version: 66.04
glider: 166
mission: 2
dive: 461
start: 8 9 109 4 57 26
data:
$ID,166
$MISSION,2
$DIVE,461
$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,-14919.183
$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,44
$R_STBD_OVSHOOT,61
$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
$GPS1,044507,2414.948,12543.835,28,1.9,28,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.9
$GPS2,045706,2415.216,12543.907,40,0.9,45,-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,234.3,42362,-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,13,begin dive
$GC,16,-1.07,-243.4,0.0,0.0,0,87,0.00,0.00,-68.75,0.000,2,0.000,0.000,137,2083,2548
$GC,91,-1.07,-243.4,3.1,-5.0,10,144,9.45,2.25,-37.03,0.000,4,0.233,0.051,2412,644,3938
$GC,174,-1.07,-243.4,17.3,-18.5,23,182,0.00,2.10,0.00,0.000,6,0.000,0.032,2406,2048,3941
$GC,522,-1.07,-243.4,74.8,-13.8,84,528,0.00,2.10,0.00,0.000,4,0.000,0.039,2391,644,3941
$GC,575,-1.07,-243.4,82.2,-14.0,93,582,0.10,2.08,0.00,0.000,6,0.154,0.033,2417,2033,3941
$GC,922,-1.07,-243.4,128.7,-12.3,154,928,0.00,2.08,0.00,0.000,4,0.000,0.038,2416,642,3942
$GC,965,-1.07,-243.4,134.0,-12.3,161,971,0.00,2.08,0.00,0.000,6,0.000,0.031,2412,2065,3942
$GC,1310,-1.07,-243.4,177.3,-13.3,222,1316,0.00,2.10,0.00,0.000,4,0.000,0.047,2409,3460,3943
$GC,1391,-1.07,-243.4,188.6,-14.1,236,1398,0.00,2.05,0.00,0.000,6,0.000,0.028,2411,2057,3943
$GC,1735,-1.07,-243.4,227.5,-10.5,297,1741,0.00,2.15,0.00,0.000,4,0.000,0.045,2409,3462,3943
$GC,1765,-1.07,-243.4,230.8,-10.3,302,1771,0.00,2.00,0.00,0.000,6,0.000,0.028,2410,2086,3943
$GC,2112,-1.07,-243.4,270.8,-12.7,363,2119,0.00,2.10,0.00,0.000,4,0.000,0.047,2409,3462,3942
$GC,2160,-1.07,-243.4,277.4,-13.3,371,2167,0.00,1.95,0.00,0.000,6,0.000,0.028,2408,2096,3942
$GC,2503,-1.07,-243.4,316.8,-11.3,419,2507,0.00,2.12,0.00,0.000,4,0.000,0.041,2408,666,3942
$GC,2582,-1.07,-243.4,326.4,-12.9,426,2586,0.00,2.05,0.00,0.000,6,0.000,0.034,2408,2067,3941
$GC,2913,-1.07,-243.4,363.7,-11.0,457,2916,0.00,2.10,0.00,0.000,4,0.000,0.049,2409,3457,3940
$GC,2970,-1.07,-243.4,370.0,-10.3,462,2974,0.00,2.03,0.00,0.000,6,0.000,0.028,2408,2051,3939
$GC,3301,-1.07,-243.4,404.2,-10.6,493,3305,0.00,2.17,0.00,0.000,4,0.000,0.049,2409,3459,3938
$GC,3326,-1.07,-243.4,406.7,-10.1,495,3330,0.00,2.05,0.00,0.000,6,0.000,0.028,2410,2043,3938
$GC,3657,-1.07,-243.4,441.9,-10.5,526,3661,0.00,2.08,0.00,0.000,4,0.000,0.042,2410,659,3937
$GC,3685,-1.07,-243.4,445.1,-11.3,528,3691,0.00,2.05,0.00,0.000,6,0.000,0.035,2410,2046,3937
$GC,4011,-1.07,-243.4,477.6,-9.0,559,4014,0.00,2.08,0.00,0.000,4,0.000,0.042,2411,670,3935
$GC,4051,-1.07,-243.4,481.5,-9.5,562,4058,0.00,2.05,0.00,0.000,6,0.000,0.036,2410,2051,3934
$GC,4386,-1.07,-243.4,512.9,-9.7,588,4390,0.00,2.17,0.00,0.000,4,0.000,0.052,2413,3466,3932
$GC,4433,-1.07,-243.4,517.9,-10.6,590,4437,0.00,2.10,0.00,0.000,6,0.000,0.031,2418,2029,3932
$GC,4766,-1.07,-243.4,551.6,-10.1,606,4770,0.00,2.08,0.00,0.000,4,0.000,0.044,2418,656,3928
$GC,4791,-1.07,-243.4,554.1,-10.1,607,4795,0.00,2.08,0.00,0.000,6,0.000,0.038,2417,2041,3928
$GC,5127,-1.07,-243.4,586.9,-9.7,623,5131,0.00,2.20,0.00,0.000,4,0.000,0.053,2415,3463,3926
$GC,5213,-1.07,-243.4,596.1,-10.7,626,5219,0.00,2.08,0.00,0.000,6,0.000,0.032,2417,2047,3925
$GC,5529,-1.07,-243.4,628.9,-10.5,642,5532,0.00,2.22,0.00,0.000,4,0.000,0.054,2416,3463,3923
$GC,5546,-1.07,-243.4,630.7,-10.4,642,5552,0.00,2.08,0.00,0.000,6,0.000,0.032,2415,2051,3923
$GC,5863,-1.07,-243.4,663.4,-10.4,658,5867,0.00,2.20,0.00,0.000,4,0.000,0.054,2406,3456,3920
$GC,5909,-1.07,-243.4,668.2,-10.9,660,5913,0.00,2.05,0.00,0.000,6,0.000,0.033,2406,2063,3919
$GC,6244,-1.07,-243.4,702.1,-10.0,676,6248,0.00,2.20,0.00,0.000,4,0.000,0.056,2405,3466,3917
$GC,6294,-1.07,-243.4,707.7,-10.4,678,6298,0.00,2.03,0.00,0.000,6,0.000,0.034,2403,2088,3917
$GC,6622,-1.07,-243.4,739.6,-9.7,694,6626,0.00,2.17,0.00,0.000,4,0.000,0.048,2405,668,3914
$GC,6673,-1.07,-243.4,744.7,-10.3,696,6677,0.00,2.15,0.00,0.000,6,0.000,0.041,2396,2081,3913
$GC,7000,-1.07,-243.4,777.3,-10.3,712,7003,0.00,2.20,0.00,0.000,4,0.000,0.064,2380,3475,3911
$GC,7095,-1.07,-243.4,788.1,-11.2,716,7100,0.12,2.03,0.00,0.000,6,0.137,0.036,2424,2108,3910
$GC,7423,-1.07,-243.4,820.8,-10.0,732,7427,0.00,2.22,0.00,0.000,4,0.000,0.050,2422,659,3908
$GC,7441,-1.07,-243.4,822.7,-9.7,732,7447,0.00,2.25,0.00,0.000,6,0.000,0.044,2416,2133,3908
$GC,7758,-1.07,-243.4,853.1,-9.3,748,7762,0.00,2.12,0.00,0.000,4,0.000,0.067,2414,3472,3906
$GC,7865,-1.07,-243.4,863.6,-9.6,752,7871,0.00,1.98,0.00,0.000,6,0.000,0.038,2415,2168,3905
$GC,8182,-1.07,-243.4,893.8,-9.8,768,8185,0.00,2.05,0.00,0.000,4,0.000,0.060,2404,3462,3904
$GC,8233,-1.07,-243.4,899.1,-10.9,770,8237,0.00,1.92,0.00,0.000,6,0.000,0.037,2406,2190,3904
$GC,8560,-1.07,-243.4,932.7,-10.4,786,8564,0.00,2.35,0.00,0.000,4,0.000,0.051,2406,669,3902
$GC,8587,-1.07,-243.4,935.7,-11.8,787,8591,0.00,2.40,0.00,0.000,6,0.000,0.045,2395,2223,3901
$GC,8904,-1.07,-243.4,969.5,-10.9,802,8908,0.00,2.42,0.00,0.000,4,0.000,0.051,2396,670,3900
$GC,8999,-1.07,-243.4,980.8,-12.1,806,9003,0.12,2.33,0.00,0.000,6,0.149,0.046,2420,2171,3899
$STATE,9085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9085,begin apogee
$GC,9093,-0.28,0.0,990.2,10.8,810,9314,0.75,0.00,212.05,1.462,6,0.094,0.000,2675,1698,2945
$STATE,9315,end apogee,CONTROL_FINISHED_OK
$STATE,9315,begin climb
$GC,9318,1.07,243.4,1008.4,0.0,821,9546,1.17,2.33,218.02,1.430,4,0.049,0.057,3123,3096,1951
$GC,9595,1.07,243.4,991.4,14.5,833,9599,0.00,2.17,0.00,0.000,6,0.000,0.043,3133,1688,1946
$GC,9928,1.07,243.4,948.1,13.3,849,9931,0.00,2.22,0.00,0.000,4,0.000,0.058,3144,277,1942
$GC,9974,1.07,243.4,941.4,14.5,851,9978,0.15,2.20,0.00,0.000,6,0.179,0.044,3107,1705,1942
$GC,10302,1.07,243.4,899.5,13.4,867,10305,0.00,2.17,0.00,0.000,4,0.000,0.056,3105,3097,1941
$GC,10363,1.07,243.4,890.5,14.1,869,10369,0.00,2.15,0.00,0.000,6,0.000,0.043,3113,1682,1939
$GC,10679,1.07,243.4,848.3,13.1,885,10683,0.00,2.20,0.00,0.000,4,0.000,0.060,3124,281,1939
$GC,10708,1.07,243.4,844.4,14.2,886,10712,0.00,2.17,0.00,0.000,6,0.000,0.043,3124,1704,1939
$GC,11035,1.07,243.4,802.1,12.8,902,11039,0.00,2.17,0.00,0.000,4,0.000,0.057,3124,3097,1937
$GC,11096,1.07,243.4,793.7,13.3,904,11102,0.00,2.10,0.00,0.000,6,0.000,0.044,3133,1713,1937
$GC,11413,1.07,243.4,754.6,11.9,920,11417,0.00,2.22,0.00,0.000,4,0.000,0.055,3143,293,1937
$GC,11459,1.07,243.4,748.8,13.1,922,11464,0.12,2.15,0.00,0.000,6,0.186,0.042,3114,1705,1937
$GC,11791,1.07,243.4,711.8,11.5,938,11795,0.00,2.17,0.00,0.000,4,0.000,0.056,3110,3099,1936
$GC,11842,1.07,243.4,705.5,12.4,940,11846,0.00,2.15,0.00,0.000,6,0.000,0.043,3118,1685,1935
$GC,12169,1.07,243.4,665.9,12.2,956,12173,0.00,2.20,0.00,0.000,4,0.000,0.056,3130,284,1935
$GC,12197,1.07,243.4,662.3,12.1,957,12200,0.00,2.15,0.00,0.000,6,0.000,0.043,3130,1693,1935
$GC,12525,1.07,243.4,625.5,10.9,973,12529,0.00,2.22,0.00,0.000,4,0.000,0.055,3140,283,1935
$GC,12598,1.07,243.4,617.6,10.5,976,12603,0.12,2.10,0.00,0.000,6,0.181,0.042,3111,1665,1935
$GC,12920,1.07,243.4,585.8,10.2,992,12924,0.00,2.22,0.00,0.000,4,0.000,0.055,3110,3086,1934
$GC,13011,1.07,243.4,575.5,11.5,996,13014,0.00,2.17,0.00,0.000,6,0.000,0.041,3119,1660,1934
$GC,13344,1.07,243.4,538.6,11.1,1012,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1660,1934
$GC,13655,1.11,276.7,508.1,9.1,1027,13698,0.00,2.33,30.45,1.101,4,0.000,0.054,3118,3087,1814
$GC,13760,1.15,309.0,497.9,9.1,1032,13800,0.00,2.15,30.55,1.131,6,0.000,0.041,3126,1684,1684
$GC,14117,1.15,309.0,461.7,10.8,1066,14121,0.00,2.22,0.00,0.000,4,0.000,0.054,3125,3099,1681
$GC,14197,1.15,309.0,452.7,11.2,1073,14201,0.00,2.05,0.00,0.000,6,0.000,0.041,3133,1754,1680
$GC,14531,1.15,309.0,415.3,11.5,1104,14535,0.00,2.10,0.00,0.000,4,0.000,0.054,3133,3097,1679
$GC,14650,1.15,309.0,400.6,11.5,1114,14656,0.00,2.00,0.00,0.000,6,0.000,0.039,3142,1799,1679
$GC,14980,1.18,329.4,366.6,9.4,1145,15006,0.00,2.45,19.00,1.011,4,0.000,0.052,3153,283,1602
$GC,15036,1.22,367.5,361.0,8.9,1150,15082,0.00,2.35,35.75,1.010,6,0.000,0.040,3153,1813,1445
$GC,15401,1.22,367.5,324.9,11.6,1184,15405,0.00,2.40,0.00,0.000,4,0.000,0.051,3164,286,1441
$GC,15509,1.22,367.5,311.0,12.8,1193,15513,0.00,2.40,0.00,0.000,6,0.000,0.038,3164,1858,1440
$GC,15849,1.23,376.0,273.1,9.8,1245,15863,0.00,2.53,8.27,0.827,4,0.000,0.049,3175,281,1411
$GC,15960,1.23,376.0,260.6,11.8,1264,15967,0.00,2.45,0.00,0.000,6,0.000,0.038,3175,1900,1411
$GC,16306,1.23,376.0,220.6,11.3,1325,16312,0.00,1.83,0.00,0.000,4,0.000,0.047,3175,3103,1411
$GC,16393,1.23,376.0,210.5,11.7,1340,16399,0.00,1.77,0.00,0.000,6,0.000,0.035,3182,1924,1411
$GC,16739,1.23,376.0,169.9,11.9,1401,16745,0.00,1.83,0.00,0.000,4,0.000,0.045,3182,3103,1411
$GC,16826,1.23,376.0,159.4,11.4,1416,16832,0.00,1.88,0.00,0.000,6,0.000,0.034,3189,1861,1411
$GC,17172,1.23,376.0,130.1,10.2,1477,17178,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1862,1411
$GC,17516,1.47,568.5,99.0,4.7,1538,17695,0.15,2.03,165.75,0.754,4,0.065,0.041,3261,3108,627
$GC,17783,1.47,568.5,73.1,12.5,1581,17789,0.00,1.85,0.00,0.000,6,0.000,0.031,3267,1883,626
$GC,18127,1.47,568.5,27.5,14.5,1642,18134,0.00,1.88,0.00,0.000,4,0.000,0.041,3269,3104,629
$GC,18166,1.47,568.5,22.2,15.4,1648,18173,0.10,1.90,0.00,0.000,6,0.150,0.031,3244,1827,626
$STATE,18326,end climb,SURFACE_DEPTH_REACHED
$STATE,18327,begin surface coast
$FINISH,0.8,1.009929
$STATE,18354,end surface coast,CONTROL_FINISHED_OK
$STATE,18354,begin surface
$SM_CCo,18434,0.00,0.000,0,0,625,569.10
$SM_GC,1.53,8.18,0.00,0.00,0.040,0.000,0.000,164,2080,625,-8.10,0.54,569.10
$IRIDIUM_FIX,2408.65,12542.70,031198,040450
$TT8_MAMPS,0.026845
$HUMID,1616
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.30
$XPDR_PINGS,189
$24V_AH,23.0,102.139
$10V_AH,10.6,67.042
$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,20.550,188.975,719.850,0.000,0.000,47.310,80.152,311.905,55.250,0.000,0.000,45.458,2944.523,10896.562,818.553,3506.933,964.173,0.000,2416.242,0.000,3439.071,0.000,57.569,0.000
$DEVICE_MAMPS,233.168,67.496,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.091,1155.028,1943.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97958,1681
$CAP_FILE_SIZE,180495,0
$CFSIZE,260165632,197111808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.237, 88.0,1
$GPS,090809,100601,2414.326,12545.098,42,1.3,42,-3.6