version: 66.04
glider: 166
mission: 2
dive: 473
start: 8 11 109 20 37 12
data:
$ID,166
$MISSION,2
$DIVE,473
$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,-15265.231
$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,69
$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
$GPS1,202837,2404.272,12551.040,27,1.3,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.6
$GPS2,203652,2404.295,12551.110,16,99.0,35,-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,227.3,28427,-13.9,-10.000
$D_GRID,1147
$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,19,-1.11,-243.4,0.0,0.0,0,87,0.00,0.00,-66.22,0.000,2,0.000,0.000,154,2109,2304
$GC,91,-1.11,-243.4,3.0,-4.4,10,152,9.15,2.28,-46.90,0.000,4,0.226,0.049,2375,644,3939
$GC,172,-1.11,-243.4,13.6,-17.4,22,180,0.00,2.05,0.00,0.000,6,0.000,0.031,2366,2044,3940
$GC,521,-1.11,-243.4,74.3,-16.8,83,527,0.00,2.08,0.00,0.000,4,0.000,0.035,2361,638,3939
$GC,607,-1.11,-243.4,89.6,-18.5,98,615,0.15,2.12,0.00,0.000,6,0.160,0.029,2389,2102,3939
$GC,955,-1.11,-243.4,139.1,-12.5,159,961,0.00,2.15,0.00,0.000,4,0.000,0.035,2389,645,3941
$GC,1049,-1.11,-243.4,151.6,-13.6,175,1055,0.00,2.17,0.00,0.000,6,0.000,0.030,2384,2142,3941
$GC,1394,-1.11,-243.4,197.0,-12.7,236,1400,0.00,2.22,0.00,0.000,4,0.000,0.035,2385,638,3941
$GC,1423,-1.11,-243.4,200.1,-12.8,240,1429,0.00,2.17,0.00,0.000,6,0.000,0.031,2380,2132,3941
$GC,1768,-1.11,-243.4,242.6,-12.5,301,1774,0.00,2.00,0.00,0.000,4,0.000,0.044,2379,3468,3941
$GC,1865,-1.11,-243.4,255.0,-12.5,318,1872,0.00,1.92,0.00,0.000,6,0.000,0.027,2379,2132,3941
$GC,2214,-1.11,-243.4,296.0,-11.9,379,2220,0.00,2.00,0.00,0.000,4,0.000,0.044,2378,3457,3941
$GC,2276,-1.11,-243.4,304.4,-13.1,387,2282,0.00,1.88,0.00,0.000,6,0.000,0.027,2378,2135,3941
$GC,2604,-1.11,-243.4,343.0,-11.5,418,2608,0.00,2.20,0.00,0.000,4,0.000,0.038,2378,651,3940
$GC,2632,-1.11,-243.4,346.7,-12.1,420,2639,0.00,2.28,0.00,0.000,6,0.000,0.033,2377,2168,3939
$GC,2960,-1.11,-243.4,379.9,-9.9,451,2964,0.00,1.95,0.00,0.000,4,0.000,0.048,2381,3462,3938
$GC,3056,-1.11,-243.4,390.4,-11.1,459,3062,0.00,1.85,0.00,0.000,6,0.000,0.028,2380,2166,3937
$GC,3381,-1.11,-243.4,426.3,-11.5,490,3385,0.00,1.98,0.00,0.000,4,0.000,0.048,2378,3463,3936
$GC,3432,-1.11,-243.4,432.4,-12.2,494,3439,0.00,1.85,0.00,0.000,6,0.000,0.028,2380,2196,3936
$GC,3760,-1.11,-243.4,467.8,-10.2,525,3763,0.00,1.92,0.00,0.000,4,0.000,0.049,2380,3453,3934
$GC,3799,-1.11,-243.4,472.2,-10.7,528,3805,0.00,1.80,0.00,0.000,6,0.000,0.030,2380,2222,3934
$GC,4136,-1.11,-243.4,505.2,-10.2,558,4141,0.00,2.35,0.00,0.000,4,0.000,0.042,2380,658,3933
$GC,4155,-1.11,-243.4,507.5,-10.5,559,4159,0.00,2.38,0.00,0.000,6,0.000,0.037,2381,2237,3932
$GC,4484,-1.11,-243.4,543.4,-11.1,575,4488,0.00,1.85,0.00,0.000,4,0.000,0.053,2385,3451,3929
$GC,4568,-1.11,-243.4,553.6,-11.7,578,4575,0.00,1.77,0.00,0.000,6,0.000,0.031,2384,2246,3928
$GC,4884,-1.11,-243.4,586.2,-9.7,594,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2246,3926
$GC,5195,-1.11,-243.4,614.8,-9.4,609,5199,0.00,2.42,0.00,0.000,4,0.000,0.045,2385,653,3924
$GC,5267,-1.11,-243.4,622.4,-9.9,612,5271,0.00,2.45,0.00,0.000,6,0.000,0.045,2388,2251,3923
$GC,5590,-1.11,-243.4,655.5,-10.9,628,5593,0.00,1.85,0.00,0.000,4,0.000,0.055,2391,3451,3920
$GC,5617,-1.11,-243.4,658.9,-11.8,629,5621,0.00,1.75,0.00,0.000,6,0.000,0.034,2388,2252,3920
$GC,5945,-1.11,-243.4,693.5,-10.3,645,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2252,3917
$GC,6257,-1.11,-243.4,725.9,-10.4,660,6261,0.00,2.45,0.00,0.000,4,0.000,0.048,2389,654,3915
$GC,6335,-1.11,-243.4,734.8,-10.9,663,6341,0.00,2.45,0.00,0.000,6,0.000,0.042,2383,2257,3914
$GC,6652,-1.11,-243.4,769.0,-10.8,679,6656,0.00,2.47,0.00,0.000,4,0.000,0.048,2387,659,3911
$GC,6675,-1.11,-243.4,771.9,-11.9,680,6679,0.00,2.47,0.00,0.000,6,0.000,0.043,2382,2271,3911
$GC,6996,-1.11,-243.4,808.7,-11.3,696,7000,0.00,2.53,0.00,0.000,4,0.000,0.049,2382,650,3909
$GC,7086,-1.11,-243.4,820.0,-13.4,700,7090,0.00,2.42,0.00,0.000,6,0.000,0.044,2372,2226,3908
$GC,7414,-1.11,-243.4,859.1,-11.6,716,7418,0.00,2.45,0.00,0.000,4,0.000,0.051,2372,657,3905
$GC,7487,-1.11,-243.4,868.3,-11.8,719,7492,0.12,2.38,0.00,0.000,6,0.159,0.044,2394,2200,3905
$GC,7811,-1.11,-243.4,898.2,-8.6,735,7814,0.00,2.00,0.00,0.000,4,0.000,0.067,2387,3456,3903
$GC,7895,-1.11,-243.4,906.5,-9.6,738,7902,0.00,1.83,0.00,0.000,6,0.000,0.038,2387,2252,3902
$GC,8211,-1.11,-243.4,935.1,-9.6,754,8215,0.00,2.47,0.00,0.000,4,0.000,0.051,2387,657,3901
$GC,8284,-1.11,-243.4,943.3,-11.3,757,8288,0.00,2.42,0.00,0.000,6,0.000,0.044,2376,2227,3900
$GC,8600,-1.11,-243.4,980.5,-12.3,772,8604,0.00,2.47,0.00,0.000,4,0.000,0.054,2376,660,3898
$GC,8633,-1.11,-243.4,984.9,-13.5,773,8637,0.00,2.40,0.00,0.000,6,0.000,0.047,2367,2206,3898
$STATE,8683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8683,begin apogee
$GC,8692,-0.29,0.0,991.7,13.2,776,8908,0.93,0.00,209.82,1.474,6,0.127,0.000,2653,1687,2945
$STATE,8908,end apogee,CONTROL_FINISHED_OK
$STATE,8908,begin climb
$GC,8911,1.11,243.4,1008.3,0.0,787,9143,1.30,2.35,218.52,1.428,4,0.059,0.058,3121,298,1952
$GC,9161,1.11,243.4,994.2,12.2,799,9165,0.00,2.20,0.00,0.000,6,0.000,0.042,3121,1691,1948
$GC,9490,1.11,243.4,953.5,12.4,815,9494,0.00,2.22,0.00,0.000,4,0.000,0.058,3121,3102,1944
$GC,9563,1.11,243.4,943.7,13.6,818,9567,0.00,2.12,0.00,0.000,6,0.000,0.042,3131,1712,1942
$GC,9890,1.11,243.4,902.9,13.0,834,9894,0.00,2.25,0.00,0.000,4,0.000,0.058,3141,284,1941
$GC,9918,1.11,243.4,898.9,13.9,835,9923,0.15,2.20,0.00,0.000,6,0.177,0.044,3105,1713,1941
$GC,10240,1.11,243.4,860.1,11.7,851,10243,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,3099,1939
$GC,10341,1.11,243.4,847.1,13.0,855,10345,0.00,2.08,0.00,0.000,6,0.000,0.044,3112,1728,1938
$GC,10664,1.11,243.4,809.3,11.6,871,10667,0.00,2.28,0.00,0.000,4,0.000,0.057,3123,285,1938
$GC,10715,1.11,243.4,802.9,12.6,873,10719,0.00,2.25,0.00,0.000,6,0.000,0.044,3124,1744,1938
$GC,11037,1.11,243.4,763.4,12.3,889,11041,0.00,2.33,0.00,0.000,4,0.000,0.056,3135,280,1937
$GC,11064,1.11,243.4,759.7,13.2,890,11068,0.00,2.25,0.00,0.000,6,0.000,0.044,3134,1740,1937
$GC,11388,1.11,243.4,719.5,12.4,906,11392,0.00,2.15,0.00,0.000,4,0.000,0.058,3135,3109,1937
$GC,11472,1.11,243.4,708.5,13.2,909,11479,0.15,2.08,0.00,0.000,6,0.181,0.044,3108,1751,1936
$GC,11789,1.11,243.4,674.8,10.4,925,11792,0.00,2.15,0.00,0.000,4,0.000,0.058,3105,3109,1936
$GC,11817,1.12,250.7,671.8,9.8,926,11827,0.00,2.08,4.95,0.960,6,0.000,0.043,3113,1750,1923
$GC,12139,1.12,250.7,638.9,10.1,941,12143,0.00,2.33,0.00,0.000,4,0.000,0.061,3124,281,1922
$GC,12185,1.12,250.7,634.1,10.6,943,12189,0.00,2.30,0.00,0.000,6,0.000,0.044,3124,1767,1922
$GC,12513,1.12,250.7,599.5,10.6,959,12517,0.00,2.10,0.00,0.000,4,0.000,0.057,3124,3106,1922
$GC,12552,1.12,250.7,594.8,11.2,960,12558,0.00,2.05,0.00,0.000,6,0.000,0.043,3134,1763,1922
$GC,12868,1.12,250.7,561.6,10.2,976,12872,0.00,2.33,0.00,0.000,4,0.000,0.055,3145,287,1922
$GC,12999,1.12,250.7,547.2,10.8,982,13004,0.15,2.30,0.00,0.000,6,0.179,0.044,3108,1776,1922
$GC,13326,1.13,259.5,515.4,9.8,998,13341,0.00,2.10,10.02,1.085,4,0.000,0.055,3105,3104,1886
$GC,13415,1.13,259.5,506.0,10.5,1001,13419,0.00,2.03,0.00,0.000,6,0.000,0.042,3113,1785,1885
$GC,13744,1.20,315.7,475.5,8.4,1029,13811,0.00,2.17,54.10,1.104,4,0.000,0.054,3112,3096,1657
$GC,13906,1.20,315.7,458.6,11.5,1043,13909,0.00,1.95,0.00,0.000,6,0.000,0.041,3122,1830,1654
$GC,14239,1.22,335.4,425.7,9.5,1074,14264,0.00,2.08,18.77,1.053,4,0.000,0.054,3121,3099,1577
$GC,14288,1.22,335.4,420.8,10.3,1078,14292,0.00,1.92,0.00,0.000,6,0.000,0.041,3130,1848,1576
$GC,14622,1.24,348.0,387.9,9.7,1109,14644,0.00,2.05,12.45,0.985,4,0.000,0.053,3130,3109,1526
$GC,14740,1.24,348.0,374.6,11.3,1119,14747,0.00,1.83,0.00,0.000,6,0.000,0.039,3140,1903,1525
$GC,15068,1.24,348.0,339.8,10.7,1150,15071,0.00,1.88,0.00,0.000,4,0.000,0.051,3140,3109,1524
$GC,15125,1.24,348.0,333.1,11.6,1155,15129,0.00,1.77,0.00,0.000,6,0.000,0.038,3148,1926,1524
$GC,15456,1.24,348.0,299.1,10.1,1186,15462,0.00,1.85,0.00,0.000,4,0.000,0.050,3148,3101,1524
$GC,15470,1.24,354.5,297.2,9.8,1188,15482,0.00,1.90,7.35,0.828,6,0.000,0.038,3157,1859,1498
$GC,15821,1.24,354.5,261.4,10.2,1250,15828,0.00,1.95,0.00,0.000,4,0.000,0.048,3157,3102,1499
$GC,15887,1.24,354.5,254.7,10.9,1261,15893,0.00,1.77,0.00,0.000,6,0.000,0.036,3166,1908,1499
$GC,16231,1.24,354.5,215.9,10.3,1322,16238,0.00,1.88,0.00,0.000,4,0.000,0.048,3166,3105,1499
$GC,16352,1.24,354.5,202.6,10.3,1343,16359,0.00,1.85,0.00,0.000,6,0.000,0.036,3175,1866,1499
$GC,16699,1.24,354.5,167.4,12.2,1404,16706,0.00,2.42,0.00,0.000,4,0.000,0.046,3186,283,1499
$GC,16787,1.26,368.1,158.5,9.6,1419,16813,0.12,2.45,16.08,0.712,6,0.160,0.035,3156,1917,1443
$GC,17155,1.33,422.1,122.1,8.5,1483,17213,0.00,2.62,47.65,0.792,4,0.000,0.047,3166,286,1223
$GC,17297,1.38,464.6,110.4,8.8,1506,17343,0.00,2.40,38.12,0.762,6,0.000,0.033,3166,1880,1049
$GC,17687,1.44,513.9,73.0,8.6,1573,17739,0.12,1.92,43.17,0.727,4,0.067,0.041,3233,3109,848
$GC,17842,1.45,519.1,56.5,9.9,1599,17856,0.00,1.92,5.78,0.543,6,0.000,0.032,3240,1831,828
$GC,18198,1.45,519.1,17.1,11.3,1661,18204,0.00,1.95,0.00,0.000,4,0.000,0.040,3239,3108,829
$GC,18274,1.45,519.1,8.5,12.4,1674,18281,0.08,1.83,0.00,0.000,6,0.143,0.030,3221,1869,829
$STATE,18326,end climb,SURFACE_DEPTH_REACHED
$STATE,18326,begin surface coast
$FINISH,1.0,1.011755
$STATE,18355,end surface coast,CONTROL_FINISHED_OK
$STATE,18355,begin surface
$SM_CCo,18435,0.00,0.000,0,0,828,519.30
$SM_GC,1.76,8.07,0.00,0.00,0.036,0.000,0.000,164,2105,828,-8.06,1.24,519.30
$IRIDIUM_FIX,2354.48,12553.66,051198,151511
$TT8_MAMPS,0.026845
$HUMID,1638
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,205
$24V_AH,23.0,105.291
$10V_AH,10.5,69.076
$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,20.500,189.075,686.800,0.000,0.000,25.351,34.407,229.234,59.250,0.000,0.000,36.578,2960.724,10822.825,822.439,3490.262,811.388,0.000,2402.815,0.000,3419.519,0.000,56.649,0.000
$DEVICE_MAMPS,226.265,67.496,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.301,1159.799,1953.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97882,1688
$CAP_FILE_SIZE,179913,0
$CFSIZE,260165632,195940352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113, 88.3,1
$GPS,120809,014537,2403.337,12551.116,32,1.0,32,-3.6