version: 66.04
glider: 166
mission: 2
dive: 482
start: 8 13 109 18 11 35
data:
$ID,166
$MISSION,2
$DIVE,482
$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,-15612.449
$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,36
$R_STBD_OVSHOOT,69
$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
$GPS1,180307,2354.695,12550.528,36,1.1,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.3
$GPS2,181114,2354.671,12550.606,11,1.6,11,-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,250.6,12847,-13.9,-10.000
$D_GRID,1520
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,82,0.00,0.00,-60.70,0.000,2,0.000,0.000,134,2097,2369
$GC,86,-1.11,-243.4,3.2,-5.4,9,145,9.07,2.25,-43.55,0.000,4,0.221,0.049,2384,644,3939
$GC,175,-1.11,-243.4,16.3,-18.1,23,182,0.00,2.08,0.00,0.000,6,0.000,0.030,2372,2038,3939
$GC,522,-1.11,-243.4,73.9,-15.0,84,528,0.00,2.12,0.00,0.000,4,0.000,0.044,2371,3456,3940
$GC,599,-1.11,-243.4,85.7,-15.8,97,605,0.00,2.03,0.00,0.000,6,0.000,0.027,2376,2033,3940
$GC,945,-1.11,-243.4,139.2,-14.8,158,953,0.00,2.17,0.00,0.000,4,0.000,0.041,2363,3453,3941
$GC,984,-1.11,-243.4,144.6,-14.5,164,990,0.00,1.98,0.00,0.000,6,0.000,0.027,2376,2084,3941
$GC,1331,-1.11,-243.4,188.1,-12.0,225,1338,0.00,2.08,0.00,0.000,4,0.000,0.041,2354,3465,3942
$GC,1381,-1.11,-243.4,194.3,-12.7,233,1388,0.08,1.92,0.00,0.000,6,0.157,0.026,2387,2114,3942
$GC,1726,-1.11,-243.4,236.0,-11.8,294,1734,0.00,2.03,0.00,0.000,4,0.000,0.043,2376,3459,3942
$GC,1814,-1.11,-243.4,246.5,-11.7,309,1819,0.00,1.83,0.00,0.000,6,0.000,0.027,2378,2164,3942
$GC,2158,-1.11,-243.4,286.1,-11.8,370,2165,0.00,2.17,0.00,0.000,4,0.000,0.035,2377,679,3941
$GC,2196,-1.11,-243.4,290.8,-12.7,376,2202,0.00,2.20,0.00,0.000,6,0.000,0.031,2376,2187,3941
$GC,2530,-1.11,-243.4,330.2,-11.7,414,2534,0.00,1.90,0.00,0.000,4,0.000,0.044,2374,3460,3941
$GC,2581,-1.11,-243.4,336.3,-11.7,418,2588,0.00,1.85,0.00,0.000,6,0.000,0.028,2375,2178,3940
$GC,2909,-1.11,-243.4,373.0,-10.7,449,2912,0.00,1.95,0.00,0.000,4,0.000,0.046,2375,3463,3939
$GC,2949,-1.11,-243.4,377.7,-10.9,452,2955,0.00,1.83,0.00,0.000,6,0.000,0.028,2375,2202,3939
$GC,3279,-1.11,-243.4,414.5,-11.3,483,3282,0.00,1.92,0.00,0.000,4,0.000,0.048,2375,3465,3937
$GC,3327,-1.11,-243.4,420.4,-11.9,487,3330,0.00,1.77,0.00,0.000,6,0.000,0.028,2375,2217,3937
$GC,3657,-1.11,-243.4,457.9,-11.5,518,3661,0.00,2.30,0.00,0.000,4,0.000,0.039,2376,670,3936
$GC,3702,-1.11,-243.4,463.4,-12.2,521,3708,0.00,2.30,0.00,0.000,6,0.000,0.035,2376,2219,3936
$GC,4037,-1.11,-243.4,502.6,-11.3,552,4041,0.00,1.88,0.00,0.000,4,0.000,0.051,2378,3453,3934
$GC,4065,-1.11,-243.4,505.9,-11.9,553,4069,0.00,1.75,0.00,0.000,6,0.000,0.030,2379,2232,3933
$GC,4394,-1.11,-243.4,541.7,-10.8,569,4398,0.00,1.92,0.00,0.000,4,0.000,0.057,2378,3451,3931
$GC,4410,-1.11,-243.4,543.8,-10.8,569,4416,0.00,1.75,0.00,0.000,6,0.000,0.031,2379,2236,3931
$GC,4728,-1.11,-243.4,578.7,-11.5,585,4732,0.00,1.88,0.00,0.000,4,0.000,0.053,2379,3449,3928
$GC,4778,-1.11,-243.4,585.1,-11.8,587,4782,0.00,1.70,0.00,0.000,6,0.000,0.032,2380,2271,3927
$GC,5108,-1.11,-243.4,620.2,-10.0,603,5112,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,685,3926
$GC,5135,-1.11,-243.4,623.4,-11.0,604,5140,0.00,2.38,0.00,0.000,6,0.000,0.040,2382,2251,3926
$GC,5458,-1.11,-243.4,654.0,-9.4,620,5462,0.00,1.85,0.00,0.000,4,0.000,0.054,2381,3456,3923
$GC,5536,-1.11,-243.4,662.0,-9.4,623,5540,0.00,1.70,0.00,0.000,6,0.000,0.034,2381,2286,3922
$GC,5859,-1.11,-243.4,695.6,-11.4,639,5863,0.00,2.45,0.00,0.000,4,0.000,0.047,2382,682,3919
$GC,5899,-1.11,-243.4,700.3,-12.9,640,5906,0.00,2.40,0.00,0.000,6,0.000,0.042,2381,2256,3918
$GC,6215,-1.11,-243.4,734.6,-10.5,656,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2256,3916
$GC,6526,-1.11,-243.4,766.2,-10.0,671,6529,0.00,1.88,0.00,0.000,4,0.000,0.059,2388,3455,3914
$GC,6595,-1.11,-243.4,773.3,-10.2,674,6599,0.00,1.75,0.00,0.000,6,0.000,0.036,2386,2273,3913
$GC,6928,-1.11,-243.4,804.9,-9.5,690,6932,0.00,2.45,0.00,0.000,4,0.000,0.049,2388,683,3911
$GC,6952,-1.11,-243.4,807.4,-10.7,691,6957,0.00,2.40,0.00,0.000,6,0.000,0.043,2380,2241,3911
$GC,7282,-1.11,-243.4,845.8,-12.4,707,7285,0.00,1.90,0.00,0.000,4,0.000,0.060,2375,3456,3908
$GC,7354,-1.11,-243.4,856.1,-14.2,710,7357,0.00,1.73,0.00,0.000,6,0.000,0.038,2374,2290,3908
$GC,7683,-1.11,-243.4,895.0,-11.3,726,7687,0.00,2.47,0.00,0.000,4,0.000,0.051,2374,694,3906
$GC,7778,-1.11,-243.4,907.5,-12.9,730,7783,0.00,2.38,0.00,0.000,6,0.000,0.045,2366,2226,3904
$GC,8095,-1.11,-243.4,946.6,-12.1,745,8099,0.00,2.40,0.00,0.000,4,0.000,0.052,2366,693,3903
$GC,8136,-1.11,-243.4,951.4,-12.8,747,8141,0.12,2.35,0.00,0.000,6,0.159,0.045,2388,2205,3903
$GC,8464,-1.11,-243.4,986.0,-10.2,763,8468,0.00,2.38,0.00,0.000,4,0.000,0.052,2388,688,3901
$GC,8486,-1.11,-243.4,988.7,-11.5,764,8490,0.00,2.33,0.00,0.000,6,0.000,0.047,2382,2181,3901
$STATE,8515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8515,begin apogee
$GC,8524,-0.29,0.0,992.2,11.3,766,8739,0.85,0.00,210.23,1.470,6,0.117,0.000,2652,1727,2945
$STATE,8740,end apogee,CONTROL_FINISHED_OK
$STATE,8740,begin climb
$GC,8743,1.11,243.4,1007.1,0.0,777,8973,1.27,2.42,218.25,1.424,4,0.061,0.058,3114,292,1952
$GC,9014,1.11,243.4,990.5,12.9,789,9018,0.00,2.20,0.00,0.000,6,0.000,0.043,3114,1691,1948
$GC,9336,1.11,243.4,951.0,12.4,805,9339,0.00,2.22,0.00,0.000,4,0.000,0.057,3114,3106,1943
$GC,9421,1.11,243.4,939.9,13.4,808,9427,0.00,2.15,0.00,0.000,6,0.000,0.044,3125,1701,1942
$GC,9738,1.11,243.4,901.1,12.3,824,9741,0.00,2.22,0.00,0.000,4,0.000,0.056,3135,284,1941
$GC,9816,1.11,243.4,891.1,12.1,827,9821,0.12,2.17,0.00,0.000,6,0.179,0.044,3106,1699,1940
$GC,10133,1.11,243.4,857.1,11.1,842,10137,0.00,2.20,0.00,0.000,4,0.000,0.058,3106,3100,1939
$GC,10172,1.11,243.4,852.3,11.8,843,10178,0.00,2.17,0.00,0.000,6,0.000,0.043,3114,1674,1939
$GC,10489,1.11,243.4,817.9,10.7,859,10492,0.00,2.28,0.00,0.000,4,0.000,0.058,3112,3104,1938
$GC,10522,1.11,243.4,814.0,11.0,860,10526,0.00,2.15,0.00,0.000,6,0.000,0.043,3120,1697,1938
$GC,10844,1.11,243.4,780.3,10.6,876,10848,0.00,2.22,0.00,0.000,4,0.000,0.057,3131,286,1937
$GC,10878,1.11,243.4,776.4,10.7,877,10882,0.00,2.15,0.00,0.000,6,0.000,0.044,3131,1688,1938
$GC,11201,1.11,243.4,741.8,10.6,893,11204,0.00,2.22,0.00,0.000,4,0.000,0.058,3131,3100,1937
$GC,11224,1.11,243.4,739.0,11.3,894,11229,0.15,2.20,0.00,0.000,6,0.180,0.042,3105,1662,1936
$GC,11552,1.11,243.4,706.2,10.7,910,11556,0.00,2.28,0.00,0.000,4,0.000,0.058,3105,3097,1936
$GC,11603,1.11,243.4,700.5,11.4,912,11607,0.00,2.17,0.00,0.000,6,0.000,0.042,3113,1673,1935
$GC,11925,1.11,243.4,665.2,10.7,928,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1673,1935
$GC,12234,1.14,272.7,634.5,9.2,943,12276,0.00,2.35,27.35,1.180,4,0.000,0.056,3113,3094,1832
$GC,12369,1.14,272.7,621.1,10.3,949,12373,0.00,2.17,0.00,0.000,6,0.000,0.042,3123,1680,1829
$GC,12702,1.14,272.7,588.2,10.3,965,12705,0.00,2.25,0.00,0.000,4,0.000,0.056,3122,3100,1829
$GC,12776,1.14,272.7,580.0,11.3,968,12780,0.00,2.12,0.00,0.000,6,0.000,0.042,3132,1712,1829
$GC,13104,1.14,272.7,543.4,11.3,984,13108,0.00,2.25,0.00,0.000,4,0.000,0.054,3143,280,1828
$GC,13188,1.14,272.7,533.2,11.6,987,13194,0.00,2.22,0.00,0.000,6,0.000,0.042,3143,1726,1828
$GC,13506,1.15,281.1,499.2,9.8,1003,13516,0.00,0.00,8.57,1.038,6,0.000,0.000,3143,1726,1798
$GC,13833,1.20,319.4,466.7,8.9,1034,13878,0.00,2.22,36.38,1.121,4,0.000,0.054,3143,3094,1642
$GC,13937,1.20,319.4,456.1,11.1,1043,13941,0.00,2.12,0.00,0.000,6,0.000,0.041,3152,1720,1640
$GC,14268,1.20,319.4,420.8,10.7,1074,14272,0.00,2.25,0.00,0.000,4,0.000,0.053,3163,280,1638
$GC,14370,1.20,319.4,409.4,10.4,1082,14376,0.00,2.33,0.00,0.000,6,0.000,0.041,3163,1802,1637
$GC,14697,1.20,319.4,371.6,12.4,1113,14702,0.00,2.40,0.00,0.000,4,0.000,0.051,3174,272,1637
$GC,14731,1.20,319.4,367.1,11.7,1115,14738,0.15,2.33,0.00,0.000,6,0.169,0.040,3137,1798,1637
$GC,15057,1.23,341.8,334.3,9.4,1146,15082,0.00,2.05,20.85,0.985,4,0.000,0.051,3137,3106,1551
$GC,15194,1.25,355.8,321.3,9.6,1158,15216,0.00,1.98,14.32,0.935,6,0.000,0.038,3145,1803,1493
$GC,15543,1.25,355.8,285.8,10.7,1201,15550,0.00,2.00,0.00,0.000,4,0.000,0.049,3144,3100,1492
$GC,15627,1.25,355.8,276.5,11.6,1215,15633,0.00,1.90,0.00,0.000,6,0.000,0.037,3154,1831,1492
$GC,15973,1.26,367.9,242.4,9.7,1276,15993,0.00,2.45,12.07,0.850,4,0.000,0.049,3165,283,1444
$GC,16084,1.26,367.9,230.6,10.5,1295,16090,0.00,2.33,0.00,0.000,6,0.000,0.037,3165,1820,1444
$GC,16430,1.26,367.9,191.5,11.5,1356,16436,0.00,1.98,0.00,0.000,4,0.000,0.046,3165,3100,1444
$GC,16490,1.26,367.9,184.3,13.1,1366,16496,0.00,2.00,0.00,0.000,6,0.000,0.035,3174,1781,1444
$GC,16837,1.26,367.9,147.6,10.7,1427,16843,0.00,2.05,0.00,0.000,4,0.000,0.044,3174,3099,1444
$GC,16909,1.28,386.2,140.4,9.5,1439,16934,0.00,1.95,18.08,0.785,6,0.000,0.035,3182,1807,1369
$GC,17276,1.28,386.2,102.1,11.6,1503,17282,0.00,2.00,0.00,0.000,4,0.000,0.042,3183,3097,1368
$GC,17325,1.28,386.2,97.2,10.3,1511,17332,0.12,2.03,0.00,0.000,6,0.148,0.033,3160,1759,1368
$GC,17670,1.33,426.1,69.8,8.9,1572,17715,0.00,2.35,35.78,0.727,4,0.000,0.047,3169,274,1206
$GC,17930,1.44,511.3,49.0,7.6,1617,18014,0.08,2.22,73.35,0.699,6,0.061,0.031,3225,1766,859
$GC,18357,1.44,511.3,4.3,10.3,1690,18363,0.00,2.28,0.00,0.000,4,0.000,0.043,3236,274,859
$STATE,18368,end climb,SURFACE_DEPTH_REACHED
$STATE,18368,begin surface coast
$FINISH,0.9,1.015219
$STATE,18403,end surface coast,CONTROL_FINISHED_OK
$STATE,18403,begin surface
$SM_CCo,18486,0.00,0.000,0,0,856,512.43
$SM_GC,1.79,8.10,0.00,0.00,0.037,0.000,0.000,155,2070,856,-8.05,0.25,512.43
$IRIDIUM_FIX,2347.41,12550.90,071198,131341
$TT8_MAMPS,0.026845
$HUMID,1623
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.10
$XPDR_PINGS,216
$24V_AH,23.0,107.598
$10V_AH,10.6,70.571
$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,20.125,188.575,675.225,0.000,0.000,25.847,35.689,235.264,62.000,0.000,0.000,12.107,2973.007,10902.204,790.452,3440.549,843.973,0.000,2374.863,0.000,3405.250,0.000,57.768,0.000
$DEVICE_MAMPS,220.896,59.826,1469.572,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1151.298,1173.171,1972.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97893,1698
$CAP_FILE_SIZE,178720,0
$CFSIZE,260165632,195088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,125.2,1
$GPS,130809,232101,2353.291,12550.260,42,1.2,42,-3.5