version: 66.04
glider: 166
mission: 2
dive: 469
start: 8 10 109 23 37 53
data:
$ID,166
$MISSION,2
$DIVE,469
$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,-15159.397
$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,64
$R_STBD_OVSHOOT,42
$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
$GPS1,232525,2408.947,12549.044,40,1.2,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.8
$GPS2,233731,2408.884,12549.178,14,1.3,31,-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,208.8,35682,-13.9,-10.000
$D_GRID,1328
$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,16,-1.11,-243.4,0.0,0.0,0,90,0.00,0.00,-72.20,0.000,2,0.000,0.000,124,2040,2430
$GC,94,-1.11,-243.4,3.2,-5.6,11,154,9.32,2.10,-41.75,0.000,4,0.231,0.051,2374,675,3939
$GC,175,-1.11,-243.4,15.0,-19.4,23,182,0.00,2.05,0.00,0.000,6,0.000,0.033,2372,2068,3939
$GC,521,-1.11,-243.4,75.7,-16.9,84,527,0.00,2.10,0.00,0.000,4,0.000,0.045,2374,3466,3939
$GC,602,-1.11,-243.4,89.9,-17.2,98,609,0.00,2.05,0.00,0.000,6,0.000,0.028,2368,2061,3939
$GC,948,-1.11,-243.4,141.6,-12.0,159,954,0.00,2.12,0.00,0.000,4,0.000,0.044,2370,3472,3940
$GC,984,-1.11,-243.4,146.7,-14.0,165,992,0.00,2.05,0.00,0.000,6,0.000,0.028,2369,2065,3940
$GC,1333,-1.11,-243.4,189.5,-12.0,226,1340,0.00,2.12,0.00,0.000,4,0.000,0.044,2368,3461,3941
$GC,1376,-1.11,-243.4,194.7,-12.6,233,1384,0.00,2.00,0.00,0.000,6,0.000,0.028,2368,2086,3941
$GC,1724,-1.11,-243.4,236.2,-11.1,294,1730,0.00,2.10,0.00,0.000,4,0.000,0.046,2365,3468,3941
$GC,1772,-1.11,-243.4,241.9,-12.0,302,1779,0.00,1.98,0.00,0.000,6,0.000,0.028,2366,2108,3941
$GC,2119,-1.11,-243.4,282.9,-12.0,363,2125,0.00,2.08,0.00,0.000,4,0.000,0.046,2363,3470,3940
$GC,2143,-1.11,-243.4,285.9,-12.1,367,2149,0.00,1.95,0.00,0.000,6,0.000,0.028,2366,2106,3940
$GC,2475,-1.11,-243.4,326.6,-12.1,408,2478,0.00,2.08,0.00,0.000,4,0.000,0.048,2364,3459,3939
$GC,2520,-1.11,-243.4,332.2,-12.6,412,2524,0.00,1.90,0.00,0.000,6,0.000,0.028,2364,2139,3939
$GC,2856,-1.11,-243.4,368.6,-10.4,443,2860,0.00,2.03,0.00,0.000,4,0.000,0.047,2364,3458,3937
$GC,2907,-1.11,-243.4,374.8,-11.6,447,2917,0.00,1.85,0.00,0.000,6,0.000,0.028,2365,2166,3936
$GC,3232,-1.11,-243.4,411.7,-11.8,478,3235,0.00,2.00,0.00,0.000,4,0.000,0.048,2364,3463,3935
$GC,3260,-1.11,-243.4,415.3,-12.3,480,3266,0.00,1.88,0.00,0.000,6,0.000,0.028,2364,2181,3935
$GC,3585,-1.11,-243.4,453.1,-11.8,511,3589,0.00,2.25,0.00,0.000,4,0.000,0.041,2364,674,3934
$GC,3654,-1.11,-243.4,461.7,-13.2,517,3658,0.00,2.22,0.00,0.000,6,0.000,0.035,2364,2167,3933
$GC,3980,-1.11,-243.4,498.0,-10.8,547,3984,0.00,1.98,0.00,0.000,4,0.000,0.051,2366,3465,3931
$GC,4008,-1.11,-243.4,501.2,-10.7,549,4011,0.00,1.85,0.00,0.000,6,0.000,0.030,2366,2182,3930
$GC,4336,-1.11,-243.4,534.3,-9.7,565,4340,0.00,2.28,0.00,0.000,4,0.000,0.043,2366,667,3928
$GC,4437,-1.11,-243.4,545.2,-11.1,569,4445,0.12,2.20,0.00,0.000,6,0.150,0.036,2390,2145,3927
$GC,4755,-1.11,-243.4,577.0,-10.3,585,4759,0.00,2.03,0.00,0.000,4,0.000,0.052,2392,3466,3925
$GC,4779,-1.11,-243.4,579.8,-10.7,586,4782,0.00,1.92,0.00,0.000,6,0.000,0.031,2393,2169,3925
$GC,5113,-1.11,-243.4,613.5,-9.9,602,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2168,3923
$GC,5421,-1.11,-243.4,644.8,-10.4,617,5424,0.00,2.03,0.00,0.000,4,0.000,0.055,2392,3460,3920
$GC,5489,-1.11,-243.4,652.4,-11.1,620,5493,0.00,1.90,0.00,0.000,6,0.000,0.033,2395,2168,3919
$GC,5824,-1.11,-243.4,690.6,-11.7,636,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2168,3916
$GC,6132,-1.11,-243.4,725.2,-10.5,651,6136,0.00,2.05,0.00,0.000,4,0.000,0.057,2389,3463,3913
$GC,6178,-1.11,-243.4,730.4,-11.4,653,6182,0.00,1.90,0.00,0.000,6,0.000,0.035,2389,2181,3912
$GC,6512,-1.11,-243.4,765.3,-10.2,669,6516,0.00,2.30,0.00,0.000,4,0.000,0.048,2390,680,3910
$GC,6553,-1.11,-243.4,770.0,-11.7,671,6557,0.00,2.25,0.00,0.000,6,0.000,0.041,2383,2157,3910
$GC,6881,-1.11,-243.4,804.0,-10.3,687,6885,0.00,2.03,0.00,0.000,4,0.000,0.058,2376,3454,3907
$GC,6965,-1.11,-243.4,813.3,-11.0,690,6971,0.00,1.88,0.00,0.000,6,0.000,0.038,2376,2208,3906
$GC,7282,-1.11,-243.4,844.8,-9.8,706,7286,0.00,2.35,0.00,0.000,4,0.000,0.050,2376,681,3905
$GC,7309,-1.11,-243.4,848.2,-11.8,707,7313,0.00,2.33,0.00,0.000,6,0.000,0.044,2366,2195,3904
$GC,7626,-1.11,-243.4,886.0,-12.5,722,7630,0.00,1.98,0.00,0.000,4,0.000,0.060,2357,3460,3901
$GC,7650,-1.11,-243.4,889.2,-12.7,723,7654,0.12,1.88,0.00,0.000,6,0.156,0.038,2389,2203,3902
$GC,7984,-1.11,-243.4,928.1,-11.2,739,7988,0.00,2.35,0.00,0.000,4,0.000,0.051,2389,682,3900
$GC,8006,-1.11,-243.4,930.9,-11.7,740,8010,0.00,2.35,0.00,0.000,6,0.000,0.046,2381,2204,3900
$GC,8327,-1.11,-243.4,966.2,-10.7,756,8331,0.00,1.98,0.00,0.000,4,0.000,0.061,2372,3459,3897
$GC,8390,-1.11,-243.4,973.3,-11.6,758,8396,0.00,1.83,0.00,0.000,6,0.000,0.038,2372,2255,3897
$STATE,8538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8538,begin apogee
$GC,8546,-0.29,0.0,990.5,11.3,766,8762,0.90,0.00,209.50,1.468,6,0.123,0.000,2654,1712,2945
$STATE,8762,end apogee,CONTROL_FINISHED_OK
$STATE,8762,begin climb
$GC,8766,1.11,243.4,1004.4,0.0,777,8997,1.27,2.33,217.80,1.424,4,0.061,0.058,3108,3088,1951
$GC,9139,1.11,243.4,971.3,13.9,794,9143,0.00,2.15,0.00,0.000,6,0.000,0.044,3118,1694,1945
$GC,9473,1.11,243.4,928.7,12.5,810,9477,0.00,2.22,0.00,0.000,4,0.000,0.058,3129,278,1942
$GC,9603,1.11,243.4,912.2,12.8,816,9607,0.00,2.12,0.00,0.000,6,0.000,0.044,3129,1661,1941
$GC,9936,1.11,243.4,870.7,12.7,832,9940,0.00,2.25,0.00,0.000,4,0.000,0.058,3129,3094,1940
$GC,10015,1.11,243.4,860.0,12.9,835,10019,0.12,2.20,0.00,0.000,6,0.183,0.043,3110,1651,1939
$GC,10331,1.11,243.4,822.2,11.8,850,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1651,1939
$GC,10641,1.11,243.4,788.2,10.6,865,10645,0.00,2.28,0.00,0.000,4,0.000,0.057,3109,3095,1938
$GC,10720,1.11,243.4,779.4,10.9,868,10723,0.00,2.17,0.00,0.000,6,0.000,0.042,3116,1668,1937
$GC,11041,1.11,243.4,745.4,10.6,884,11045,0.00,2.28,0.00,0.000,4,0.000,0.057,3117,3105,1937
$GC,11075,1.11,243.4,741.5,11.7,885,11079,0.00,2.15,0.00,0.000,6,0.000,0.044,3127,1695,1937
$GC,11399,1.11,243.4,704.4,11.7,901,11402,0.00,2.22,0.00,0.000,4,0.000,0.056,3138,282,1936
$GC,11477,1.11,243.4,694.7,12.4,904,11482,0.12,2.17,0.00,0.000,6,0.178,0.044,3108,1700,1936
$GC,11799,1.11,243.4,660.1,10.6,920,11803,0.00,2.20,0.00,0.000,4,0.000,0.056,3105,3102,1936
$GC,11928,1.11,243.4,645.6,10.6,925,11935,0.00,2.12,0.00,0.000,6,0.000,0.043,3113,1710,1934
$GC,12246,1.14,273.6,614.9,9.2,941,12281,0.00,0.00,28.02,1.169,6,0.000,0.000,3113,1710,1828
$GC,12601,1.14,273.6,578.7,10.5,958,12605,0.00,2.25,0.00,0.000,4,0.000,0.056,3124,282,1825
$GC,12629,1.14,273.6,575.2,11.1,959,12633,0.00,2.28,0.00,0.000,6,0.000,0.044,3124,1753,1825
$GC,12951,1.14,273.6,540.0,10.9,975,12955,0.00,2.10,0.00,0.000,4,0.000,0.054,3124,3102,1824
$GC,13080,1.14,273.6,524.7,11.7,980,13087,0.00,2.03,0.00,0.000,6,0.000,0.042,3133,1771,1824
$GC,13399,1.14,273.6,490.5,10.3,1000,13402,0.00,2.08,0.00,0.000,4,0.000,0.056,3133,3096,1824
$GC,13461,1.14,273.6,483.8,11.5,1005,13470,0.00,1.98,0.00,0.000,6,0.000,0.041,3143,1797,1824
$GC,13789,1.18,305.6,452.2,9.1,1036,13824,0.00,2.40,29.77,1.107,4,0.000,0.054,3153,287,1698
$GC,13865,1.18,305.6,443.8,10.7,1042,13871,0.00,2.35,0.00,0.000,6,0.000,0.042,3154,1803,1696
$GC,14194,1.18,305.6,406.3,11.4,1073,14198,0.00,2.03,0.00,0.000,4,0.000,0.054,3154,3106,1694
$GC,14309,1.18,305.6,392.4,11.4,1083,14313,0.12,1.90,0.00,0.000,6,0.168,0.041,3133,1855,1693
$GC,14640,1.23,341.7,361.5,9.0,1114,14685,0.00,2.03,34.53,0.979,4,0.000,0.052,3132,3094,1552
$GC,14782,1.23,341.7,346.7,10.9,1126,14788,0.00,1.98,0.00,0.000,6,0.000,0.038,3139,1818,1550
$GC,15110,1.26,371.2,312.5,9.2,1157,15144,0.00,2.03,27.55,0.966,4,0.000,0.050,3139,3095,1431
$GC,15196,1.27,375.0,303.7,9.9,1164,15206,0.00,1.92,5.07,0.707,6,0.000,0.038,3147,1849,1415
$GC,15545,1.27,375.0,267.8,11.7,1223,15551,0.00,1.92,0.00,0.000,4,0.000,0.049,3147,3098,1413
$GC,15609,1.27,375.0,259.8,12.1,1234,15615,0.00,1.83,0.00,0.000,6,0.000,0.037,3156,1901,1414
$GC,15956,1.31,405.1,220.9,9.2,1295,15992,0.00,1.90,27.95,0.878,4,0.000,0.048,3156,3088,1292
$GC,16005,1.31,405.1,216.0,10.4,1303,16011,0.00,1.92,0.00,0.000,6,0.000,0.035,3166,1815,1292
$GC,16349,1.31,405.1,180.3,11.4,1364,16356,0.00,2.00,0.00,0.000,4,0.000,0.045,3165,3098,1291
$GC,16388,1.31,405.1,176.2,11.4,1370,16394,0.00,1.90,0.00,0.000,6,0.000,0.035,3174,1840,1290
$GC,16734,1.31,405.1,139.2,10.5,1431,16741,0.00,1.95,0.00,0.000,4,0.000,0.044,3174,3100,1290
$GC,16773,1.31,405.1,135.3,10.3,1437,16781,0.00,1.83,0.00,0.000,6,0.000,0.034,3183,1884,1290
$GC,17119,1.32,417.5,98.2,9.7,1498,17138,0.00,1.88,12.57,0.718,4,0.000,0.043,3182,3111,1241
$GC,17202,1.39,475.0,90.0,8.4,1512,17260,0.00,1.95,50.42,0.752,6,0.000,0.033,3192,1811,1008
$GC,17601,1.41,487.1,51.2,9.7,1581,17621,0.00,2.00,11.85,0.654,4,0.000,0.041,3192,3096,959
$GC,17735,1.46,532.8,38.6,8.7,1604,17781,0.00,1.95,40.25,0.691,6,0.000,0.031,3201,1796,773
$STATE,18078,end climb,SURFACE_DEPTH_REACHED
$STATE,18078,begin surface coast
$FINISH,0.9,0.998456
$STATE,18115,end surface coast,CONTROL_FINISHED_OK
$STATE,18115,begin surface
$SM_CCo,18196,0.00,0.000,0,0,771,533.28
$SM_GC,1.76,7.97,0.00,0.00,0.033,0.000,0.000,160,2087,771,-8.07,0.74,533.28
$IRIDIUM_FIX,2359.20,12546.54,041198,232315
$TT8_MAMPS,0.026845
$HUMID,1643
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,196
$24V_AH,23.0,104.243
$10V_AH,10.6,68.405
$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,20.100,170.950,695.300,0.000,0.000,50.588,89.178,319.716,57.000,0.000,0.000,31.663,2919.573,10735.103,802.437,3467.416,976.880,0.000,2380.895,0.000,3411.476,0.000,54.431,0.000
$DEVICE_MAMPS,230.867,61.360,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.945,1149.940,1936.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97885,1670
$CAP_FILE_SIZE,177387,0
$CFSIZE,260165632,196329472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.139, 73.7,1
$GPS,110809,044230,2407.978,12549.904,38,0.9,43,-3.6