version: 66.04
glider: 166
mission: 2
dive: 460
start: 8 8 109 23 21 50
data:
$ID,166
$MISSION,2
$DIVE,460
$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,-14873.095
$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,47
$R_STBD_OVSHOOT,71
$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
$GPS1,231255,2414.854,12543.136,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.3
$GPS2,232126,2414.940,12543.061,12,1.6,12,-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,233.7,41149,-13.9,-10.000
$D_GRID,1392
$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,16,-1.07,-243.4,0.0,0.0,0,91,0.00,0.00,-72.70,0.000,2,0.000,0.000,124,2095,2500
$GC,94,-1.07,-243.4,3.2,-4.8,11,153,9.43,2.22,-39.22,0.000,4,0.231,0.052,2404,660,3938
$GC,194,-1.07,-243.4,18.7,-18.4,27,200,0.00,2.05,0.00,0.000,6,0.000,0.033,2400,2048,3942
$GC,540,-1.07,-243.4,73.3,-14.5,88,546,0.00,2.15,0.00,0.000,4,0.000,0.048,2400,3469,3940
$GC,570,-1.07,-243.4,77.5,-14.2,93,578,0.00,2.08,0.00,0.000,6,0.000,0.028,2396,2032,3940
$GC,918,-1.07,-243.4,124.3,-12.6,154,924,0.00,2.05,0.00,0.000,4,0.000,0.040,2400,668,3941
$GC,1012,-1.07,-243.4,137.1,-14.0,170,1019,0.12,2.03,0.00,0.000,6,0.153,0.031,2422,2060,3941
$GC,1359,-1.07,-243.4,175.3,-10.3,231,1365,0.00,2.10,0.00,0.000,4,0.000,0.046,2419,3457,3942
$GC,1400,-1.07,-243.4,180.0,-11.2,238,1408,0.00,2.10,0.00,0.000,6,0.000,0.028,2422,2018,3942
$GC,1749,-1.07,-243.4,219.7,-11.5,299,1755,0.00,2.20,0.00,0.000,4,0.000,0.046,2419,3456,3942
$GC,1797,-1.07,-243.4,225.6,-12.0,307,1803,0.00,2.03,0.00,0.000,6,0.000,0.028,2420,2046,3942
$GC,2141,-1.07,-243.4,262.9,-11.6,368,2148,0.00,2.17,0.00,0.000,4,0.000,0.046,2419,3467,3941
$GC,2165,-1.07,-243.4,265.9,-12.1,372,2172,0.00,2.05,0.00,0.000,6,0.000,0.028,2419,2042,3941
$GC,2511,-1.07,-243.4,302.3,-9.6,431,2514,0.00,2.17,0.00,0.000,4,0.000,0.047,2419,3462,3941
$GC,2545,-1.07,-243.4,305.9,-10.2,434,2549,0.00,2.05,0.00,0.000,6,0.000,0.028,2418,2044,3940
$GC,2877,-1.07,-243.4,339.7,-10.4,465,2880,0.00,2.17,0.00,0.000,4,0.000,0.048,2419,3468,3940
$GC,2923,-1.07,-243.4,344.5,-10.4,469,2926,0.00,2.00,0.00,0.000,6,0.000,0.028,2419,2077,3939
$GC,3253,-1.07,-243.4,380.1,-11.1,500,3257,0.00,2.10,0.00,0.000,4,0.000,0.041,2419,666,3939
$GC,3321,-1.07,-243.4,387.8,-10.9,506,3325,0.00,2.10,0.00,0.000,6,0.000,0.035,2419,2083,3938
$GC,3655,-1.07,-243.4,421.3,-8.6,537,3659,0.00,2.10,0.00,0.000,4,0.000,0.049,2420,3463,3937
$GC,3706,-1.07,-243.4,426.3,-9.1,541,3713,0.00,2.00,0.00,0.000,6,0.000,0.029,2422,2076,3937
$GC,4033,-1.07,-243.4,457.3,-9.8,572,4037,0.00,2.10,0.00,0.000,4,0.000,0.042,2422,666,3935
$GC,4118,-1.07,-243.4,466.3,-10.9,579,4124,0.00,2.08,0.00,0.000,6,0.000,0.035,2420,2067,3935
$GC,4447,-1.07,-243.4,500.0,-10.4,610,4451,0.00,2.12,0.00,0.000,4,0.000,0.051,2421,3461,3933
$GC,4508,-1.07,-243.4,507.2,-10.8,612,4514,0.00,2.05,0.00,0.000,6,0.000,0.031,2423,2047,3933
$GC,4824,-1.07,-243.4,537.1,-8.8,628,4828,0.00,2.17,0.00,0.000,4,0.000,0.051,2418,3460,3930
$GC,4931,-1.07,-243.4,546.8,-8.9,632,4937,0.00,2.03,0.00,0.000,6,0.000,0.031,2417,2088,3929
$GC,5249,-1.07,-243.4,575.2,-9.4,648,5252,0.00,2.12,0.00,0.000,4,0.000,0.052,2418,3463,3927
$GC,5305,-1.07,-243.4,581.0,-9.8,650,5308,0.00,1.98,0.00,0.000,6,0.000,0.032,2420,2109,3927
$GC,5628,-1.07,-243.4,613.5,-10.6,666,5632,0.00,2.10,0.00,0.000,4,0.000,0.053,2421,3463,3924
$GC,5701,-1.07,-243.4,621.8,-10.9,669,5704,0.00,1.92,0.00,0.000,6,0.000,0.032,2422,2142,3923
$GC,6029,-1.07,-243.4,655.3,-9.6,685,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2142,3921
$GC,6338,-1.07,-243.4,682.9,-8.7,700,6342,0.00,2.08,0.00,0.000,4,0.000,0.056,2423,3468,3919
$GC,6411,-1.07,-243.4,689.7,-9.0,703,6415,0.00,1.95,0.00,0.000,6,0.000,0.035,2423,2142,3918
$GC,6740,-1.07,-243.4,719.1,-9.2,719,6743,0.00,2.08,0.00,0.000,4,0.000,0.058,2422,3463,3915
$GC,6832,-1.07,-243.4,727.7,-9.4,723,6836,0.00,1.90,0.00,0.000,6,0.000,0.034,2426,2174,3914
$GC,7166,-1.07,-243.4,758.0,-9.2,739,7169,0.00,2.03,0.00,0.000,4,0.000,0.057,2418,3455,3912
$GC,7206,-1.07,-243.4,761.8,-9.3,740,7212,0.00,1.88,0.00,0.000,6,0.000,0.036,2426,2206,3911
$GC,7522,-1.07,-243.4,789.7,-8.7,756,7526,0.00,1.98,0.00,0.000,4,0.000,0.058,2416,3461,3909
$GC,7573,-1.07,-243.4,794.3,-9.2,758,7576,0.00,1.85,0.00,0.000,6,0.000,0.036,2423,2229,3909
$GC,7902,-1.07,-243.4,823.4,-9.0,774,7905,0.00,1.95,0.00,0.000,4,0.000,0.059,2415,3463,3907
$GC,7941,-1.07,-243.4,827.4,-9.3,775,7947,0.00,1.83,0.00,0.000,6,0.000,0.036,2418,2254,3907
$GC,8258,-1.07,-243.4,856.5,-9.2,791,8261,0.00,1.90,0.00,0.000,4,0.000,0.061,2415,3455,3905
$GC,8298,-1.07,-243.4,860.3,-9.7,792,8304,0.00,1.77,0.00,0.000,6,0.000,0.038,2416,2276,3905
$GC,8614,-1.07,-243.4,889.6,-9.6,808,8618,0.00,1.88,0.00,0.000,4,0.000,0.061,2406,3463,3903
$GC,8683,-1.07,-243.4,896.7,-10.4,811,8686,0.00,1.73,0.00,0.000,6,0.000,0.036,2407,2296,3902
$GC,9017,-1.07,-243.4,930.4,-10.4,827,9020,0.00,1.88,0.00,0.000,4,0.000,0.069,2403,3463,3901
$GC,9087,-1.07,-243.4,937.7,-10.4,830,9090,0.00,1.67,0.00,0.000,6,0.000,0.037,2403,2333,3900
$GC,9421,-1.07,-243.4,971.3,-10.2,846,9425,0.00,2.62,0.00,0.000,4,0.000,0.053,2407,660,3899
$GC,9460,-1.07,-243.4,975.7,-11.1,848,9465,0.00,2.65,0.00,0.000,6,0.000,0.048,2402,2345,3898
$STATE,9600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9600,begin apogee
$GC,9608,-0.28,0.0,990.6,10.4,855,9829,0.82,0.00,212.38,1.463,6,0.106,0.000,2671,1700,2945
$STATE,9830,end apogee,CONTROL_FINISHED_OK
$STATE,9831,begin climb
$GC,9834,1.07,243.4,1006.8,0.0,866,10063,1.20,2.33,218.27,1.429,4,0.051,0.058,3116,3092,1951
$GC,10161,1.07,243.4,980.9,13.6,881,10164,0.00,2.17,0.00,0.000,6,0.000,0.042,3126,1682,1945
$GC,10494,1.07,243.4,934.8,14.2,897,10498,0.00,2.20,0.00,0.000,4,0.000,0.058,3137,279,1942
$GC,10541,1.07,243.4,928.1,15.0,899,10545,0.00,2.20,0.00,0.000,6,0.000,0.043,3137,1709,1942
$GC,10875,1.07,243.4,883.6,12.7,915,10879,0.00,2.25,0.00,0.000,4,0.000,0.056,3147,285,1941
$GC,10908,1.07,243.4,878.8,13.2,916,10913,0.15,2.17,0.00,0.000,6,0.186,0.043,3110,1706,1940
$GC,11225,1.07,243.4,843.1,11.1,931,11229,0.00,2.17,0.00,0.000,4,0.000,0.058,3106,3095,1940
$GC,11265,1.07,243.4,838.3,11.9,932,11271,0.00,2.10,0.00,0.000,6,0.000,0.043,3113,1709,1939
$GC,11581,1.07,243.4,804.3,10.5,948,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1709,1938
$GC,11891,1.07,243.4,771.9,10.6,963,11895,0.00,2.22,0.00,0.000,4,0.000,0.056,3122,291,1938
$GC,11914,1.07,243.4,769.2,10.7,964,11918,0.00,2.20,0.00,0.000,6,0.000,0.043,3121,1726,1937
$GC,12248,1.07,243.4,731.6,11.4,980,12252,0.00,2.28,0.00,0.000,4,0.000,0.054,3131,281,1937
$GC,12292,1.07,243.4,726.2,11.8,982,12296,0.00,2.20,0.00,0.000,6,0.000,0.044,3130,1709,1937
$GC,12619,1.07,243.4,689.3,11.8,998,12623,0.00,2.17,0.00,0.000,4,0.000,0.056,3130,3098,1936
$GC,12703,1.07,243.4,678.6,12.5,1001,12709,0.00,2.12,0.00,0.000,6,0.000,0.043,3138,1702,1935
$GC,13019,1.07,243.4,642.4,11.2,1017,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1702,1935
$GC,13328,1.07,243.4,607.5,12.0,1032,13332,0.00,2.22,0.00,0.000,4,0.000,0.054,3151,282,1936
$GC,13407,1.07,243.4,597.4,11.8,1035,13412,0.17,2.22,0.00,0.000,6,0.180,0.043,3107,1734,1935
$GC,13723,1.10,270.3,564.6,9.3,1050,13760,0.00,2.35,24.90,1.119,4,0.000,0.054,3116,290,1843
$GC,13818,1.12,279.1,555.0,9.8,1054,13836,0.00,2.17,9.57,1.071,6,0.000,0.041,3117,1703,1806
$GC,14144,1.12,283.1,522.2,9.9,1070,14154,0.00,2.20,5.30,0.898,4,0.000,0.054,3120,3103,1790
$GC,14252,1.12,283.1,510.8,10.5,1075,14256,0.00,2.15,0.00,0.000,6,0.000,0.041,3131,1698,1789
$GC,14584,1.12,283.1,476.6,10.1,1101,14588,0.00,2.20,0.00,0.000,4,0.000,0.053,3132,3104,1789
$GC,14669,1.12,283.1,467.4,10.4,1108,14675,0.00,2.10,0.00,0.000,6,0.000,0.041,3142,1718,1788
$GC,14999,1.12,283.1,431.5,11.2,1139,15002,0.00,2.22,0.00,0.000,4,0.000,0.052,3153,286,1788
$GC,15091,1.12,283.1,420.6,11.4,1147,15095,0.00,2.20,0.00,0.000,6,0.000,0.041,3153,1729,1788
$GC,15422,1.12,283.1,384.0,10.2,1178,15425,0.00,2.25,0.00,0.000,4,0.000,0.051,3162,291,1788
$GC,15494,1.12,283.1,376.5,10.5,1184,15502,0.15,2.10,0.00,0.000,6,0.172,0.040,3125,1686,1788
$GC,15821,1.19,337.6,349.3,8.5,1215,15877,0.00,2.22,49.75,1.019,4,0.000,0.050,3124,3089,1567
$GC,15924,1.19,337.6,339.4,10.3,1224,15928,0.00,2.17,0.00,0.000,6,0.000,0.038,3132,1667,1565
$GC,16256,1.21,355.7,307.8,9.5,1255,16278,0.00,2.17,16.88,0.937,4,0.000,0.051,3143,283,1495
$GC,16370,1.21,355.7,295.4,10.5,1268,16377,0.00,2.25,0.00,0.000,6,0.000,0.038,3143,1740,1493
$GC,16716,1.22,366.4,258.9,9.7,1329,16736,0.00,2.30,10.95,0.852,4,0.000,0.054,3153,300,1450
$GC,16811,1.22,366.4,248.2,10.6,1345,16817,0.00,2.28,0.00,0.000,6,0.000,0.037,3153,1805,1450
$GC,17156,1.24,377.0,214.9,9.7,1406,17176,0.00,2.40,10.95,0.813,4,0.000,0.048,3163,291,1408
$GC,17227,1.24,377.0,207.4,10.6,1418,17235,0.00,2.22,0.00,0.000,6,0.000,0.035,3163,1780,1408
$GC,17574,1.28,413.4,168.9,9.0,1479,17613,0.00,2.40,33.20,0.830,4,0.000,0.047,3173,290,1259
$GC,17737,1.28,413.4,151.7,11.2,1506,17745,0.00,2.30,0.00,0.000,6,0.000,0.034,3173,1824,1257
$GC,18084,1.29,422.5,117.5,9.7,1567,18097,0.00,0.00,9.25,0.700,6,0.000,0.000,3174,1825,1221
$GC,18438,1.29,422.5,78.9,11.4,1629,18444,0.00,1.95,0.00,0.000,4,0.000,0.043,3174,3102,1221
$GC,18552,1.29,422.5,67.7,10.6,1649,18558,0.00,2.00,0.00,0.000,6,0.000,0.033,3182,1774,1221
$GC,18897,1.34,464.1,38.6,8.9,1710,18948,0.00,0.00,39.10,0.670,6,0.000,0.000,3184,1774,1052
$STATE,19271,end climb,SURFACE_DEPTH_REACHED
$STATE,19271,begin surface coast
$FINISH,0.9,1.022073
$STATE,19298,end surface coast,CONTROL_FINISHED_OK
$STATE,19298,begin surface
$SM_CCo,19318,9.82,0.589,0,0,1006,475.15
$SM_GC,1.85,0.00,0.00,9.82,0.000,0.000,0.589,166,2083,1006,-8.12,0.62,475.15
$IRIDIUM_FIX,2406.29,12544.62,021198,181847
$TT8_MAMPS,0.026845
$HUMID,1653
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.90
$XPDR_PINGS,215
$24V_AH,22.9,101.862
$10V_AH,10.6,66.871
$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,20.075,183.500,640.500,9.825,0.000,30.535,31.642,267.630,61.750,0.000,0.000,12.850,3128.637,11386.399,776.365,3682.337,850.070,0.000,2436.948,0.000,3635.963,0.000,59.572,0.000
$DEVICE_MAMPS,230.867,69.030,1463.436,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.200,1226.430,2064.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104198,1780
$CAP_FILE_SIZE,187537,0
$CFSIZE,260165632,197201920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.221, 59.3,1
$GPS,090809,044507,2414.948,12543.835,28,1.9,28,-3.6