version: 66.04
glider: 166
mission: 2
dive: 478
start: 8 12 109 22 33 51
data:
$ID,166
$MISSION,2
$DIVE,478
$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,-15405.268
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,48
$R_STBD_OVSHOOT,52
$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
$GPS1,222507,2358.649,12551.614,26,1.9,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.0
$GPS2,223331,2358.613,12551.664,44,1.1,44,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,242.1,19542,-13.9,-10.000
$D_GRID,912
$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,15,-1.11,-243.4,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,156,2081,2339
$GC,93,-1.11,-243.4,3.2,-5.8,11,152,9.02,2.22,-44.30,0.000,4,0.222,0.048,2378,644,3938
$GC,193,-1.11,-243.4,19.2,-19.5,27,199,0.00,2.08,0.00,0.000,6,0.000,0.031,2374,2058,3939
$GC,539,-1.11,-243.4,76.4,-17.2,88,545,0.00,2.10,0.00,0.000,4,0.000,0.045,2379,3460,3939
$GC,654,-1.11,-243.4,96.8,-17.4,108,660,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2039,3939
$GC,999,-1.11,-243.4,141.3,-11.7,169,1007,0.00,2.03,0.00,0.000,4,0.000,0.035,2367,675,3941
$GC,1047,-1.11,-243.4,147.4,-12.9,177,1055,0.00,2.08,0.00,0.000,6,0.000,0.029,2366,2084,3941
$GC,1397,-1.11,-243.4,191.4,-12.1,238,1403,0.00,2.05,0.00,0.000,4,0.000,0.043,2367,3462,3941
$GC,1500,-1.11,-243.4,204.7,-13.3,256,1507,0.00,1.95,0.00,0.000,6,0.000,0.026,2366,2100,3941
$GC,1847,-1.11,-243.4,249.3,-13.6,317,1855,0.00,2.10,0.00,0.000,4,0.000,0.036,2366,669,3941
$GC,1924,-1.11,-243.4,260.5,-14.3,330,1931,0.00,2.08,0.00,0.000,6,0.000,0.031,2365,2099,3941
$GC,2274,-1.11,-243.4,307.1,-12.8,387,2278,0.00,2.05,0.00,0.000,4,0.000,0.045,2366,3466,3941
$GC,2354,-1.11,-243.4,317.5,-13.1,394,2358,0.00,1.90,0.00,0.000,6,0.000,0.028,2365,2120,3941
$GC,2685,-1.11,-243.4,356.8,-11.3,425,2689,0.00,2.12,0.00,0.000,4,0.000,0.038,2366,678,3940
$GC,2724,-1.11,-243.4,361.5,-11.5,428,2731,0.00,2.10,0.00,0.000,6,0.000,0.031,2365,2114,3939
$GC,3053,-1.11,-243.4,398.0,-11.9,459,3057,0.00,2.03,0.00,0.000,4,0.000,0.046,2367,3460,3938
$GC,3148,-1.11,-243.4,410.8,-13.5,467,3154,0.00,1.88,0.00,0.000,6,0.000,0.028,2366,2146,3937
$GC,3476,-1.11,-243.4,449.1,-11.3,498,3484,0.00,2.00,0.00,0.000,4,0.000,0.048,2369,3456,3936
$GC,3519,-1.11,-243.4,454.3,-11.8,501,3526,0.00,1.88,0.00,0.000,6,0.000,0.029,2366,2147,3936
$GC,3846,-1.11,-243.4,488.4,-10.3,532,3850,0.00,2.03,0.00,0.000,4,0.000,0.050,2366,3465,3934
$GC,3875,-1.11,-243.4,491.5,-10.4,534,3881,0.00,1.90,0.00,0.000,6,0.000,0.030,2367,2171,3934
$GC,4194,-1.11,-243.4,523.5,-10.1,554,4197,0.00,2.22,0.00,0.000,4,0.000,0.042,2367,688,3932
$GC,4221,-1.11,-243.4,526.6,-11.0,555,4226,0.12,2.22,0.00,0.000,6,0.146,0.036,2395,2176,3931
$GC,4544,-1.11,-243.4,559.3,-10.3,571,4547,0.00,1.95,0.00,0.000,4,0.000,0.052,2389,3451,3928
$GC,4616,-1.11,-243.4,567.5,-11.6,574,4620,0.00,1.83,0.00,0.000,6,0.000,0.031,2392,2212,3927
$GC,4944,-1.11,-243.4,598.9,-9.9,590,4948,0.00,1.92,0.00,0.000,4,0.000,0.054,2390,3451,3925
$GC,4990,-1.11,-243.4,603.7,-10.6,592,4994,0.00,1.83,0.00,0.000,6,0.000,0.033,2389,2222,3925
$GC,5323,-1.11,-243.4,636.8,-10.0,608,5327,0.00,2.35,0.00,0.000,4,0.000,0.046,2389,676,3922
$GC,5351,-1.11,-243.4,639.8,-10.9,609,5355,0.00,2.30,0.00,0.000,6,0.000,0.041,2392,2189,3922
$GC,5668,-1.11,-243.4,672.4,-10.5,624,5672,0.00,1.95,0.00,0.000,4,0.000,0.055,2396,3450,3919
$GC,5752,-1.11,-243.4,681.8,-10.7,627,5758,0.00,1.80,0.00,0.000,6,0.000,0.035,2393,2241,3918
$GC,6070,-1.11,-243.4,713.1,-9.8,643,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2241,3916
$GC,6377,-1.11,-243.4,742.9,-10.7,658,6381,0.00,1.90,0.00,0.000,4,0.000,0.058,2400,3448,3913
$GC,6439,-1.11,-243.4,749.7,-11.4,660,6447,0.00,1.75,0.00,0.000,6,0.000,0.035,2399,2278,3912
$GC,6756,-1.11,-243.4,786.1,-13.4,676,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2278,3910
$STATE,6794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6794,begin apogee
$GC,6802,-0.29,0.0,791.9,13.7,678,7010,0.77,0.00,204.07,1.312,6,0.101,0.000,2656,1713,2946
$STATE,7010,end apogee,CONTROL_FINISHED_OK
$STATE,7010,begin climb
$GC,7013,1.11,243.4,814.0,0.0,688,7234,1.33,2.28,208.80,1.281,4,0.091,0.054,3104,3082,1951
$GC,7313,1.11,243.4,811.0,11.5,701,7319,0.00,2.15,0.00,0.000,6,0.000,0.043,3114,1690,1945
$GC,7631,1.13,265.2,774.8,9.4,717,7662,0.00,2.30,21.67,1.115,4,0.000,0.055,3125,277,1863
$GC,7691,1.13,265.2,768.6,10.6,720,7695,0.00,2.20,0.00,0.000,6,0.000,0.041,3125,1701,1861
$GC,8024,1.13,265.2,734.4,10.3,736,8028,0.00,2.17,0.00,0.000,4,0.000,0.054,3125,3100,1858
$GC,8132,1.13,265.2,723.2,10.3,740,8138,0.00,2.15,0.00,0.000,6,0.000,0.042,3133,1704,1856
$GC,8449,1.13,265.2,689.8,10.1,756,8452,0.00,2.20,0.00,0.000,4,0.000,0.054,3144,292,1856
$GC,8540,1.13,265.2,680.6,10.4,760,8544,0.12,2.17,0.00,0.000,6,0.177,0.043,3114,1713,1855
$GC,8867,1.13,265.2,649.0,10.2,776,8871,0.00,2.15,0.00,0.000,4,0.000,0.054,3111,3096,1854
$GC,8981,1.13,265.2,635.2,12.9,781,8984,0.00,2.10,0.00,0.000,6,0.000,0.042,3119,1714,1853
$GC,9315,1.13,265.2,593.0,13.6,797,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1714,1853
$GC,9622,1.13,265.2,554.9,11.3,812,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1714,1852
$GC,9933,1.13,265.2,521.8,10.8,827,9936,0.00,2.25,0.00,0.000,4,0.000,0.058,3130,289,1851
$GC,10047,1.13,265.2,509.8,10.7,832,10051,0.00,2.22,0.00,0.000,6,0.000,0.042,3130,1741,1851
$GC,10372,1.18,299.4,479.0,9.1,858,10407,0.00,2.20,29.90,1.123,4,0.000,0.053,3130,3097,1723
$GC,10482,1.18,302.9,468.0,9.9,867,10491,0.00,2.10,4.50,0.771,6,0.000,0.040,3139,1726,1709
$GC,10819,1.23,341.5,436.2,8.9,899,10865,0.00,2.22,35.85,1.081,4,0.000,0.053,3139,3091,1552
$GC,10958,1.23,341.5,422.4,10.4,911,10961,0.00,2.05,0.00,0.000,6,0.000,0.040,3148,1756,1549
$GC,11291,1.23,341.5,385.1,12.1,942,11294,0.00,2.10,0.00,0.000,4,0.000,0.053,3148,3104,1548
$GC,11318,1.23,341.5,381.4,12.1,944,11325,0.00,2.03,0.00,0.000,6,0.000,0.039,3157,1766,1548
$GC,11648,1.23,341.5,346.2,10.5,975,11651,0.00,2.08,0.00,0.000,4,0.000,0.051,3157,3109,1548
$GC,11709,1.23,341.5,339.4,10.6,980,11715,0.00,2.00,0.00,0.000,6,0.000,0.038,3166,1799,1547
$GC,12038,1.23,341.5,305.6,10.5,1011,12042,0.00,2.00,0.00,0.000,4,0.000,0.050,3166,3100,1548
$GC,12135,1.23,341.5,294.2,10.9,1023,12142,0.12,1.90,0.00,0.000,6,0.163,0.037,3144,1827,1548
$GC,12482,1.23,341.5,258.2,10.1,1084,12488,0.00,1.98,0.00,0.000,4,0.000,0.048,3143,3097,1547
$GC,12551,1.23,341.5,250.8,10.4,1096,12558,0.00,1.85,0.00,0.000,6,0.000,0.036,3150,1877,1547
$GC,12898,1.29,390.8,218.4,8.6,1157,12948,0.00,2.58,43.90,0.883,4,0.000,0.047,3162,278,1351
$GC,13037,1.30,399.0,205.8,9.8,1180,13056,0.00,2.45,8.75,0.755,6,0.000,0.035,3162,1899,1318
$GC,13398,1.30,399.0,167.7,10.7,1243,13404,0.00,1.85,0.00,0.000,4,0.000,0.045,3162,3101,1318
$GC,13458,1.32,414.3,161.8,9.6,1253,13478,0.00,1.95,15.20,0.786,6,0.000,0.035,3171,1810,1255
$GC,13818,1.33,422.8,123.9,9.8,1316,13832,0.00,2.05,8.62,0.693,4,0.000,0.043,3171,3113,1221
$GC,13857,1.33,425.8,120.1,9.9,1322,13867,0.00,2.05,4.78,0.554,6,0.000,0.033,3181,1729,1208
$GC,14206,1.43,504.0,87.7,7.8,1383,14282,0.00,2.15,67.62,0.751,4,0.000,0.040,3180,3112,890
$GC,14307,1.44,513.3,78.5,9.7,1399,14326,0.00,2.03,10.10,0.645,6,0.000,0.032,3189,1759,851
$GC,14665,1.47,540.6,44.7,9.2,1462,14698,0.00,2.08,24.50,0.679,4,0.000,0.040,3188,3098,741
$GC,14954,1.51,571.0,16.7,9.2,1512,14987,0.12,2.05,26.92,0.650,6,0.060,0.031,3265,1702,617
$STATE,15071,end climb,SURFACE_DEPTH_REACHED
$STATE,15074,begin surface coast
$FINISH,1.0,1.008640
$STATE,15095,end surface coast,CONTROL_FINISHED_OK
$STATE,15096,begin surface
$SM_CCo,15177,0.00,0.000,0,0,616,571.30
$SM_GC,1.69,8.27,0.00,0.00,0.039,0.000,0.000,164,2089,616,-8.07,0.79,571.30
$IRIDIUM_FIX,2354.48,12550.37,061198,171747
$TT8_MAMPS,0.026845
$HUMID,1639
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.80
$XPDR_PINGS,196
$ALTIM_BOTTOM_PING,775.1,41.5
$24V_AH,23.2,106.577
$10V_AH,10.6,69.897
$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,19.900,138.075,715.200,0.000,0.000,25.692,35.697,233.659,55.250,0.000,0.000,45.035,2620.417,8370.176,790.329,3129.870,750.433,0.000,2203.522,0.000,3068.975,0.000,43.969,0.000
$DEVICE_MAMPS,221.663,58.292,1311.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.226,1090.744,1836.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88478,1536
$CAP_FILE_SIZE,152496,0
$CFSIZE,260165632,195497984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,126.7,1
$GPS,130809,024807,2357.623,12551.144,42,1.5,42,-3.6