version: 66.04
glider: 166
mission: 2
dive: 472
start: 8 11 109 15 20 12
data:
$ID,166
$MISSION,2
$DIVE,472
$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,-15228.024
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,151131,2405.433,12550.608,40,1.3,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.1
$GPS2,151952,2405.483,12550.660,16,99.0,35,-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,220.0,30236,-13.9,-10.000
$D_GRID,1241
$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,-243.4,0.0,0.0,0,98,0.00,0.00,-77.20,0.000,2,0.000,0.000,154,2068,2340
$GC,102,-1.11,-243.4,3.1,-5.2,12,161,9.12,2.20,-44.03,0.000,4,0.225,0.049,2384,648,3939
$GC,181,-1.11,-243.4,14.8,-19.8,24,188,0.00,2.10,0.00,0.000,6,0.000,0.032,2383,2075,3940
$GC,528,-1.11,-243.4,75.4,-16.6,85,535,0.00,2.12,0.00,0.000,4,0.000,0.045,2383,3463,3940
$GC,542,-1.11,-243.4,77.7,-17.1,87,550,0.00,2.00,0.00,0.000,6,0.000,0.027,2376,2084,3940
$GC,889,-1.11,-243.4,128.3,-13.7,148,895,0.00,2.08,0.00,0.000,4,0.000,0.037,2383,667,3941
$GC,925,-1.11,-243.4,133.6,-14.5,154,932,0.00,2.15,0.00,0.000,6,0.000,0.031,2371,2120,3941
$GC,1272,-1.11,-243.4,178.4,-13.0,215,1279,0.00,2.03,0.00,0.000,4,0.000,0.044,2372,3475,3942
$GC,1376,-1.11,-243.4,193.1,-14.3,233,1383,0.00,1.92,0.00,0.000,6,0.000,0.026,2375,2141,3942
$GC,1722,-1.11,-243.4,238.7,-12.1,294,1729,0.00,2.05,0.00,0.000,4,0.000,0.045,2366,3463,3942
$GC,1748,-1.11,-243.4,241.6,-12.0,298,1754,0.00,1.90,0.00,0.000,6,0.000,0.027,2370,2147,3941
$GC,2093,-1.11,-243.4,282.3,-12.5,359,2100,0.00,2.20,0.00,0.000,4,0.000,0.038,2368,660,3941
$GC,2129,-1.11,-243.4,287.2,-13.9,365,2135,0.00,2.22,0.00,0.000,6,0.000,0.032,2366,2175,3942
$GC,2461,-1.11,-243.4,327.4,-12.7,405,2465,0.00,1.95,0.00,0.000,4,0.000,0.047,2366,3466,3941
$GC,2501,-1.11,-243.4,332.5,-12.7,408,2508,0.00,1.88,0.00,0.000,6,0.000,0.028,2365,2170,3941
$GC,2829,-1.11,-243.4,370.4,-10.8,439,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2170,3940
$GC,3157,-1.11,-243.4,404.1,-10.7,470,3161,0.00,1.98,0.00,0.000,4,0.000,0.048,2365,3456,3938
$GC,3241,-1.11,-243.4,414.1,-11.6,477,3247,0.00,1.83,0.00,0.000,6,0.000,0.028,2365,2184,3937
$GC,3571,-1.11,-243.4,450.8,-11.0,508,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2184,3936
$GC,3899,-1.11,-243.4,485.4,-10.3,539,3902,0.00,1.98,0.00,0.000,4,0.000,0.051,2365,3462,3934
$GC,3946,-1.11,-243.4,490.6,-11.1,543,3950,0.00,1.80,0.00,0.000,6,0.000,0.030,2367,2211,3933
$GC,4272,-1.11,-243.4,525.4,-10.7,563,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2211,3931
$GC,4579,-1.11,-243.4,559.7,-11.2,578,4583,0.00,1.92,0.00,0.000,4,0.000,0.053,2372,3454,3927
$GC,4607,-1.11,-243.4,562.9,-12.0,579,4610,0.00,1.77,0.00,0.000,6,0.000,0.031,2376,2228,3927
$GC,4936,-1.11,-243.4,598.7,-10.8,595,4940,0.00,2.35,0.00,0.000,4,0.000,0.044,2376,672,3925
$GC,4954,-1.11,-243.4,600.9,-10.8,596,4958,0.00,2.35,0.00,0.000,6,0.000,0.046,2379,2212,3925
$GC,5288,-1.11,-243.4,638.2,-11.1,612,5292,0.00,2.35,0.00,0.000,4,0.000,0.044,2379,672,3922
$GC,5321,-1.11,-243.4,642.4,-12.3,613,5327,0.00,2.33,0.00,0.000,6,0.000,0.041,2382,2205,3921
$GC,5640,-1.11,-243.4,676.2,-10.5,629,5644,0.00,2.35,0.00,0.000,4,0.000,0.046,2382,672,3918
$GC,5680,-1.11,-243.4,680.8,-10.7,631,5684,0.00,2.33,0.00,0.000,6,0.000,0.041,2376,2198,3918
$GC,6010,-1.11,-243.4,716.2,-11.2,647,6014,0.00,2.35,0.00,0.000,4,0.000,0.048,2374,672,3915
$GC,6066,-1.11,-243.4,723.4,-12.9,649,6072,0.00,2.25,0.00,0.000,6,0.000,0.041,2369,2154,3915
$GC,6384,-1.11,-243.4,759.3,-11.5,665,6387,0.00,2.03,0.00,0.000,4,0.000,0.058,2363,3454,3912
$GC,6400,-1.11,-243.4,761.6,-11.4,665,6407,0.12,1.92,0.00,0.000,6,0.152,0.035,2392,2150,3912
$GC,6718,-1.11,-243.4,796.1,-10.9,681,6722,0.00,2.05,0.00,0.000,4,0.000,0.057,2388,3454,3910
$GC,6754,-1.11,-243.4,800.1,-11.8,682,6757,0.00,1.90,0.00,0.000,6,0.000,0.037,2388,2175,3910
$GC,7076,-1.11,-243.4,835.8,-11.0,698,7080,0.00,2.03,0.00,0.000,4,0.000,0.058,2380,3453,3907
$GC,7155,-1.11,-243.4,845.0,-11.2,701,7158,0.00,1.95,0.00,0.000,6,0.000,0.038,2380,2144,3907
$GC,7478,-1.11,-243.4,880.2,-10.8,717,7481,0.00,2.08,0.00,0.000,4,0.000,0.060,2371,3451,3904
$GC,7511,-1.11,-243.4,884.5,-12.5,718,7514,0.00,1.92,0.00,0.000,6,0.000,0.038,2370,2165,3904
$GC,7832,-1.11,-243.4,921.8,-11.1,734,7836,0.00,2.30,0.00,0.000,4,0.000,0.052,2371,681,3902
$GC,7900,-1.11,-243.4,929.8,-11.4,737,7905,0.12,2.22,0.00,0.000,6,0.158,0.044,2391,2130,3901
$GC,8222,-1.11,-243.4,959.6,-9.2,753,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2130,3900
$GC,8531,-1.11,-243.4,986.9,-8.9,768,8535,0.00,2.10,0.00,0.000,4,0.000,0.062,2385,3454,3898
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8573,-0.29,0.0,990.3,9.8,769,8786,0.82,0.00,209.90,1.470,6,0.125,0.000,2646,1719,2945
$STATE,8787,end apogee,CONTROL_FINISHED_OK
$STATE,8787,begin climb
$GC,8790,1.11,243.4,1002.7,0.0,780,9018,1.30,0.00,218.70,1.424,6,0.063,0.000,3105,1718,1952
$GC,9327,1.11,243.4,954.7,11.5,806,9331,0.00,2.17,0.00,0.000,4,0.000,0.058,3106,3091,1944
$GC,9360,1.11,243.4,950.6,12.1,807,9364,0.00,2.15,0.00,0.000,6,0.000,0.043,3115,1685,1943
$GC,9685,1.11,243.4,914.0,11.7,823,9688,0.00,2.22,0.00,0.000,4,0.000,0.058,3116,3093,1942
$GC,9769,1.11,243.4,902.8,13.1,826,9775,0.00,2.12,0.00,0.000,6,0.000,0.044,3126,1698,1940
$GC,10085,1.11,243.4,865.3,11.8,842,10088,0.00,2.22,0.00,0.000,4,0.000,0.058,3136,287,1940
$GC,10221,1.11,243.4,848.4,13.2,848,10226,0.12,2.12,0.00,0.000,6,0.183,0.044,3107,1671,1940
$GC,10548,1.11,243.4,811.6,11.1,864,10551,0.00,2.22,0.00,0.000,4,0.000,0.058,3105,3094,1939
$GC,10639,1.11,243.4,800.7,12.5,868,10642,0.00,2.17,0.00,0.000,6,0.000,0.043,3113,1669,1938
$GC,10972,1.11,243.4,762.9,11.1,884,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1669,1937
$GC,11281,1.11,243.4,727.5,11.8,899,11285,0.00,2.28,0.00,0.000,4,0.000,0.058,3113,3100,1937
$GC,11336,1.11,243.4,721.0,11.5,901,11340,0.00,2.15,0.00,0.000,6,0.000,0.043,3122,1696,1935
$GC,11660,1.11,243.4,685.3,11.0,917,11663,0.00,2.22,0.00,0.000,4,0.000,0.056,3133,280,1936
$GC,11717,1.11,243.4,678.7,11.3,919,11721,0.00,2.17,0.00,0.000,6,0.000,0.044,3133,1694,1936
$GC,12040,1.11,243.4,643.8,10.8,935,12043,0.00,2.20,0.00,0.000,4,0.000,0.057,3133,3097,1936
$GC,12068,1.11,243.4,640.4,11.0,936,12072,0.15,2.20,0.00,0.000,6,0.182,0.043,3107,1657,1935
$GC,12389,1.11,243.4,607.1,10.5,952,12392,0.00,2.15,0.00,0.000,4,0.000,0.056,3116,292,1935
$GC,12422,1.11,243.4,603.3,10.7,953,12426,0.00,2.12,0.00,0.000,6,0.000,0.043,3115,1680,1935
$GC,12745,1.11,243.4,569.7,10.5,969,12749,0.00,2.25,0.00,0.000,4,0.000,0.057,3115,3096,1935
$GC,12868,1.11,243.4,556.1,10.5,974,12872,0.00,2.15,0.00,0.000,6,0.000,0.042,3126,1686,1934
$GC,13193,1.17,290.7,524.7,8.7,990,13254,0.00,2.35,45.20,1.100,4,0.000,0.055,3126,3099,1760
$GC,13277,1.17,290.7,516.1,11.0,994,13281,0.00,2.17,0.00,0.000,6,0.000,0.041,3136,1703,1757
$GC,13606,1.17,290.7,480.6,10.6,1018,13609,0.00,2.22,0.00,0.000,4,0.000,0.054,3146,289,1754
$GC,13651,1.17,290.7,475.4,11.2,1022,13655,0.00,2.22,0.00,0.000,6,0.000,0.042,3146,1734,1754
$GC,13978,1.17,290.7,440.1,10.8,1052,13982,0.00,2.12,0.00,0.000,4,0.000,0.054,3146,3100,1754
$GC,14041,1.17,290.7,433.1,10.6,1057,14047,0.12,2.10,0.00,0.000,6,0.176,0.041,3127,1718,1752
$GC,14366,1.20,322.1,401.6,9.1,1088,14410,0.00,2.25,30.58,1.009,4,0.000,0.053,3125,3096,1631
$GC,14480,1.20,322.1,390.8,10.0,1098,14484,0.00,2.05,0.00,0.000,6,0.000,0.040,3132,1749,1630
$GC,14815,1.21,326.6,358.0,9.9,1129,14827,0.00,2.12,5.47,0.799,4,0.000,0.051,3133,3103,1612
$GC,14856,1.21,326.6,353.4,10.5,1132,14864,0.00,2.08,0.00,0.000,6,0.000,0.038,3142,1757,1612
$GC,15184,1.23,341.5,321.7,9.6,1163,15207,0.00,2.12,15.02,0.948,4,0.000,0.051,3142,3109,1552
$GC,15322,1.23,341.5,307.0,10.6,1175,15326,0.00,1.98,0.00,0.000,6,0.000,0.038,3151,1801,1550
$GC,15663,1.23,341.5,271.3,10.7,1230,15669,0.00,2.03,0.00,0.000,4,0.000,0.048,3151,3114,1550
$GC,15732,1.23,341.5,263.8,10.3,1242,15738,0.00,1.95,0.00,0.000,6,0.000,0.036,3160,1834,1550
$GC,16076,1.23,341.5,226.3,10.9,1303,16082,0.00,2.40,0.00,0.000,4,0.000,0.048,3172,280,1550
$GC,16146,1.23,341.5,218.2,12.0,1315,16152,0.00,2.40,0.00,0.000,6,0.000,0.038,3172,1864,1550
$GC,16492,1.26,366.5,182.0,9.3,1376,16525,0.00,1.92,23.38,0.837,4,0.000,0.047,3172,3094,1450
$GC,16612,1.26,366.5,169.2,10.8,1396,16620,0.00,2.00,0.00,0.000,6,0.000,0.035,3181,1783,1450
$GC,16962,1.27,375.6,133.1,9.7,1457,16981,0.00,2.10,9.52,0.719,4,0.000,0.044,3181,3111,1413
$GC,17036,1.33,424.4,126.3,8.7,1469,17087,0.00,2.00,43.60,0.787,6,0.000,0.034,3190,1792,1214
$GC,17429,1.33,424.4,91.2,11.7,1537,17435,0.00,2.03,0.00,0.000,4,0.000,0.041,3190,3128,1212
$GC,17527,1.33,424.4,80.3,10.5,1554,17534,0.00,2.05,0.00,0.000,6,0.000,0.033,3200,1743,1212
$GC,17875,1.39,471.5,48.1,8.7,1615,17921,0.00,2.15,40.95,0.700,4,0.000,0.040,3200,3102,1023
$GC,18039,1.44,517.5,33.2,8.7,1642,18085,0.00,1.98,40.42,0.676,6,0.000,0.031,3208,1789,835
$STATE,18330,end climb,SURFACE_DEPTH_REACHED
$STATE,18331,begin surface coast
$FINISH,0.9,1.022007
$STATE,18359,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18440,0.00,0.000,0,0,833,518.07
$SM_GC,1.75,8.07,0.00,0.00,0.038,0.000,0.000,165,2109,833,-8.06,1.36,518.07
$IRIDIUM_FIX,2356.84,12551.75,051198,101055
$TT8_MAMPS,0.027612
$HUMID,1637
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,181
$24V_AH,22.8,105.029
$10V_AH,10.5,68.907
$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,19.975,174.475,682.750,0.000,0.000,24.968,31.437,236.562,53.250,0.000,0.000,36.874,2947.399,10903.802,832.031,3430.774,804.596,0.000,2372.432,0.000,3366.420,0.000,54.420,0.000
$DEVICE_MAMPS,225.498,62.127,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1151.207,1172.381,1974.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97919,1698
$CAP_FILE_SIZE,173642,0
$CFSIZE,260165632,196042752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.127, 97.7,1
$GPS,110809,202837,2404.272,12551.040,27,1.3,27,-3.6