version: 66.04
glider: 166
mission: 2
dive: 475
start: 8 12 109 7 15 8
data:
$ID,166
$MISSION,2
$DIVE,475
$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,-15313.588
$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,40
$R_STBD_OVSHOOT,73
$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
$GPS1,070337,2402.292,12551.729,42,1.4,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.8
$GPS2,071444,2402.294,12551.729,16,2.0,16,-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,234.5,25463,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.11,-243.4,0.0,0.0,0,83,0.00,0.00,-65.07,0.000,2,0.000,0.000,157,2097,2371
$GC,87,-1.11,-243.4,3.3,-5.7,10,147,9.35,2.12,-44.60,0.000,4,0.232,0.055,2370,3447,3939
$GC,171,-1.11,-243.4,15.0,-20.3,23,179,0.12,2.03,0.00,0.000,6,0.170,0.028,2391,2029,3940
$GC,520,-1.11,-243.4,71.5,-16.3,84,526,0.00,2.12,0.00,0.000,4,0.000,0.043,2388,3439,3939
$GC,545,-1.11,-243.4,75.7,-16.5,88,552,0.00,1.98,0.00,0.000,6,0.000,0.027,2387,2072,3940
$GC,890,-1.11,-243.4,128.5,-13.5,149,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2072,3941
$GC,1235,-1.11,-243.4,168.9,-13.0,210,1242,0.00,2.05,0.00,0.000,4,0.000,0.042,2382,3436,3942
$GC,1295,-1.11,-243.4,176.8,-14.0,220,1302,0.00,1.95,0.00,0.000,6,0.000,0.027,2385,2081,3941
$GC,1643,-1.11,-243.4,220.9,-12.1,281,1649,0.00,2.05,0.00,0.000,4,0.000,0.044,2383,3443,3941
$GC,1691,-1.11,-243.4,226.8,-12.4,289,1697,0.00,1.90,0.00,0.000,6,0.000,0.026,2381,2094,3941
$GC,2037,-1.11,-243.4,269.8,-11.7,350,2043,0.00,2.08,0.00,0.000,4,0.000,0.037,2380,678,3941
$GC,2081,-1.11,-243.4,274.9,-12.0,357,2088,0.00,2.05,0.00,0.000,6,0.000,0.031,2384,2087,3941
$GC,2425,-1.11,-243.4,313.7,-10.7,407,2429,0.00,2.08,0.00,0.000,4,0.000,0.045,2382,3468,3940
$GC,2496,-1.11,-243.4,321.5,-12.0,413,2500,0.00,1.92,0.00,0.000,6,0.000,0.027,2380,2118,3939
$GC,2827,-1.11,-243.4,360.3,-11.5,444,2831,0.00,2.12,0.00,0.000,4,0.000,0.038,2380,684,3938
$GC,2857,-1.11,-243.4,363.9,-12.5,446,2863,0.00,2.12,0.00,0.000,6,0.000,0.032,2382,2135,3938
$GC,3186,-1.11,-243.4,399.5,-10.5,477,3191,0.00,2.00,0.00,0.000,4,0.000,0.048,2385,3456,3936
$GC,3278,-1.11,-243.4,410.3,-12.0,485,3281,0.00,1.85,0.00,0.000,6,0.000,0.028,2381,2184,3936
$GC,3611,-1.11,-243.4,445.2,-10.2,516,3615,0.00,2.25,0.00,0.000,4,0.000,0.040,2381,681,3935
$GC,3661,-1.11,-243.4,451.0,-10.8,520,3668,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,2148,3934
$GC,3990,-1.11,-243.4,484.9,-11.6,551,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2148,3933
$GC,4310,-1.11,-243.4,520.2,-10.3,573,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2148,3930
$GC,4621,-1.11,-243.4,548.8,-9.2,588,4625,0.00,2.00,0.00,0.000,4,0.000,0.052,2384,3453,3927
$GC,4660,-1.11,-243.4,552.9,-10.1,589,4666,0.00,1.90,0.00,0.000,6,0.000,0.031,2385,2144,3927
$GC,4977,-1.11,-243.4,585.1,-10.7,605,4980,0.00,2.20,0.00,0.000,4,0.000,0.045,2385,688,3925
$GC,5005,-1.11,-243.4,588.4,-11.9,606,5009,0.00,2.20,0.00,0.000,6,0.000,0.039,2378,2151,3924
$GC,5332,-1.11,-243.4,624.8,-11.5,622,5337,0.00,2.00,0.00,0.000,4,0.000,0.053,2374,3453,3922
$GC,5378,-1.11,-243.4,630.3,-12.3,624,5382,0.00,1.92,0.00,0.000,6,0.000,0.033,2369,2162,3921
$GC,5713,-1.11,-243.4,667.6,-10.5,640,5716,0.00,2.03,0.00,0.000,4,0.000,0.054,2365,3462,3918
$GC,5804,-1.11,-243.4,677.4,-10.7,644,5808,0.00,2.00,0.00,0.000,6,0.000,0.034,2363,2129,3917
$GC,6137,-1.11,-243.4,710.4,-9.7,660,6141,0.00,2.20,0.00,0.000,4,0.000,0.048,2362,690,3915
$GC,6177,-1.11,-243.4,714.5,-10.7,661,6184,0.15,2.12,0.00,0.000,6,0.155,0.040,2394,2095,3914
$GC,6496,-1.11,-243.4,744.6,-9.9,677,6499,0.00,2.15,0.00,0.000,4,0.000,0.056,2392,3474,3911
$GC,6557,-1.11,-243.4,751.6,-10.8,679,6564,0.00,1.98,0.00,0.000,6,0.000,0.035,2390,2141,3911
$GC,6875,-1.11,-243.4,786.0,-11.2,695,6879,0.00,2.25,0.00,0.000,4,0.000,0.050,2392,680,3908
$GC,6925,-1.11,-243.4,792.2,-12.3,697,6929,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,2105,3908
$GC,7248,-1.11,-243.4,827.6,-10.7,713,7252,0.00,2.15,0.00,0.000,4,0.000,0.058,2381,3475,3905
$GC,7326,-1.11,-243.4,836.6,-11.0,716,7330,0.00,1.98,0.00,0.000,6,0.000,0.038,2380,2154,3905
$GC,7648,-1.11,-243.4,870.7,-10.7,732,7652,0.00,2.08,0.00,0.000,4,0.000,0.058,2371,3465,3903
$GC,7750,-1.11,-243.4,883.2,-13.0,736,7754,0.00,2.05,0.00,0.000,6,0.000,0.038,2371,2097,3902
$GC,8072,-1.11,-243.4,922.2,-12.0,752,8075,0.00,2.22,0.00,0.000,4,0.000,0.053,2371,661,3900
$GC,8122,-1.11,-243.4,929.1,-13.8,754,8127,0.12,2.20,0.00,0.000,6,0.162,0.044,2393,2091,3899
$GC,8444,-1.11,-243.4,966.6,-11.5,770,8448,0.00,2.17,0.00,0.000,4,0.000,0.061,2385,3466,3898
$GC,8527,-1.11,-243.4,977.3,-13.8,773,8533,0.00,2.08,0.00,0.000,6,0.000,0.040,2385,2086,3897
$STATE,8636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8636,begin apogee
$GC,8645,-0.29,0.0,990.1,11.8,779,8858,0.85,0.00,209.18,1.477,6,0.113,0.000,2657,1699,2945
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8859,begin climb
$GC,8862,1.11,243.4,1007.3,0.0,790,9091,1.25,2.38,217.95,1.432,4,0.061,0.058,3103,3099,1951
$GC,9121,1.11,243.4,992.5,13.1,802,9126,0.00,2.20,0.00,0.000,6,0.000,0.043,3112,1699,1948
$GC,9449,1.11,243.4,951.0,12.3,818,9452,0.00,2.25,0.00,0.000,4,0.000,0.058,3123,276,1943
$GC,9517,1.11,243.4,942.1,12.9,821,9521,0.00,2.17,0.00,0.000,6,0.000,0.044,3124,1686,1942
$GC,9851,1.11,243.4,898.7,13.2,837,9854,0.00,2.22,0.00,0.000,4,0.000,0.056,3134,279,1941
$GC,9884,1.11,243.4,894.0,12.9,838,9887,0.00,2.12,0.00,0.000,6,0.000,0.044,3134,1667,1940
$GC,10205,1.11,243.4,853.1,12.0,854,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1667,1939
$GC,10516,1.11,243.4,814.1,12.9,869,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1667,1938
$GC,10823,1.11,243.4,775.0,12.6,884,10827,0.00,2.20,0.00,0.000,4,0.000,0.056,3145,277,1938
$GC,10840,1.11,243.4,772.8,12.3,884,10847,0.15,2.12,0.00,0.000,6,0.179,0.044,3108,1665,1938
$GC,11157,1.11,243.4,736.7,11.6,900,11161,0.00,2.25,0.00,0.000,4,0.000,0.057,3105,3096,1936
$GC,11220,1.11,243.4,729.1,11.6,902,11228,0.00,2.22,0.00,0.000,6,0.000,0.044,3114,1639,1936
$GC,11536,1.11,243.4,694.6,10.5,918,11540,0.00,2.30,0.00,0.000,4,0.000,0.057,3112,3094,1936
$GC,11570,1.11,243.4,690.7,11.7,919,11576,0.00,2.17,0.00,0.000,6,0.000,0.043,3120,1668,1936
$GC,11887,1.11,243.4,653.5,11.7,935,11891,0.00,2.20,0.00,0.000,4,0.000,0.061,3131,284,1935
$GC,11965,1.11,243.4,644.0,11.4,938,11969,0.00,2.12,0.00,0.000,6,0.000,0.044,3131,1671,1935
$GC,12289,1.11,243.4,607.3,11.2,954,12293,0.00,2.22,0.00,0.000,4,0.000,0.056,3131,3092,1934
$GC,12403,1.11,243.4,593.9,11.1,959,12408,0.15,2.15,0.00,0.000,6,0.180,0.043,3104,1685,1934
$GC,12737,1.16,288.3,562.1,8.8,975,12788,0.00,2.30,40.95,1.166,4,0.000,0.055,3098,3103,1769
$GC,12841,1.16,288.3,551.4,10.7,980,12845,0.00,2.17,0.00,0.000,6,0.000,0.042,3107,1702,1765
$GC,13174,1.16,288.4,519.0,10.0,996,13177,0.00,2.22,0.00,0.000,4,0.000,0.054,3117,287,1764
$GC,13259,1.16,288.4,509.9,11.2,999,13265,0.00,2.12,0.00,0.000,6,0.000,0.043,3117,1673,1764
$GC,13583,1.16,288.4,475.0,11.0,1025,13587,0.00,2.20,0.00,0.000,4,0.000,0.054,3127,278,1764
$GC,13668,1.16,288.4,465.2,11.8,1032,13675,0.00,2.22,0.00,0.000,6,0.000,0.043,3127,1734,1764
$GC,13998,1.16,288.4,431.8,10.3,1063,14002,0.00,2.30,0.00,0.000,4,0.000,0.054,3137,276,1763
$GC,14166,1.16,288.4,412.7,11.6,1077,14170,0.00,2.28,0.00,0.000,6,0.000,0.041,3137,1761,1763
$GC,14499,1.21,327.7,380.4,8.9,1108,14547,0.00,2.15,37.67,1.008,4,0.000,0.053,3137,3094,1609
$GC,14649,1.21,327.7,365.8,10.9,1121,14653,0.00,1.98,0.00,0.000,6,0.000,0.038,3145,1796,1606
$GC,14982,1.22,332.5,331.9,9.9,1152,14994,0.00,2.05,5.57,0.785,4,0.000,0.051,3145,3106,1589
$GC,15041,1.22,332.5,325.5,10.5,1157,15045,0.00,1.95,0.00,0.000,6,0.000,0.038,3154,1819,1589
$GC,15372,1.22,335.1,291.3,9.9,1195,15385,0.00,2.03,3.92,0.621,4,0.000,0.049,3154,3097,1579
$GC,15410,1.22,335.1,287.4,10.0,1201,15416,0.00,1.90,0.00,0.000,6,0.000,0.037,3164,1824,1579
$GC,15755,1.25,358.4,254.0,9.4,1262,15787,0.00,2.03,22.45,0.908,4,0.000,0.048,3164,3097,1483
$GC,15878,1.25,358.4,241.0,10.6,1283,15884,0.00,1.85,0.00,0.000,6,0.000,0.036,3173,1866,1483
$GC,16224,1.28,387.3,209.5,9.2,1344,16256,0.00,2.00,26.50,0.864,4,0.000,0.048,3173,3109,1366
$GC,16303,1.28,387.3,201.5,10.3,1357,16310,0.00,1.92,0.00,0.000,6,0.000,0.035,3181,1826,1366
$GC,16649,1.29,388.2,165.4,10.0,1418,16656,0.00,2.38,0.00,0.000,4,0.000,0.047,3193,279,1363
$GC,16693,1.29,388.2,160.6,10.7,1425,16700,0.12,2.35,0.00,0.000,6,0.156,0.035,3163,1852,1363
$GC,17038,1.32,413.9,126.6,9.3,1486,17071,0.00,1.92,24.90,0.779,4,0.000,0.044,3163,3112,1257
$GC,17136,1.36,453.0,117.6,8.9,1502,17176,0.00,1.90,35.15,0.767,6,0.000,0.032,3169,1849,1097
$GC,17515,1.36,453.0,80.0,11.4,1568,17522,0.00,2.40,0.00,0.000,4,0.000,0.045,3181,278,1095
$GC,17540,1.36,453.0,77.4,10.6,1572,17547,0.00,2.30,0.00,0.000,6,0.000,0.031,3180,1813,1095
$GC,17886,1.46,526.6,44.0,8.0,1633,17957,0.10,2.00,63.28,0.699,4,0.076,0.041,3236,3110,798
$GC,18005,1.46,531.0,32.1,9.9,1652,18018,0.00,2.05,5.45,0.505,6,0.000,0.031,3243,1758,783
$STATE,18263,end climb,SURFACE_DEPTH_REACHED
$STATE,18263,begin surface coast
$FINISH,0.9,1.021099
$STATE,18294,end surface coast,CONTROL_FINISHED_OK
$STATE,18294,begin surface
$SM_CCo,18375,0.00,0.000,0,0,778,531.57
$SM_GC,1.74,8.15,0.00,0.00,0.036,0.000,0.000,163,2098,778,-8.06,1.05,531.57
$IRIDIUM_FIX,2354.48,12555.57,061198,070728
$TT8_MAMPS,0.026845
$HUMID,1646
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,188
$24V_AH,23.0,105.815
$10V_AH,10.6,69.418
$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,20.525,174.225,692.975,0.000,0.000,52.675,130.396,235.988,55.000,0.000,0.000,16.391,2971.368,10812.513,804.292,3468.661,965.787,0.000,2390.916,0.000,3444.783,0.000,54.442,0.000
$DEVICE_MAMPS,232.401,60.593,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.991,1180.955,1979.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97834,1703
$CAP_FILE_SIZE,177082,0
$CFSIZE,260165632,195743744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130, 98.8,1
$GPS,120809,122237,2401.219,12551.781,36,1.2,36,-3.6