version: 66.04
glider: 166
mission: 2
dive: 483
start: 8 13 109 23 29 35
data:
$ID,166
$MISSION,2
$DIVE,483
$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,-15625.867
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,232101,2353.291,12550.260,42,1.2,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.8
$GPS2,232914,2353.203,12550.288,12,1.2,12,-3.5
$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,263.7,10744,-13.9,-10.000
$D_GRID,1722
$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,-243.4,0.0,0.0,0,82,0.00,0.00,-60.75,0.000,2,0.000,0.000,130,2070,2217
$GC,86,-1.11,-243.4,3.0,-4.6,9,151,8.98,2.22,-50.47,0.000,4,0.217,0.048,2382,633,3940
$GC,181,-1.11,-243.4,16.0,-18.9,24,188,0.00,2.12,0.00,0.000,6,0.000,0.030,2373,2061,3940
$GC,528,-1.11,-243.4,74.0,-16.2,85,534,0.00,2.10,0.00,0.000,4,0.000,0.042,2370,3466,3940
$GC,676,-1.11,-243.4,99.6,-17.0,111,683,0.00,2.03,0.00,0.000,6,0.000,0.027,2378,2042,3941
$GC,1025,-1.11,-243.4,147.4,-13.5,172,1032,0.00,2.15,0.00,0.000,4,0.000,0.041,2362,3465,3942
$GC,1084,-1.11,-243.4,156.1,-14.7,182,1091,0.00,1.95,0.00,0.000,6,0.000,0.026,2370,2109,3942
$GC,1431,-1.11,-243.4,200.3,-12.3,243,1439,0.12,2.05,0.00,0.000,4,0.142,0.041,2385,3466,3942
$GC,1486,-1.11,-243.4,207.3,-12.9,252,1493,0.00,1.90,0.00,0.000,6,0.000,0.026,2388,2141,3942
$GC,1833,-1.11,-243.4,245.7,-10.6,313,1839,0.00,2.15,0.00,0.000,4,0.000,0.035,2386,680,3942
$GC,1858,-1.11,-243.4,248.7,-11.4,317,1864,0.00,2.15,0.00,0.000,6,0.000,0.031,2382,2155,3942
$GC,2202,-1.11,-243.4,289.8,-12.2,378,2208,0.00,1.98,0.00,0.000,4,0.000,0.044,2380,3456,3941
$GC,2255,-1.11,-243.4,296.7,-13.3,387,2262,0.00,1.83,0.00,0.000,6,0.000,0.027,2381,2164,3941
$GC,2583,-1.11,-243.4,334.5,-10.8,420,2587,0.00,1.98,0.00,0.000,4,0.000,0.044,2377,3461,3940
$GC,2642,-1.11,-243.4,340.9,-11.0,425,2646,0.00,1.80,0.00,0.000,6,0.000,0.028,2377,2195,3940
$GC,2974,-1.11,-243.4,377.2,-11.2,456,2977,0.00,1.92,0.00,0.000,4,0.000,0.046,2377,3460,3938
$GC,3013,-1.11,-243.4,382.0,-11.6,459,3020,0.00,1.75,0.00,0.000,6,0.000,0.028,2377,2228,3938
$GC,3340,-1.11,-243.4,419.7,-11.4,490,3344,0.00,2.30,0.00,0.000,4,0.000,0.038,2377,682,3937
$GC,3363,-1.11,-243.4,422.6,-11.9,491,3370,0.00,2.30,0.00,0.000,6,0.000,0.035,2378,2230,3937
$GC,3688,-1.11,-243.4,459.7,-11.3,522,3692,0.00,2.35,0.00,0.000,4,0.000,0.039,2379,675,3934
$GC,3717,-1.11,-243.4,463.0,-12.0,524,3721,0.00,2.30,0.00,0.000,6,0.000,0.035,2378,2220,3935
$GC,4042,-1.11,-243.4,497.5,-10.5,554,4045,0.00,1.88,0.00,0.000,4,0.000,0.049,2379,3456,3933
$GC,4097,-1.11,-243.4,503.6,-11.4,558,4101,0.00,1.75,0.00,0.000,6,0.000,0.030,2380,2234,3932
$GC,4421,-1.11,-243.4,538.0,-10.8,574,4425,0.00,1.90,0.00,0.000,4,0.000,0.051,2380,3464,3929
$GC,4483,-1.11,-243.4,545.4,-11.5,576,4489,0.00,1.75,0.00,0.000,6,0.000,0.031,2381,2273,3929
$GC,4799,-1.11,-243.4,580.2,-10.9,592,4803,0.00,2.40,0.00,0.000,4,0.000,0.043,2382,685,3927
$GC,4823,-1.11,-243.4,582.7,-10.8,593,4827,0.00,2.35,0.00,0.000,6,0.000,0.038,2376,2241,3927
$GC,5151,-1.11,-243.4,617.6,-10.2,609,5155,0.00,2.38,0.00,0.000,4,0.000,0.044,2375,690,3924
$GC,5178,-1.11,-243.4,620.6,-10.9,610,5182,0.00,2.35,0.00,0.000,6,0.000,0.040,2369,2235,3924
$GC,5497,-1.11,-243.4,651.4,-9.6,625,5501,0.00,2.38,0.00,0.000,4,0.000,0.044,2373,684,3921
$GC,5524,-1.11,-243.4,654.5,-10.4,626,5528,0.00,2.38,0.00,0.000,6,0.000,0.046,2374,2229,3921
$GC,5841,-1.11,-243.4,685.6,-9.9,641,5845,0.00,1.92,0.00,0.000,4,0.000,0.057,2377,3451,3918
$GC,5937,-1.11,-243.4,696.0,-11.3,645,5941,0.00,1.70,0.00,0.000,6,0.000,0.035,2375,2287,3917
$GC,6265,-1.11,-243.4,728.1,-9.5,661,6269,0.00,1.83,0.00,0.000,4,0.000,0.057,2381,3452,3915
$GC,6316,-1.11,-243.4,733.4,-11.0,663,6319,0.00,1.67,0.00,0.000,6,0.000,0.035,2378,2309,3914
$GC,6646,-1.11,-243.4,766.5,-11.1,679,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2308,3911
$GC,6952,-1.11,-243.4,797.4,-10.2,694,6955,0.00,1.80,0.00,0.000,4,0.000,0.058,2376,3456,3909
$GC,7003,-1.11,-243.4,803.3,-12.0,696,7007,0.00,1.65,0.00,0.000,6,0.000,0.036,2373,2332,3909
$GC,7331,-1.11,-243.4,838.3,-10.9,712,7335,0.00,2.53,0.00,0.000,4,0.000,0.049,2374,696,3906
$GC,7358,-1.11,-243.4,841.7,-12.6,713,7362,0.00,2.53,0.00,0.000,6,0.000,0.043,2364,2335,3906
$GC,7676,-1.11,-243.4,877.3,-10.9,728,7679,0.00,1.75,0.00,0.000,4,0.000,0.061,2362,3456,3905
$GC,7744,-1.11,-243.4,886.0,-12.8,731,7748,0.12,1.60,0.00,0.000,6,0.157,0.048,2392,2404,3904
$GC,8078,-1.11,-243.4,925.6,-12.2,747,8082,0.00,1.65,0.00,0.000,4,0.000,0.061,2390,3454,3902
$GC,8152,-1.11,-243.4,935.2,-12.6,750,8156,0.00,1.65,0.00,0.000,6,0.000,0.038,2389,2359,3901
$GC,8479,-1.11,-243.4,971.5,-10.1,766,8482,0.00,1.73,0.00,0.000,4,0.000,0.061,2382,3448,3899
$GC,8507,-1.11,-243.4,974.5,-10.9,767,8510,0.00,1.75,0.00,0.000,6,0.000,0.039,2383,2274,3899
$STATE,8666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8676,-0.29,0.0,990.7,9.9,775,8890,0.82,0.00,210.38,1.470,6,0.104,0.000,2652,1725,2945
$STATE,8891,end apogee,CONTROL_FINISHED_OK
$STATE,8891,begin climb
$GC,8894,1.11,243.4,1006.7,0.0,786,9126,1.27,2.33,218.57,1.424,4,0.060,0.058,3107,3090,1951
$GC,9228,1.11,243.4,983.9,11.7,801,9231,0.00,2.15,0.00,0.000,6,0.000,0.042,3117,1700,1945
$GC,9555,1.11,243.4,947.1,11.3,817,9559,0.00,2.22,0.00,0.000,4,0.000,0.057,3128,285,1943
$GC,9634,1.11,243.4,938.2,11.1,820,9637,0.00,2.12,0.00,0.000,6,0.000,0.043,3128,1672,1942
$GC,9957,1.11,243.4,899.8,12.2,836,9960,0.00,2.20,0.00,0.000,4,0.000,0.057,3138,285,1940
$GC,10012,1.11,243.4,892.3,12.7,838,10017,0.12,2.12,0.00,0.000,6,0.180,0.043,3109,1676,1941
$GC,10330,1.11,243.4,854.4,12.2,853,10334,0.00,2.22,0.00,0.000,4,0.000,0.058,3109,3093,1939
$GC,10379,1.11,243.4,847.8,12.8,855,10383,0.00,2.20,0.00,0.000,6,0.000,0.043,3117,1653,1938
$GC,10702,1.11,243.4,808.2,12.3,871,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1653,1938
$GC,11011,1.11,243.4,770.0,12.6,886,11015,0.00,2.30,0.00,0.000,4,0.000,0.058,3117,3103,1937
$GC,11033,1.11,243.4,766.9,12.3,887,11037,0.00,2.22,0.00,0.000,6,0.000,0.043,3127,1650,1937
$GC,11355,1.11,243.4,728.7,11.7,903,11359,0.00,2.15,0.00,0.000,4,0.000,0.055,3138,282,1936
$GC,11384,1.11,243.4,724.9,12.6,904,11389,0.12,2.10,0.00,0.000,6,0.179,0.044,3108,1656,1937
$GC,11705,1.11,243.4,690.2,11.0,920,11708,0.00,2.28,0.00,0.000,4,0.000,0.057,3108,3099,1936
$GC,11777,1.11,243.4,681.7,12.3,923,11781,0.00,2.22,0.00,0.000,6,0.000,0.043,3116,1646,1935
$GC,12101,1.11,243.4,646.8,10.4,939,12105,0.00,2.17,0.00,0.000,4,0.000,0.060,3126,281,1935
$GC,12151,1.11,243.4,641.1,11.4,941,12155,0.00,2.10,0.00,0.000,6,0.000,0.044,3126,1649,1935
$GC,12480,1.12,257.9,608.6,9.6,957,12505,0.00,2.33,13.68,1.025,4,0.000,0.057,3126,3087,1893
$GC,12557,1.14,270.8,600.7,9.6,960,12583,0.00,2.25,15.68,1.044,6,0.000,0.043,3136,1627,1840
$GC,12894,1.14,270.8,566.3,10.6,976,12898,0.00,2.33,0.00,0.000,4,0.000,0.055,3136,3097,1838
$GC,12945,1.14,270.8,560.6,11.1,978,12949,0.00,2.22,0.00,0.000,6,0.000,0.042,3146,1646,1837
$GC,13266,1.14,270.8,528.3,10.3,994,13270,0.00,2.30,0.00,0.000,4,0.000,0.055,3146,3103,1837
$GC,13385,1.14,270.8,514.9,11.1,999,13389,0.15,2.17,0.00,0.000,6,0.176,0.042,3119,1676,1837
$GC,13716,1.16,287.8,482.7,9.5,1023,13749,0.00,2.33,18.60,1.016,4,0.000,0.054,3118,3099,1770
$GC,13834,1.22,336.3,470.9,8.7,1033,13886,0.00,2.12,45.60,1.120,6,0.000,0.041,3126,1717,1573
$GC,14204,1.24,350.0,434.6,9.6,1068,14226,0.00,2.33,13.30,1.023,4,0.000,0.054,3137,287,1517
$GC,14331,1.24,350.0,421.6,10.5,1079,14335,0.00,2.30,0.00,0.000,6,0.000,0.041,3137,1776,1516
$GC,14656,1.24,350.0,387.6,10.2,1109,14660,0.00,2.35,0.00,0.000,4,0.000,0.052,3148,282,1514
$GC,14697,1.24,350.0,383.3,11.3,1112,14701,0.00,2.22,0.00,0.000,6,0.000,0.041,3147,1742,1514
$GC,15033,1.24,350.0,349.2,10.6,1143,15037,0.00,2.30,0.00,0.000,4,0.000,0.052,3158,274,1514
$GC,15088,1.24,350.0,342.4,10.9,1147,15095,0.00,2.33,0.00,0.000,6,0.000,0.040,3158,1807,1514
$GC,15417,1.25,360.9,309.2,9.7,1178,15434,0.00,2.42,10.98,0.901,4,0.000,0.051,3169,289,1473
$GC,15526,1.25,360.9,297.0,11.8,1189,15532,0.00,2.38,0.00,0.000,6,0.000,0.038,3170,1850,1473
$GC,15873,1.25,362.0,259.8,10.0,1250,15880,0.00,1.95,0.00,0.000,4,0.000,0.048,3170,3104,1473
$GC,15989,1.25,362.0,247.2,10.8,1270,15996,0.00,1.88,0.00,0.000,6,0.000,0.037,3178,1872,1472
$GC,16336,1.25,362.0,210.6,10.6,1331,16342,0.00,1.90,0.00,0.000,4,0.000,0.047,3178,3103,1472
$GC,16384,1.25,362.0,205.1,11.1,1339,16390,0.15,1.83,0.00,0.000,6,0.159,0.035,3148,1876,1472
$GC,16732,1.25,362.0,171.8,10.3,1400,16738,0.00,1.92,0.00,0.000,4,0.000,0.045,3147,3106,1472
$GC,16768,1.26,369.6,168.3,9.8,1406,16783,0.00,1.95,9.62,0.756,6,0.000,0.035,3154,1815,1438
$GC,17123,1.28,385.1,133.8,9.6,1468,17144,0.00,2.45,15.35,0.764,4,0.000,0.046,3166,275,1374
$GC,17242,1.35,437.3,122.8,8.6,1488,17294,0.00,2.33,46.78,0.777,6,0.000,0.032,3166,1814,1162
$GC,17635,1.35,437.3,85.2,10.2,1556,17641,0.00,1.98,0.00,0.000,4,0.000,0.043,3166,3100,1159
$GC,17772,1.37,459.6,72.6,9.4,1580,17798,0.00,2.03,20.67,0.707,6,0.000,0.033,3175,1725,1070
$GC,18138,1.43,503.4,43.0,8.8,1644,18184,0.00,2.08,38.22,0.686,4,0.000,0.038,3175,3111,891
$GC,18367,1.47,539.4,22.1,9.0,1683,18406,0.10,2.10,31.70,0.653,6,0.047,0.031,3245,1709,746
$STATE,18542,end climb,SURFACE_DEPTH_REACHED
$STATE,18542,begin surface coast
$FINISH,1.0,1.010573
$STATE,18569,end surface coast,CONTROL_FINISHED_OK
$STATE,18570,begin surface
$SM_CCo,18651,0.00,0.000,0,0,744,539.91
$SM_GC,1.64,8.12,0.00,0.00,0.037,0.000,0.000,149,2085,744,-8.04,0.68,539.91
$IRIDIUM_FIX,2347.41,12549.52,071198,181856
$TT8_MAMPS,0.026845
$HUMID,1634
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.00
$XPDR_PINGS,196
$24V_AH,23.0,107.865
$10V_AH,10.5,70.742
$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,20.100,186.100,709.125,0.000,0.000,24.365,36.655,246.952,57.000,0.000,0.000,12.788,3010.087,10941.779,805.994,3513.372,850.294,0.000,2421.289,0.000,3477.935,0.000,54.417,0.000
$DEVICE_MAMPS,217.061,61.360,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.243,1192.154,2004.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101111,1718
$CAP_FILE_SIZE,182058,0
$CFSIZE,260165632,194985984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.144,115.0,1
$GPS,140809,044137,2352.362,12550.191,33,1.5,33,-3.5