version: 66.04
glider: 166
mission: 2
dive: 456
start: 8 8 109 1 53 23
data:
$ID,166
$MISSION,2
$DIVE,456
$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,-14796.091
$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,53
$R_STBD_OVSHOOT,73
$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
$GPS1,013807,2416.375,12540.759,33,1.1,33,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.6
$GPS2,015301,2416.739,12541.039,12,1.1,17,-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,228.7,42380,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.07,-243.4,0.0,0.0,0,87,0.00,0.00,-67.62,0.000,2,0.000,0.000,156,2106,2502
$GC,91,-1.07,-243.4,3.3,-6.2,10,145,8.93,2.25,-38.75,0.000,4,0.213,0.050,2405,652,3940
$GC,187,-1.07,-243.4,18.2,-17.9,25,193,0.00,2.03,0.00,0.000,6,0.000,0.031,2403,2041,3941
$GC,534,-1.07,-243.4,77.2,-17.4,86,540,0.00,2.12,0.00,0.000,4,0.000,0.043,2390,3464,3941
$GC,564,-1.07,-243.4,82.0,-15.0,91,571,0.15,2.05,0.00,0.000,6,0.156,0.028,2418,2026,3941
$GC,910,-1.07,-243.4,122.3,-12.9,152,917,0.00,2.03,0.00,0.000,4,0.000,0.039,2418,654,3941
$GC,936,-1.07,-243.4,126.2,-14.7,156,944,0.00,2.05,0.00,0.000,6,0.000,0.031,2413,2065,3941
$GC,1285,-1.07,-243.4,168.4,-11.4,217,1291,0.00,2.10,0.00,0.000,4,0.000,0.046,2409,3469,3942
$GC,1343,-1.07,-243.4,175.8,-12.7,227,1350,0.00,2.00,0.00,0.000,6,0.000,0.028,2410,2094,3942
$GC,1689,-1.07,-243.4,215.3,-9.9,288,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2094,3942
$GC,2035,-1.07,-243.4,255.3,-12.0,349,2041,0.00,2.10,0.00,0.000,4,0.000,0.047,2409,3465,3941
$GC,2115,-1.07,-243.4,265.5,-12.5,363,2121,0.00,1.95,0.00,0.000,6,0.000,0.028,2409,2105,3941
$GC,2466,-1.07,-243.4,304.7,-10.9,421,2469,0.00,2.08,0.00,0.000,4,0.000,0.048,2410,3461,3940
$GC,2500,-1.07,-243.4,308.9,-11.7,424,2504,0.00,1.92,0.00,0.000,6,0.000,0.028,2409,2115,3940
$GC,2835,-1.07,-243.4,345.6,-10.0,455,2838,0.00,2.05,0.00,0.000,4,0.000,0.047,2415,3459,3938
$GC,2875,-1.07,-243.4,350.2,-10.4,458,2881,0.00,1.90,0.00,0.000,6,0.000,0.028,2412,2153,3938
$GC,3206,-1.07,-243.4,381.0,-10.6,489,3209,0.00,2.20,0.00,0.000,4,0.000,0.040,2411,675,3937
$GC,3244,-1.07,-243.4,386.2,-10.8,492,3252,0.00,2.20,0.00,0.000,6,0.000,0.034,2413,2168,3937
$GC,3572,-1.07,-243.4,420.4,-10.1,523,3576,0.00,1.95,0.00,0.000,4,0.000,0.049,2416,3459,3935
$GC,3664,-1.07,-243.4,429.6,-10.3,531,3668,0.00,1.83,0.00,0.000,6,0.000,0.029,2417,2190,3934
$GC,3998,-1.07,-243.4,460.2,-9.6,562,4001,0.00,1.95,0.00,0.000,4,0.000,0.051,2414,3456,3933
$GC,4038,-1.07,-243.4,464.4,-10.3,565,4043,0.00,1.80,0.00,0.000,6,0.000,0.030,2415,2205,3932
$GC,4365,-1.07,-243.4,497.9,-10.7,596,4369,0.00,2.30,0.00,0.000,4,0.000,0.042,2415,670,3929
$GC,4393,-1.07,-243.4,501.2,-10.9,598,4397,0.00,2.33,0.00,0.000,6,0.000,0.038,2414,2219,3929
$GC,4711,-1.07,-243.4,532.2,-9.4,613,4715,0.00,1.90,0.00,0.000,4,0.000,0.053,2415,3448,3927
$GC,4773,-1.07,-243.4,538.4,-9.5,615,4779,0.00,1.75,0.00,0.000,6,0.000,0.031,2417,2234,3926
$GC,5090,-1.07,-243.4,570.9,-10.8,631,5094,0.00,2.35,0.00,0.000,4,0.000,0.044,2421,672,3923
$GC,5130,-1.07,-243.4,575.6,-11.6,632,5138,0.00,2.35,0.00,0.000,6,0.000,0.040,2416,2232,3923
$GC,5446,-1.07,-243.4,609.4,-10.4,648,5450,0.00,1.88,0.00,0.000,4,0.000,0.055,2416,3454,3921
$GC,5492,-1.07,-243.4,614.3,-10.9,650,5495,0.00,1.75,0.00,0.000,6,0.000,0.032,2416,2250,3920
$GC,5826,-1.07,-243.4,647.0,-9.7,666,5829,0.00,1.88,0.00,0.000,4,0.000,0.055,2412,3459,3918
$GC,5854,-1.07,-243.4,650.0,-9.8,667,5858,0.00,1.73,0.00,0.000,6,0.000,0.032,2412,2267,3917
$GC,6182,-1.07,-243.4,683.9,-11.0,683,6186,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,675,3915
$GC,6231,-1.07,-243.4,689.9,-11.3,685,6235,0.00,2.40,0.00,0.000,6,0.000,0.041,2402,2251,3914
$GC,6555,-1.07,-243.4,726.9,-11.6,701,6559,0.00,2.42,0.00,0.000,4,0.000,0.047,2403,672,3911
$GC,6589,-1.07,-243.4,731.1,-11.9,702,6595,0.00,2.42,0.00,0.000,6,0.000,0.042,2393,2266,3911
$GC,6905,-1.07,-243.4,764.0,-9.9,718,6909,0.00,2.45,0.00,0.000,4,0.000,0.048,2393,675,3909
$GC,6977,-1.07,-243.4,771.6,-10.6,721,6982,0.12,2.38,0.00,0.000,6,0.143,0.044,2426,2228,3909
$GC,7294,-1.07,-243.4,797.7,-8.0,736,7298,0.00,1.90,0.00,0.000,4,0.000,0.059,2416,3450,3906
$GC,7373,-1.07,-243.4,804.5,-8.7,739,7376,0.00,1.75,0.00,0.000,6,0.000,0.036,2418,2263,3905
$GC,7697,-1.07,-243.4,832.0,-8.9,755,7701,0.00,2.45,0.00,0.000,4,0.000,0.049,2418,670,3904
$GC,7775,-1.07,-243.4,839.9,-9.2,758,7782,0.00,2.45,0.00,0.000,6,0.000,0.046,2416,2259,3903
$GC,8091,-1.07,-243.4,870.2,-9.7,774,8095,0.00,1.88,0.00,0.000,4,0.000,0.061,2419,3456,3901
$GC,8126,-1.07,-243.4,873.5,-9.9,775,8130,0.00,1.75,0.00,0.000,6,0.000,0.037,2417,2270,3901
$GC,8450,-1.07,-243.4,904.6,-9.9,791,8453,0.00,1.88,0.00,0.000,4,0.000,0.061,2411,3456,3899
$GC,8545,-1.07,-243.4,914.8,-10.1,795,8549,0.00,1.75,0.00,0.000,6,0.000,0.038,2409,2276,3898
$GC,8875,-1.07,-243.4,947.5,-10.0,811,8879,0.00,2.47,0.00,0.000,4,0.000,0.051,2410,679,3897
$GC,8964,-1.07,-243.4,957.8,-10.8,815,8968,0.00,2.45,0.00,0.000,6,0.000,0.051,2401,2250,3896
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9292,-0.28,0.0,991.2,10.3,831,9506,0.82,0.00,209.23,1.468,6,0.102,0.000,2674,1713,2945
$STATE,9507,end apogee,CONTROL_FINISHED_OK
$STATE,9507,begin climb
$GC,9510,1.07,243.4,1007.7,0.0,842,9739,1.17,2.35,217.75,1.425,4,0.051,0.057,3129,295,1950
$GC,9769,1.07,243.4,992.2,14.0,854,9774,0.00,2.20,0.00,0.000,6,0.000,0.043,3129,1694,1947
$GC,10097,1.07,243.4,950.0,12.9,870,10100,0.00,2.20,0.00,0.000,4,0.000,0.057,3129,3098,1942
$GC,10193,1.07,243.4,936.3,14.3,874,10196,0.00,2.12,0.00,0.000,6,0.000,0.043,3139,1706,1941
$GC,10520,1.07,243.4,888.6,14.6,890,10523,0.00,2.22,0.00,0.000,4,0.000,0.056,3149,283,1940
$GC,10626,1.07,243.4,872.5,15.2,894,10634,0.15,2.15,0.00,0.000,6,0.184,0.044,3113,1692,1940
$GC,10943,1.07,243.4,830.6,12.8,910,10947,0.00,2.20,0.00,0.000,4,0.000,0.057,3110,3101,1939
$GC,11005,1.07,243.4,822.5,13.5,912,11011,0.00,2.15,0.00,0.000,6,0.000,0.043,3118,1687,1937
$GC,11321,1.07,243.4,784.7,11.8,928,11325,0.00,2.20,0.00,0.000,4,0.000,0.056,3128,286,1937
$GC,11394,1.07,243.4,775.7,12.5,931,11398,0.00,2.15,0.00,0.000,6,0.000,0.044,3128,1692,1937
$GC,11722,1.07,243.4,738.5,11.1,947,11726,0.00,2.20,0.00,0.000,4,0.000,0.060,3128,3102,1936
$GC,11815,1.07,243.4,727.9,12.1,951,11818,0.00,2.12,0.00,0.000,6,0.000,0.043,3138,1709,1936
$GC,12148,1.07,243.4,688.7,11.8,967,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1709,1936
$GC,12456,1.07,243.4,652.9,11.7,982,12460,0.00,2.20,0.00,0.000,4,0.000,0.056,3137,3107,1935
$GC,12508,1.07,243.4,646.7,11.3,984,12512,0.15,2.12,0.00,0.000,6,0.183,0.043,3109,1713,1935
$GC,12830,1.07,243.4,609.6,11.8,1000,12834,0.00,2.25,0.00,0.000,4,0.000,0.055,3117,279,1935
$GC,12908,1.07,243.4,599.7,12.7,1003,12912,0.00,2.25,0.00,0.000,6,0.000,0.042,3117,1748,1935
$GC,13225,1.07,243.4,563.6,11.1,1018,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1748,1935
$GC,13534,1.09,260.6,532.6,9.5,1033,13560,0.00,2.12,16.08,1.022,4,0.000,0.054,3117,3106,1881
$GC,13697,1.15,307.1,517.1,8.7,1040,13751,0.00,2.12,43.45,1.157,6,0.000,0.041,3125,1718,1692
$GC,14064,1.15,307.1,480.6,10.7,1066,14067,0.00,2.17,0.00,0.000,4,0.000,0.053,3125,3101,1687
$GC,14171,1.15,307.1,468.8,11.4,1075,14177,0.00,2.05,0.00,0.000,6,0.000,0.040,3132,1757,1686
$GC,14498,1.15,307.1,433.9,10.6,1106,14502,0.00,2.10,0.00,0.000,4,0.000,0.054,3133,3099,1685
$GC,14556,1.15,307.1,427.3,11.3,1111,14560,0.00,2.00,0.00,0.000,6,0.000,0.040,3142,1786,1685
$GC,14889,1.15,307.1,392.1,10.5,1142,14893,0.00,2.35,0.00,0.000,4,0.000,0.052,3154,277,1685
$GC,14953,1.16,318.2,385.4,9.7,1147,14968,0.00,2.33,10.45,0.975,6,0.000,0.041,3155,1799,1647
$GC,15288,1.16,318.2,349.6,10.5,1178,15292,0.00,2.00,0.00,0.000,4,0.000,0.051,3154,3098,1646
$GC,15368,1.16,318.2,341.4,10.3,1185,15372,0.00,1.92,0.00,0.000,6,0.000,0.038,3163,1816,1646
$GC,15702,1.16,318.2,308.5,11.1,1216,15706,0.00,2.38,0.00,0.000,4,0.000,0.050,3175,280,1646
$GC,15724,1.16,318.2,305.5,11.6,1217,15730,0.15,2.42,0.00,0.000,6,0.168,0.038,3139,1876,1646
$GC,16066,1.18,330.1,269.5,9.7,1273,16085,0.00,1.90,12.30,0.890,4,0.000,0.049,3138,3109,1599
$GC,16167,1.18,330.1,259.6,10.4,1290,16175,0.00,1.85,0.00,0.000,6,0.000,0.037,3145,1888,1598
$GC,16514,1.18,330.9,222.0,10.0,1351,16520,0.00,2.47,0.00,0.000,4,0.000,0.048,3157,284,1598
$GC,16612,1.18,330.9,212.0,10.2,1368,16618,0.00,2.47,0.00,0.000,6,0.000,0.037,3157,1925,1597
$GC,16957,1.18,330.9,178.8,10.4,1429,16963,0.00,2.55,0.00,0.000,4,0.000,0.047,3167,270,1598
$GC,17101,1.18,330.9,163.5,10.5,1454,17109,0.00,2.45,0.00,0.000,6,0.000,0.035,3167,1906,1598
$GC,17450,1.27,402.9,130.7,8.0,1515,17520,0.00,2.62,64.03,0.801,4,0.000,0.045,3177,285,1302
$GC,17624,1.32,441.9,115.6,8.9,1544,17669,0.00,2.40,35.25,0.762,6,0.000,0.033,3177,1882,1142
$GC,18012,1.37,490.0,76.8,8.7,1611,18063,0.00,2.58,41.80,0.726,4,0.000,0.047,3189,278,946
$GC,18135,1.44,541.9,65.5,8.6,1631,18187,0.10,2.40,45.50,0.708,6,0.077,0.031,3245,1886,735
$GC,18530,1.44,541.9,21.1,11.9,1699,18536,0.00,2.45,0.00,0.000,4,0.000,0.041,3251,274,734
$GC,18567,1.46,561.1,16.8,9.5,1705,18594,0.00,2.22,17.75,0.637,6,0.000,0.030,3251,1788,657
$STATE,18666,end climb,SURFACE_DEPTH_REACHED
$STATE,18666,begin surface coast
$FINISH,0.7,1.022084
$STATE,18692,end surface coast,CONTROL_FINISHED_OK
$STATE,18692,begin surface
$SM_CCo,18772,0.00,0.000,0,0,655,561.74
$SM_GC,1.47,8.18,0.00,0.00,0.036,0.000,0.000,158,2106,655,-8.11,1.27,561.74
$IRIDIUM_FIX,2406.29,12539.40,021198,010142
$TT8_MAMPS,0.026845
$HUMID,1619
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.00
$XPDR_PINGS,189
$24V_AH,23.0,100.818
$10V_AH,10.6,66.184
$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,19.925,186.650,713.575,0.000,0.000,74.227,207.221,291.340,55.250,0.000,0.000,17.475,3018.453,11135.383,810.829,3565.112,1115.228,0.000,2440.967,0.000,3524.062,0.000,54.432,0.000
$DEVICE_MAMPS,213.226,61.360,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1170.076,1189.449,1999.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101144,1726
$CAP_FILE_SIZE,183996,0
$CFSIZE,260165632,197603328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248, 76.9,1
$GPS,080809,070736,2416.345,12542.423,37,1.6,43,-3.6