version: 66.04
glider: 166
mission: 2
dive: 486
start: 8 14 109 15 43 59
data:
$ID,166
$MISSION,2
$DIVE,486
$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,-15686.456
$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,43
$R_STBD_OVSHOOT,40
$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
$GPS1,152507,2350.862,12548.693,34,1.1,34,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.7
$GPS2,154339,2350.913,12548.766,12,2.4,31,-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,272.4,6599,-13.9,-10.000
$D_GRID,1979
$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,15,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,85,0.00,0.00,-63.70,0.000,2,0.000,0.000,172,2040,2287
$GC,88,-1.11,-243.4,3.1,-5.1,9,153,9.10,2.15,-46.22,0.000,4,0.229,0.051,2381,644,3939
$GC,211,-1.11,-243.4,22.0,-17.8,29,218,0.12,2.10,0.00,0.000,6,0.163,0.031,2395,2079,3940
$GC,558,-1.11,-243.4,76.6,-16.1,90,564,0.00,2.08,0.00,0.000,4,0.000,0.042,2391,3471,3939
$GC,582,-1.11,-243.4,80.8,-17.0,94,589,0.00,2.05,0.00,0.000,6,0.000,0.027,2407,2059,3939
$GC,929,-1.11,-243.4,129.6,-11.6,155,936,0.00,2.03,0.00,0.000,4,0.000,0.035,2408,666,3940
$GC,1024,-1.11,-243.4,141.7,-13.2,171,1031,0.00,2.10,0.00,0.000,6,0.000,0.029,2407,2118,3940
$GC,1373,-1.11,-243.4,185.9,-10.9,232,1379,0.00,2.03,0.00,0.000,4,0.000,0.042,2388,3481,3941
$GC,1439,-1.11,-243.4,193.6,-11.9,243,1447,0.00,1.98,0.00,0.000,6,0.000,0.026,2403,2109,3940
$GC,1786,-1.11,-243.4,237.2,-12.6,304,1792,0.00,2.05,0.00,0.000,4,0.000,0.042,2378,3466,3940
$GC,1844,-1.11,-243.4,245.3,-13.5,314,1850,0.00,1.90,0.00,0.000,6,0.000,0.026,2383,2140,3940
$GC,2190,-1.11,-243.4,286.1,-10.9,375,2197,0.00,2.00,0.00,0.000,4,0.000,0.043,2377,3465,3938
$GC,2254,-1.11,-243.4,293.5,-11.3,386,2260,0.00,1.88,0.00,0.000,6,0.000,0.027,2378,2162,3938
$GC,2583,-1.11,-243.4,329.3,-11.0,422,2587,0.00,2.20,0.00,0.000,4,0.000,0.037,2378,671,3937
$GC,2607,-1.11,-243.4,332.0,-11.7,424,2611,0.00,2.22,0.00,0.000,6,0.000,0.032,2377,2177,3936
$GC,2935,-1.11,-243.4,370.6,-11.6,454,2939,0.00,2.25,0.00,0.000,4,0.000,0.038,2377,673,3935
$GC,2964,-1.11,-243.4,374.2,-12.1,456,2970,0.00,2.20,0.00,0.000,6,0.000,0.034,2377,2162,3935
$GC,3290,-1.11,-243.4,408.2,-9.7,487,3294,0.00,1.95,0.00,0.000,4,0.000,0.047,2377,3457,3933
$GC,3382,-1.11,-243.4,418.0,-10.4,495,3386,0.00,1.80,0.00,0.000,6,0.000,0.028,2377,2193,3932
$GC,3713,-1.11,-243.4,452.1,-10.0,526,3717,0.00,1.92,0.00,0.000,4,0.000,0.048,2376,3456,3930
$GC,3763,-1.11,-243.4,457.4,-10.7,530,3770,0.00,1.80,0.00,0.000,6,0.000,0.029,2377,2220,3929
$GC,4094,-1.11,-243.4,491.2,-10.8,561,4098,0.00,2.30,0.00,0.000,4,0.000,0.041,2377,686,3927
$GC,4134,-1.11,-243.4,496.2,-11.1,564,4138,0.00,2.30,0.00,0.000,6,0.000,0.037,2377,2223,3927
$GC,4463,-1.11,-243.4,528.8,-9.7,581,4467,0.00,1.88,0.00,0.000,4,0.000,0.051,2378,3455,3924
$GC,4536,-1.11,-243.4,536.4,-10.0,584,4540,0.00,1.73,0.00,0.000,6,0.000,0.031,2380,2256,3923
$GC,4865,-1.11,-243.4,569.0,-10.5,600,4869,0.00,2.38,0.00,0.000,4,0.000,0.044,2381,685,3921
$GC,4917,-1.11,-243.4,575.1,-11.7,602,4921,0.00,2.35,0.00,0.000,6,0.000,0.040,2382,2237,3920
$GC,5233,-1.11,-243.4,611.4,-11.1,617,5237,0.00,1.88,0.00,0.000,4,0.000,0.053,2387,3459,3917
$GC,5313,-1.11,-243.4,620.5,-11.1,620,5316,0.00,1.73,0.00,0.000,6,0.000,0.031,2383,2267,3917
$GC,5635,-1.11,-243.4,652.6,-9.7,636,5639,0.00,2.40,0.00,0.000,4,0.000,0.045,2384,682,3914
$GC,5675,-1.11,-243.4,656.6,-9.4,637,5681,0.00,2.38,0.00,0.000,6,0.000,0.041,2386,2242,3913
$GC,5992,-1.11,-243.4,685.7,-9.6,653,5996,0.00,2.40,0.00,0.000,4,0.000,0.046,2385,679,3910
$GC,6037,-1.11,-243.4,690.7,-11.0,655,6041,0.00,2.38,0.00,0.000,6,0.000,0.041,2390,2234,3910
$GC,6359,-1.11,-243.4,724.3,-10.1,671,6363,0.00,1.90,0.00,0.000,4,0.000,0.056,2395,3457,3908
$GC,6433,-1.11,-243.4,731.9,-10.4,674,6437,0.00,1.75,0.00,0.000,6,0.000,0.035,2391,2268,3907
$GC,6761,-1.11,-243.4,763.5,-9.5,690,6765,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,690,3905
$GC,6778,-1.11,-243.4,765.2,-10.1,691,6783,0.00,2.40,0.00,0.000,6,0.000,0.044,2387,2245,3905
$GC,7109,-1.11,-243.4,799.8,-10.4,707,7113,0.00,1.90,0.00,0.000,4,0.000,0.058,2386,3460,3902
$GC,7164,-1.11,-243.4,806.0,-10.7,709,7167,0.00,1.73,0.00,0.000,6,0.000,0.036,2383,2290,3901
$GC,7486,-1.11,-243.4,840.3,-10.2,725,7490,0.00,2.50,0.00,0.000,4,0.000,0.054,2384,690,3899
$GC,7550,-1.11,-243.4,847.2,-11.9,728,7554,0.00,2.42,0.00,0.000,6,0.000,0.044,2376,2258,3899
$GC,7877,-1.11,-243.4,882.0,-10.5,744,7881,0.00,2.45,0.00,0.000,4,0.000,0.049,2377,685,3897
$GC,7950,-1.11,-243.4,890.7,-12.8,747,7954,0.00,2.38,0.00,0.000,6,0.000,0.045,2369,2216,3896
$GC,8267,-1.11,-243.4,925.9,-10.9,762,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2217,3894
$GC,8576,-1.11,-243.4,961.1,-11.5,777,8580,0.00,2.40,0.00,0.000,4,0.000,0.052,2369,685,3892
$GC,8617,-1.11,-243.4,966.0,-12.3,779,8621,0.00,2.38,0.00,0.000,6,0.000,0.047,2366,2207,3892
$STATE,8817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8817,begin apogee
$GC,8825,-0.29,0.0,990.3,12.1,789,9040,0.93,0.00,208.40,1.473,6,0.123,0.000,2655,1719,2944
$STATE,9041,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9044,1.11,243.4,1006.2,0.0,800,9271,1.25,0.00,217.62,1.427,6,0.059,0.000,3105,1719,1951
$GC,9593,1.11,243.4,959.2,11.1,826,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1719,1943
$GC,9905,1.11,243.4,924.7,11.3,841,9908,0.00,2.25,0.00,0.000,4,0.000,0.057,3115,290,1940
$GC,9920,1.11,243.4,922.5,11.1,841,9927,0.00,2.15,0.00,0.000,6,0.000,0.044,3116,1688,1941
$GC,10237,1.11,243.4,887.0,11.2,857,10241,0.00,2.22,0.00,0.000,4,0.000,0.064,3115,3097,1940
$GC,10248,1.11,243.4,885.5,11.0,857,10252,0.00,2.20,0.00,0.000,6,0.000,0.042,3126,1655,1938
$GC,10565,1.11,243.4,851.7,10.4,872,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1656,1938
$GC,10874,1.11,243.4,816.2,11.5,887,10877,0.00,2.15,0.00,0.000,4,0.000,0.057,3137,289,1937
$GC,10965,1.11,243.4,806.4,10.7,891,10970,0.12,2.12,0.00,0.000,6,0.181,0.044,3107,1668,1937
$GC,11293,1.11,243.4,771.1,11.2,907,11297,0.00,2.25,0.00,0.000,4,0.000,0.057,3106,3096,1936
$GC,11343,1.11,243.4,765.0,11.0,909,11347,0.00,2.20,0.00,0.000,6,0.000,0.043,3113,1657,1936
$GC,11667,1.11,243.4,728.2,11.1,925,11671,0.00,2.28,0.00,0.000,4,0.000,0.058,3113,3097,1936
$GC,11717,1.11,243.4,721.9,11.9,927,11720,0.00,2.15,0.00,0.000,6,0.000,0.043,3123,1694,1935
$GC,12044,1.11,243.4,686.2,10.9,943,12048,0.00,2.22,0.00,0.000,4,0.000,0.055,3133,277,1935
$GC,12096,1.11,245.8,680.7,9.9,945,12100,0.00,2.17,0.00,0.000,6,0.000,0.044,3134,1691,1935
$GC,12424,1.11,245.8,649.4,10.3,961,12428,0.00,2.22,0.00,0.000,4,0.000,0.056,3134,3100,1935
$GC,12463,1.11,245.8,645.0,11.0,962,12470,0.15,2.17,0.00,0.000,6,0.180,0.043,3108,1677,1934
$GC,12780,1.11,245.8,614.3,11.1,978,12784,0.00,2.25,0.00,0.000,4,0.000,0.056,3106,3097,1934
$GC,12849,1.11,245.8,605.8,12.8,981,12853,0.00,2.15,0.00,0.000,6,0.000,0.042,3114,1698,1933
$GC,13183,1.12,257.7,570.4,9.7,997,13208,0.00,2.28,13.38,0.996,4,0.000,0.054,3114,3096,1893
$GC,13325,1.13,261.8,556.2,9.9,1003,13335,0.00,2.10,5.40,0.932,6,0.000,0.042,3122,1726,1877
$GC,13646,1.15,276.3,526.1,9.6,1018,13673,0.00,2.20,17.02,1.028,4,0.000,0.054,3122,3106,1818
$GC,13736,1.15,276.3,516.6,10.5,1022,13739,0.00,2.08,0.00,0.000,6,0.000,0.041,3132,1756,1815
$GC,14057,1.19,308.1,485.8,9.1,1044,14092,0.00,2.17,30.15,1.132,4,0.000,0.054,3131,3106,1688
$GC,14132,1.19,308.1,478.3,10.3,1050,14139,0.00,2.03,0.00,0.000,6,0.000,0.041,3141,1795,1686
$GC,14462,1.19,308.1,444.3,10.2,1081,14466,0.00,2.38,0.00,0.000,4,0.000,0.054,3152,283,1683
$GC,14496,1.19,310.9,440.2,9.9,1083,14502,0.00,2.38,0.00,0.000,6,0.000,0.042,3152,1823,1684
$GC,14825,1.22,333.2,406.9,9.4,1114,14869,0.00,2.03,27.35,0.934,4,0.000,0.054,3152,3100,1586
$GC,14999,1.22,333.2,387.2,11.3,1129,15005,0.00,1.90,0.00,0.000,6,0.000,0.039,3160,1855,1583
$GC,15327,1.22,335.4,354.3,9.9,1160,15331,0.00,1.95,0.00,0.000,4,0.000,0.051,3161,3104,1583
$GC,15355,1.26,366.7,351.3,9.1,1162,15390,0.00,1.85,30.92,1.008,6,0.000,0.038,3169,1900,1450
$GC,15710,1.26,366.7,314.2,10.9,1195,15713,0.00,1.88,0.00,0.000,4,0.000,0.050,3169,3105,1447
$GC,15760,1.26,366.7,308.1,11.8,1199,15766,0.00,1.95,0.00,0.000,6,0.000,0.037,3178,1814,1447
$GC,16102,1.26,366.7,267.7,11.6,1254,16107,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1814,1447
$GC,16446,1.28,385.2,230.7,9.5,1315,16471,0.00,2.38,17.55,0.874,4,0.000,0.048,3189,290,1374
$GC,16485,1.29,393.1,226.8,9.8,1321,16498,0.00,2.38,8.75,0.775,6,0.000,0.036,3190,1854,1342
$GC,16838,1.29,393.1,187.8,11.6,1383,16844,0.00,2.45,0.00,0.000,4,0.000,0.047,3201,278,1341
$GC,16970,1.29,393.1,172.3,11.5,1406,16977,0.15,2.28,0.00,0.000,6,0.157,0.035,3163,1800,1340
$GC,17319,1.32,413.7,137.0,9.4,1467,17345,0.00,2.00,20.00,0.787,4,0.000,0.043,3163,3106,1257
$GC,17442,1.33,421.1,124.7,9.8,1488,17457,0.00,2.03,7.75,0.675,6,0.000,0.035,3170,1780,1228
$GC,17796,1.38,465.9,88.9,8.8,1550,17842,0.00,2.12,40.08,0.749,4,0.000,0.041,3170,3112,1045
$GC,18032,1.41,492.0,66.1,9.3,1590,18060,0.00,1.95,23.45,0.703,6,0.000,0.033,3178,1821,939
$GC,18400,1.44,513.6,30.6,9.4,1654,18426,0.00,1.95,20.35,0.659,4,0.000,0.039,3177,3108,850
$GC,18683,1.58,631.5,5.6,6.7,1703,18711,0.17,1.98,22.77,0.635,2,0.028,0.031,3287,1778,747
$STATE,18711,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,0.9,1.021636
$STATE,18748,end surface coast,CONTROL_FINISHED_OK
$STATE,18748,begin surface
$SM_CCo,18828,0.00,0.000,0,0,746,539.41
$SM_GC,1.74,8.30,0.00,0.00,0.035,0.000,0.000,160,2099,746,-8.06,1.07,539.41
$IRIDIUM_FIX,2342.70,12549.52,081198,151502
$TT8_MAMPS,0.026845
$HUMID,1665
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.80
$XPDR_PINGS,194
$24V_AH,23.0,108.691
$10V_AH,10.5,71.261
$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,20.300,180.375,710.950,0.000,0.000,94.844,196.217,419.509,56.500,0.000,0.000,31.938,2997.653,11345.888,811.512,3498.101,1263.873,0.000,2409.382,0.000,3443.679,0.000,54.435,0.000
$DEVICE_MAMPS,228.566,63.661,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.310,1183.660,1991.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101231,1713
$CAP_FILE_SIZE,184127,0
$CFSIZE,260165632,194686976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.144,126.8,1
$GPS,140809,205907,2350.093,12548.555,42,1.2,42,-3.5