version: 66.04
glider: 166
mission: 2
dive: 487
start: 8 14 109 21 15 52
data:
$ID,166
$MISSION,2
$DIVE,487
$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,610.797
$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,-15704.451
$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,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
$GPS1,205907,2350.093,12548.555,42,1.2,42,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.7
$GPS2,211531,2350.087,12548.704,12,1.4,17,-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,287.9,6277,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.11,-243.4,0.0,0.0,0,87,0.00,0.00,-68.82,0.000,2,0.000,0.000,164,2099,2294
$GC,91,-1.11,-243.4,3.1,-5.1,10,155,8.88,2.25,-46.72,0.000,4,0.219,0.049,2383,641,3939
$GC,214,-1.11,-243.4,21.7,-18.2,30,221,0.08,2.05,0.00,0.000,6,0.187,0.030,2387,2047,3940
$GC,559,-1.11,-243.4,79.7,-15.2,91,565,0.00,2.10,0.00,0.000,4,0.000,0.041,2381,3459,3939
$GC,607,-1.11,-243.4,87.0,-15.7,99,614,0.00,2.08,0.00,0.000,6,0.000,0.027,2392,2004,3939
$GC,952,-1.11,-243.4,134.3,-13.8,160,959,0.00,2.20,0.00,0.000,4,0.000,0.042,2379,3459,3940
$GC,1051,-1.11,-243.4,149.0,-15.5,177,1059,0.00,2.05,0.00,0.000,6,0.000,0.027,2392,2046,3940
$GC,1398,-1.11,-243.4,193.3,-12.1,238,1406,0.00,2.15,0.00,0.000,4,0.000,0.041,2370,3465,3940
$GC,1443,-1.11,-243.4,198.9,-12.6,245,1451,0.00,2.00,0.00,0.000,6,0.000,0.026,2384,2082,3940
$GC,1790,-1.11,-243.4,242.5,-11.8,306,1796,0.00,2.08,0.00,0.000,4,0.000,0.042,2366,3457,3940
$GC,1848,-1.11,-243.4,249.8,-12.2,316,1860,0.00,1.95,0.00,0.000,6,0.000,0.027,2374,2114,3939
$GC,2198,-1.11,-243.4,292.4,-11.9,377,2204,0.00,2.05,0.00,0.000,4,0.000,0.043,2366,3465,3938
$GC,2239,-1.11,-243.4,297.4,-12.0,384,2246,0.00,1.92,0.00,0.000,6,0.000,0.028,2367,2133,3938
$GC,2566,-1.11,-243.4,335.4,-11.4,416,2570,0.00,2.15,0.00,0.000,4,0.000,0.038,2366,681,3937
$GC,2583,-1.11,-243.4,337.5,-11.6,417,2589,0.00,2.12,0.00,0.000,6,0.000,0.033,2365,2126,3936
$GC,2912,-1.11,-243.4,374.1,-11.0,448,2916,0.00,2.00,0.00,0.000,4,0.000,0.047,2366,3454,3935
$GC,2947,-1.11,-243.4,378.3,-11.8,451,2951,0.00,1.92,0.00,0.000,6,0.000,0.028,2365,2116,3935
$GC,3281,-1.11,-243.4,415.1,-10.8,482,3285,0.00,2.05,0.00,0.000,4,0.000,0.046,2364,3454,3933
$GC,3354,-1.11,-243.4,424.0,-12.0,488,3362,0.00,1.90,0.00,0.000,6,0.000,0.029,2365,2155,3932
$GC,3681,-1.11,-243.4,462.1,-11.7,519,3685,0.00,2.00,0.00,0.000,4,0.000,0.048,2364,3454,3930
$GC,3710,-1.11,-243.4,465.7,-12.3,521,3716,0.00,1.85,0.00,0.000,6,0.000,0.029,2365,2169,3930
$GC,4039,-1.11,-243.4,500.5,-10.3,552,4042,0.00,2.22,0.00,0.000,4,0.000,0.041,2366,686,3927
$GC,4089,-1.11,-243.4,506.3,-10.9,554,4093,0.00,2.20,0.00,0.000,6,0.000,0.037,2365,2157,3927
$GC,4410,-1.11,-243.4,538.9,-10.2,570,4414,0.00,1.98,0.00,0.000,4,0.000,0.051,2365,3451,3925
$GC,4479,-1.11,-243.4,546.3,-10.8,573,4483,0.00,1.85,0.00,0.000,6,0.000,0.031,2366,2202,3925
$GC,4814,-1.11,-243.4,581.7,-10.4,589,4818,0.00,2.30,0.00,0.000,4,0.000,0.043,2366,681,3922
$GC,4847,-1.11,-243.4,585.5,-10.9,590,4851,0.00,2.22,0.00,0.000,6,0.000,0.038,2367,2161,3921
$GC,5164,-1.11,-243.4,617.5,-10.1,605,5168,0.00,2.25,0.00,0.000,4,0.000,0.044,2368,688,3918
$GC,5198,-1.11,-243.4,621.2,-10.7,606,5203,0.12,2.22,0.00,0.000,6,0.145,0.038,2393,2163,3918
$GC,5521,-1.11,-243.4,650.7,-9.3,622,5524,0.00,2.00,0.00,0.000,4,0.000,0.054,2386,3457,3915
$GC,5571,-1.11,-243.4,655.8,-9.8,624,5575,0.00,1.88,0.00,0.000,6,0.000,0.034,2388,2202,3915
$GC,5899,-1.11,-243.4,686.9,-9.9,640,5903,0.00,2.33,0.00,0.000,4,0.000,0.046,2389,676,3911
$GC,5949,-1.11,-243.4,692.7,-11.4,642,5953,0.00,2.25,0.00,0.000,6,0.000,0.041,2388,2160,3912
$GC,6272,-1.11,-243.4,726.7,-10.9,658,6276,0.00,2.28,0.00,0.000,4,0.000,0.048,2386,682,3909
$GC,6345,-1.11,-243.4,735.5,-12.5,661,6349,0.00,2.17,0.00,0.000,6,0.000,0.040,2382,2115,3908
$GC,6668,-1.11,-243.4,770.5,-10.3,677,6671,0.00,2.10,0.00,0.000,4,0.000,0.057,2376,3461,3906
$GC,6740,-1.11,-243.4,778.7,-10.9,680,6743,0.00,1.90,0.00,0.000,6,0.000,0.035,2373,2177,3905
$GC,7068,-1.11,-243.4,814.6,-11.3,696,7071,0.00,2.00,0.00,0.000,4,0.000,0.058,2369,3450,3902
$GC,7129,-1.11,-243.4,822.5,-12.6,698,7136,0.00,1.88,0.00,0.000,6,0.000,0.037,2367,2205,3902
$GC,7446,-1.11,-243.4,859.4,-11.5,714,7450,0.00,1.98,0.00,0.000,4,0.000,0.058,2365,3456,3900
$GC,7502,-1.11,-243.4,866.4,-12.5,716,7506,0.12,1.80,0.00,0.000,6,0.150,0.037,2394,2240,3900
$GC,7825,-1.11,-243.4,901.0,-11.0,732,7829,0.00,2.40,0.00,0.000,4,0.000,0.050,2396,690,3898
$GC,7837,-1.11,-243.4,902.3,-10.8,732,7844,0.00,2.40,0.00,0.000,6,0.000,0.045,2392,2242,3897
$GC,8152,-1.11,-243.4,937.0,-10.7,748,8156,0.00,1.90,0.00,0.000,4,0.000,0.061,2388,3450,3895
$GC,8186,-1.11,-243.4,940.8,-10.9,749,8189,0.00,1.70,0.00,0.000,6,0.000,0.038,2387,2305,3895
$GC,8512,-1.11,-243.4,975.1,-10.6,765,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2305,3893
$STATE,8650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8650,begin apogee
$GC,8658,-0.29,0.0,990.7,10.8,772,8873,0.82,0.00,207.80,1.471,6,0.108,0.000,2654,1717,2945
$STATE,8873,end apogee,CONTROL_FINISHED_OK
$STATE,8873,begin climb
$GC,8877,1.11,243.4,1006.3,0.0,783,9106,1.30,2.42,217.52,1.427,4,0.059,0.057,3125,286,1951
$GC,9130,1.11,243.4,991.4,12.9,795,9134,0.00,2.20,0.00,0.000,6,0.000,0.042,3125,1682,1947
$GC,9463,1.11,243.4,947.9,13.0,811,9467,0.00,2.22,0.00,0.000,4,0.000,0.056,3125,3097,1942
$GC,9510,1.11,243.4,941.6,13.5,813,9514,0.00,2.15,0.00,0.000,6,0.000,0.042,3134,1694,1941
$GC,9845,1.11,243.4,898.0,13.0,829,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1695,1940
$GC,10152,1.11,243.4,859.8,12.2,844,10156,0.00,2.20,0.00,0.000,4,0.000,0.056,3145,283,1939
$GC,10267,1.11,243.4,845.8,12.7,849,10272,0.15,2.20,0.00,0.000,6,0.178,0.044,3108,1708,1939
$GC,10594,1.11,243.4,811.2,10.7,865,10598,0.00,2.20,0.00,0.000,4,0.000,0.056,3108,3108,1937
$GC,10718,1.11,243.4,797.2,11.2,870,10722,0.00,2.12,0.00,0.000,6,0.000,0.043,3115,1704,1937
$GC,11039,1.11,243.4,763.0,10.6,886,11043,0.00,2.20,0.00,0.000,4,0.000,0.056,3116,3096,1936
$GC,11123,1.11,243.4,753.3,11.6,889,11129,0.00,2.08,0.00,0.000,6,0.000,0.042,3126,1735,1935
$GC,11441,1.11,243.4,718.0,11.2,905,11444,0.00,2.17,0.00,0.000,4,0.000,0.057,3126,3108,1935
$GC,11519,1.11,243.4,708.3,11.6,908,11523,0.00,2.05,0.00,0.000,6,0.000,0.043,3135,1765,1935
$GC,11841,1.11,243.4,670.0,12.0,924,11845,0.00,2.33,0.00,0.000,4,0.000,0.054,3146,288,1935
$GC,11904,1.11,243.4,663.1,10.8,927,11909,0.15,2.28,0.00,0.000,6,0.177,0.044,3109,1758,1935
$GC,12231,1.11,243.4,629.9,10.0,943,12235,0.00,2.12,0.00,0.000,4,0.000,0.062,3108,3107,1934
$GC,12287,1.13,260.6,624.2,9.5,945,12313,0.00,2.08,16.05,1.080,6,0.000,0.042,3115,1746,1882
$GC,12625,1.13,260.6,589.8,10.3,961,12629,0.00,2.30,0.00,0.000,4,0.000,0.054,3127,286,1880
$GC,12681,1.13,260.6,583.5,11.0,963,12685,0.00,2.30,0.00,0.000,6,0.000,0.044,3126,1772,1880
$GC,12998,1.14,272.6,552.8,9.7,978,13023,0.00,2.12,14.25,0.999,4,0.000,0.054,3126,3097,1833
$GC,13162,1.14,272.6,535.2,11.4,985,13166,0.00,2.00,0.00,0.000,6,0.000,0.041,3136,1778,1831
$GC,13490,1.14,272.6,498.5,11.1,1001,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1779,1831
$GC,13810,1.19,312.0,467.9,8.9,1031,13855,0.00,2.15,36.62,1.124,4,0.000,0.054,3136,3092,1672
$GC,13974,1.19,312.0,451.9,10.7,1045,13978,0.00,2.00,0.00,0.000,6,0.000,0.040,3145,1793,1670
$GC,14309,1.19,312.0,416.7,11.0,1076,14313,0.00,2.03,0.00,0.000,4,0.000,0.053,3145,3098,1668
$GC,14355,1.19,312.0,411.4,10.8,1080,14359,0.00,1.90,0.00,0.000,6,0.000,0.039,3154,1842,1668
$GC,14690,1.26,368.1,378.1,8.4,1111,14748,0.00,2.58,50.83,1.041,4,0.000,0.052,3166,279,1444
$GC,14843,1.26,368.1,362.4,10.7,1124,14847,0.00,2.42,0.00,0.000,6,0.000,0.041,3165,1840,1441
$GC,15168,1.26,368.1,327.6,10.6,1154,15171,0.00,1.95,0.00,0.000,4,0.000,0.050,3166,3106,1439
$GC,15237,1.26,368.1,319.9,10.8,1160,15240,0.00,1.90,0.00,0.000,6,0.000,0.038,3173,1848,1439
$GC,15571,1.26,368.1,283.4,11.2,1203,15578,0.00,1.95,0.00,0.000,4,0.000,0.049,3173,3106,1438
$GC,15671,1.26,368.1,271.9,12.1,1220,15677,0.00,1.85,0.00,0.000,6,0.000,0.037,3181,1891,1438
$GC,16018,1.26,368.1,234.4,10.4,1281,16024,0.00,2.47,0.00,0.000,4,0.000,0.048,3193,287,1438
$GC,16117,1.26,368.1,222.8,11.6,1298,16124,0.15,2.40,0.00,0.000,6,0.161,0.037,3153,1878,1438
$GC,16463,1.26,368.1,186.9,10.3,1359,16471,0.00,1.90,0.00,0.000,4,0.000,0.046,3152,3109,1438
$GC,16511,1.26,368.1,181.8,10.6,1367,16519,0.00,1.88,0.00,0.000,6,0.000,0.035,3159,1868,1438
$GC,16859,1.29,394.1,149.4,9.3,1428,16891,0.00,1.95,23.92,0.808,4,0.000,0.044,3159,3098,1338
$GC,16921,1.35,438.2,143.3,8.8,1438,16967,0.00,1.83,39.95,0.800,6,0.000,0.033,3168,1894,1158
$GC,17310,1.35,438.2,104.0,11.6,1505,17316,0.00,1.88,0.00,0.000,4,0.000,0.044,3168,3100,1157
$GC,17343,1.38,461.7,100.7,9.3,1510,17369,0.00,1.88,21.85,0.742,6,0.000,0.033,3176,1857,1062
$GC,17708,1.38,461.7,67.1,10.6,1574,17715,0.00,2.40,0.00,0.000,4,0.000,0.044,3187,279,1060
$GC,17850,1.38,461.7,54.3,10.2,1599,17857,0.00,2.40,0.00,0.000,6,0.000,0.031,3187,1906,1059
$GC,18197,1.38,466.7,22.0,9.9,1660,18209,0.00,2.50,5.62,0.520,4,0.000,0.042,3198,281,1041
$GC,18399,1.45,518.1,3.6,8.6,1695,18409,0.00,2.35,5.20,0.486,2,0.000,0.030,3197,1882,1025
$STATE,18410,end climb,SURFACE_DEPTH_REACHED
$STATE,18410,begin surface coast
$FINISH,1.0,1.000401
$STATE,18444,end surface coast,CONTROL_FINISHED_OK
$STATE,18444,begin surface
$SM_CCo,18465,116.75,0.654,0,0,454,610.80
$SM_GC,1.66,0.00,0.00,116.75,0.000,0.000,0.654,143,2096,454,-8.11,0.99,610.80
$IRIDIUM_FIX,2340.34,12554.71,081198,212128
$TT8_MAMPS,0.026078
$HUMID,1618
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.90
$XPDR_PINGS,214
$24V_AH,22.8,108.970
$10V_AH,10.5,71.436
$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,19.850,182.525,639.625,116.750,0.000,124.544,415.528,0.000,61.500,0.000,0.000,17.365,2986.344,11077.245,895.362,3497.412,1089.928,0.000,2477.930,0.000,3456.680,0.000,54.441,0.000
$DEVICE_MAMPS,219.362,62.127,1471.106,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.960,1184.607,1991.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97853,1702
$CAP_FILE_SIZE,175851,0
$CFSIZE,260165632,194560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.192,122.8,1
$GPS,150809,022654,2349.639,12548.856,38,1.0,38,-3.5