version: 66.04
glider: 166
mission: 2
dive: 470
start: 8 11 109 4 51 24
data:
$ID,166
$MISSION,2
$DIVE,470
$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,-15178.063
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,044230,2407.978,12549.904,38,0.9,43,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.5
$GPS2,045102,2407.940,12549.905,17,1.7,17,-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,219.2,34248,-13.9,-10.000
$D_GRID,1286
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.11,-243.4,0.0,0.0,0,93,0.00,0.00,-72.97,0.000,2,0.000,0.000,133,2087,2390
$GC,96,-1.11,-243.4,3.1,-5.4,11,154,9.05,0.00,-43.72,0.000,6,0.222,0.000,2378,2086,3940
$GC,495,-1.11,-243.4,68.2,-15.9,80,502,0.00,2.08,0.00,0.000,4,0.000,0.044,2379,3451,3941
$GC,605,-1.11,-243.4,86.3,-17.3,99,612,0.00,2.08,0.00,0.000,6,0.000,0.028,2382,2039,3941
$GC,951,-1.11,-243.4,136.6,-13.6,160,958,0.00,2.03,0.00,0.000,4,0.000,0.037,2381,661,3942
$GC,988,-1.11,-243.4,142.0,-15.1,166,994,0.00,2.08,0.00,0.000,6,0.000,0.031,2375,2061,3942
$GC,1333,-1.11,-243.4,191.3,-15.1,227,1340,0.00,2.10,0.00,0.000,4,0.000,0.044,2368,3465,3943
$GC,1381,-1.11,-243.4,198.8,-15.7,235,1388,0.00,2.03,0.00,0.000,6,0.000,0.027,2384,2047,3942
$GC,1727,-1.11,-243.4,246.1,-12.6,296,1735,0.00,2.20,0.00,0.000,4,0.000,0.045,2365,3460,3942
$GC,1753,-1.11,-243.4,249.4,-12.5,300,1762,0.00,2.00,0.00,0.000,6,0.000,0.028,2376,2087,3942
$GC,2102,-1.11,-243.4,293.8,-13.2,361,2108,0.00,2.10,0.00,0.000,4,0.000,0.047,2364,3456,3942
$GC,2138,-1.11,-243.4,298.6,-13.8,367,2144,0.00,1.95,0.00,0.000,6,0.000,0.028,2368,2098,3942
$GC,2470,-1.11,-243.4,338.9,-11.8,399,2474,0.00,2.12,0.00,0.000,4,0.000,0.041,2367,670,3941
$GC,2541,-1.11,-243.4,347.1,-12.4,405,2545,0.00,2.10,0.00,0.000,6,0.000,0.035,2364,2096,3941
$GC,2871,-1.11,-243.4,387.1,-12.4,436,2875,0.00,2.08,0.00,0.000,4,0.000,0.049,2364,3463,3939
$GC,2910,-1.11,-243.4,392.3,-13.5,439,2916,0.00,1.98,0.00,0.000,6,0.000,0.028,2364,2090,3939
$GC,3235,-1.11,-243.4,431.7,-11.7,470,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2089,3938
$GC,3556,-1.11,-243.4,467.4,-11.1,500,3560,0.00,2.12,0.00,0.000,4,0.000,0.041,2364,667,3936
$GC,3596,-1.11,-243.4,472.5,-12.5,503,3603,0.10,2.15,0.00,0.000,6,0.157,0.036,2389,2114,3935
$GC,3930,-1.11,-243.4,509.1,-10.6,531,3934,0.00,2.05,0.00,0.000,4,0.000,0.051,2383,3459,3934
$GC,3978,-1.11,-243.4,514.1,-10.9,533,3982,0.00,1.98,0.00,0.000,6,0.000,0.030,2384,2098,3934
$GC,4312,-1.11,-243.4,548.9,-10.7,549,4315,0.00,2.15,0.00,0.000,4,0.000,0.044,2385,666,3931
$GC,4351,-1.11,-243.4,553.8,-11.5,550,4357,0.00,2.12,0.00,0.000,6,0.000,0.038,2383,2092,3930
$GC,4667,-1.11,-243.4,588.9,-10.9,566,4671,0.00,2.12,0.00,0.000,4,0.000,0.054,2386,3473,3928
$GC,4737,-1.11,-243.4,596.5,-10.2,569,4740,0.00,2.00,0.00,0.000,6,0.000,0.032,2389,2106,3927
$GC,5071,-1.11,-243.4,629.4,-9.6,585,5075,0.00,2.12,0.00,0.000,4,0.000,0.054,2394,3475,3925
$GC,5118,-1.11,-243.4,634.3,-10.6,587,5122,0.00,1.98,0.00,0.000,6,0.000,0.033,2389,2133,3924
$GC,5452,-1.11,-243.4,668.9,-10.5,603,5455,0.00,2.08,0.00,0.000,4,0.000,0.054,2388,3463,3922
$GC,5524,-1.11,-243.4,677.6,-12.6,606,5528,0.00,1.90,0.00,0.000,6,0.000,0.034,2386,2170,3921
$GC,5852,-1.11,-243.4,714.3,-11.1,622,5856,0.00,2.03,0.00,0.000,4,0.000,0.057,2387,3462,3918
$GC,5903,-1.11,-243.4,720.5,-12.2,624,5906,0.00,1.88,0.00,0.000,6,0.000,0.035,2383,2207,3917
$GC,6231,-1.11,-243.4,756.8,-11.0,640,6234,0.00,1.98,0.00,0.000,4,0.000,0.057,2380,3468,3915
$GC,6276,-1.11,-243.4,762.2,-11.9,642,6280,0.00,1.85,0.00,0.000,6,0.000,0.035,2379,2234,3914
$GC,6609,-1.11,-243.4,797.8,-10.4,658,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2234,3912
$GC,6922,-1.11,-243.4,830.2,-10.5,673,6925,0.00,1.95,0.00,0.000,4,0.000,0.060,2374,3460,3910
$GC,7017,-1.11,-243.4,841.3,-11.5,677,7021,0.00,1.83,0.00,0.000,6,0.000,0.036,2374,2228,3909
$GC,7348,-1.11,-243.4,876.8,-10.7,693,7351,0.00,1.95,0.00,0.000,4,0.000,0.060,2366,3459,3906
$GC,7417,-1.11,-243.4,885.0,-11.7,696,7420,0.00,1.90,0.00,0.000,6,0.000,0.037,2366,2188,3906
$GC,7750,-1.11,-243.4,923.6,-11.5,712,7754,0.00,2.35,0.00,0.000,4,0.000,0.051,2366,669,3904
$GC,7822,-1.11,-243.4,932.6,-11.9,715,7826,0.12,2.30,0.00,0.000,6,0.160,0.045,2387,2161,3903
$GC,8139,-1.11,-243.4,963.9,-10.1,730,8142,0.00,2.05,0.00,0.000,4,0.000,0.061,2380,3457,3902
$GC,8208,-1.11,-243.4,971.3,-10.3,733,8211,0.00,1.90,0.00,0.000,6,0.000,0.041,2381,2203,3901
$STATE,8393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8393,begin apogee
$GC,8402,-0.29,0.0,991.4,10.5,742,8618,0.85,0.00,210.40,1.468,6,0.110,0.000,2654,1709,2945
$STATE,8618,end apogee,CONTROL_FINISHED_OK
$STATE,8618,begin climb
$GC,8621,1.11,243.4,1006.3,0.0,753,8850,1.27,2.33,218.20,1.423,4,0.061,0.061,3108,3101,1951
$GC,8908,1.11,243.4,987.1,13.4,766,8912,0.00,2.20,0.00,0.000,6,0.000,0.044,3118,1697,1945
$GC,9230,1.11,243.4,947.5,12.4,782,9233,0.00,2.25,0.00,0.000,4,0.000,0.058,3129,271,1942
$GC,9303,1.11,243.4,937.7,13.8,785,9307,0.00,2.17,0.00,0.000,6,0.000,0.044,3129,1683,1942
$GC,9624,1.11,243.4,896.4,13.3,801,9628,0.00,2.20,0.00,0.000,4,0.000,0.057,3129,3096,1940
$GC,9716,1.11,243.4,883.8,14.3,805,9721,0.12,2.17,0.00,0.000,6,0.185,0.043,3110,1671,1939
$GC,10044,1.11,243.4,843.5,11.9,821,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1670,1938
$GC,10351,1.11,243.4,807.4,11.6,836,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1671,1937
$GC,10661,1.11,243.4,773.9,10.5,851,10665,0.00,2.28,0.00,0.000,4,0.000,0.057,3108,3104,1936
$GC,10690,1.11,243.4,770.9,11.2,852,10694,0.00,2.17,0.00,0.000,6,0.000,0.044,3116,1682,1936
$GC,11017,1.11,243.4,736.8,10.6,868,11021,0.00,2.20,0.00,0.000,4,0.000,0.056,3127,284,1936
$GC,11090,1.11,243.4,728.3,11.2,871,11093,0.00,2.12,0.00,0.000,6,0.000,0.044,3127,1670,1935
$GC,11419,1.11,243.4,689.8,12.1,887,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1670,1935
$GC,11726,1.11,243.4,653.9,11.6,902,11730,0.00,2.25,0.00,0.000,4,0.000,0.060,3127,3097,1934
$GC,11855,1.11,243.4,638.4,11.4,907,11861,0.12,2.17,0.00,0.000,6,0.181,0.044,3108,1675,1933
$GC,12172,1.11,249.5,606.6,9.8,923,12177,0.00,2.25,0.00,0.000,4,0.000,0.056,3105,3102,1933
$GC,12240,1.11,249.5,599.2,10.5,926,12243,0.00,2.12,0.00,0.000,6,0.000,0.042,3113,1714,1933
$GC,12568,1.11,249.5,565.3,10.2,942,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1714,1933
$GC,12877,1.14,273.3,535.1,9.3,957,12916,0.00,0.00,27.35,1.110,6,0.000,0.000,3113,1714,1829
$GC,13226,1.18,301.6,502.7,9.2,974,13268,0.00,2.28,28.95,1.078,4,0.000,0.054,3113,3100,1714
$GC,13391,1.18,301.6,485.4,11.3,986,13397,0.00,2.12,0.00,0.000,6,0.000,0.041,3123,1720,1712
$GC,13720,1.18,301.6,449.7,10.4,1017,13724,0.00,2.17,0.00,0.000,4,0.000,0.052,3123,3108,1711
$GC,13839,1.19,314.0,437.0,9.7,1027,13857,0.00,2.03,12.32,1.032,6,0.000,0.041,3133,1781,1664
$GC,14177,1.23,340.9,402.9,9.3,1059,14208,0.00,2.15,25.27,1.049,4,0.000,0.053,3133,3096,1555
$GC,14236,1.23,340.9,396.9,10.2,1064,14242,0.00,2.05,0.00,0.000,6,0.000,0.039,3142,1781,1553
$GC,14564,1.23,346.5,363.6,9.8,1095,14576,0.00,2.08,6.30,0.838,4,0.000,0.051,3142,3102,1532
$GC,14583,1.23,346.5,361.2,10.6,1096,14589,0.00,1.95,0.00,0.000,6,0.000,0.038,3150,1835,1532
$GC,14912,1.24,348.0,327.1,10.0,1127,14916,0.00,2.42,0.00,0.000,4,0.000,0.051,3162,275,1532
$GC,14946,1.24,348.0,322.8,10.8,1129,14953,0.00,2.47,0.00,0.000,6,0.000,0.039,3162,1898,1532
$GC,15279,1.24,348.0,285.9,10.6,1171,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1898,1532
$GC,15624,1.24,348.0,248.3,10.4,1232,15630,0.00,2.53,0.00,0.000,4,0.000,0.048,3174,267,1532
$GC,15734,1.24,348.0,236.7,11.4,1251,15740,0.00,2.47,0.00,0.000,6,0.000,0.036,3174,1908,1532
$GC,16079,1.24,348.0,200.7,10.5,1312,16085,0.00,1.83,0.00,0.000,4,0.000,0.045,3174,3097,1532
$GC,16206,1.24,348.0,186.8,11.3,1334,16213,0.10,1.83,0.00,0.000,6,0.153,0.035,3152,1885,1532
$GC,16552,1.26,369.6,153.2,9.4,1395,16589,0.00,2.53,24.45,0.754,4,0.000,0.048,3161,281,1438
$GC,16653,1.26,369.6,143.1,10.1,1412,16659,0.00,2.47,0.00,0.000,6,0.000,0.035,3161,1937,1437
$GC,16999,1.28,385.3,111.3,9.6,1473,17020,0.00,1.83,15.07,0.739,4,0.000,0.043,3161,3106,1374
$GC,17125,1.28,385.3,98.3,10.9,1494,17131,0.00,1.90,0.00,0.000,6,0.000,0.032,3170,1837,1374
$GC,17469,1.39,473.1,69.8,7.6,1555,17552,0.00,1.98,76.03,0.731,4,0.000,0.040,3170,3111,1016
$GC,17691,1.44,511.0,50.4,9.0,1592,17732,0.00,2.00,33.58,0.689,6,0.000,0.031,3177,1787,861
$GC,18072,1.44,511.0,12.3,11.5,1658,18078,0.00,2.30,0.00,0.000,4,0.000,0.044,3177,266,860
$STATE,18156,end climb,SURFACE_DEPTH_REACHED
$STATE,18156,begin surface coast
$FINISH,0.9,1.021640
$STATE,18190,end surface coast,CONTROL_FINISHED_OK
$STATE,18190,begin surface
$SM_CCo,18273,0.00,0.000,0,0,858,511.94
$SM_GC,1.73,7.93,0.00,0.00,0.035,0.000,0.000,164,2076,858,-8.05,0.42,511.94
$IRIDIUM_FIX,2401.56,12505.91,041198,232331
$TT8_MAMPS,0.026845
$HUMID,1630
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.90
$XPDR_PINGS,190
$24V_AH,23.0,104.502
$10V_AH,10.6,68.572
$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,19.675,157.375,677.925,0.000,0.000,25.032,42.418,257.331,55.500,0.000,0.000,18.037,2916.383,10809.634,791.350,3420.544,827.070,0.000,2333.047,0.000,3379.285,0.000,54.432,0.000
$DEVICE_MAMPS,222.430,61.360,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1138.144,1167.160,1962.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97692,1679
$CAP_FILE_SIZE,169750,0
$CFSIZE,260165632,196243456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.146, 92.2,1
$GPS,110809,095707,2406.716,12550.512,32,1.1,32,-3.6