version: 66.04
glider: 166
mission: 2
dive: 453
start: 8 7 109 10 53 4
data:
$ID,166
$MISSION,2
$DIVE,453
$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,275
$T_MISSION,330
$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,610.797
$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,-14732.517
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,103336,2417.298,12541.040,40,1.2,46,-3.6
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.3
$GPS2,105244,2417.007,12541.354,15,2.0,15,-3.6
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12522.000
$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,258.3,45433,-16.4,-12.000
$D_GRID,1493
$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,-1.21,-243.4,0.0,0.0,0,80,0.00,0.00,-59.08,0.000,2,0.000,0.000,162,2073,2216
$GC,84,-1.21,-243.4,3.0,-5.5,9,148,9.10,2.15,-47.70,0.000,4,0.226,0.052,2363,643,3938
$GC,247,-1.21,-243.4,33.3,-18.7,36,255,0.00,2.12,0.00,0.000,6,0.000,0.035,2368,2056,3939
$GC,594,-1.21,-243.4,90.5,-16.5,97,601,0.00,2.12,0.00,0.000,4,0.000,0.044,2372,3477,3939
$GC,689,-1.21,-243.4,107.2,-18.5,113,695,0.00,2.03,0.00,0.000,6,0.000,0.028,2359,2061,3939
$GC,1034,-1.21,-243.4,156.0,-14.0,174,1040,0.00,2.08,0.00,0.000,4,0.000,0.039,2365,676,3940
$GC,1099,-1.21,-243.4,165.5,-15.2,185,1106,0.00,2.08,0.00,0.000,6,0.000,0.033,2357,2073,3940
$GC,1445,-1.21,-243.4,216.7,-12.3,246,1451,0.00,2.08,0.00,0.000,4,0.000,0.046,2355,3462,3940
$GC,1487,-1.21,-243.4,222.2,-13.3,253,1493,0.00,1.98,0.00,0.000,6,0.000,0.027,2359,2075,3940
$GC,1834,-1.21,-243.4,266.6,-12.1,314,1840,0.00,2.08,0.00,0.000,4,0.000,0.041,2356,666,3940
$GC,1881,-1.21,-243.4,272.6,-12.3,322,1887,0.00,2.08,0.00,0.000,6,0.000,0.032,2353,2090,3940
$GC,2219,-1.21,-243.4,313.8,-12.7,373,2223,0.00,2.05,0.00,0.000,4,0.000,0.047,2351,3459,3939
$GC,2298,-1.21,-243.4,324.5,-13.4,380,2306,0.00,1.95,0.00,0.000,6,0.000,0.028,2352,2096,3938
$GC,2632,-1.21,-243.4,364.0,-10.4,411,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2096,3937
$GC,2954,-1.21,-243.4,401.3,-12.8,441,2958,0.00,2.10,0.00,0.000,4,0.000,0.048,2344,3466,3935
$GC,3011,-1.21,-243.4,409.2,-13.0,446,3015,0.12,1.92,0.00,0.000,6,0.146,0.028,2377,2123,3935
$GC,3342,-1.21,-243.4,446.8,-10.9,477,3346,0.00,2.17,0.00,0.000,4,0.000,0.042,2377,665,3933
$GC,3450,-1.21,-243.4,459.3,-12.0,486,3456,0.00,2.12,0.00,0.000,6,0.000,0.035,2372,2079,3932
$GC,3778,-1.21,-243.4,495.6,-11.5,517,3782,0.00,2.12,0.00,0.000,4,0.000,0.051,2377,3473,3930
$GC,3802,-1.21,-243.4,498.6,-11.0,519,3806,0.00,2.00,0.00,0.000,6,0.000,0.030,2378,2096,3929
$GC,4126,-1.21,-243.4,532.8,-10.7,535,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2096,3927
$GC,4433,-1.21,-243.4,568.1,-11.4,550,4437,0.00,2.15,0.00,0.000,4,0.000,0.044,2379,669,3925
$GC,4457,-1.21,-243.4,570.9,-11.8,551,4461,0.00,2.15,0.00,0.000,6,0.000,0.039,2376,2100,3925
$GC,4791,-1.21,-243.4,608.9,-10.8,567,4795,0.00,2.17,0.00,0.000,4,0.000,0.045,2377,669,3922
$GC,4814,-1.21,-243.4,611.8,-11.6,568,4818,0.00,2.17,0.00,0.000,6,0.000,0.040,2377,2111,3921
$GC,5148,-1.21,-243.4,645.8,-9.9,584,5152,0.00,2.10,0.00,0.000,4,0.000,0.055,2376,3469,3918
$GC,5210,-1.21,-243.4,652.4,-10.4,586,5217,0.00,2.03,0.00,0.000,6,0.000,0.035,2382,2114,3918
$GC,5526,-1.21,-243.4,685.3,-10.5,602,5530,0.00,2.20,0.00,0.000,4,0.000,0.047,2382,666,3915
$GC,5561,-1.21,-243.4,689.3,-11.3,603,5565,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,2103,3914
$GC,5883,-1.21,-243.4,723.7,-10.6,619,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2104,3912
$GC,6192,-1.21,-243.4,758.2,-11.6,634,6195,0.00,2.12,0.00,0.000,4,0.000,0.058,2365,3463,3909
$GC,6231,-1.21,-243.4,763.2,-12.6,635,6238,0.00,2.05,0.00,0.000,6,0.000,0.035,2370,2079,3909
$GC,6550,-1.21,-243.4,801.4,-12.1,651,6554,0.00,2.17,0.00,0.000,4,0.000,0.050,2371,660,3907
$GC,6606,-1.21,-243.4,809.2,-13.9,653,6610,0.00,2.15,0.00,0.000,6,0.000,0.041,2357,2077,3906
$GC,6930,-1.21,-243.4,846.2,-11.3,669,6934,0.00,2.17,0.00,0.000,4,0.000,0.060,2352,3462,3904
$GC,6958,-1.21,-243.4,849.6,-11.9,670,6965,0.00,2.05,0.00,0.000,6,0.000,0.037,2356,2082,3903
$GC,7288,-1.21,-243.4,885.1,-10.3,686,7292,0.00,2.20,0.00,0.000,4,0.000,0.051,2353,656,3901
$GC,7339,-1.21,-243.4,891.4,-12.8,688,7343,0.12,2.17,0.00,0.000,6,0.160,0.048,2377,2073,3900
$GC,7668,-1.21,-243.4,925.2,-10.3,704,7672,0.00,2.20,0.00,0.000,4,0.000,0.061,2369,3469,3899
$GC,7770,-1.21,-243.4,937.6,-12.9,708,7774,0.00,2.05,0.00,0.000,6,0.000,0.038,2371,2103,3898
$GC,8092,-1.21,-243.4,976.9,-12.2,724,8096,0.00,2.25,0.00,0.000,4,0.000,0.053,2373,654,3896
$GC,8165,-1.21,-243.4,986.8,-13.3,727,8169,0.00,2.22,0.00,0.000,6,0.000,0.045,2364,2099,3895
$STATE,8195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8195,begin apogee
$GC,8204,-0.28,0.0,990.9,13.5,729,8418,1.00,0.00,208.57,1.461,6,0.125,0.000,2674,1687,2945
$STATE,8419,end apogee,CONTROL_FINISHED_OK
$STATE,8419,begin climb
$GC,8422,1.21,243.4,1007.8,0.0,740,8652,1.33,2.35,216.75,1.420,4,0.051,0.058,3173,299,1951
$GC,8709,1.21,243.4,986.8,13.9,753,8713,0.00,2.20,0.00,0.000,6,0.000,0.043,3174,1707,1946
$GC,9031,1.21,243.4,941.2,14.3,769,9035,0.00,2.25,0.00,0.000,4,0.000,0.055,3185,284,1942
$GC,9078,1.21,243.4,934.2,15.5,771,9083,0.12,2.17,0.00,0.000,6,0.194,0.043,3157,1701,1942
$GC,9405,1.21,243.4,887.0,14.6,787,9409,0.00,2.17,0.00,0.000,4,0.000,0.057,3152,3094,1940
$GC,9489,1.21,243.4,874.0,15.7,790,9495,0.00,2.10,0.00,0.000,6,0.000,0.042,3160,1708,1940
$GC,9805,1.21,243.4,828.0,14.5,806,9809,0.00,2.17,0.00,0.000,4,0.000,0.057,3159,3094,1939
$GC,9838,1.21,243.4,822.8,15.3,807,9842,0.00,2.12,0.00,0.000,6,0.000,0.041,3169,1696,1937
$GC,10162,1.21,243.4,776.2,14.7,823,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1696,1937
$GC,10471,1.21,243.4,733.2,13.7,838,10475,0.00,2.20,0.00,0.000,4,0.000,0.057,3176,289,1936
$GC,10549,1.21,243.4,721.7,13.8,841,10553,0.00,2.17,0.00,0.000,6,0.000,0.044,3175,1709,1936
$GC,10872,1.21,243.4,679.9,12.7,857,10875,0.00,2.25,0.00,0.000,4,0.000,0.054,3183,278,1936
$GC,10941,1.21,243.4,670.6,13.6,860,10946,0.12,2.20,0.00,0.000,6,0.191,0.044,3157,1710,1935
$GC,11268,1.23,264.9,632.1,11.3,876,11299,0.00,2.22,20.05,1.124,4,0.000,0.055,3156,3091,1865
$GC,11346,1.23,264.9,621.8,13.8,879,11350,0.00,2.15,0.00,0.000,6,0.000,0.044,3164,1693,1863
$GC,11668,1.23,264.9,580.0,13.3,895,11671,0.00,2.22,0.00,0.000,4,0.000,0.055,3166,3106,1863
$GC,11748,1.23,264.9,568.6,14.1,898,11751,0.00,2.15,0.00,0.000,6,0.000,0.042,3176,1699,1861
$GC,12070,1.23,264.9,526.2,12.6,914,12074,0.00,2.20,0.00,0.000,4,0.000,0.054,3185,290,1861
$GC,12104,1.24,267.5,521.7,11.9,915,12107,0.00,2.15,0.00,0.000,6,0.000,0.041,3187,1703,1861
$GC,12430,1.29,307.2,483.3,10.7,937,12475,0.00,2.35,39.15,1.133,4,0.000,0.054,3198,281,1691
$GC,12538,1.31,329.2,470.5,11.3,946,12567,0.00,2.17,21.35,1.081,6,0.000,0.042,3198,1691,1602
$GC,12885,1.31,329.2,428.8,12.9,979,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1691,1597
$GC,13205,1.31,329.2,388.0,13.1,1009,13209,0.00,2.17,0.00,0.000,4,0.000,0.051,3198,3098,1597
$GC,13274,1.31,329.2,378.2,14.6,1015,13278,0.00,2.15,0.00,0.000,6,0.000,0.040,3208,1680,1596
$GC,13605,1.34,351.3,335.7,11.3,1046,13631,0.00,2.25,20.27,0.984,4,0.000,0.050,3208,3102,1511
$GC,13699,1.34,351.3,323.6,13.9,1054,13706,0.00,2.08,0.00,0.000,6,0.000,0.038,3217,1731,1510
$GC,14035,1.34,351.3,277.7,13.7,1099,14041,0.00,2.12,0.00,0.000,4,0.000,0.049,3218,3103,1509
$GC,14177,1.34,351.3,258.2,13.3,1124,14184,0.00,2.08,0.00,0.000,6,0.000,0.038,3227,1717,1509
$GC,14525,1.35,355.2,217.0,11.9,1185,14532,0.00,0.00,4.80,0.658,6,0.000,0.000,3226,1717,1496
$GC,14871,1.35,355.2,173.7,12.7,1246,14877,0.00,2.12,0.00,0.000,4,0.000,0.045,3227,3106,1496
$GC,14936,1.35,355.2,165.2,12.1,1257,14943,0.15,2.08,0.00,0.000,6,0.173,0.036,3199,1707,1496
$GC,15283,1.42,414.5,130.9,10.0,1318,15346,0.00,2.28,52.88,0.805,4,0.000,0.047,3208,294,1254
$GC,15358,1.42,414.5,121.6,13.3,1330,15365,0.00,2.17,0.00,0.000,6,0.000,0.033,3207,1714,1254
$GC,15704,1.52,495.5,82.2,9.3,1391,15781,0.12,2.15,70.25,0.745,4,0.071,0.041,3266,3103,923
$GC,15837,1.52,495.5,67.3,12.1,1412,15845,0.00,2.08,0.00,0.000,6,0.000,0.033,3275,1720,922
$GC,16184,1.52,495.5,18.9,14.2,1473,16191,0.00,2.10,0.00,0.000,4,0.000,0.041,3275,3092,922
$GC,16223,1.52,495.5,14.1,12.7,1479,16230,0.12,2.05,0.00,0.000,6,0.171,0.031,3254,1690,922
$STATE,16295,end climb,SURFACE_DEPTH_REACHED
$STATE,16295,begin surface coast
$FINISH,0.9,1.016131
$STATE,16321,end surface coast,CONTROL_FINISHED_OK
$STATE,16321,begin surface
$SM_CCo,16341,97.32,0.655,1,0,454,610.80
$SM_GC,1.44,0.00,0.00,97.32,0.000,0.000,0.655,117,2094,454,-8.12,0.93,610.80
$IRIDIUM_FIX,2408.65,12542.70,011198,101014
$TT8_MAMPS,0.026845
$HUMID,1620
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.70
$XPDR_PINGS,152
$24V_AH,23.0,100.004
$10V_AH,10.6,65.683
$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,20.500,155.250,654.075,97.325,0.000,120.531,326.155,275.920,46.000,0.000,0.000,16.048,2623.815,9864.531,838.666,3043.265,1208.566,0.000,2251.964,0.000,3014.823,0.000,54.442,0.000
$DEVICE_MAMPS,226.265,61.360,1461.135,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.375,1028.312,1726.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88459,1496
$CAP_FILE_SIZE,164360,0
$CFSIZE,260165632,197885952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122, 79.8,1
$GPS,070809,152831,2416.743,12540.845,41,2.0,41,-3.6