version: 66.04
glider: 166
mission: 2
dive: 471
start: 8 11 109 10 5 35
data:
$ID,166
$MISSION,2
$DIVE,471
$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,-15190.521
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,095707,2406.716,12550.512,32,1.1,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.7
$GPS2,100514,2406.755,12550.512,11,1.6,11,-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,226.2,32404,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,90,0.00,0.00,-68.80,0.000,2,0.000,0.000,135,2076,2399
$GC,94,-1.11,-243.4,3.2,-5.2,10,153,9.12,2.17,-42.85,0.000,4,0.225,0.049,2380,627,3936
$GC,160,-1.11,-243.4,12.0,-16.3,20,167,0.00,2.12,0.00,0.000,6,0.000,0.031,2382,2071,3936
$GC,508,-1.11,-243.4,71.9,-16.7,81,514,0.00,2.15,0.00,0.000,4,0.000,0.037,2373,626,3936
$GC,633,-1.11,-243.4,94.4,-18.3,103,641,0.00,2.20,0.00,0.000,6,0.000,0.032,2368,2099,3936
$GC,980,-1.11,-243.4,142.9,-14.0,164,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2100,3937
$GC,1325,-1.11,-243.4,189.2,-13.3,225,1332,0.00,2.05,0.00,0.000,4,0.000,0.044,2373,3470,3938
$GC,1385,-1.11,-243.4,197.6,-14.2,235,1393,0.00,2.03,0.00,0.000,6,0.000,0.026,2366,2072,3938
$GC,1735,-1.11,-243.4,243.2,-11.8,296,1741,0.00,2.12,0.00,0.000,4,0.000,0.044,2366,3465,3938
$GC,1765,-1.11,-243.4,247.0,-12.3,301,1771,0.00,1.92,0.00,0.000,6,0.000,0.027,2366,2115,3938
$GC,2110,-1.11,-243.4,287.7,-11.6,362,2116,0.00,2.08,0.00,0.000,4,0.000,0.046,2366,3472,3938
$GC,2130,-1.11,-243.4,290.0,-11.9,365,2136,0.00,1.92,0.00,0.000,6,0.000,0.028,2366,2126,3938
$GC,2462,-1.11,-243.4,327.0,-10.6,403,2465,0.00,2.05,0.00,0.000,4,0.000,0.047,2365,3462,3936
$GC,2490,-1.11,-243.4,330.4,-11.2,405,2496,0.00,1.90,0.00,0.000,6,0.000,0.028,2365,2133,3936
$GC,2819,-1.11,-243.4,366.4,-10.8,436,2822,0.00,2.17,0.00,0.000,4,0.000,0.040,2365,669,3935
$GC,2846,-1.11,-243.4,370.2,-11.7,438,2853,0.00,2.17,0.00,0.000,6,0.000,0.034,2365,2148,3935
$GC,3172,-1.11,-243.4,406.6,-10.8,469,3176,0.00,2.00,0.00,0.000,4,0.000,0.049,2368,3468,3934
$GC,3241,-1.11,-243.4,414.2,-11.4,475,3244,0.00,1.88,0.00,0.000,6,0.000,0.028,2367,2165,3933
$GC,3575,-1.11,-243.4,451.0,-11.6,506,3579,0.00,2.25,0.00,0.000,4,0.000,0.042,2367,666,3932
$GC,3626,-1.11,-243.4,457.6,-11.8,510,3632,0.00,2.25,0.00,0.000,6,0.000,0.036,2366,2181,3931
$GC,3954,-1.11,-243.4,494.3,-11.9,541,3958,0.00,1.95,0.00,0.000,4,0.000,0.051,2368,3458,3929
$GC,3978,-1.11,-243.4,497.5,-11.7,543,3982,0.00,1.85,0.00,0.000,6,0.000,0.030,2368,2181,3929
$GC,4311,-1.11,-243.4,535.2,-10.7,560,4315,0.00,2.28,0.00,0.000,4,0.000,0.043,2369,673,3927
$GC,4351,-1.11,-243.4,539.8,-11.5,562,4355,0.00,2.28,0.00,0.000,6,0.000,0.038,2371,2185,3926
$GC,4680,-1.11,-243.4,573.4,-10.2,578,4684,0.00,1.95,0.00,0.000,4,0.000,0.053,2376,3457,3923
$GC,4698,-1.11,-243.4,575.5,-10.2,578,4704,0.00,1.88,0.00,0.000,6,0.000,0.031,2378,2185,3923
$GC,5014,-1.11,-243.4,607.5,-10.2,594,5018,0.00,2.28,0.00,0.000,4,0.000,0.044,2377,677,3921
$GC,5082,-1.11,-243.4,615.0,-10.8,597,5086,0.00,2.22,0.00,0.000,6,0.000,0.038,2372,2159,3920
$GC,5403,-1.11,-243.4,648.2,-10.4,613,5407,0.00,2.00,0.00,0.000,4,0.000,0.054,2366,3457,3917
$GC,5451,-1.11,-243.4,653.5,-11.8,615,5455,0.00,1.88,0.00,0.000,6,0.000,0.033,2363,2179,3917
$GC,5785,-1.11,-243.4,692.3,-11.5,631,5789,0.00,2.28,0.00,0.000,4,0.000,0.047,2363,683,3914
$GC,5836,-1.11,-243.4,698.9,-12.8,633,5840,0.12,2.28,0.00,0.000,6,0.157,0.040,2392,2170,3913
$GC,6158,-1.11,-243.4,733.6,-10.7,649,6162,0.00,2.00,0.00,0.000,4,0.000,0.058,2393,3457,3910
$GC,6213,-1.11,-243.4,740.0,-12.2,651,6217,0.00,1.85,0.00,0.000,6,0.000,0.035,2392,2199,3910
$GC,6535,-1.11,-243.4,773.8,-10.6,667,6539,0.00,2.00,0.00,0.000,4,0.000,0.057,2385,3473,3908
$GC,6570,-1.11,-243.4,777.6,-11.4,668,6573,0.00,1.88,0.00,0.000,6,0.000,0.035,2384,2225,3908
$GC,6892,-1.11,-243.4,809.8,-9.8,684,6896,0.00,2.38,0.00,0.000,4,0.000,0.049,2384,681,3906
$GC,6947,-1.11,-243.4,816.2,-11.3,686,6954,0.00,2.33,0.00,0.000,6,0.000,0.042,2375,2182,3905
$GC,7265,-1.11,-243.4,851.2,-11.3,702,7269,0.00,2.00,0.00,0.000,4,0.000,0.059,2367,3460,3903
$GC,7289,-1.11,-243.4,854.3,-12.4,703,7293,0.00,1.85,0.00,0.000,6,0.000,0.036,2367,2214,3903
$GC,7622,-1.11,-243.4,894.5,-12.3,719,7626,0.00,2.00,0.00,0.000,4,0.000,0.067,2358,3463,3901
$GC,7662,-1.11,-243.4,899.7,-13.6,720,7670,0.10,1.83,0.00,0.000,6,0.146,0.036,2389,2247,3900
$GC,7979,-1.11,-243.4,936.3,-11.1,736,7983,0.00,2.42,0.00,0.000,4,0.000,0.050,2389,676,3899
$GC,8012,-1.11,-243.4,940.5,-12.6,737,8018,0.00,2.42,0.00,0.000,6,0.000,0.044,2381,2246,3898
$GC,8330,-1.11,-243.4,978.0,-11.8,753,8334,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,676,3896
$GC,8407,-1.11,-243.4,987.9,-12.2,756,8414,0.00,2.38,0.00,0.000,6,0.000,0.046,2370,2211,3895
$STATE,8431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8431,begin apogee
$GC,8439,-0.29,0.0,991.2,11.9,758,8656,0.90,0.00,209.52,1.469,6,0.120,0.000,2652,1719,2946
$STATE,8656,end apogee,CONTROL_FINISHED_OK
$STATE,8656,begin climb
$GC,8661,1.11,243.4,1005.4,0.0,769,8884,1.30,0.00,218.18,1.425,6,0.060,0.000,3110,1719,1952
$GC,9194,1.11,243.4,957.8,11.0,795,9198,0.00,2.17,0.00,0.000,4,0.000,0.058,3110,3093,1944
$GC,9228,1.11,243.4,953.6,12.6,796,9232,0.00,2.12,0.00,0.000,6,0.000,0.043,3119,1703,1943
$GC,9549,1.11,243.4,915.0,12.2,812,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1703,1942
$GC,9859,1.11,243.4,876.4,12.4,827,9862,0.00,2.22,0.00,0.000,4,0.000,0.056,3131,286,1940
$GC,9921,1.11,243.4,868.3,13.1,829,9929,0.00,2.20,0.00,0.000,6,0.000,0.044,3131,1717,1940
$GC,10238,1.11,243.4,829.2,12.3,845,10241,0.00,2.15,0.00,0.000,4,0.000,0.058,3131,3099,1939
$GC,10284,1.11,243.4,823.3,13.1,847,10289,0.15,2.12,0.00,0.000,6,0.179,0.043,3105,1712,1938
$GC,10612,1.11,243.4,788.4,10.2,863,10616,0.00,2.20,0.00,0.000,4,0.000,0.057,3101,3105,1938
$GC,10635,1.11,243.4,785.8,10.1,864,10639,0.00,2.10,0.00,0.000,6,0.000,0.043,3109,1728,1937
$GC,10967,1.11,243.4,750.9,10.5,880,10971,0.00,2.28,0.00,0.000,4,0.000,0.056,3120,283,1937
$GC,11086,1.11,243.4,737.9,10.7,885,11090,0.00,2.22,0.00,0.000,6,0.000,0.044,3120,1731,1937
$GC,11402,1.13,260.0,706.8,9.5,900,11428,0.00,2.17,15.88,1.118,4,0.000,0.056,3120,3105,1884
$GC,11468,1.13,260.0,699.8,11.8,903,11472,0.00,2.15,0.00,0.000,6,0.000,0.042,3130,1706,1883
$GC,11795,1.13,260.0,664.3,11.3,919,11799,0.00,2.20,0.00,0.000,4,0.000,0.057,3130,3098,1883
$GC,11845,1.13,260.0,657.9,11.8,921,11849,0.00,2.12,0.00,0.000,6,0.000,0.043,3140,1712,1882
$GC,12174,1.13,260.0,619.7,11.9,937,12178,0.00,2.25,0.00,0.000,4,0.000,0.055,3150,277,1882
$GC,12247,1.13,260.0,610.5,12.4,940,12252,0.15,2.20,0.00,0.000,6,0.178,0.043,3114,1718,1882
$GC,12573,1.13,260.0,576.0,10.4,956,12577,0.00,2.15,0.00,0.000,4,0.000,0.055,3111,3094,1881
$GC,12630,1.13,260.0,570.1,10.4,958,12634,0.00,2.10,0.00,0.000,6,0.000,0.041,3119,1716,1881
$GC,12952,1.15,276.5,538.1,9.5,974,12983,0.00,2.33,18.27,1.051,4,0.000,0.055,3130,283,1817
$GC,13037,1.15,276.5,529.4,10.1,977,13044,0.00,2.22,0.00,0.000,6,0.000,0.043,3130,1725,1816
$GC,13353,1.16,285.0,498.6,9.8,993,13367,0.00,2.22,9.10,1.041,4,0.000,0.054,3130,3107,1783
$GC,13480,1.16,285.0,484.5,11.1,1004,13484,0.00,2.10,0.00,0.000,6,0.000,0.041,3140,1737,1781
$GC,13811,1.16,285.0,448.2,10.6,1035,13814,0.00,2.15,0.00,0.000,4,0.000,0.054,3140,3108,1781
$GC,13872,1.16,285.0,441.5,10.5,1040,13879,0.00,2.05,0.00,0.000,6,0.000,0.041,3149,1758,1780
$GC,14203,1.20,320.3,410.4,9.0,1071,14240,0.00,2.15,33.03,1.071,4,0.000,0.054,3149,3099,1639
$GC,14358,1.20,320.3,394.9,10.7,1084,14364,0.00,2.00,0.00,0.000,6,0.000,0.040,3158,1814,1636
$GC,14687,1.20,320.3,358.7,10.8,1115,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1813,1635
$GC,15012,1.20,320.3,324.8,10.3,1146,15016,0.00,2.38,0.00,0.000,4,0.000,0.051,3170,283,1635
$GC,15131,1.20,320.3,312.1,10.8,1156,15136,0.12,2.42,0.00,0.000,6,0.167,0.040,3140,1869,1635
$GC,15467,1.28,387.8,282.1,8.1,1204,15535,0.00,2.55,60.38,0.950,4,0.000,0.049,3149,273,1362
$GC,15604,1.28,387.8,268.5,10.8,1227,15610,0.00,2.42,0.00,0.000,6,0.000,0.037,3149,1849,1359
$GC,15951,1.28,387.8,230.7,10.1,1288,15957,0.00,2.45,0.00,0.000,4,0.000,0.048,3160,271,1357
$GC,16048,1.28,387.8,220.7,10.1,1305,16056,0.00,2.30,0.00,0.000,6,0.000,0.035,3161,1802,1357
$GC,16395,1.28,387.8,185.6,10.3,1366,16401,0.00,2.38,0.00,0.000,4,0.000,0.047,3172,283,1357
$GC,16494,1.29,390.3,175.4,9.9,1383,16501,0.00,2.22,0.00,0.000,6,0.000,0.035,3172,1755,1357
$GC,16840,1.34,429.8,141.5,8.9,1444,16885,0.00,2.35,37.40,0.802,4,0.000,0.046,3182,281,1192
$GC,16956,1.34,429.8,129.3,10.9,1463,16962,0.00,2.28,0.00,0.000,6,0.000,0.034,3182,1802,1191
$GC,17302,1.43,502.6,94.0,8.0,1524,17374,0.00,2.05,63.12,0.752,4,0.000,0.041,3182,3100,896
$GC,17494,1.43,502.6,73.6,10.2,1556,17501,0.00,2.10,0.00,0.000,6,0.000,0.032,3192,1693,895
$GC,17840,1.45,523.1,39.2,9.4,1617,17866,0.00,2.17,19.10,0.664,4,0.000,0.039,3191,3116,812
$GC,17970,1.51,569.3,26.9,8.7,1639,18017,0.10,2.15,40.28,0.672,6,0.071,0.031,3255,1662,623
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FINISH,1.0,1.010129
$STATE,18198,end surface coast,CONTROL_FINISHED_OK
$STATE,18198,begin surface
$SM_CCo,18278,0.00,0.000,0,0,620,570.32
$SM_GC,1.68,8.18,0.00,0.00,0.036,0.000,0.000,160,2071,620,-8.06,0.28,570.32
$IRIDIUM_FIX,2401.56,12549.83,051198,040417
$TT8_MAMPS,0.026845
$HUMID,1636
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.80
$XPDR_PINGS,166
$24V_AH,23.0,104.771
$10V_AH,10.6,68.739
$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,20.250,182.275,724.250,0.000,0.000,26.380,33.709,238.665,49.500,0.000,0.000,11.828,2909.844,10779.663,837.012,3389.138,828.833,0.000,2397.359,0.000,3360.485,0.000,54.426,0.000
$DEVICE_MAMPS,224.731,66.729,1468.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1136.500,1153.700,1939.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97806,1678
$CAP_FILE_SIZE,174939,0
$CFSIZE,260165632,196141056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.105, 92.8,1
$GPS,110809,151131,2405.433,12550.608,40,1.3,40,-3.6