version: 66.04
glider: 166
mission: 2
dive: 485
start: 8 14 109 10 17 22
data:
$ID,166
$MISSION,2
$DIVE,485
$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,-15653.888
$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,39
$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
$GPS1,100900,2351.554,12549.528,38,0.9,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.5
$GPS2,101701,2351.569,12549.424,11,1.3,11,-3.5
$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,269.4,8038,-13.9,-10.000
$D_GRID,2015
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,90,0.00,0.00,-68.97,0.000,2,0.000,0.000,128,2083,2318
$GC,94,-1.11,-243.4,3.3,-6.5,11,153,9.10,2.25,-44.70,0.000,4,0.225,0.048,2378,634,3939
$GC,173,-1.11,-243.4,14.3,-18.9,23,180,0.00,2.08,0.00,0.000,6,0.000,0.031,2369,2045,3940
$GC,520,-1.11,-243.4,74.2,-17.0,84,526,0.00,2.12,0.00,0.000,4,0.000,0.036,2392,641,3940
$GC,574,-1.11,-243.4,83.7,-18.3,93,582,0.00,2.12,0.00,0.000,6,0.000,0.031,2380,2097,3940
$GC,922,-1.11,-243.4,133.3,-12.6,154,929,0.00,2.15,0.00,0.000,4,0.000,0.035,2389,644,3942
$GC,947,-1.11,-243.4,136.7,-13.3,158,954,0.00,2.15,0.00,0.000,6,0.000,0.030,2381,2098,3942
$GC,1294,-1.11,-243.4,183.6,-13.0,219,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2098,3942
$GC,1638,-1.11,-243.4,225.9,-12.5,280,1644,0.00,2.05,0.00,0.000,4,0.000,0.044,2365,3466,3942
$GC,1662,-1.11,-243.4,229.0,-12.6,284,1668,0.00,2.03,0.00,0.000,6,0.000,0.027,2373,2043,3942
$GC,2009,-1.11,-243.4,271.8,-11.3,345,2016,0.00,2.17,0.00,0.000,4,0.000,0.044,2364,3466,3941
$GC,2074,-1.11,-243.4,279.5,-11.7,356,2081,0.00,1.95,0.00,0.000,6,0.000,0.028,2366,2124,3941
$GC,2417,-1.11,-243.4,319.0,-12.1,403,2421,0.00,2.05,0.00,0.000,4,0.000,0.045,2364,3460,3941
$GC,2491,-1.11,-243.4,328.4,-12.6,409,2498,0.00,1.88,0.00,0.000,6,0.000,0.028,2365,2149,3940
$GC,2818,-1.11,-243.4,365.9,-11.7,440,2822,0.00,2.00,0.00,0.000,4,0.000,0.046,2364,3457,3939
$GC,2835,-1.11,-243.4,368.2,-11.8,441,2842,0.00,1.85,0.00,0.000,6,0.000,0.028,2364,2164,3938
$GC,3160,-1.11,-243.4,407.9,-12.7,472,3163,0.00,2.22,0.00,0.000,4,0.000,0.040,2364,674,3937
$GC,3205,-1.11,-243.4,413.6,-12.8,476,3209,0.00,2.20,0.00,0.000,6,0.000,0.035,2364,2154,3937
$GC,3532,-1.11,-243.4,451.2,-11.4,506,3536,0.00,1.98,0.00,0.000,4,0.000,0.049,2364,3465,3936
$GC,3571,-1.11,-243.4,456.0,-12.0,509,3578,0.00,1.88,0.00,0.000,6,0.000,0.029,2364,2162,3935
$GC,3899,-1.11,-243.4,493.1,-10.8,540,3903,0.00,1.98,0.00,0.000,4,0.000,0.048,2364,3453,3934
$GC,3927,-1.11,-243.4,496.6,-11.7,542,3933,0.00,1.88,0.00,0.000,6,0.000,0.030,2364,2177,3933
$GC,4254,-1.11,-243.4,530.0,-9.9,560,4258,0.00,2.25,0.00,0.000,4,0.000,0.042,2364,682,3931
$GC,4301,-1.11,-243.4,534.6,-10.5,562,4305,0.12,2.22,0.00,0.000,6,0.143,0.036,2391,2166,3931
$GC,4629,-1.11,-243.4,565.9,-9.5,578,4633,0.00,1.98,0.00,0.000,4,0.000,0.051,2383,3460,3927
$GC,4685,-1.11,-243.4,571.7,-10.4,580,4689,0.00,1.88,0.00,0.000,6,0.000,0.031,2384,2170,3927
$GC,5008,-1.11,-243.4,603.7,-10.3,596,5011,0.00,2.00,0.00,0.000,4,0.000,0.053,2380,3457,3925
$GC,5032,-1.11,-243.4,606.5,-10.9,597,5035,0.00,1.85,0.00,0.000,6,0.000,0.032,2381,2194,3925
$GC,5366,-1.11,-243.4,643.1,-11.0,613,5370,0.00,1.98,0.00,0.000,4,0.000,0.054,2379,3459,3922
$GC,5408,-1.11,-243.4,648.0,-11.8,614,5414,0.00,1.85,0.00,0.000,6,0.000,0.033,2380,2217,3922
$GC,5724,-1.11,-243.4,682.4,-10.6,630,5728,0.00,2.35,0.00,0.000,4,0.000,0.046,2381,679,3919
$GC,5791,-1.11,-243.4,689.7,-10.3,633,5795,0.00,2.25,0.00,0.000,6,0.000,0.040,2374,2163,3918
$GC,6116,-1.11,-243.4,721.0,-9.4,649,6120,0.00,2.00,0.00,0.000,4,0.000,0.055,2377,3451,3916
$GC,6208,-1.11,-243.4,730.4,-9.3,653,6211,0.00,1.83,0.00,0.000,6,0.000,0.035,2377,2215,3915
$GC,6541,-1.11,-243.4,764.7,-10.6,669,6545,0.00,2.35,0.00,0.000,4,0.000,0.048,2379,688,3912
$GC,6605,-1.11,-243.4,771.8,-11.2,672,6609,0.00,2.30,0.00,0.000,6,0.000,0.043,2377,2185,3912
$GC,6932,-1.11,-243.4,807.5,-11.0,688,6936,0.00,2.00,0.00,0.000,4,0.000,0.060,2384,3460,3909
$GC,7024,-1.11,-243.4,817.9,-11.5,692,7027,0.00,1.80,0.00,0.000,6,0.000,0.037,2383,2249,3909
$GC,7357,-1.11,-243.4,855.4,-11.3,708,7362,0.00,2.42,0.00,0.000,4,0.000,0.049,2386,681,3906
$GC,7398,-1.11,-243.4,860.5,-13.1,710,7402,0.00,2.38,0.00,0.000,6,0.000,0.043,2378,2224,3906
$GC,7727,-1.11,-243.4,897.3,-11.1,726,7730,0.00,1.92,0.00,0.000,4,0.000,0.059,2372,3450,3904
$GC,7799,-1.11,-243.4,906.1,-12.0,729,7802,0.00,1.73,0.00,0.000,6,0.000,0.038,2372,2290,3903
$GC,8127,-1.11,-243.4,944.6,-11.9,745,8131,0.00,2.50,0.00,0.000,4,0.000,0.052,2372,677,3901
$GC,8245,-1.11,-243.4,959.8,-13.0,750,8250,0.12,2.40,0.00,0.000,6,0.159,0.046,2394,2224,3900
$STATE,8544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8544,begin apogee
$GC,8552,-0.29,0.0,991.9,10.2,765,8766,0.80,0.00,210.07,1.470,6,0.104,0.000,2657,1722,2945
$STATE,8767,end apogee,CONTROL_FINISHED_OK
$STATE,8767,begin climb
$GC,8771,1.11,243.4,1006.2,0.0,776,9000,1.25,2.40,218.12,1.423,4,0.058,0.057,3116,277,1951
$GC,9029,1.11,243.4,989.4,12.9,788,9033,0.00,2.22,0.00,0.000,6,0.000,0.041,3117,1693,1948
$GC,9357,1.11,243.4,949.5,11.6,804,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1693,1943
$GC,9665,1.11,243.4,914.4,11.1,819,9669,0.00,2.22,0.00,0.000,4,0.000,0.056,3126,287,1941
$GC,9705,1.11,243.4,909.7,12.6,820,9712,0.00,2.17,0.00,0.000,6,0.000,0.044,3127,1703,1941
$GC,10022,1.11,243.4,874.1,11.0,836,10025,0.00,2.20,0.00,0.000,4,0.000,0.058,3127,3103,1939
$GC,10090,1.11,243.4,866.1,10.7,839,10094,0.00,2.15,0.00,0.000,6,0.000,0.044,3135,1698,1939
$GC,10426,1.11,243.4,826.7,12.2,855,10427,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1698,1938
$GC,10734,1.11,243.4,786.8,12.9,870,10738,0.12,2.25,0.00,0.000,4,0.183,0.055,3114,281,1937
$GC,10823,1.11,243.4,775.7,12.0,874,10827,0.00,2.20,0.00,0.000,6,0.000,0.044,3114,1709,1937
$GC,11145,1.11,243.4,739.5,11.2,890,11149,0.00,2.22,0.00,0.000,4,0.000,0.058,3114,3107,1937
$GC,11203,1.11,243.4,732.5,12.0,892,11206,0.00,2.20,0.00,0.000,6,0.000,0.044,3124,1674,1935
$GC,11525,1.11,243.4,696.4,11.2,908,11529,0.00,2.20,0.00,0.000,4,0.000,0.056,3135,280,1935
$GC,11640,1.11,243.4,682.8,11.6,913,11644,0.00,2.15,0.00,0.000,6,0.000,0.045,3135,1671,1936
$GC,11974,1.11,243.4,644.3,11.1,929,11978,0.00,2.25,0.00,0.000,4,0.000,0.061,3135,3095,1935
$GC,12036,1.11,243.4,636.5,12.2,931,12042,0.15,2.20,0.00,0.000,6,0.178,0.043,3109,1660,1933
$GC,12353,1.11,243.4,603.1,10.7,947,12357,0.00,2.30,0.00,0.000,4,0.000,0.057,3105,3106,1934
$GC,12431,1.11,243.4,594.5,10.5,950,12437,0.00,2.17,0.00,0.000,6,0.000,0.043,3113,1683,1934
$GC,12748,1.15,277.4,563.2,9.1,966,12798,0.00,2.35,33.03,1.092,4,0.000,0.056,3113,3102,1814
$GC,12908,1.15,277.4,546.7,11.3,973,12912,0.00,2.15,0.00,0.000,6,0.000,0.042,3121,1711,1811
$GC,13237,1.15,278.1,514.2,10.0,989,13241,0.00,2.17,0.00,0.000,4,0.000,0.056,3121,3095,1810
$GC,13316,1.15,278.1,505.2,10.8,992,13319,0.00,2.10,0.00,0.000,6,0.000,0.041,3131,1723,1809
$GC,13648,1.15,278.1,470.7,10.2,1021,13652,0.00,2.17,0.00,0.000,4,0.000,0.055,3131,3103,1809
$GC,13763,1.15,278.1,457.9,10.9,1031,13767,0.00,2.03,0.00,0.000,6,0.000,0.041,3140,1781,1809
$GC,14096,1.16,287.7,424.9,9.7,1062,14111,0.00,2.10,10.30,1.016,4,0.000,0.054,3140,3103,1772
$GC,14155,1.16,287.7,418.7,10.3,1067,14158,0.00,1.98,0.00,0.000,6,0.000,0.041,3149,1804,1771
$GC,14488,1.19,309.9,386.1,9.4,1098,14517,0.00,2.08,21.50,1.038,4,0.000,0.054,3149,3106,1681
$GC,14546,1.20,317.3,380.2,9.8,1103,14564,0.00,1.95,8.38,0.908,6,0.000,0.039,3157,1834,1651
$GC,14882,1.20,317.3,343.1,10.7,1135,14886,0.00,2.42,0.00,0.000,4,0.000,0.051,3169,286,1648
$GC,14990,1.20,317.3,331.5,10.7,1144,14995,0.15,2.38,0.00,0.000,6,0.163,0.041,3132,1832,1648
$GC,15315,1.25,357.8,300.6,8.9,1174,15358,0.00,2.55,36.80,0.964,4,0.000,0.051,3142,274,1486
$GC,15445,1.26,365.5,288.1,9.8,1195,15459,0.00,2.47,8.45,0.827,6,0.000,0.038,3142,1878,1454
$GC,15799,1.26,365.5,250.3,10.8,1257,15805,0.00,2.50,0.00,0.000,4,0.000,0.048,3153,277,1452
$GC,15873,1.26,365.5,241.4,11.1,1270,15880,0.00,2.35,0.00,0.000,6,0.000,0.038,3153,1831,1452
$GC,16220,1.30,403.2,203.9,9.0,1331,16259,0.00,2.03,34.30,0.864,4,0.000,0.046,3153,3100,1300
$GC,16329,1.32,419.1,193.3,9.6,1349,16349,0.00,1.98,15.57,0.805,6,0.000,0.035,3162,1809,1236
$GC,16688,1.36,445.3,156.2,9.3,1412,16721,0.00,2.42,24.50,0.799,4,0.000,0.048,3174,284,1129
$GC,16814,1.37,458.6,143.6,9.6,1433,16833,0.00,2.35,13.25,0.745,6,0.000,0.035,3174,1847,1075
$GC,17173,1.37,458.6,106.0,10.3,1496,17181,0.00,2.42,0.00,0.000,4,0.000,0.044,3185,275,1074
$GC,17436,1.37,458.6,82.6,11.1,1542,17443,0.00,2.38,0.00,0.000,6,0.000,0.031,3185,1880,1074
$GC,17782,1.38,462.1,50.8,9.9,1603,17796,0.00,1.88,4.55,0.490,4,0.000,0.041,3185,3100,1061
$GC,17871,1.39,469.7,42.2,9.8,1618,17884,0.00,1.98,8.40,0.604,6,0.000,0.031,3190,1781,1030
$GC,18226,1.44,514.8,7.4,8.8,1680,18271,0.00,2.03,39.35,0.653,4,0.000,0.038,3187,3105,846
$STATE,18276,end climb,SURFACE_DEPTH_REACHED
$STATE,18276,begin surface coast
$FINISH,1.0,1.001364
$STATE,18310,end surface coast,CONTROL_FINISHED_OK
$STATE,18310,begin surface
$SM_CCo,18393,0.00,0.000,0,0,846,514.88
$SM_GC,1.83,7.97,0.00,0.00,0.037,0.000,0.000,146,2042,846,-8.05,-0.57,514.88
$IRIDIUM_FIX,2345.05,12552.81,081198,050547
$TT8_MAMPS,0.026845
$HUMID,1640
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.00
$XPDR_PINGS,203
$24V_AH,23.0,108.404
$10V_AH,10.5,71.085
$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,19.800,180.325,686.575,0.000,0.000,24.501,36.209,235.396,58.750,0.000,0.000,12.038,2970.093,10778.656,799.053,3489.622,813.940,0.000,2378.854,0.000,3449.851,0.000,57.692,0.000
$DEVICE_MAMPS,224.731,61.360,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.798,1171.700,1972.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97777,1694
$CAP_FILE_SIZE,177010,0
$CFSIZE,260165632,194793472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,129.8,1
$GPS,140809,152507,2350.862,12548.693,34,1.1,34,-3.5