8,922,12093,0.00,2.20,0.00,0.000,4,0.000,0.058,3133,290,1935
$GC,12136,1.11,243.4,641.4,11.5,924,12140,0.00,2.15,0.00,0.000,6,0.000,0.044,3133,1688,1935
$GC,12470,1.11,243.4,604.9,10.7,940,12474,0.00,2.22,0.00,0.000,4,0.000,0.056,3133,3103,1935
$GC,12587,1.11,243.4,591.5,11.0,945,12592,0.15,2.12,0.00,0.000,6,0.179,0.043,3107,1711,1934
$GC,12911,1.11,243.4,558.3,10.3,961,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1711,1934
$GC,13218,1.13,261.9,528.3,9.5,976,13247,0.00,2.28,17.25,1.037,4,0.000,0.056,3105,3102,1876
$GC,13343,1.13,261.9,515.5,10.2,981,13349,0.00,2.10,0.00,0.000,6,0.000,0.041,3113,1734,1875
$GC,13665,1.17,295.1,485.3,9.1,1004,13701,0.00,2.22,31.25,1.134,4,0.000,0.058,3113,3105,1741
$GC,13818,1.17,295.1,470.0,11.3,1017,13823,0.00,2.03,0.00,0.000,6,0.000,0.041,3122,1789,1737
$GC,14148,1.17,295.1,437.5,10.5,1048,14152,0.00,2.05,0.00,0.000,4,0.000,0.053,3122,3100,1737
$GC,14227,1.17,295.1,428.7,10.2,1055,14231,0.00,1.98,0.00,0.000,6,0.000,0.041,3131,1804,1736
$GC,14562,1.21,323.7,396.9,9.2,1086,14600,0.00,2.08,28.75,0.998,4,0.000,0.053,3131,3105,1624
$GC,14639,1.21,323.7,388.4,11.2,1092,14646,0.00,1.98,0.00,0.000,6,0.000,0.040,3136,1836,1623
$GC,14970,1.21,323.7,353.6,10.7,1123,14974,0.00,2.42,0.00,0.000,4,0.000,0.052,3147,285,1621
$GC,15081,1.21,323.7,341.1,10.9,1132,15088,0.00,2.35,0.00,0.000,6,0.000,0.041,3147,1823,1620
$GC,15410,1.21,323.7,306.2,10.4,1163,15414,0.00,2.42,0.00,0.000,4,0.000,0.051,3158,273,1621
$GC,15562,1.21,323.7,288.9,10.6,1184,15569,0.00,2.28,0.00,0.000,6,0.000,0.038,3158,1778,1621
$GC,15909,1.26,367.6,255.1,8.8,1245,15959,0.00,2.42,39.30,0.926,4,0.000,0.050,3173,283,1445
$GC,16074,1.26,367.6,236.9,11.7,1273,16080,0.00,2.35,0.00,0.000,6,0.000,0.038,3172,1824,1444
$GC,16421,1.27,378.5,198.0,9.7,1334,16442,0.00,2.45,11.02,0.804,4,0.000,0.048,3184,285,1400
$GC,16546,1.28,387.9,185.2,9.7,1355,16561,0.00,2.28,10.00,0.772,6,0.000,0.036,3184,1801,1362
$GC,16901,1.36,452.5,147.9,8.2,1417,16964,0.00,2.47,57.42,0.813,4,0.000,0.047,3196,278,1099
$GC,17080,1.36,452.5,129.5,11.3,1447,17087,0.00,2.35,0.00,0.000,6,0.000,0.034,3195,1820,1098
$GC,17426,1.36,452.5,93.8,10.6,1508,17432,0.00,2.38,0.00,0.000,4,0.000,0.045,3207,272,1097
$GC,17496,1.36,452.5,86.3,10.2,1520,17503,0.00,2.33,0.00,0.000,6,0.000,0.032,3207,1822,1097
$GC,17843,1.41,486.2,50.5,9.1,1581,17880,0.00,1.98,30.02,0.698,4,0.000,0.041,3207,3103,962
$GC,17971,1.41,490.8,37.1,9.9,1603,17986,0.00,2.05,5.35,0.512,6,0.000,0.031,3212,1720,944
$STATE,18305,end climb,SURFACE_DEPTH_REACHED
$STATE,18305,begin surface coast
$FINISH,0.9,1.001862
$STATE,18343,end surface coast,CONTROL_FINISHED_OK
$STATE,18343,begin surface
$SM_CCo,18424,0.00,0.000,0,0,943,491.09
$SM_GC,1.77,8.02,0.00,0.00,0.035,0.000,0.000,166,2105,943,-8.05,1.24,491.09
$IRIDIUM_FIX,2401.56,12546.54,041198,070742
$TT8_MAMPS,0.026845
$HUMID,1643
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,175
$24V_AH,23.0,103.708
$10V_AH,10.6,68.068
$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,19.925,186.975,659.500,0.000,0.000,23.738,37.577,230.880,51.750,0.000,0.000,34.846,2921.625,10918.989,781.192,3471.174,802.957,0.000,2363.191,0.000,3407.072,0.000,57.656,0.000
$DEVICE_MAMPS,224.731,64.428,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.964,1145.267,1928.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98140,1668
$CAP_FILE_SIZE,177063,0
$CFSIZE,260165632,196526080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115, 65.6,1
$GPS,100809,181206,2409.994,12548.264,38,1.3,43,-3.6