version: 66.04
glider: 166
mission: 2
dive: 310
start: 7 9 109 22 27 43
data:
$ID,166
$MISSION,2
$DIVE,310
$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,-11441.771
$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,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,68
$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
$GPS1,221925,2459.020,12407.980,43,1.0,43,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.6
$GPS2,222719,2459.126,12408.028,11,1.3,11,-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,220.5,47381,-13.7,-7.990
$D_GRID,1631
$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,-170.3,0.0,0.0,0,72,0.00,0.00,-54.42,0.000,2,0.000,0.000,139,1814,2365
$GC,75,-1.01,-170.3,3.3,-4.2,8,128,9.35,2.40,-34.30,0.000,4,0.232,0.054,2445,271,3641
$GC,190,-1.01,-170.3,23.8,-19.7,27,197,0.00,2.08,0.00,0.000,6,0.000,0.028,2442,1675,3641
$GC,535,-1.01,-170.3,80.1,-14.5,88,541,0.00,2.12,0.00,0.000,4,0.000,0.042,2441,255,3642
$GC,639,-1.01,-170.3,95.6,-14.8,106,646,0.00,2.08,0.00,0.000,6,0.000,0.027,2441,1679,3643
$GC,983,-1.01,-170.3,139.7,-13.9,167,989,0.00,2.12,0.00,0.000,4,0.000,0.041,2443,257,3643
$GC,1030,-1.01,-170.3,146.5,-15.4,175,1037,0.00,2.03,0.00,0.000,6,0.000,0.026,2440,1679,3643
$GC,1377,-1.01,-170.3,189.2,-12.7,236,1384,0.00,2.03,0.00,0.000,4,0.000,0.038,2439,3064,3644
$GC,1419,-1.01,-170.3,195.1,-13.8,243,1426,0.00,2.05,0.00,0.000,6,0.000,0.029,2440,1661,3643
$GC,1764,-1.01,-170.3,241.3,-11.7,304,1770,0.00,2.05,0.00,0.000,4,0.000,0.043,2440,277,3643
$GC,1911,-1.01,-170.3,260.0,-12.5,330,1918,0.00,2.03,0.00,0.000,6,0.000,0.028,2440,1695,3644
$GC,2255,-1.01,-170.3,296.0,-10.6,391,2261,0.00,2.12,0.00,0.000,4,0.000,0.043,2440,280,3643
$GC,2302,-1.01,-170.3,301.4,-12.7,398,2306,0.00,2.00,0.00,0.000,6,0.000,0.028,2440,1677,3643
$GC,2632,-1.01,-170.3,334.4,-9.2,429,2636,0.00,2.05,0.00,0.000,4,0.000,0.042,2446,3059,3643
$GC,2700,-1.01,-170.3,340.9,-10.1,435,2704,0.00,2.00,0.00,0.000,6,0.000,0.031,2445,1678,3643
$GC,3031,-1.01,-170.3,374.8,-9.9,466,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1677,3642
$GC,3350,-1.01,-170.3,404.7,-9.4,496,3354,0.00,2.08,0.00,0.000,4,0.000,0.043,2453,3060,3639
$GC,3423,-1.01,-170.3,412.3,-10.6,502,3430,0.00,2.03,0.00,0.000,6,0.000,0.033,2448,1669,3639
$GC,3748,-1.01,-170.3,444.2,-10.6,533,3751,0.00,2.10,0.00,0.000,4,0.000,0.044,2451,3063,3637
$GC,3806,-1.01,-170.3,450.4,-11.2,538,3809,0.00,2.03,0.00,0.000,6,0.000,0.035,2449,1677,3637
$GC,4136,-1.01,-170.3,485.7,-11.3,569,4140,0.00,2.10,0.00,0.000,4,0.000,0.045,2447,3067,3634
$GC,4183,-1.01,-170.3,490.7,-11.2,573,4187,0.00,2.05,0.00,0.000,6,0.000,0.035,2451,1672,3634
$GC,4517,-1.01,-170.3,524.9,-9.5,593,4522,0.00,2.10,0.00,0.000,4,0.000,0.047,2448,3060,3631
$GC,4562,-1.01,-170.3,529.2,-9.7,595,4566,0.00,2.05,0.00,0.000,6,0.000,0.036,2447,1668,3631
$GC,4895,-1.01,-170.3,558.7,-8.9,611,4898,0.00,2.15,0.00,0.000,4,0.000,0.051,2448,263,3629
$GC,4951,-1.01,-170.3,564.1,-9.8,613,4955,0.00,2.05,0.00,0.000,6,0.000,0.033,2443,1665,3628
$GC,5272,-1.01,-170.3,595.3,-10.4,629,5275,0.00,2.12,0.00,0.000,4,0.000,0.048,2442,3073,3626
$GC,5339,-1.01,-170.3,602.4,-10.5,632,5342,0.00,2.08,0.00,0.000,6,0.000,0.037,2443,1668,3626
$GC,5671,-1.01,-170.3,637.4,-10.1,648,5675,0.00,2.15,0.00,0.000,4,0.000,0.054,2441,3067,3624
$GC,5721,-1.01,-170.3,642.5,-10.0,650,5725,0.00,2.12,0.00,0.000,6,0.000,0.043,2442,1674,3623
$GC,6048,-1.01,-170.3,671.5,-8.5,666,6052,0.00,2.15,0.00,0.000,4,0.000,0.056,2440,3067,3622
$GC,6087,-1.01,-170.3,674.8,-8.6,667,6097,0.00,2.10,0.00,0.000,6,0.000,0.042,2443,1672,3621
$GC,6404,-1.01,-170.3,701.2,-8.8,683,6407,0.00,2.15,0.00,0.000,4,0.000,0.050,2440,3073,3619
$GC,6459,-1.01,-170.3,706.5,-9.2,685,6463,0.00,2.12,0.00,0.000,6,0.000,0.043,2441,1665,3619
$GC,6782,-1.01,-170.3,736.3,-9.3,701,6785,0.00,2.20,0.00,0.000,4,0.000,0.058,2442,3077,3618
$GC,6859,-1.01,-170.3,744.0,-9.6,704,6864,0.00,2.15,0.00,0.000,6,0.000,0.046,2443,1679,3617
$GC,7180,-1.01,-170.3,773.7,-9.3,720,7184,0.00,2.15,0.00,0.000,4,0.000,0.051,2455,3073,3615
$GC,7236,-1.01,-170.3,778.8,-9.5,722,7241,0.00,2.12,0.00,0.000,6,0.000,0.044,2452,1672,3614
$GC,7558,-1.01,-170.3,806.8,-8.4,738,7561,0.00,2.15,0.00,0.000,4,0.000,0.053,2449,3064,3612
$GC,7607,-1.01,-170.3,811.1,-8.6,740,7611,0.00,2.10,0.00,0.000,6,0.000,0.041,2457,1672,3612
$GC,7935,-1.01,-170.3,838.7,-8.6,756,7938,0.00,2.20,0.00,0.000,4,0.000,0.058,2456,264,3610
$GC,7984,-1.01,-170.3,844.0,-10.9,758,7988,0.00,2.12,0.00,0.000,6,0.000,0.044,2438,1667,3610
$GC,8312,-1.01,-170.3,877.3,-10.2,774,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1668,3608
$GC,8621,-1.01,-170.3,909.4,-10.5,789,8624,0.00,2.20,0.00,0.000,4,0.000,0.058,2435,272,3606
$GC,8670,-1.01,-170.3,915.0,-11.3,791,8674,0.00,2.12,0.00,0.000,6,0.000,0.039,2427,1681,3606
$GC,8998,-1.01,-170.3,947.2,-9.5,807,9002,0.00,2.22,0.00,0.000,4,0.000,0.058,2429,272,3604
$GC,9070,-1.01,-170.3,955.0,-10.1,810,9074,0.00,2.12,0.00,0.000,6,0.000,0.041,2426,1677,3604
$GC,9397,-1.01,-170.3,985.8,-9.6,826,9401,0.00,2.22,0.00,0.000,4,0.000,0.059,2427,271,3603
$GC,9424,-1.01,-170.3,988.7,-10.6,827,9428,0.00,2.12,0.00,0.000,6,0.000,0.041,2425,1673,3603
$STATE,9439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9439,begin apogee
$GC,9446,-0.29,0.0,990.3,11.5,828,9596,0.77,0.00,146.18,1.509,6,0.108,0.000,2683,1353,2945
$STATE,9597,end apogee,CONTROL_FINISHED_OK
$STATE,9597,begin climb
$GC,9599,1.01,170.3,997.7,0.0,835,9761,1.15,0.00,156.90,1.460,6,0.042,0.000,3114,1353,2250
$GC,10072,1.01,170.3,949.2,14.3,858,10076,0.00,2.22,0.00,0.000,4,0.000,0.060,3113,2765,2243
$GC,10189,1.01,170.3,931.9,13.8,863,10194,0.00,2.20,0.00,0.000,6,0.000,0.055,3124,1353,2243
$GC,10518,1.01,170.3,886.8,13.3,879,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1353,2242
$GC,10827,1.01,170.3,847.7,12.1,894,10830,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,2765,2240
$GC,10917,1.01,170.3,836.3,12.4,898,10921,0.00,2.20,0.00,0.000,6,0.000,0.049,3132,1337,2240
$GC,11245,1.01,170.3,795.3,12.5,914,11248,0.00,2.22,0.00,0.000,4,0.000,0.053,3132,2769,2239
$GC,11283,1.01,170.3,790.1,12.6,915,11290,0.15,2.20,0.00,0.000,6,0.202,0.046,3108,1338,2239
$GC,11599,1.01,170.3,754.9,10.9,931,11603,0.00,2.22,0.00,0.000,4,0.000,0.051,3106,2768,2239
$GC,11654,1.01,170.3,748.4,12.3,933,11658,0.00,2.20,0.00,0.000,6,0.000,0.046,3115,1356,2238
$GC,11977,1.01,170.3,711.1,11.6,949,11981,0.00,1.80,0.00,0.000,4,0.000,0.059,3124,201,2238
$GC,12094,1.01,170.3,696.1,11.7,954,12098,0.00,1.77,0.00,0.000,6,0.000,0.042,3124,1362,2237
$GC,12422,1.01,170.3,658.4,11.7,970,12426,0.00,2.15,0.00,0.000,4,0.000,0.051,3124,2759,2237
$GC,12545,1.01,170.3,644.7,11.1,975,12549,0.00,2.17,0.00,0.000,6,0.000,0.047,3132,1343,2237
$GC,12866,1.01,170.3,608.9,11.1,991,12870,0.00,1.77,0.00,0.000,4,0.000,0.059,3141,204,2236
$GC,12883,1.01,170.3,606.9,11.4,991,12889,0.15,1.73,0.00,0.000,6,0.198,0.041,3106,1359,2236
$GC,13199,1.01,170.3,574.5,10.2,1007,13202,0.00,2.15,0.00,0.000,4,0.000,0.051,3104,2755,2236
$GC,13428,1.01,170.3,551.6,9.9,1017,13432,0.00,2.17,0.00,0.000,6,0.000,0.045,3112,1336,2236
$GC,13755,1.01,170.3,521.5,9.2,1033,13759,0.00,2.20,0.00,0.000,4,0.000,0.048,3111,2760,2236
$GC,13827,1.01,170.3,514.4,9.7,1036,13831,0.00,2.17,0.00,0.000,6,0.000,0.044,3120,1339,2235
$GC,14149,1.01,170.3,482.1,10.5,1059,14153,0.00,2.17,0.00,0.000,4,0.000,0.048,3120,2750,2235
$GC,14240,1.01,170.3,472.6,10.3,1067,14243,0.00,2.15,0.00,0.000,6,0.000,0.043,3129,1338,2236
$GC,14574,1.01,170.3,443.0,8.6,1098,14578,0.00,1.80,0.00,0.000,4,0.000,0.061,3137,192,2236
$GC,14597,1.01,170.3,440.8,8.5,1100,14601,0.10,1.75,0.00,0.000,6,0.189,0.044,3112,1342,2236
$GC,14927,1.01,170.3,412.8,8.7,1131,14931,0.00,2.17,0.00,0.000,4,0.000,0.051,3108,2753,2236
$GC,15129,1.01,170.3,393.3,9.0,1149,15132,0.00,2.15,0.00,0.000,6,0.000,0.042,3117,1338,2236
$GC,15461,1.02,174.5,364.8,7.9,1180,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1339,2237
$GC,15777,1.02,174.5,333.4,10.3,1210,15781,0.00,1.75,0.00,0.000,4,0.000,0.054,3126,199,2238
$GC,15816,1.02,174.5,329.3,10.2,1213,15824,0.00,1.73,0.00,0.000,6,0.000,0.037,3126,1370,2238
$GC,16143,1.06,203.8,303.3,7.1,1244,16178,0.00,2.12,28.25,0.996,4,0.000,0.044,3124,2753,2112
$GC,16359,1.06,203.8,284.1,9.2,1278,16365,0.00,2.15,0.00,0.000,6,0.000,0.041,3132,1342,2111
$GC,16704,1.08,219.5,253.8,7.5,1339,16724,0.00,2.22,14.45,0.913,4,0.000,0.044,3134,2755,2050
$GC,16764,1.08,219.5,248.1,9.6,1349,16771,0.00,2.15,0.00,0.000,6,0.000,0.040,3144,1343,2048
$GC,17111,1.08,219.5,214.2,9.7,1410,17118,0.00,1.77,0.00,0.000,4,0.000,0.051,3155,205,2048
$GC,17146,1.08,219.5,210.9,8.6,1416,17153,0.10,1.70,0.00,0.000,6,0.172,0.035,3129,1345,2048
$GC,17491,1.17,297.1,191.4,5.5,1477,17563,0.00,2.17,65.45,0.889,4,0.000,0.039,3130,2753,1732
$GC,17666,1.17,297.1,176.8,10.3,1506,17672,0.00,2.15,0.00,0.000,6,0.000,0.038,3137,1337,1728
$GC,18010,1.17,297.1,139.8,10.2,1567,18017,0.00,1.75,0.00,0.000,4,0.000,0.050,3147,209,1728
$GC,18124,1.17,297.1,129.1,8.5,1587,18131,0.00,1.70,0.00,0.000,6,0.000,0.033,3147,1364,1728
$GC,18469,1.17,297.1,99.5,8.8,1648,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1365,1728
$GC,18815,1.23,341.5,73.3,6.6,1709,18860,0.00,1.85,37.90,0.762,4,0.000,0.052,3156,205,1552
$GC,18956,1.23,341.5,60.9,9.8,1733,18964,0.00,1.70,0.00,0.000,6,0.000,0.030,3156,1355,1550
$GC,19301,1.27,375.0,33.5,6.9,1794,19339,0.00,1.83,29.00,0.709,4,0.000,0.047,3164,205,1416
$GC,19449,1.27,375.0,21.4,8.7,1819,19456,0.00,1.67,0.00,0.000,6,0.000,0.029,3164,1353,1414
$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19701,begin surface coast
$FINISH,0.8,1.008776
$STATE,19747,end surface coast,CONTROL_FINISHED_OK
$STATE,19747,begin surface
$SM_CCo,19766,61.72,0.682,0,0,1110,450.13
$SM_GC,1.69,0.00,0.00,61.72,0.000,0.000,0.682,168,1687,1110,-8.16,0.34,450.13
$IRIDIUM_FIX,2451.31,12407.12,031098,161654
$TT8_MAMPS,0.027612
$HUMID,1499
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,164
$24V_AH,22.6,68.202
$10V_AH,10.7,42.986
$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,19.725,178.425,478.125,61.725,0.000,22.936,46.551,246.614,49.000,0.000,0.000,11.131,3290.479,11771.725,697.230,3773.395,754.685,0.000,2349.567,0.000,3748.814,0.000,54.436,0.000
$DEVICE_MAMPS,232.401,61.360,1508.689,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.919,1303.148,2187.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110229,1872
$CAP_FILE_SIZE,186700,0
$CFSIZE,260165632,210706432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 50.9,1
$GPS,100709,035930,2458.253,12407.853,39,1.3,39,-3.7