version: 66.04
glider: 166
mission: 2
dive: 481
start: 8 13 109 12 55 41
data:
$ID,166
$MISSION,2
$DIVE,481
$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,-15599.712
$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,37
$R_STBD_OVSHOOT,74
$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
$GPS1,124030,2355.912,12550.651,39,1.5,44,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.8
$GPS2,125521,2356.055,12550.690,10,2.3,29,-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,239.1,14787,-13.9,-10.000
$D_GRID,1206
$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,15,-1.11,-243.4,0.0,0.0,0,83,0.00,0.00,-65.28,0.000,2,0.000,0.000,114,2108,2401
$GC,88,-1.11,-243.4,3.3,-5.9,10,146,8.85,2.20,-41.38,0.000,4,0.212,0.048,2378,648,3937
$GC,170,-1.11,-243.4,15.6,-18.3,23,177,0.00,2.05,0.00,0.000,6,0.000,0.031,2373,2044,3938
$GC,518,-1.11,-243.4,73.9,-16.0,84,524,0.00,2.12,0.00,0.000,4,0.000,0.042,2370,3466,3938
$GC,599,-1.11,-243.4,87.0,-16.2,98,606,0.00,2.03,0.00,0.000,6,0.000,0.026,2382,2037,3938
$GC,945,-1.11,-243.4,132.4,-12.4,159,953,0.00,2.03,0.00,0.000,4,0.000,0.035,2377,676,3939
$GC,1038,-1.11,-243.4,145.7,-14.7,175,1045,0.00,2.10,0.00,0.000,6,0.000,0.030,2377,2126,3938
$GC,1387,-1.11,-243.4,195.7,-12.6,236,1394,0.00,2.00,0.00,0.000,4,0.000,0.041,2367,3456,3940
$GC,1429,-1.11,-243.4,201.4,-13.3,243,1436,0.00,1.90,0.00,0.000,6,0.000,0.026,2374,2111,3939
$GC,1775,-1.11,-243.4,242.8,-12.7,304,1781,0.00,2.08,0.00,0.000,4,0.000,0.041,2366,3460,3939
$GC,1857,-1.11,-243.4,254.1,-13.6,318,1863,0.00,1.88,0.00,0.000,6,0.000,0.026,2367,2156,3939
$GC,2204,-1.11,-243.4,296.3,-11.2,379,2211,0.00,1.98,0.00,0.000,4,0.000,0.044,2364,3457,3937
$GC,2251,-1.11,-243.4,302.2,-12.6,386,2254,0.00,1.83,0.00,0.000,6,0.000,0.027,2365,2167,3937
$GC,2585,-1.11,-243.4,342.2,-11.4,417,2589,0.00,1.98,0.00,0.000,4,0.000,0.045,2364,3463,3936
$GC,2613,-1.11,-243.4,345.9,-11.8,419,2620,0.00,1.80,0.00,0.000,6,0.000,0.028,2364,2194,3935
$GC,2938,-1.11,-243.4,381.3,-10.6,450,2942,0.00,1.92,0.00,0.000,4,0.000,0.044,2364,3456,3934
$GC,2975,-1.11,-243.4,384.9,-10.8,453,2979,0.00,1.77,0.00,0.000,6,0.000,0.028,2364,2205,3934
$GC,3309,-1.11,-243.4,421.9,-11.6,484,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2205,3933
$GC,3638,-1.11,-243.4,460.1,-11.2,515,3641,0.00,1.92,0.00,0.000,4,0.000,0.048,2364,3459,3930
$GC,3710,-1.11,-243.4,468.8,-11.1,521,3716,0.00,1.80,0.00,0.000,6,0.000,0.029,2364,2223,3930
$GC,4037,-1.11,-243.4,504.9,-11.3,550,4041,0.00,1.90,0.00,0.000,4,0.000,0.049,2365,3460,3927
$GC,4061,-1.11,-243.4,508.1,-11.6,551,4065,0.00,1.77,0.00,0.000,6,0.000,0.029,2365,2226,3927
$GC,4396,-1.11,-243.4,545.5,-10.7,567,4399,0.00,1.90,0.00,0.000,4,0.000,0.050,2358,3462,3926
$GC,4442,-1.11,-243.4,550.7,-11.2,569,4446,0.12,1.77,0.00,0.000,6,0.137,0.037,2393,2245,3925
$GC,4776,-1.11,-243.4,583.3,-10.2,585,4780,0.00,2.35,0.00,0.000,4,0.000,0.043,2394,687,3922
$GC,4797,-1.11,-243.4,585.8,-10.7,586,4801,0.00,2.35,0.00,0.000,6,0.000,0.039,2394,2244,3921
$GC,5120,-1.11,-243.4,619.3,-10.5,602,5123,0.00,1.85,0.00,0.000,4,0.000,0.054,2391,3451,3918
$GC,5226,-1.11,-243.4,631.0,-11.2,606,5232,0.00,1.73,0.00,0.000,6,0.000,0.034,2393,2287,3917
$GC,5542,-1.11,-243.4,663.7,-10.9,622,5545,0.00,1.83,0.00,0.000,4,0.000,0.055,2391,3455,3914
$GC,5589,-1.11,-243.4,668.6,-10.8,624,5593,0.00,1.70,0.00,0.000,6,0.000,0.034,2388,2292,3914
$GC,5922,-1.11,-243.4,704.5,-10.9,640,5926,0.00,1.83,0.00,0.000,4,0.000,0.057,2393,3456,3911
$GC,5978,-1.11,-243.4,710.9,-11.3,642,5982,0.00,1.65,0.00,0.000,6,0.000,0.035,2389,2325,3910
$GC,6300,-1.11,-243.4,747.2,-11.3,658,6303,0.00,1.77,0.00,0.000,4,0.000,0.057,2384,3459,3908
$GC,6339,-1.11,-243.4,751.8,-11.2,659,6346,0.00,1.62,0.00,0.000,6,0.000,0.035,2384,2347,3907
$GC,6656,-1.11,-243.4,784.8,-10.3,675,6659,0.00,1.75,0.00,0.000,4,0.000,0.058,2381,3457,3905
$GC,6707,-1.11,-243.4,790.2,-10.0,677,6710,0.00,1.60,0.00,0.000,6,0.000,0.036,2378,2363,3904
$GC,7036,-1.11,-243.4,822.5,-10.0,693,7040,0.00,1.73,0.00,0.000,4,0.000,0.060,2378,3461,3902
$GC,7070,-1.11,-243.4,826.4,-10.6,694,7074,0.00,1.58,0.00,0.000,6,0.000,0.036,2376,2405,3901
$GC,7393,-1.11,-243.4,858.7,-10.0,710,7396,0.00,1.65,0.00,0.000,4,0.000,0.060,2376,3454,3900
$GC,7420,-1.11,-243.4,861.8,-10.7,711,7424,0.00,1.55,0.00,0.000,6,0.000,0.044,2374,2434,3899
$GC,7750,-1.11,-243.4,896.4,-10.7,727,7754,0.00,2.70,0.00,0.000,4,0.000,0.049,2374,692,3897
$GC,7805,-1.11,-243.4,903.3,-12.6,729,7812,0.00,2.65,0.00,0.000,6,0.000,0.048,2365,2395,3896
$GC,8123,-1.11,-243.4,944.8,-14.2,745,8128,0.00,2.67,0.00,0.000,4,0.000,0.050,2366,684,3894
$GC,8196,-1.11,-243.4,956.2,-15.8,748,8201,0.15,2.65,0.00,0.000,6,0.152,0.048,2394,2381,3894
$STATE,8488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8488,begin apogee
$GC,8498,-0.29,0.0,992.1,11.7,762,8717,0.82,0.00,210.75,1.463,6,0.122,0.000,2656,1721,2945
$STATE,8718,end apogee,CONTROL_FINISHED_OK
$STATE,8718,begin climb
$GC,8721,1.11,243.4,1008.6,0.0,773,8953,1.25,2.42,218.18,1.425,4,0.058,0.057,3116,289,1951
$GC,9072,1.11,243.4,983.8,11.4,789,9076,0.00,2.17,0.00,0.000,6,0.000,0.043,3116,1693,1945
$GC,9401,1.11,243.4,943.1,13.1,805,9405,0.00,2.20,0.00,0.000,4,0.000,0.058,3116,3097,1943
$GC,9532,1.11,243.4,924.7,15.3,810,9538,0.00,2.10,0.00,0.000,6,0.000,0.044,3126,1715,1940
$GC,9849,1.11,243.4,884.6,12.1,826,9853,0.00,2.25,0.00,0.000,4,0.000,0.055,3137,280,1940
$GC,9917,1.11,243.4,876.0,11.4,829,9922,0.12,2.22,0.00,0.000,6,0.182,0.045,3108,1724,1939
$GC,10244,1.11,243.4,840.5,10.7,845,10248,0.00,2.28,0.00,0.000,4,0.000,0.056,3117,281,1939
$GC,10295,1.11,243.4,834.8,11.2,847,10299,0.00,2.20,0.00,0.000,6,0.000,0.044,3117,1712,1938
$GC,10617,1.11,243.4,797.9,11.6,863,10620,0.00,2.17,0.00,0.000,4,0.000,0.058,3117,3099,1937
$GC,10701,1.11,243.4,787.8,11.3,866,10707,0.00,2.08,0.00,0.000,6,0.000,0.044,3127,1731,1936
$GC,11018,1.11,243.4,751.7,11.3,882,11022,0.00,2.28,0.00,0.000,4,0.000,0.057,3138,289,1937
$GC,11141,1.11,243.4,737.9,10.6,887,11148,0.12,2.22,0.00,0.000,6,0.179,0.044,3108,1733,1936
$GC,11459,1.12,254.1,708.3,9.7,903,11473,0.00,2.20,8.32,1.164,4,0.000,0.058,3107,3097,1909
$GC,11559,1.12,254.1,696.8,11.0,907,11563,0.00,2.08,0.00,0.000,6,0.000,0.043,3115,1743,1908
$GC,11881,1.12,254.1,661.1,11.6,923,11885,0.00,2.30,0.00,0.000,4,0.000,0.055,3126,279,1908
$GC,11971,1.12,254.1,650.3,12.1,927,11975,0.00,2.22,0.00,0.000,6,0.000,0.045,3126,1720,1907
$GC,12295,1.12,254.1,613.8,11.0,943,12299,0.00,2.28,0.00,0.000,4,0.000,0.056,3137,283,1907
$GC,12356,1.12,254.1,606.5,12.2,945,12364,0.00,2.17,0.00,0.000,6,0.000,0.044,3137,1695,1906
$GC,12674,1.12,254.1,572.4,11.3,961,12678,0.00,2.20,0.00,0.000,4,0.000,0.057,3137,3097,1906
$GC,12752,1.12,254.1,562.5,11.9,964,12757,0.15,2.15,0.00,0.000,6,0.180,0.042,3110,1695,1905
$GC,13070,1.14,274.1,531.5,9.4,979,13101,0.00,2.30,21.67,1.081,4,0.000,0.056,3107,3097,1827
$GC,13180,1.14,274.1,519.9,11.1,984,13184,0.00,2.10,0.00,0.000,6,0.000,0.041,3115,1729,1825
$GC,13500,1.18,305.3,490.0,9.1,1004,13536,0.00,2.20,29.58,1.134,4,0.000,0.054,3115,3098,1699
$GC,13623,1.18,305.3,477.6,10.8,1014,13630,0.00,2.05,0.00,0.000,6,0.000,0.041,3125,1760,1697
$GC,13954,1.22,332.5,445.1,9.2,1045,13982,0.00,0.00,25.62,1.084,6,0.000,0.000,3125,1760,1588
$GC,14300,1.22,332.5,407.1,10.6,1078,14304,0.00,2.33,0.00,0.000,4,0.000,0.053,3136,278,1585
$GC,14413,1.22,337.0,395.2,9.9,1087,14423,0.00,2.30,4.93,0.785,6,0.000,0.041,3136,1779,1570
$GC,14750,1.28,387.9,365.2,8.6,1119,14805,0.00,2.45,47.33,1.024,4,0.000,0.052,3147,266,1362
$GC,14899,1.28,387.9,350.7,11.7,1132,14904,0.00,2.40,0.00,0.000,6,0.000,0.039,3147,1820,1360
$GC,15225,1.28,387.9,313.4,11.2,1162,15229,0.00,2.40,0.00,0.000,4,0.000,0.050,3158,286,1358
$GC,15293,1.28,387.9,305.9,10.2,1167,15299,0.00,2.25,0.00,0.000,6,0.000,0.038,3158,1770,1357
$GC,15635,1.29,388.8,272.2,10.0,1223,15641,0.00,2.33,0.00,0.000,4,0.000,0.049,3169,274,1358
$GC,15739,1.29,388.8,261.2,11.0,1241,15746,0.00,2.35,0.00,0.000,6,0.000,0.038,3169,1829,1357
$GC,16088,1.29,388.8,221.9,11.3,1302,16094,0.00,2.40,0.00,0.000,4,0.000,0.048,3180,278,1357
$GC,16162,1.29,388.8,212.7,12.0,1315,16168,0.00,2.30,0.00,0.000,6,0.000,0.036,3180,1801,1358
$GC,16510,1.31,407.8,175.9,9.5,1376,16542,0.00,2.00,20.42,0.759,4,0.000,0.045,3180,3105,1283
$GC,16583,1.31,407.8,168.2,11.3,1388,16589,0.00,1.98,0.00,0.000,6,0.000,0.035,3189,1805,1283
$GC,16928,1.31,407.8,131.9,10.6,1449,16935,0.00,2.00,0.00,0.000,4,0.000,0.044,3189,3098,1282
$GC,16989,1.31,407.8,125.0,12.1,1459,16995,0.00,1.90,0.00,0.000,6,0.000,0.034,3199,1833,1283
$GC,17333,1.31,407.8,88.1,10.3,1520,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1833,1282
$GC,17678,1.38,467.0,58.0,8.4,1581,17736,0.00,2.47,52.33,0.724,4,0.000,0.044,3209,278,1040
$GC,17919,1.39,475.8,35.9,9.8,1622,17933,0.00,2.40,9.05,0.609,6,0.000,0.031,3210,1899,1004
$STATE,18253,end climb,SURFACE_DEPTH_REACHED
$STATE,18253,begin surface coast
$FINISH,1.0,1.021918
$STATE,18290,end surface coast,CONTROL_FINISHED_OK
$STATE,18290,begin surface
$SM_CCo,18371,0.00,0.000,0,0,1004,476.13
$SM_GC,1.81,8.15,0.00,0.00,0.043,0.000,0.000,166,2097,1004,-8.06,1.02,476.13
$IRIDIUM_FIX,2345.05,12554.19,071198,121231
$TT8_MAMPS,0.026845
$HUMID,1648
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.80
$XPDR_PINGS,201
$ALTIM_BOTTOM_PING,975.4,102.9
$24V_AH,22.7,107.338
$10V_AH,10.6,70.402
$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,19.750,172.275,648.175,0.000,0.000,70.144,102.573,386.938,58.500,0.000,0.000,30.036,2967.795,10880.107,771.295,3515.322,1105.488,0.000,2357.973,0.000,3473.100,0.000,57.454,0.000
$DEVICE_MAMPS,212.459,59.826,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.966,1171.428,1963.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98040,1687
$CAP_FILE_SIZE,180031,0
$CFSIZE,260165632,195186688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.112,121.9,1
$GPS,130809,180307,2354.695,12550.528,36,1.1,36,-3.6