version: 66.04
glider: 166
mission: 2
dive: 474
start: 8 12 109 1 54 21
data:
$ID,166
$MISSION,2
$DIVE,474
$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,-15296.566
$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,36
$R_STBD_OVSHOOT,65
$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
$GPS1,014537,2403.337,12551.116,32,1.0,32,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.5
$GPS2,015401,2403.305,12551.185,13,1.0,30,-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,224.9,26776,-13.9,-10.000
$D_GRID,1142
$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,-243.4,0.0,0.0,0,85,0.00,0.00,-64.25,0.000,2,0.000,0.000,161,2106,2254
$GC,89,-1.11,-243.4,3.0,-4.9,10,155,8.80,2.28,-49.90,0.000,4,0.212,0.049,2380,642,3939
$GC,175,-1.11,-243.4,13.7,-18.2,23,183,0.00,2.08,0.00,0.000,6,0.000,0.031,2373,2057,3939
$GC,525,-1.11,-243.4,75.3,-17.7,84,531,0.00,2.10,0.00,0.000,4,0.000,0.037,2364,644,3939
$GC,544,-1.11,-243.4,79.3,-18.4,87,552,0.12,2.12,0.00,0.000,6,0.160,0.032,2393,2094,3939
$GC,891,-1.11,-243.4,123.8,-11.5,148,897,0.00,2.15,0.00,0.000,4,0.000,0.036,2395,642,3941
$GC,978,-1.11,-243.4,134.9,-13.4,163,985,0.00,2.17,0.00,0.000,6,0.000,0.031,2383,2133,3941
$GC,1326,-1.11,-243.4,182.8,-13.7,224,1333,0.00,2.03,0.00,0.000,4,0.000,0.044,2382,3490,3941
$GC,1359,-1.11,-243.4,187.2,-13.7,229,1366,0.00,2.03,0.00,0.000,6,0.000,0.027,2385,2065,3942
$GC,1703,-1.11,-243.4,227.4,-10.7,290,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2064,3941
$GC,2047,-1.11,-243.4,268.6,-11.4,351,2054,0.00,2.12,0.00,0.000,4,0.000,0.044,2378,3459,3941
$GC,2098,-1.11,-243.4,274.4,-12.2,359,2106,0.00,1.90,0.00,0.000,6,0.000,0.027,2380,2127,3941
$GC,2440,-1.11,-243.4,314.1,-11.5,409,2443,0.00,2.05,0.00,0.000,4,0.000,0.046,2377,3463,3940
$GC,2464,-1.11,-243.4,317.1,-11.5,411,2468,0.00,1.90,0.00,0.000,6,0.000,0.028,2377,2155,3940
$GC,2795,-1.11,-243.4,355.7,-11.2,442,2799,0.00,2.20,0.00,0.000,4,0.000,0.038,2377,675,3939
$GC,2819,-1.11,-243.4,358.5,-12.1,444,2823,0.00,2.20,0.00,0.000,6,0.000,0.034,2377,2161,3938
$GC,3153,-1.11,-243.4,395.5,-11.2,475,3157,0.00,1.98,0.00,0.000,4,0.000,0.048,2377,3469,3937
$GC,3244,-1.11,-243.4,406.4,-12.0,483,3247,0.00,1.85,0.00,0.000,6,0.000,0.028,2377,2182,3936
$GC,3578,-1.11,-243.4,443.8,-11.8,514,3582,0.00,2.25,0.00,0.000,4,0.000,0.041,2377,678,3936
$GC,3602,-1.11,-243.4,447.1,-12.0,516,3606,0.00,2.25,0.00,0.000,6,0.000,0.036,2377,2182,3935
$GC,3927,-1.11,-243.4,485.5,-11.7,546,3930,0.00,1.95,0.00,0.000,4,0.000,0.051,2378,3457,3934
$GC,4000,-1.11,-243.4,494.4,-11.8,552,4006,0.00,1.85,0.00,0.000,6,0.000,0.030,2378,2197,3934
$GC,4328,-1.11,-243.4,528.2,-10.2,571,4332,0.00,2.30,0.00,0.000,4,0.000,0.043,2379,669,3932
$GC,4356,-1.11,-243.4,531.4,-10.9,572,4361,0.00,2.28,0.00,0.000,6,0.000,0.038,2378,2185,3931
$GC,4673,-1.11,-243.4,565.2,-11.2,587,4677,0.00,1.98,0.00,0.000,4,0.000,0.054,2383,3472,3928
$GC,4764,-1.11,-243.4,576.0,-11.8,591,4768,0.00,1.83,0.00,0.000,6,0.000,0.032,2384,2216,3927
$GC,5098,-1.11,-243.4,614.9,-11.4,607,5102,0.00,1.98,0.00,0.000,4,0.000,0.054,2391,3481,3925
$GC,5149,-1.11,-243.4,621.2,-11.4,609,5152,0.00,1.83,0.00,0.000,6,0.000,0.032,2387,2227,3925
$GC,5479,-1.11,-243.4,653.9,-9.3,625,5483,0.00,2.35,0.00,0.000,4,0.000,0.045,2387,678,3923
$GC,5587,-1.11,-243.4,664.6,-9.7,630,5591,0.00,2.28,0.00,0.000,6,0.000,0.040,2383,2177,3921
$GC,5915,-1.11,-243.4,695.5,-9.6,646,5918,0.00,1.98,0.00,0.000,4,0.000,0.054,2377,3456,3919
$GC,5984,-1.11,-243.4,702.6,-10.8,649,5987,0.00,1.83,0.00,0.000,6,0.000,0.035,2375,2216,3918
$GC,6319,-1.11,-243.4,738.6,-11.1,665,6323,0.00,2.35,0.00,0.000,4,0.000,0.048,2375,682,3915
$GC,6359,-1.11,-243.4,743.7,-12.9,667,6363,0.00,2.30,0.00,0.000,6,0.000,0.041,2370,2193,3914
$GC,6687,-1.11,-243.4,783.2,-11.8,683,6691,0.00,2.33,0.00,0.000,4,0.000,0.048,2370,684,3911
$GC,6737,-1.11,-243.4,789.7,-12.4,685,6741,0.12,2.22,0.00,0.000,6,0.162,0.042,2394,2144,3911
$GC,7059,-1.11,-243.4,823.3,-9.8,701,7063,0.00,2.05,0.00,0.000,4,0.000,0.059,2391,3456,3909
$GC,7098,-1.11,-243.4,827.6,-10.4,702,7105,0.00,1.92,0.00,0.000,6,0.000,0.038,2391,2182,3909
$GC,7414,-1.11,-243.4,860.5,-10.5,718,7418,0.00,2.03,0.00,0.000,4,0.000,0.059,2384,3453,3907
$GC,7454,-1.11,-243.4,864.8,-11.3,719,7462,0.00,1.85,0.00,0.000,6,0.000,0.037,2383,2205,3906
$GC,7771,-1.11,-243.4,898.1,-10.3,735,7775,0.00,2.38,0.00,0.000,4,0.000,0.051,2383,682,3905
$GC,7862,-1.11,-243.4,909.0,-12.4,739,7866,0.00,2.33,0.00,0.000,6,0.000,0.045,2373,2191,3903
$GC,8192,-1.11,-243.4,947.4,-11.4,755,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2192,3901
$GC,8498,-1.11,-243.4,984.3,-12.3,770,8502,0.00,2.38,0.00,0.000,4,0.000,0.053,2373,675,3900
$STATE,8539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8549,-0.29,0.0,990.4,14.1,772,8767,0.90,0.00,210.10,1.470,6,0.130,0.000,2648,1696,2944
$STATE,8767,end apogee,CONTROL_FINISHED_OK
$STATE,8767,begin climb
$GC,8770,1.11,243.4,1008.1,0.0,783,8999,1.30,2.33,217.77,1.427,4,0.073,0.058,3100,3100,1950
$GC,9056,1.11,243.4,992.4,11.5,796,9060,0.00,2.15,0.00,0.000,6,0.000,0.043,3109,1719,1945
$GC,9384,1.11,243.4,952.3,12.8,812,9388,0.00,2.28,0.00,0.000,4,0.000,0.058,3120,278,1942
$GC,9486,1.11,243.4,938.7,13.1,816,9492,0.00,2.17,0.00,0.000,6,0.000,0.044,3120,1694,1941
$GC,9802,1.11,243.4,897.2,13.3,832,9806,0.00,2.20,0.00,0.000,4,0.000,0.058,3121,3099,1940
$GC,9840,1.11,243.4,891.5,15.0,833,9846,0.00,2.17,0.00,0.000,6,0.000,0.044,3131,1674,1938
$GC,10156,1.11,243.4,849.1,12.9,849,10160,0.00,2.17,0.00,0.000,4,0.000,0.057,3141,292,1938
$GC,10208,1.11,243.4,842.3,12.5,851,10212,0.15,2.15,0.00,0.000,6,0.179,0.044,3105,1695,1938
$GC,10535,1.11,243.4,803.6,11.9,867,10538,0.00,2.22,0.00,0.000,4,0.000,0.057,3113,288,1937
$GC,10591,1.11,243.4,796.5,12.6,869,10594,0.00,2.12,0.00,0.000,6,0.000,0.044,3113,1669,1937
$GC,10914,1.11,243.4,760.1,10.9,885,10918,0.00,2.28,0.00,0.000,4,0.000,0.063,3113,3101,1936
$GC,10992,1.11,243.4,750.6,11.5,888,10998,0.00,2.20,0.00,0.000,6,0.000,0.044,3122,1659,1935
$GC,11310,1.11,243.4,717.5,10.1,904,11313,0.00,2.28,0.00,0.000,4,0.000,0.058,3123,3095,1935
$GC,11365,1.11,243.4,711.3,10.6,906,11369,0.00,2.15,0.00,0.000,6,0.000,0.042,3133,1687,1934
$GC,11687,1.11,243.4,678.1,10.3,922,11691,0.00,2.20,0.00,0.000,4,0.000,0.056,3143,292,1934
$GC,11744,1.11,243.4,671.8,11.1,924,11749,0.15,2.17,0.00,0.000,6,0.176,0.043,3107,1711,1934
$GC,12060,1.11,243.4,638.9,10.4,939,12064,0.00,2.25,0.00,0.000,4,0.000,0.054,3115,289,1934
$GC,12135,1.11,243.4,630.8,11.3,942,12138,0.00,2.15,0.00,0.000,6,0.000,0.044,3115,1691,1933
$GC,12463,1.11,243.4,597.3,10.2,958,12466,0.00,2.22,0.00,0.000,4,0.000,0.056,3115,3103,1933
$GC,12535,1.11,243.4,589.4,10.4,961,12539,0.00,2.20,0.00,0.000,6,0.000,0.043,3126,1665,1932
$GC,12863,1.11,243.4,556.0,10.2,977,12867,0.00,2.28,0.00,0.000,4,0.000,0.056,3126,3100,1933
$GC,12933,1.12,250.3,549.0,9.8,980,12942,0.00,2.15,4.32,0.824,6,0.000,0.042,3136,1696,1923
$GC,13266,1.12,251.6,515.1,10.0,996,13269,0.00,2.22,0.00,0.000,4,0.000,0.054,3146,277,1923
$GC,13282,1.14,271.5,513.4,9.4,996,13310,0.00,2.25,21.00,1.147,6,0.000,0.042,3146,1726,1838
$GC,13625,1.14,271.5,478.9,10.0,1022,13629,0.00,2.15,0.00,0.000,4,0.000,0.054,3146,3102,1834
$GC,13739,1.14,271.5,466.5,11.0,1032,13743,0.15,2.10,0.00,0.000,6,0.173,0.041,3119,1726,1833
$GC,14064,1.23,344.4,438.8,8.0,1062,14144,0.00,2.30,68.68,1.073,4,0.000,0.054,3119,3103,1541
$GC,14247,1.23,344.4,420.1,10.7,1078,14251,0.00,2.05,0.00,0.000,6,0.000,0.040,3127,1773,1537
$GC,14581,1.23,344.4,384.0,10.1,1109,14585,0.00,2.33,0.00,0.000,4,0.000,0.052,3138,284,1534
$GC,14616,1.23,344.4,380.0,10.2,1112,14620,0.00,2.35,0.00,0.000,6,0.000,0.040,3138,1819,1534
$GC,14952,1.23,344.4,347.1,10.6,1143,14955,0.00,1.98,0.00,0.000,4,0.000,0.051,3138,3102,1534
$GC,15002,1.23,344.4,340.9,11.4,1147,15009,0.00,1.92,0.00,0.000,6,0.000,0.038,3147,1820,1533
$GC,15330,1.23,344.4,306.7,10.2,1178,15334,0.00,2.00,0.00,0.000,4,0.000,0.050,3147,3107,1533
$GC,15422,1.23,344.4,297.1,11.0,1188,15428,0.00,1.92,0.00,0.000,6,0.000,0.038,3156,1845,1533
$GC,15768,1.23,344.4,257.5,11.6,1249,15774,0.00,2.40,0.00,0.000,4,0.000,0.049,3168,290,1533
$GC,15809,1.23,344.4,252.6,12.0,1256,15815,0.00,2.38,0.00,0.000,6,0.000,0.037,3168,1867,1533
$GC,16155,1.23,344.4,217.3,10.5,1317,16161,0.00,1.88,0.00,0.000,4,0.000,0.047,3168,3102,1533
$GC,16232,1.23,344.4,209.6,11.1,1330,16239,0.10,1.88,0.00,0.000,6,0.151,0.035,3146,1857,1533
$GC,16578,1.23,344.4,175.1,10.1,1391,16586,0.00,1.92,0.00,0.000,4,0.000,0.045,3145,3099,1533
$GC,16621,1.24,355.2,170.8,9.7,1398,16636,0.00,1.95,10.38,0.766,6,0.000,0.035,3152,1803,1496
$GC,16977,1.33,424.2,142.2,8.1,1460,17047,0.00,2.45,61.33,0.801,4,0.000,0.052,3163,284,1215
$GC,17140,1.34,430.1,126.9,9.8,1487,17154,0.00,2.35,6.97,0.637,6,0.000,0.033,3163,1849,1190
$GC,17494,1.42,499.3,92.0,8.1,1549,17564,0.12,1.98,60.12,0.743,4,0.067,0.044,3231,3101,908
$GC,17663,1.42,499.3,75.2,11.0,1577,17670,0.10,1.98,0.00,0.000,6,0.137,0.032,3208,1792,908
$GC,18009,1.42,499.3,38.8,10.3,1638,18015,0.00,2.00,0.00,0.000,4,0.000,0.040,3208,3102,907
$GC,18113,1.42,499.3,28.2,10.2,1656,18119,0.00,1.88,0.00,0.000,6,0.000,0.031,3214,1843,907
$STATE,18355,end climb,SURFACE_DEPTH_REACHED
$STATE,18355,begin surface coast
$FINISH,0.9,1.000285
$STATE,18396,end surface coast,CONTROL_FINISHED_OK
$STATE,18396,begin surface
$SM_CCo,18476,0.00,0.000,0,0,907,500.17
$SM_GC,1.85,8.05,0.00,0.00,0.037,0.000,0.000,166,2098,907,-8.07,1.02,500.17
$IRIDIUM_FIX,2356.84,12550.37,051198,202017
$TT8_MAMPS,0.026845
$HUMID,1650
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.90
$XPDR_PINGS,200
$24V_AH,22.8,105.548
$10V_AH,10.6,69.247
$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,20.075,187.200,660.675,0.000,0.000,24.247,34.336,244.712,58.000,0.000,0.000,30.708,2988.594,10814.048,770.393,3538.257,845.860,0.000,2377.814,0.000,3493.492,0.000,54.435,0.000
$DEVICE_MAMPS,212.459,62.894,1469.572,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.085,1185.673,1989.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97910,1706
$CAP_FILE_SIZE,179906,0
$CFSIZE,260165632,195842048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146, 92.8,1
$GPS,120809,070337,2402.292,12551.729,42,1.4,42,-3.6