version: 66.04
glider: 166
mission: 2
dive: 476
start: 8 12 109 12 31 26
data:
$ID,166
$MISSION,2
$DIVE,476
$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,-15345.087
$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,70
$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
$GPS1,122237,2401.219,12551.781,36,1.2,36,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.1
$GPS2,123106,2401.207,12551.809,14,1.1,30,-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,234.6,23745,-13.9,-10.000
$D_GRID,1022
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,92,0.00,0.00,-70.32,0.000,2,0.000,0.000,165,2098,2352
$GC,96,-1.11,-243.4,3.1,-6.1,11,154,8.90,0.00,-44.03,0.000,6,0.217,0.000,2375,2095,3939
$GC,495,-1.11,-243.4,70.8,-17.1,80,501,0.00,2.03,0.00,0.000,4,0.000,0.041,2371,3445,3940
$GC,587,-1.11,-243.4,87.9,-18.2,96,593,0.00,2.08,0.00,0.000,6,0.000,0.028,2367,2025,3941
$GC,933,-1.11,-243.4,143.0,-14.6,157,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2024,3941
$GC,1278,-1.11,-243.4,192.9,-13.0,218,1285,0.00,2.15,0.00,0.000,4,0.000,0.041,2366,3447,3942
$GC,1333,-1.11,-243.4,200.6,-14.1,227,1340,0.12,1.98,0.00,0.000,6,0.156,0.026,2391,2053,3942
$GC,1680,-1.11,-243.4,241.1,-11.3,288,1686,0.00,2.03,0.00,0.000,4,0.000,0.038,2388,672,3943
$GC,1745,-1.11,-243.4,248.7,-12.3,299,1751,0.00,2.03,0.00,0.000,6,0.000,0.030,2386,2063,3942
$GC,2090,-1.11,-243.4,288.7,-11.1,360,2096,0.00,2.10,0.00,0.000,4,0.000,0.044,2384,3466,3942
$GC,2114,-1.11,-243.4,291.6,-12.1,364,2121,0.00,2.03,0.00,0.000,6,0.000,0.027,2385,2075,3942
$GC,2444,-1.11,-243.4,329.4,-11.1,401,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2075,3941
$GC,2768,-1.11,-243.4,364.4,-11.0,431,2772,0.00,2.12,0.00,0.000,4,0.000,0.046,2379,3457,3940
$GC,2837,-1.11,-243.4,372.8,-11.7,437,2841,0.00,1.98,0.00,0.000,6,0.000,0.028,2380,2085,3939
$GC,3168,-1.11,-243.4,408.6,-11.3,468,3172,0.00,2.10,0.00,0.000,4,0.000,0.047,2381,3453,3938
$GC,3214,-1.11,-243.4,413.9,-11.9,472,3218,0.00,1.95,0.00,0.000,6,0.000,0.028,2381,2097,3938
$GC,3546,-1.11,-243.4,451.8,-12.0,503,3550,0.00,2.15,0.00,0.000,4,0.000,0.041,2382,660,3937
$GC,3582,-1.11,-243.4,456.4,-12.5,506,3585,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,2108,3936
$GC,3913,-1.11,-243.4,495.1,-11.4,537,3916,0.00,2.08,0.00,0.000,4,0.000,0.051,2382,3469,3934
$GC,3961,-1.11,-243.4,500.4,-11.8,541,3965,0.00,2.00,0.00,0.000,6,0.000,0.030,2383,2089,3934
$GC,4296,-1.11,-243.4,537.1,-10.9,557,4300,0.00,2.12,0.00,0.000,4,0.000,0.051,2387,3462,3931
$GC,4323,-1.11,-243.4,540.6,-11.7,558,4327,0.00,1.95,0.00,0.000,6,0.000,0.031,2388,2121,3931
$GC,4652,-1.11,-243.4,575.6,-10.2,574,4656,0.00,2.20,0.00,0.000,4,0.000,0.044,2386,664,3928
$GC,4677,-1.11,-243.4,578.4,-11.4,575,4681,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,2121,3927
$GC,5011,-1.11,-243.4,615.0,-11.1,591,5014,0.00,2.08,0.00,0.000,4,0.000,0.054,2395,3466,3925
$GC,5105,-1.11,-243.4,625.4,-11.3,595,5108,0.00,1.92,0.00,0.000,6,0.000,0.033,2393,2154,3924
$GC,5439,-1.11,-243.4,661.1,-10.5,611,5442,0.00,2.05,0.00,0.000,4,0.000,0.055,2400,3465,3922
$GC,5478,-1.11,-243.4,665.5,-10.7,612,5484,0.00,1.90,0.00,0.000,6,0.000,0.034,2395,2189,3922
$GC,5795,-1.11,-243.4,696.9,-9.5,628,5799,0.00,2.33,0.00,0.000,4,0.000,0.047,2394,666,3919
$GC,5814,-1.11,-243.4,698.7,-9.4,629,5818,0.00,2.33,0.00,0.000,6,0.000,0.041,2390,2190,3918
$GC,6142,-1.11,-243.4,730.3,-9.7,645,6146,0.00,1.98,0.00,0.000,4,0.000,0.057,2390,3458,3916
$GC,6190,-1.11,-243.4,735.0,-10.5,647,6194,0.00,1.88,0.00,0.000,6,0.000,0.035,2388,2190,3915
$GC,6524,-1.11,-243.4,768.9,-10.4,663,6528,0.00,2.33,0.00,0.000,4,0.000,0.049,2388,673,3912
$GC,6602,-1.11,-243.4,778.5,-12.4,666,6609,0.00,2.33,0.00,0.000,6,0.000,0.042,2381,2200,3912
$GC,6919,-1.11,-243.4,816.2,-12.7,682,6923,0.00,2.38,0.00,0.000,4,0.000,0.049,2380,667,3910
$GC,7014,-1.11,-243.4,830.0,-14.2,686,7018,0.00,2.30,0.00,0.000,6,0.000,0.049,2371,2153,3909
$GC,7331,-1.11,-243.4,874.2,-13.9,701,7339,0.00,2.08,0.00,0.000,4,0.000,0.066,2363,3460,3906
$GC,7407,-1.11,-243.4,885.2,-13.7,704,7411,0.12,1.92,0.00,0.000,6,0.156,0.038,2394,2169,3906
$GC,7734,-1.11,-243.4,921.6,-10.4,720,7738,0.00,2.33,0.00,0.000,4,0.000,0.052,2395,670,3904
$GC,7762,-1.11,-243.4,924.8,-11.7,721,7767,0.00,2.30,0.00,0.000,6,0.000,0.044,2386,2162,3904
$GC,8084,-1.11,-243.4,959.0,-10.1,737,8088,0.00,2.05,0.00,0.000,4,0.000,0.061,2377,3459,3901
$GC,8101,-1.11,-243.4,960.8,-9.4,737,8107,0.00,1.92,0.00,0.000,6,0.000,0.038,2377,2174,3901
$STATE,8393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8393,begin apogee
$GC,8402,-0.29,0.0,991.1,10.8,752,8618,0.88,0.00,210.10,1.469,6,0.117,0.000,2654,1710,2945
$STATE,8618,end apogee,CONTROL_FINISHED_OK
$STATE,8618,begin climb
$GC,8622,1.11,243.4,1006.5,0.0,763,8848,1.27,0.00,218.98,1.423,6,0.061,0.000,3109,1710,1951
$GC,9159,1.11,243.4,957.3,12.7,789,9163,0.00,2.25,0.00,0.000,4,0.000,0.058,3119,290,1943
$GC,9215,1.11,243.4,949.6,12.9,791,9219,0.00,2.15,0.00,0.000,6,0.000,0.043,3120,1689,1943
$GC,9537,1.11,243.4,912.5,10.9,807,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1689,1941
$GC,9847,1.11,243.4,879.7,11.1,822,9850,0.00,2.22,0.00,0.000,4,0.000,0.057,3119,3104,1939
$GC,9886,1.11,243.4,875.1,11.5,823,9893,0.00,2.20,0.00,0.000,6,0.000,0.044,3130,1663,1939
$GC,10202,1.13,262.5,843.0,9.5,839,10228,0.00,0.00,19.00,1.214,6,0.000,0.000,3130,1663,1874
$GC,10532,1.13,262.5,806.1,12.2,855,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1663,1870
$GC,10840,1.13,262.5,764.4,13.2,870,10844,0.00,2.28,0.00,0.000,4,0.000,0.058,3130,3101,1870
$GC,10873,1.13,262.5,759.8,13.8,871,10881,0.00,2.20,0.00,0.000,6,0.000,0.044,3140,1665,1869
$GC,11190,1.13,262.5,720.6,12.6,887,11194,0.00,2.17,0.00,0.000,4,0.000,0.057,3150,292,1869
$GC,11314,1.13,262.5,704.8,10.9,892,11318,0.15,2.10,0.00,0.000,6,0.178,0.043,3114,1670,1869
$GC,11630,1.13,262.5,671.1,10.5,907,11634,0.00,2.25,0.00,0.000,4,0.000,0.061,3111,3093,1869
$GC,11713,1.13,262.5,661.9,10.8,910,11720,0.00,2.20,0.00,0.000,6,0.000,0.042,3119,1670,1868
$GC,12031,1.13,262.5,628.6,10.6,926,12035,0.00,2.17,0.00,0.000,4,0.000,0.056,3130,284,1868
$GC,12088,1.13,262.5,622.2,10.8,928,12092,0.00,2.12,0.00,0.000,6,0.000,0.044,3130,1667,1868
$GC,12410,1.18,304.2,592.0,8.8,944,12461,0.00,2.30,40.42,1.179,4,0.000,0.055,3130,3095,1703
$GC,12561,1.20,319.2,576.3,9.6,950,12590,0.00,2.17,17.10,1.034,6,0.000,0.042,3140,1680,1643
$GC,12900,1.20,319.2,538.5,11.3,967,12904,0.00,2.17,0.00,0.000,4,0.000,0.055,3150,289,1641
$GC,12916,1.20,319.2,536.2,11.6,967,12923,0.00,2.12,0.00,0.000,6,0.000,0.042,3150,1674,1639
$GC,13234,1.20,319.2,497.5,12.3,983,13237,0.00,2.22,0.00,0.000,4,0.000,0.054,3150,3102,1639
$GC,13291,1.20,319.2,490.4,12.0,988,13295,0.00,2.17,0.00,0.000,6,0.000,0.042,3160,1675,1638
$GC,13625,1.20,319.2,451.9,11.4,1019,13628,0.00,2.22,0.00,0.000,4,0.000,0.052,3160,3100,1638
$GC,13717,1.20,319.2,440.9,11.0,1027,13722,0.15,2.12,0.00,0.000,6,0.173,0.041,3134,1708,1637
$GC,14044,1.22,339.2,407.9,9.4,1057,14079,0.00,2.25,20.83,0.970,4,0.000,0.054,3142,290,1561
$GC,14164,1.23,341.7,395.8,9.9,1067,14171,0.00,2.30,0.00,0.000,6,0.000,0.040,3142,1793,1561
$GC,14492,1.23,341.7,362.3,10.5,1098,14495,0.00,2.03,0.00,0.000,4,0.000,0.051,3142,3105,1560
$GC,14589,1.23,341.7,351.7,10.5,1106,14596,0.00,2.00,0.00,0.000,6,0.000,0.039,3151,1799,1559
$GC,14919,1.23,341.7,317.1,10.8,1137,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1799,1558
$GC,15255,1.28,387.9,284.0,8.7,1183,15305,0.00,2.12,44.22,0.948,4,0.000,0.049,3151,3101,1363
$GC,15391,1.28,387.9,269.7,11.2,1206,15397,0.00,1.98,0.00,0.000,6,0.000,0.037,3160,1820,1361
$GC,15737,1.28,387.9,230.2,12.2,1267,15744,0.00,2.00,0.00,0.000,4,0.000,0.047,3160,3111,1360
$GC,15819,1.28,387.9,220.0,11.4,1281,15825,0.00,2.03,0.00,0.000,6,0.000,0.035,3170,1761,1360
$GC,16165,1.28,387.9,183.7,10.4,1342,16171,0.00,2.28,0.00,0.000,4,0.000,0.048,3180,278,1359
$GC,16278,1.28,387.9,170.9,11.9,1362,16284,0.00,2.33,0.00,0.000,6,0.000,0.035,3180,1832,1359
$GC,16625,1.32,413.5,134.2,9.3,1423,16658,0.00,2.45,23.85,0.788,4,0.000,0.047,3191,289,1258
$GC,16671,1.32,413.5,129.2,11.7,1430,16678,0.00,2.35,0.00,0.000,6,0.000,0.034,3191,1858,1258
$GC,17017,1.33,428.3,90.5,9.6,1491,17037,0.00,1.88,14.40,0.716,4,0.000,0.043,3192,3102,1199
$GC,17130,1.39,473.9,79.5,8.7,1510,17176,0.00,2.03,40.22,0.737,6,0.000,0.033,3201,1734,1012
$GC,17517,1.42,495.4,43.6,9.4,1577,17543,0.00,2.10,19.92,0.673,4,0.000,0.040,3201,3112,924
$GC,17685,1.42,495.4,26.5,10.9,1606,17691,0.00,2.05,0.00,0.000,6,0.000,0.031,3208,1720,924
$STATE,17921,end climb,SURFACE_DEPTH_REACHED
$STATE,17921,begin surface coast
$FINISH,0.9,1.001109
$STATE,17955,end surface coast,CONTROL_FINISHED_OK
$STATE,17955,begin surface
$SM_CCo,18035,0.00,0.000,0,0,923,496.00
$SM_GC,1.78,8.10,0.00,0.00,0.039,0.000,0.000,164,2112,923,-8.07,1.44,496.00
$IRIDIUM_FIX,2354.48,12553.66,061198,070718
$TT8_MAMPS,0.026845
$HUMID,1638
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.90
$XPDR_PINGS,195
$24V_AH,23.0,106.076
$10V_AH,10.6,69.582
$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,19.700,159.000,669.050,0.000,0.000,22.893,36.120,247.150,56.750,0.000,0.000,30.870,2872.325,10690.585,817.890,3323.776,816.262,0.000,2303.121,0.000,3277.301,0.000,54.437,0.000
$DEVICE_MAMPS,217.061,65.962,1468.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.789,1136.191,1910.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97764,1654
$CAP_FILE_SIZE,167645,0
$CFSIZE,260165632,195657728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.134, 98.3,1
$GPS,120809,173307,2400.095,12551.907,28,1.2,28,-3.6