version: 66.04
glider: 166
mission: 2
dive: 480
start: 8 13 109 7 33 3
data:
$ID,166
$MISSION,2
$DIVE,480
$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,-15569.048
$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,53
$R_STBD_OVSHOOT,61
$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
$GPS1,072437,2356.780,12551.201,41,1.4,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.9
$GPS2,073243,2356.815,12551.106,17,1.4,34,-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,241.5,16319,-13.9,-10.000
$D_GRID,1007
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.11,-243.4,0.0,0.0,0,79,0.00,0.00,-61.12,0.000,2,0.000,0.000,164,2095,2273
$GC,84,-1.11,-243.4,3.1,-5.3,9,148,9.10,2.17,-48.28,0.000,4,0.225,0.050,2377,648,3938
$GC,194,-1.11,-243.4,18.9,-17.6,27,202,0.00,2.08,0.00,0.000,6,0.000,0.031,2373,2044,3939
$GC,542,-1.11,-243.4,76.6,-16.4,88,548,0.00,2.05,0.00,0.000,4,0.000,0.035,2379,650,3939
$GC,602,-1.11,-243.4,86.1,-15.6,98,609,0.12,2.10,0.00,0.000,6,0.163,0.028,2394,2108,3939
$GC,949,-1.11,-243.4,127.2,-11.7,159,957,0.00,2.03,0.00,0.000,4,0.000,0.041,2389,3474,3940
$GC,1049,-1.11,-243.4,140.0,-13.2,176,1055,0.00,1.95,0.00,0.000,6,0.000,0.026,2394,2114,3940
$GC,1397,-1.11,-243.4,180.1,-11.5,237,1403,0.00,2.03,0.00,0.000,4,0.000,0.041,2382,3463,3941
$GC,1429,-1.11,-243.4,184.0,-12.7,242,1436,0.00,1.95,0.00,0.000,6,0.000,0.026,2385,2109,3941
$GC,1774,-1.11,-243.4,226.5,-11.2,303,1781,0.00,2.10,0.00,0.000,4,0.000,0.035,2386,673,3941
$GC,1794,-1.11,-243.4,228.8,-11.6,306,1801,0.00,2.15,0.00,0.000,6,0.000,0.030,2382,2156,3941
$GC,2141,-1.11,-243.4,267.5,-11.6,367,2148,0.00,1.95,0.00,0.000,4,0.000,0.043,2377,3450,3940
$GC,2200,-1.11,-243.4,274.8,-12.0,377,2207,0.00,1.85,0.00,0.000,6,0.000,0.026,2380,2138,3940
$GC,2539,-1.11,-243.4,315.8,-12.0,426,2543,0.00,2.00,0.00,0.000,4,0.000,0.044,2377,3454,3940
$GC,2566,-1.11,-243.4,319.4,-11.9,428,2573,0.00,1.85,0.00,0.000,6,0.000,0.027,2377,2172,3939
$GC,2892,-1.11,-243.4,354.5,-10.4,459,2896,0.00,2.20,0.00,0.000,4,0.000,0.037,2377,682,3938
$GC,2910,-1.11,-243.4,356.4,-10.5,460,2916,0.00,2.22,0.00,0.000,6,0.000,0.033,2377,2171,3937
$GC,3238,-1.11,-243.4,393.4,-12.0,491,3241,0.00,1.92,0.00,0.000,4,0.000,0.046,2377,3456,3936
$GC,3296,-1.11,-243.4,400.5,-11.7,496,3300,0.00,1.80,0.00,0.000,6,0.000,0.028,2377,2189,3936
$GC,3631,-1.11,-243.4,436.0,-10.0,527,3635,0.00,2.25,0.00,0.000,4,0.000,0.039,2377,675,3935
$GC,3653,-1.11,-243.4,438.9,-10.9,528,3659,0.00,2.25,0.00,0.000,6,0.000,0.035,2377,2194,3935
$GC,3982,-1.11,-243.4,471.0,-10.5,559,3985,0.00,1.90,0.00,0.000,4,0.000,0.049,2377,3451,3933
$GC,4051,-1.11,-243.4,478.8,-11.5,565,4054,0.00,1.80,0.00,0.000,6,0.000,0.029,2377,2215,3932
$GC,4379,-1.11,-243.4,513.0,-10.2,590,4383,0.00,2.30,0.00,0.000,4,0.000,0.042,2377,685,3930
$GC,4412,-1.11,-243.4,516.9,-11.6,591,4419,0.00,2.28,0.00,0.000,6,0.000,0.038,2378,2204,3930
$GC,4731,-1.11,-243.4,550.5,-10.7,607,4734,0.00,1.90,0.00,0.000,4,0.000,0.051,2378,3450,3927
$GC,4759,-1.11,-243.4,554.0,-10.7,608,4763,0.00,1.80,0.00,0.000,6,0.000,0.031,2378,2227,3927
$GC,5087,-1.11,-243.4,586.4,-9.9,624,5091,0.00,2.33,0.00,0.000,4,0.000,0.043,2379,685,3926
$GC,5121,-1.11,-243.4,590.1,-10.7,625,5127,0.00,2.30,0.00,0.000,6,0.000,0.038,2380,2211,3925
$GC,5440,-1.11,-243.4,623.1,-11.1,641,5443,0.00,1.90,0.00,0.000,4,0.000,0.054,2382,3449,3923
$GC,5518,-1.11,-243.4,632.1,-11.2,644,5522,0.00,1.73,0.00,0.000,6,0.000,0.033,2383,2262,3922
$GC,5840,-1.11,-243.4,664.9,-10.3,660,5844,0.00,1.85,0.00,0.000,4,0.000,0.054,2388,3453,3919
$GC,5874,-1.11,-243.4,668.7,-10.9,661,5877,0.00,1.73,0.00,0.000,6,0.000,0.034,2385,2269,3919
$GC,6196,-1.11,-243.4,702.5,-10.7,677,6200,0.00,2.42,0.00,0.000,4,0.000,0.046,2386,679,3916
$GC,6223,-1.11,-243.4,705.7,-11.2,678,6227,0.00,2.38,0.00,0.000,6,0.000,0.041,2389,2237,3915
$GC,6541,-1.11,-243.4,738.3,-10.2,693,6544,0.00,1.88,0.00,0.000,4,0.000,0.056,2395,3448,3913
$GC,6655,-1.11,-243.4,750.1,-10.3,698,6658,0.00,1.67,0.00,0.000,6,0.000,0.035,2393,2301,3912
$GC,6989,-1.11,-243.4,782.9,-9.8,714,6993,0.00,1.80,0.00,0.000,4,0.000,0.058,2393,3450,3909
$GC,7037,-1.11,-243.4,787.8,-11.0,716,7040,0.00,1.62,0.00,0.000,6,0.000,0.035,2389,2342,3909
$GC,7370,-1.11,-243.4,822.3,-10.7,732,7374,0.00,2.55,0.00,0.000,4,0.000,0.049,2391,686,3906
$GC,7393,-1.11,-243.4,825.0,-11.0,733,7401,0.00,2.55,0.00,0.000,6,0.000,0.044,2386,2335,3906
$GC,7730,-1.11,-243.4,862.4,-11.5,749,7734,0.00,2.60,0.00,0.000,4,0.000,0.054,2383,679,3904
$GC,7841,-1.11,-243.4,876.8,-13.1,754,7845,0.00,2.47,0.00,0.000,6,0.000,0.045,2380,2277,3903
$GC,8163,-1.11,-243.4,915.4,-11.9,770,8167,0.00,2.47,0.00,0.000,4,0.000,0.050,2381,690,3901
$GC,8247,-1.11,-243.4,926.0,-12.8,774,8252,0.00,2.42,0.00,0.000,6,0.000,0.051,2371,2238,3900
$GC,8580,-1.11,-243.4,967.5,-12.7,790,8584,0.00,2.42,0.00,0.000,4,0.000,0.051,2372,685,3898
$GC,8632,-1.11,-243.4,974.4,-14.0,792,8637,0.12,2.38,0.00,0.000,6,0.160,0.046,2393,2217,3898
$STATE,8765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8765,begin apogee
$GC,8773,-0.29,0.0,990.5,11.3,799,8988,0.80,0.00,209.05,1.471,6,0.104,0.000,2658,1713,2945
$STATE,8989,end apogee,CONTROL_FINISHED_OK
$STATE,8989,begin climb
$GC,8993,1.11,243.4,1000.5,0.0,810,9220,1.25,2.28,216.73,1.420,4,0.058,0.058,3107,3083,1952
$GC,9260,1.11,243.4,981.0,13.6,822,9264,0.00,2.17,0.00,0.000,6,0.000,0.044,3117,1687,1947
$GC,9582,1.11,243.4,940.0,12.6,838,9585,0.00,2.22,0.00,0.000,4,0.000,0.058,3128,279,1943
$GC,9621,1.11,243.4,934.7,13.5,839,9628,0.00,2.15,0.00,0.000,6,0.000,0.044,3128,1680,1942
$GC,9937,1.11,243.4,895.7,12.6,855,9941,0.00,2.22,0.00,0.000,4,0.000,0.058,3129,3096,1940
$GC,10106,1.11,243.4,872.6,14.0,862,10111,0.12,2.10,0.00,0.000,6,0.183,0.043,3109,1717,1939
$GC,10422,1.11,243.4,833.2,12.5,877,10426,0.00,2.25,0.00,0.000,4,0.000,0.056,3118,283,1939
$GC,10446,1.11,243.4,830.2,13.2,878,10450,0.00,2.22,0.00,0.000,6,0.000,0.044,3118,1726,1939
$GC,10774,1.11,243.4,789.7,12.6,894,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1726,1938
$GC,11082,1.11,243.4,749.3,13.4,909,11086,0.00,2.15,0.00,0.000,4,0.000,0.058,3118,3097,1937
$GC,11116,1.11,243.4,744.6,14.0,910,11119,0.00,2.08,0.00,0.000,6,0.000,0.043,3128,1737,1936
$GC,11438,1.11,243.4,705.2,11.2,926,11442,0.00,2.30,0.00,0.000,4,0.000,0.057,3139,278,1936
$GC,11541,1.11,243.4,693.3,11.5,930,11548,0.12,2.22,0.00,0.000,6,0.182,0.045,3108,1727,1935
$GC,11857,1.11,243.4,662.5,10.2,946,11861,0.00,2.15,0.00,0.000,4,0.000,0.056,3106,3096,1935
$GC,11919,1.11,243.4,655.3,10.6,948,11926,0.00,2.10,0.00,0.000,6,0.000,0.043,3113,1716,1934
$GC,12236,1.11,243.4,620.2,10.9,964,12239,0.00,2.25,0.00,0.000,4,0.000,0.055,3124,286,1934
$GC,12328,1.11,243.4,610.1,11.6,968,12332,0.00,2.20,0.00,0.000,6,0.000,0.044,3124,1712,1934
$GC,12661,1.11,243.4,575.0,10.3,984,12665,0.00,2.17,0.00,0.000,4,0.000,0.056,3124,3097,1934
$GC,12775,1.11,243.4,563.0,11.1,989,12779,0.00,2.08,0.00,0.000,6,0.000,0.043,3133,1734,1933
$GC,13109,1.11,243.4,525.3,11.7,1005,13113,0.00,2.30,0.00,0.000,4,0.000,0.054,3144,283,1933
$GC,13210,1.11,243.4,512.3,12.2,1009,13217,0.15,2.22,0.00,0.000,6,0.174,0.044,3107,1734,1933
$GC,13535,1.21,328.0,482.4,7.7,1034,13625,0.00,2.25,76.62,1.118,4,0.000,0.054,3106,3091,1606
$GC,13689,1.21,328.0,467.2,10.4,1047,13696,0.00,2.10,0.00,0.000,6,0.000,0.040,3114,1730,1603
$GC,14017,1.21,328.0,430.5,10.5,1078,14021,0.00,2.15,0.00,0.000,4,0.000,0.053,3113,3103,1601
$GC,14090,1.21,328.0,422.4,10.7,1084,14096,0.00,2.03,0.00,0.000,6,0.000,0.040,3123,1771,1600
$GC,14420,1.21,328.0,388.8,10.9,1115,14424,0.00,2.08,0.00,0.000,4,0.000,0.052,3123,3101,1600
$GC,14545,1.21,328.1,374.5,10.0,1126,14549,0.00,1.95,0.00,0.000,6,0.000,0.040,3132,1813,1600
$GC,14880,1.26,365.7,343.7,9.0,1157,14918,0.00,2.05,33.60,0.998,4,0.000,0.054,3132,3106,1453
$GC,14969,1.26,365.7,334.5,10.3,1164,14975,0.00,1.95,0.00,0.000,6,0.000,0.038,3141,1849,1451
$GC,15298,1.26,368.6,301.6,9.9,1195,15302,0.00,1.95,0.00,0.000,4,0.000,0.049,3141,3109,1450
$GC,15379,1.26,368.6,292.9,10.1,1207,15386,0.00,1.85,0.00,0.000,6,0.000,0.037,3149,1875,1450
$GC,15726,1.26,368.6,257.4,11.0,1268,15732,0.00,1.90,0.00,0.000,4,0.000,0.048,3149,3093,1450
$GC,15806,1.26,368.6,248.4,11.3,1282,15814,0.00,1.90,3.67,0.550,6,0.000,0.035,3158,1841,1442
$GC,16153,1.26,368.6,209.1,11.8,1343,16160,0.00,2.40,0.00,0.000,4,0.000,0.047,3170,279,1442
$GC,16274,1.26,368.6,195.1,10.3,1364,16280,0.00,2.33,0.00,0.000,6,0.000,0.035,3170,1834,1442
$GC,16620,1.26,368.6,161.0,10.9,1425,16626,0.00,1.95,0.00,0.000,4,0.000,0.045,3170,3103,1442
$GC,16718,1.29,389.2,151.8,9.4,1442,16744,0.00,1.95,20.23,0.795,6,0.000,0.034,3179,1806,1358
$GC,17086,1.30,401.9,115.8,9.7,1506,17105,0.00,2.00,12.95,0.726,4,0.000,0.043,3179,3111,1306
$GC,17187,1.34,436.6,105.6,9.0,1523,17226,0.00,1.90,31.38,0.755,6,0.000,0.033,3187,1850,1164
$GC,17568,1.42,497.0,70.8,8.3,1589,17627,0.00,2.45,52.55,0.721,4,0.000,0.044,3195,278,917
$GC,17685,1.42,497.0,59.8,10.3,1608,17691,0.00,2.45,0.00,0.000,6,0.000,0.031,3195,1915,917
$GC,18032,1.42,497.0,24.8,10.2,1669,18039,0.00,2.50,0.00,0.000,4,0.000,0.042,3204,274,917
$GC,18233,1.42,497.0,5.2,10.0,1704,18240,0.00,2.33,0.00,0.000,6,0.000,0.029,3204,1867,916
$STATE,18256,end climb,SURFACE_DEPTH_REACHED
$STATE,18256,begin surface coast
$FINISH,1.0,1.019588
$STATE,18285,end surface coast,CONTROL_FINISHED_OK
$STATE,18285,begin surface
$SM_CCo,18365,0.00,0.000,0,0,916,497.71
$SM_GC,1.76,8.05,0.00,0.00,0.038,0.000,0.000,162,2107,916,-8.07,1.30,497.71
$IRIDIUM_FIX,2349.77,12552.28,071198,030338
$TT8_MAMPS,0.026845
$HUMID,1644
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.90
$XPDR_PINGS,204
$24V_AH,23.0,107.069
$10V_AH,10.6,70.229
$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,19.850,187.650,656.775,0.000,0.000,24.339,35.755,221.529,59.250,0.000,0.000,34.940,3001.509,10672.475,775.089,3573.504,809.852,0.000,2388.382,0.000,3505.521,0.000,57.326,0.000
$DEVICE_MAMPS,225.498,58.292,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.265,1193.222,2008.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101089,1713
$CAP_FILE_SIZE,179026,0
$CFSIZE,260165632,195280896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100, 97.3,1
$GPS,130809,124030,2355.912,12550.651,39,1.5,44,-3.6