version: 66.04
glider: 166
mission: 2
dive: 308
start: 7 9 109 11 14 52
data:
$ID,166
$MISSION,2
$DIVE,308
$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,413
$T_MISSION,495
$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,175
$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,450
$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,-11416.396
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1800
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,110337,2500.776,12407.338,33,1.2,33,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.3
$GPS2,111431,2500.864,12407.493,15,1.3,32,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2437.000,12353.900
$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,222.2,49770,-13.7,-7.990
$D_GRID,1826
$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,13,begin dive
$GC,15,-1.01,-170.3,0.0,0.0,0,69,0.00,0.00,-51.42,0.000,2,0.000,0.000,171,1814,2305
$GC,72,-1.01,-170.3,3.2,-4.3,8,125,9.20,2.15,-36.72,0.000,4,0.229,0.053,2446,398,3640
$GC,196,-1.01,-170.3,25.4,-21.3,28,202,0.00,2.03,0.00,0.000,6,0.000,0.028,2446,1798,3641
$GC,539,-1.01,-170.3,81.9,-16.3,89,546,0.00,2.12,0.00,0.000,4,0.000,0.040,2426,398,3642
$GC,654,-1.01,-170.3,101.7,-17.4,109,661,0.00,2.05,0.00,0.000,6,0.000,0.027,2426,1805,3642
$GC,1000,-1.01,-170.3,150.4,-12.8,170,1007,0.00,2.10,0.00,0.000,4,0.000,0.040,2425,389,3643
$GC,1127,-1.01,-170.3,168.2,-13.8,192,1133,0.00,2.03,0.00,0.000,6,0.000,0.028,2425,1807,3643
$GC,1473,-1.01,-170.3,215.8,-15.8,253,1479,0.00,2.10,0.00,0.000,4,0.000,0.041,2425,396,3643
$GC,1569,-1.01,-170.3,231.2,-15.0,270,1577,0.00,2.03,0.00,0.000,6,0.000,0.027,2425,1819,3643
$GC,1916,-1.01,-170.3,269.1,-10.3,331,1922,0.00,2.12,0.00,0.000,4,0.000,0.041,2425,398,3643
$GC,1963,-1.01,-170.3,274.5,-11.3,339,1971,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1810,3642
$GC,2308,-1.01,-170.3,311.2,-11.2,392,2311,0.00,2.12,0.00,0.000,4,0.000,0.042,2428,391,3643
$GC,2398,-1.01,-170.3,322.0,-12.2,400,2402,0.00,2.03,0.00,0.000,6,0.000,0.029,2434,1797,3643
$GC,2729,-1.01,-170.3,358.1,-10.6,431,2733,0.00,2.12,0.00,0.000,4,0.000,0.043,2432,387,3641
$GC,2797,-1.01,-170.3,365.5,-10.7,437,2801,0.00,2.05,0.00,0.000,6,0.000,0.029,2440,1805,3640
$GC,3129,-1.01,-170.3,397.3,-9.3,468,3132,0.00,2.12,0.00,0.000,4,0.000,0.044,2437,397,3638
$GC,3208,-1.01,-170.3,405.5,-10.1,475,3212,0.00,2.05,0.00,0.000,6,0.000,0.031,2433,1807,3637
$GC,3538,-1.01,-170.3,434.0,-8.7,506,3541,0.00,2.12,0.00,0.000,4,0.000,0.045,2430,401,3635
$GC,3632,-1.01,-170.3,443.8,-10.4,514,3640,0.00,2.08,0.00,0.000,6,0.000,0.031,2430,1799,3634
$GC,3958,-1.01,-170.3,477.3,-10.6,545,3961,0.00,2.12,0.00,0.000,4,0.000,0.047,2430,400,3631
$GC,4026,-1.01,-170.3,485.1,-11.3,551,4030,0.00,2.05,0.00,0.000,6,0.000,0.033,2433,1799,3631
$GC,4362,-1.01,-170.3,519.6,-10.1,574,4366,0.00,2.12,0.00,0.000,4,0.000,0.049,2430,404,3628
$GC,4467,-1.01,-170.3,531.3,-11.3,578,4475,0.00,2.08,0.00,0.000,6,0.000,0.033,2431,1795,3627
$GC,4783,-1.01,-170.3,560.9,-9.0,594,4786,0.00,2.15,0.00,0.000,4,0.000,0.053,2430,401,3626
$GC,4852,-1.01,-170.3,567.4,-9.2,597,4856,0.00,2.08,0.00,0.000,6,0.000,0.035,2429,1809,3624
$GC,5184,-1.01,-170.3,598.7,-9.2,613,5188,0.00,2.17,0.00,0.000,4,0.000,0.054,2428,402,3622
$GC,5252,-1.01,-170.3,605.1,-9.3,616,5255,0.00,2.10,0.00,0.000,6,0.000,0.040,2428,1807,3622
$GC,5586,-1.01,-170.3,634.8,-9.1,632,5589,0.00,2.17,0.00,0.000,4,0.000,0.054,2425,404,3620
$GC,5635,-1.01,-170.3,640.0,-10.3,634,5639,0.00,2.08,0.00,0.000,6,0.000,0.036,2425,1804,3620
$GC,5965,-1.01,-170.3,669.3,-8.8,650,5968,0.00,2.17,0.00,0.000,4,0.000,0.055,2424,406,3619
$GC,6047,-1.01,-170.3,678.0,-10.1,653,6053,0.00,2.10,0.00,0.000,6,0.000,0.039,2424,1807,3616
$GC,6363,-1.01,-170.3,706.6,-9.2,669,6367,0.00,2.17,0.00,0.000,4,0.000,0.053,2425,400,3615
$GC,6441,-1.01,-170.3,714.7,-10.2,672,6445,0.00,2.12,0.00,0.000,6,0.000,0.043,2425,1808,3614
$GC,6764,-1.01,-170.3,741.8,-7.8,688,6767,0.00,2.20,0.00,0.000,4,0.000,0.059,2424,404,3613
$GC,6819,-1.01,-170.3,746.6,-8.8,690,6823,0.00,2.12,0.00,0.000,6,0.000,0.044,2425,1813,3612
$GC,7142,-1.01,-170.3,774.0,-8.7,706,7146,0.00,2.22,0.00,0.000,4,0.000,0.061,2425,397,3611
$GC,7214,-1.01,-170.3,781.5,-10.6,709,7218,0.00,2.12,0.00,0.000,6,0.000,0.039,2426,1808,3610
$GC,7541,-1.01,-170.3,812.9,-9.9,725,7545,0.00,2.20,0.00,0.000,4,0.000,0.055,2425,398,3607
$GC,7598,-1.01,-170.3,819.0,-11.4,727,7601,0.00,2.15,0.00,0.000,6,0.000,0.045,2427,1811,3607
$GC,7919,-1.01,-170.3,849.1,-8.7,743,7923,0.00,2.20,0.00,0.000,4,0.000,0.056,2426,403,3606
$GC,8055,-1.01,-170.3,861.8,-10.0,749,8059,0.00,2.12,0.00,0.000,6,0.000,0.041,2426,1801,3605
$GC,8388,-1.01,-170.3,890.1,-9.0,765,8392,0.00,2.17,0.00,0.000,4,0.000,0.056,2426,407,3604
$GC,8487,-1.01,-170.3,900.7,-11.2,769,8492,0.12,2.12,0.00,0.000,6,0.157,0.041,2450,1810,3603
$GC,8809,-1.01,-170.3,928.5,-8.4,785,8813,0.00,2.20,0.00,0.000,4,0.000,0.058,2450,409,3602
$GC,8904,-1.01,-170.3,937.6,-9.3,789,8908,0.00,2.15,0.00,0.000,6,0.000,0.041,2440,1804,3600
$GC,9232,-1.01,-170.3,965.5,-8.0,805,9236,0.00,2.20,0.00,0.000,4,0.000,0.058,2440,406,3599
$GC,9324,-1.01,-170.3,973.4,-9.3,809,9327,0.00,2.12,0.00,0.000,6,0.000,0.043,2435,1802,3598
$STATE,9552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9552,begin apogee
$GC,9558,-0.29,0.0,991.7,8.1,820,9707,0.75,0.00,145.12,1.509,6,0.111,0.000,2682,1359,2945
$STATE,9707,end apogee,CONTROL_FINISHED_OK
$STATE,9707,begin climb
$GC,9711,1.01,170.3,997.8,0.0,827,9882,1.17,2.45,156.25,1.462,4,0.052,0.051,3114,2760,2248
$GC,10000,1.01,170.3,970.9,15.8,840,10004,0.00,2.25,0.00,0.000,6,0.000,0.050,3125,1343,2245
$GC,10327,1.01,170.3,924.1,13.9,856,10331,0.00,1.80,0.00,0.000,4,0.000,0.061,3134,195,2243
$GC,10350,1.01,170.3,920.6,14.0,857,10354,0.00,1.77,0.00,0.000,6,0.000,0.042,3134,1367,2243
$GC,10684,1.01,170.3,873.8,14.1,873,10688,0.00,2.12,0.00,0.000,4,0.000,0.052,3134,2750,2242
$GC,10731,1.01,170.3,867.0,15.4,875,10736,0.15,2.15,0.00,0.000,6,0.207,0.047,3110,1348,2241
$GC,11057,1.01,170.3,826.0,12.4,891,11061,0.00,2.17,0.00,0.000,4,0.000,0.052,3108,2750,2240
$GC,11096,1.01,170.3,820.7,13.8,892,11102,0.00,2.17,0.00,0.000,6,0.000,0.047,3116,1356,2239
$GC,11411,1.01,170.3,780.3,11.9,908,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1356,2239
$GC,11721,1.01,170.3,743.2,12.1,923,11725,0.00,1.80,0.00,0.000,4,0.000,0.060,3125,202,2238
$GC,11812,1.01,170.3,732.6,11.2,927,11816,0.00,1.73,0.00,0.000,6,0.000,0.042,3125,1357,2238
$GC,12146,1.01,170.3,695.9,10.6,943,12150,0.00,2.15,0.00,0.000,4,0.000,0.051,3122,2756,2237
$GC,12214,1.01,170.3,687.9,11.0,946,12218,0.00,2.17,0.00,0.000,6,0.000,0.047,3130,1336,2237
$GC,12547,1.01,170.3,647.8,12.6,962,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1336,2237
$GC,12856,1.01,170.3,615.0,9.0,977,12859,0.00,2.17,0.00,0.000,4,0.000,0.050,3125,2749,2236
$GC,12923,1.01,170.3,608.7,9.4,980,12927,0.00,2.15,0.00,0.000,6,0.000,0.044,3132,1337,2237
$GC,13256,1.01,170.3,573.6,10.6,996,13260,0.00,2.17,0.00,0.000,4,0.000,0.049,3133,2752,2236
$GC,13350,1.01,170.3,562.7,11.3,1000,13355,0.15,2.15,0.00,0.000,6,0.198,0.042,3106,1339,2236
$GC,13677,1.01,170.3,527.4,11.5,1016,13680,0.00,2.17,0.00,0.000,4,0.000,0.048,3103,2754,2236
$GC,13790,1.01,170.3,515.4,10.7,1021,13794,0.00,2.15,0.00,0.000,6,0.000,0.042,3112,1339,2236
$GC,14117,1.01,170.3,484.0,9.0,1044,14120,0.00,1.77,0.00,0.000,4,0.000,0.054,3121,190,2236
$GC,14152,1.01,170.3,480.8,9.3,1047,14156,0.00,1.75,0.00,0.000,6,0.000,0.044,3121,1348,2236
$GC,14484,1.01,170.3,450.5,9.7,1078,14487,0.00,2.15,0.00,0.000,4,0.000,0.048,3116,2756,2236
$GC,14578,1.01,170.3,440.3,10.0,1086,14586,0.00,2.17,0.00,0.000,6,0.000,0.042,3124,1343,2236
$GC,14906,1.01,170.3,405.6,10.8,1117,14909,0.00,2.17,0.00,0.000,4,0.000,0.047,3122,2761,2236
$GC,14985,1.01,170.3,397.0,9.9,1124,14988,0.00,2.15,0.00,0.000,6,0.000,0.041,3130,1340,2237
$GC,15317,1.02,170.4,366.0,8.0,1155,15321,0.00,2.17,0.00,0.000,4,0.000,0.048,3128,2755,2237
$GC,15387,1.02,172.1,360.3,7.9,1161,15390,0.00,2.12,0.00,0.000,6,0.000,0.041,3136,1347,2237
$GC,15720,1.02,172.1,330.8,10.0,1192,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1348,2238
$GC,16048,1.04,190.8,300.7,7.4,1223,16071,0.00,1.77,16.92,0.977,4,0.000,0.052,3145,201,2166
$GC,16197,1.04,190.8,288.5,8.5,1248,16204,0.10,1.75,0.00,0.000,6,0.185,0.037,3118,1361,2165
$GC,16543,1.04,190.8,255.5,8.6,1309,16549,0.00,1.77,0.00,0.000,4,0.000,0.051,3124,205,2165
$GC,16579,1.04,190.8,252.4,8.5,1315,16585,0.00,1.70,0.00,0.000,6,0.000,0.036,3124,1365,2165
$GC,16923,1.09,233.1,229.4,6.7,1376,16967,0.00,2.12,36.92,0.936,4,0.000,0.041,3122,2750,1994
$GC,17181,1.09,233.1,206.5,8.9,1421,17187,0.00,2.12,0.00,0.000,6,0.000,0.038,3130,1345,1990
$GC,17524,1.11,244.1,176.9,7.6,1482,17539,0.00,1.80,10.18,0.804,4,0.000,0.050,3140,204,1950
$GC,17568,1.12,255.1,173.4,7.6,1489,17584,0.00,1.70,10.98,0.798,6,0.000,0.034,3140,1347,1905
$GC,17924,1.14,272.0,146.6,7.5,1551,17950,0.00,2.15,15.80,0.811,4,0.000,0.040,3142,2745,1835
$GC,18058,1.14,272.0,134.7,9.7,1574,18065,0.00,2.10,0.00,0.000,6,0.000,0.038,3152,1350,1833
$GC,18403,1.14,272.0,104.1,8.4,1635,18409,0.00,1.77,0.00,0.000,4,0.000,0.049,3159,201,1834
$GC,18506,1.14,272.0,95.3,8.4,1653,18513,0.00,1.70,0.00,0.000,6,0.000,0.032,3158,1364,1834
$GC,18853,1.30,400.9,74.8,3.9,1714,18969,0.12,2.12,107.68,0.765,4,0.073,0.036,3213,2748,1310
$GC,19116,1.30,400.9,51.4,11.3,1758,19124,0.00,2.15,0.00,0.000,6,0.000,0.036,3221,1341,1307
$GC,19461,1.30,400.9,13.8,10.4,1819,19467,0.00,1.75,0.00,0.000,4,0.000,0.047,3230,202,1306
$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,0.9,1.015652
$STATE,19587,end surface coast,CONTROL_FINISHED_OK
$STATE,19589,begin surface
$SM_CCo,19609,40.42,0.680,0,0,1110,450.13
$SM_GC,1.70,0.00,0.00,40.42,0.000,0.000,0.680,148,1809,1110,-8.23,0.28,450.13
$IRIDIUM_FIX,2448.93,12407.12,031098,111156
$TT8_MAMPS,0.027612
$HUMID,1523
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.60
$XPDR_PINGS,163
$24V_AH,22.6,67.794
$10V_AH,10.7,42.624
$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,19.875,183.250,499.850,40.425,0.000,48.610,65.321,290.981,48.750,0.000,0.000,33.031,3251.316,11694.086,661.438,3828.751,850.227,0.000,2344.424,0.000,3783.019,0.000,54.427,0.000
$DEVICE_MAMPS,228.566,61.360,1508.689,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1251.961,1272.455,2134.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107491,1841
$CAP_FILE_SIZE,187404,0
$CFSIZE,260165632,210907136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 33.1,1
$GPS,090709,164336,2459.895,12407.370,35,0.8,35,-3.7