version: 66.04
glider: 166
mission: 2
dive: 455
start: 8 7 109 20 27 57
data:
$ID,166
$MISSION,2
$DIVE,455
$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,-14777.985
$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,39
$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
$GPS1,201406,2416.231,12540.296,28,1.1,28,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.3
$GPS2,202734,2416.590,12540.134,10,2.4,29,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2356.200,12530.000
$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,221.7,41476,-13.9,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.07,-243.4,0.0,0.0,0,101,0.00,0.00,-82.18,0.000,2,0.000,0.000,166,2093,2675
$GC,105,-1.07,-243.4,3.3,-2.9,13,152,9.05,2.25,-32.45,0.000,4,0.220,0.051,2406,649,3940
$GC,177,-1.07,-243.4,15.9,-16.6,24,183,0.00,2.05,0.00,0.000,6,0.000,0.033,2399,2042,3941
$GC,522,-1.07,-243.4,74.2,-17.8,85,529,0.00,2.12,0.00,0.000,4,0.000,0.045,2395,3459,3940
$GC,564,-1.07,-243.4,81.4,-17.6,92,571,0.10,2.08,0.00,0.000,6,0.149,0.028,2416,2041,3941
$GC,910,-1.07,-243.4,125.7,-12.8,153,916,0.00,2.15,0.00,0.000,4,0.000,0.044,2415,3459,3941
$GC,929,-1.07,-243.4,128.1,-12.3,156,936,0.00,2.00,0.00,0.000,6,0.000,0.028,2412,2081,3941
$GC,1276,-1.07,-243.4,171.5,-13.1,217,1282,0.00,2.10,0.00,0.000,4,0.000,0.045,2417,3465,3943
$GC,1313,-1.07,-243.4,176.4,-14.1,223,1320,0.00,1.98,0.00,0.000,6,0.000,0.028,2411,2105,3942
$GC,1660,-1.07,-243.4,218.1,-11.4,284,1666,0.00,2.05,0.00,0.000,4,0.000,0.045,2411,3460,3942
$GC,1696,-1.07,-243.4,222.5,-12.8,290,1702,0.00,1.98,0.00,0.000,6,0.000,0.028,2410,2101,3942
$GC,2042,-1.07,-243.4,261.8,-11.3,351,2050,0.00,2.12,0.00,0.000,4,0.000,0.040,2410,669,3942
$GC,2079,-1.07,-243.4,266.7,-12.7,357,2085,0.00,2.12,0.00,0.000,6,0.000,0.034,2410,2115,3942
$GC,2427,-1.07,-243.4,306.1,-10.9,414,2430,0.00,2.03,0.00,0.000,4,0.000,0.048,2420,3456,3941
$GC,2477,-1.07,-243.4,312.2,-11.2,418,2483,0.00,1.98,0.00,0.000,6,0.000,0.028,2412,2103,3941
$GC,2805,-1.07,-243.4,349.5,-11.6,449,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2103,3940
$GC,3133,-1.07,-243.4,387.9,-11.3,480,3137,0.00,2.15,0.00,0.000,4,0.000,0.041,2414,660,3938
$GC,3149,-1.07,-243.4,390.2,-11.3,481,3155,0.00,2.15,0.00,0.000,6,0.000,0.035,2418,2117,3938
$GC,3478,-1.07,-243.4,423.3,-10.0,512,3482,0.00,2.03,0.00,0.000,4,0.000,0.049,2416,3458,3937
$GC,3502,-1.07,-243.4,426.1,-10.0,514,3505,0.00,1.98,0.00,0.000,6,0.000,0.028,2421,2085,3937
$GC,3836,-1.07,-243.4,459.1,-9.5,545,3840,0.00,2.12,0.00,0.000,4,0.000,0.042,2418,664,3935
$GC,3875,-1.07,-243.4,463.4,-10.0,548,3882,0.00,2.12,0.00,0.000,6,0.000,0.036,2415,2100,3935
$GC,4201,-1.07,-243.4,494.2,-9.5,579,4205,0.00,2.08,0.00,0.000,4,0.000,0.051,2417,3465,3934
$GC,4281,-1.07,-243.4,502.0,-9.9,585,4284,0.00,1.95,0.00,0.000,6,0.000,0.030,2420,2117,3933
$GC,4602,-1.07,-243.4,535.0,-10.5,601,4606,0.00,2.17,0.00,0.000,4,0.000,0.044,2419,663,3930
$GC,4630,-1.07,-243.4,538.2,-11.6,602,4634,0.00,2.17,0.00,0.000,6,0.000,0.038,2417,2119,3930
$GC,4958,-1.07,-243.4,571.9,-10.3,618,4962,0.00,2.05,0.00,0.000,4,0.000,0.054,2416,3459,3928
$GC,5031,-1.07,-243.4,580.1,-11.0,621,5034,0.00,1.95,0.00,0.000,6,0.000,0.031,2419,2118,3927
$GC,5359,-1.07,-243.4,615.8,-11.1,637,5363,0.00,2.08,0.00,0.000,4,0.000,0.054,2415,3463,3925
$GC,5405,-1.07,-243.4,621.0,-11.4,639,5409,0.00,1.92,0.00,0.000,6,0.000,0.032,2416,2146,3924
$GC,5738,-1.07,-243.4,656.9,-10.8,655,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2146,3922
$GC,6048,-1.07,-243.4,689.7,-10.3,670,6051,0.00,2.05,0.00,0.000,4,0.000,0.057,2412,3459,3918
$GC,6104,-1.07,-243.4,695.9,-10.5,672,6107,0.00,1.92,0.00,0.000,6,0.000,0.034,2412,2146,3918
$GC,6426,-1.07,-243.4,727.2,-9.6,688,6430,0.00,2.05,0.00,0.000,4,0.000,0.058,2404,3458,3916
$GC,6485,-1.07,-243.4,732.6,-9.5,690,6489,0.00,1.90,0.00,0.000,6,0.000,0.035,2404,2166,3915
$GC,6807,-1.07,-243.4,761.2,-8.8,706,6811,0.00,2.30,0.00,0.000,4,0.000,0.048,2405,663,3912
$GC,6840,-1.07,-243.4,764.5,-9.9,707,6848,0.00,2.30,0.00,0.000,6,0.000,0.041,2394,2176,3912
$GC,7159,-1.07,-243.4,794.6,-10.4,723,7163,0.00,2.00,0.00,0.000,4,0.000,0.059,2386,3459,3910
$GC,7233,-1.07,-243.4,803.4,-11.7,726,7238,0.10,1.85,0.00,0.000,6,0.148,0.036,2417,2202,3909
$GC,7562,-1.07,-243.4,838.6,-10.9,742,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2202,3907
$GC,7870,-1.07,-243.4,870.6,-10.0,757,7874,0.00,2.00,0.00,0.000,4,0.000,0.067,2405,3457,3905
$GC,7943,-1.07,-243.4,878.5,-10.6,760,7946,0.00,1.85,0.00,0.000,6,0.000,0.037,2405,2211,3904
$GC,8271,-1.07,-243.4,911.0,-9.8,776,8275,0.00,1.98,0.00,0.000,4,0.000,0.061,2395,3460,3902
$GC,8295,-1.07,-243.4,913.5,-10.1,777,8299,0.00,1.83,0.00,0.000,6,0.000,0.037,2397,2232,3902
$GC,8629,-1.07,-243.4,946.5,-9.8,793,8633,0.00,1.98,0.00,0.000,4,0.000,0.068,2387,3450,3900
$GC,8680,-1.07,-243.4,951.8,-10.6,795,8684,0.12,1.77,0.00,0.000,6,0.134,0.038,2423,2254,3900
$GC,9007,-1.07,-243.4,980.7,-8.5,811,9011,0.00,1.95,0.00,0.000,4,0.000,0.064,2422,3450,3898
$GC,9054,-1.07,-243.4,984.8,-8.5,813,9058,0.00,1.73,0.00,0.000,6,0.000,0.038,2422,2292,3898
$STATE,9116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9116,begin apogee
$GC,9125,-0.28,0.0,990.5,8.7,816,9339,0.75,0.00,209.88,1.464,6,0.100,0.000,2672,1712,2945
$STATE,9340,end apogee,CONTROL_FINISHED_OK
$STATE,9340,begin climb
$GC,9343,1.07,243.4,1004.3,0.0,827,9572,1.20,2.30,217.48,1.418,4,0.051,0.058,3123,3096,1950
$GC,9648,1.07,243.4,978.5,15.0,841,9653,0.00,2.17,0.00,0.000,6,0.000,0.043,3134,1692,1945
$GC,9976,1.07,243.4,934.6,13.4,857,9980,0.00,2.22,0.00,0.000,4,0.000,0.061,3144,277,1943
$GC,10084,1.07,243.4,920.0,13.0,861,10090,0.15,2.12,0.00,0.000,6,0.180,0.044,3108,1669,1941
$GC,10400,1.07,243.4,881.7,12.6,877,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1670,1940
$GC,10709,1.07,243.4,841.5,13.0,892,10712,0.00,2.25,0.00,0.000,4,0.000,0.058,3108,3103,1938
$GC,10771,1.07,243.4,833.1,14.0,894,10778,0.00,2.20,0.00,0.000,6,0.000,0.044,3116,1656,1938
$GC,11087,1.07,243.4,792.2,12.6,910,11091,0.00,2.28,0.00,0.000,4,0.000,0.057,3116,3103,1937
$GC,11143,1.07,243.4,784.8,12.5,912,11147,0.00,2.20,0.00,0.000,6,0.000,0.044,3126,1660,1936
$GC,11465,1.07,243.4,745.4,11.8,928,11469,0.00,2.15,0.00,0.000,4,0.000,0.056,3137,290,1936
$GC,11560,1.07,243.4,733.9,11.1,932,11563,0.00,2.08,0.00,0.000,6,0.000,0.043,3137,1653,1936
$GC,11889,1.07,243.4,697.1,11.6,948,11893,0.00,2.25,0.00,0.000,4,0.000,0.056,3137,3093,1935
$GC,12040,1.07,243.4,677.3,12.2,954,12048,0.15,2.15,0.00,0.000,6,0.188,0.042,3110,1674,1935
$GC,12356,1.07,243.4,641.7,11.3,970,12360,0.00,2.25,0.00,0.000,4,0.000,0.055,3107,3102,1935
$GC,12390,1.07,243.4,637.7,11.5,971,12394,0.00,2.15,0.00,0.000,6,0.000,0.041,3115,1688,1935
$GC,12714,1.07,243.4,603.4,10.4,987,12718,0.00,2.22,0.00,0.000,4,0.000,0.055,3116,3104,1934
$GC,12792,1.07,243.4,594.4,11.2,990,12796,0.00,2.10,0.00,0.000,6,0.000,0.042,3125,1714,1934
$GC,13114,1.07,243.4,559.5,10.9,1006,13117,0.00,2.25,0.00,0.000,4,0.000,0.054,3137,279,1934
$GC,13175,1.07,243.4,552.3,11.1,1008,13183,0.00,2.20,0.00,0.000,6,0.000,0.042,3137,1723,1934
$GC,13491,1.07,243.4,520.3,10.3,1024,13495,0.00,2.15,0.00,0.000,4,0.000,0.054,3137,3101,1934
$GC,13627,1.07,243.4,505.4,10.9,1030,13632,0.15,2.10,0.00,0.000,6,0.182,0.041,3110,1721,1934
$GC,13954,1.10,264.1,474.0,9.4,1058,13983,0.00,2.25,18.92,1.010,4,0.000,0.053,3107,3100,1868
$GC,14056,1.10,265.7,463.3,10.0,1066,14063,0.00,2.03,0.00,0.000,6,0.000,0.040,3115,1772,1866
$GC,14387,1.10,265.7,430.7,11.0,1097,14391,0.00,2.08,0.00,0.000,4,0.000,0.053,3115,3100,1866
$GC,14437,1.10,265.7,424.7,10.6,1101,14443,0.00,2.00,0.00,0.000,6,0.000,0.039,3124,1783,1865
$GC,14765,1.22,365.0,394.8,7.3,1132,14867,0.00,2.20,90.97,1.054,4,0.000,0.051,3125,3103,1455
$GC,14959,1.22,365.0,376.7,10.1,1149,14963,0.00,1.95,0.00,0.000,6,0.000,0.038,3133,1831,1452
$GC,15293,1.22,365.0,339.1,11.7,1180,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1831,1449
$GC,15621,1.25,389.6,304.7,9.3,1211,15649,0.10,2.03,21.95,0.940,4,0.077,0.049,3187,3096,1356
$GC,15660,1.25,389.6,300.1,11.3,1214,15666,0.00,1.95,0.00,0.000,6,0.000,0.036,3194,1829,1356
$GC,16007,1.25,389.6,254.0,11.9,1275,16013,0.00,2.40,0.00,0.000,4,0.000,0.048,3206,277,1354
$GC,16079,1.25,389.6,245.2,11.2,1287,16085,0.15,2.35,0.00,0.000,6,0.160,0.037,3169,1838,1354
$GC,16424,1.25,389.6,204.2,11.6,1348,16432,0.00,1.95,0.00,0.000,4,0.000,0.047,3168,3103,1353
$GC,16488,1.25,389.6,196.8,10.8,1359,16495,0.00,1.90,0.00,0.000,6,0.000,0.035,3174,1841,1353
$GC,16834,1.25,389.6,163.0,11.7,1420,16842,0.00,2.38,0.00,0.000,4,0.000,0.047,3186,287,1353
$GC,16934,1.25,389.6,150.5,11.0,1437,16940,0.00,2.45,0.00,0.000,6,0.000,0.034,3186,1926,1353
$GC,17280,1.25,389.6,119.3,11.6,1498,17286,0.00,1.77,0.00,0.000,4,0.000,0.044,3186,3096,1353
$GC,17384,1.25,389.6,106.1,12.5,1516,17391,0.00,1.90,0.00,0.000,6,0.000,0.032,3195,1820,1353
$GC,17730,1.33,456.9,75.7,8.1,1577,17805,0.00,2.40,61.12,0.716,4,0.000,0.045,3206,281,1081
$GC,17883,1.36,482.1,62.8,9.3,1602,17915,0.00,2.35,22.80,0.687,6,0.000,0.031,3207,1860,979
$GC,18253,1.36,482.1,22.2,11.1,1667,18260,0.00,1.88,0.00,0.000,4,0.000,0.041,3207,3100,980
$GC,18300,1.36,482.1,17.0,10.5,1675,18307,0.00,2.03,0.00,0.000,6,0.000,0.031,3214,1710,979
$STATE,18429,end climb,SURFACE_DEPTH_REACHED
$STATE,18429,begin surface coast
$FINISH,0.9,1.012423
$STATE,18459,end surface coast,CONTROL_FINISHED_OK
$STATE,18459,begin surface
$SM_CCo,18539,0.00,0.000,0,0,976,483.00
$SM_GC,1.66,8.10,0.00,0.00,0.040,0.000,0.000,165,2102,976,-8.11,1.16,483.00
$IRIDIUM_FIX,2406.29,12542.70,011198,202033
$TT8_MAMPS,0.026845
$HUMID,1615
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.20
$XPDR_PINGS,181
$24V_AH,23.0,100.541
$10V_AH,10.6,66.008
$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,20.125,176.800,643.125,0.000,0.000,48.712,63.281,443.435,53.250,0.000,0.000,30.479,2984.321,10974.110,774.542,3527.380,1071.918,0.000,2374.774,0.000,3471.220,0.000,54.424,0.000
$DEVICE_MAMPS,220.129,68.263,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.193,1181.494,1986.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97851,1703
$CAP_FILE_SIZE,182826,0
$CFSIZE,260165632,197705728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.216, 55.4,1
$GPS,080809,013807,2416.375,12540.759,33,1.1,33,-3.6