version: 66.04
glider: 166
mission: 2
dive: 312
start: 7 10 109 10 6 46
data:
$ID,166
$MISSION,2
$DIVE,312
$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,-11487.904
$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,70
$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
$GPS1,094906,2457.672,12408.544,35,1.2,41,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.7
$GPS2,100625,2457.876,12408.847,14,1.7,31,-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,232.1,46131,-13.7,-7.990
$D_GRID,1593
$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,-1.01,-170.3,0.0,0.0,0,68,0.00,0.00,-50.00,0.000,2,0.000,0.000,169,1684,2265
$GC,71,-1.01,-170.3,3.0,-4.5,8,125,9.43,2.22,-38.55,0.000,4,0.235,0.055,2428,263,3641
$GC,154,-1.01,-170.3,16.3,-20.8,21,161,0.00,2.08,0.00,0.000,6,0.000,0.028,2426,1671,3642
$GC,499,-1.01,-170.3,77.6,-16.4,82,506,0.00,2.05,0.00,0.000,4,0.000,0.038,2427,3070,3642
$GC,523,-1.01,-170.3,81.4,-15.6,86,530,0.00,2.03,0.00,0.000,6,0.000,0.029,2427,1659,3642
$GC,868,-1.01,-170.3,128.0,-12.2,147,875,0.00,2.05,0.00,0.000,4,0.000,0.041,2431,276,3643
$GC,971,-1.01,-170.3,141.6,-13.7,165,978,0.00,2.03,0.00,0.000,6,0.000,0.026,2429,1679,3643
$GC,1317,-1.01,-170.3,187.1,-14.1,226,1323,0.00,2.10,0.00,0.000,4,0.000,0.041,2431,269,3643
$GC,1360,-1.01,-170.3,193.4,-15.4,233,1366,0.00,2.03,0.00,0.000,6,0.000,0.027,2429,1692,3643
$GC,1703,-1.01,-170.3,242.7,-11.9,294,1710,0.00,2.03,0.00,0.000,4,0.000,0.038,2426,3078,3642
$GC,1723,-1.01,-170.3,244.9,-12.0,297,1729,0.00,2.03,0.00,0.000,6,0.000,0.029,2425,1668,3642
$GC,2067,-1.01,-170.3,284.9,-11.6,358,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1668,3642
$GC,2398,-1.01,-170.3,322.5,-10.2,400,2402,0.00,2.08,0.00,0.000,4,0.000,0.039,2424,3064,3641
$GC,2426,-1.01,-170.3,325.1,-9.8,402,2432,0.00,2.03,0.00,0.000,6,0.000,0.030,2424,1659,3641
$GC,2753,-1.01,-170.3,363.4,-12.1,433,2757,0.00,2.08,0.00,0.000,4,0.000,0.044,2423,271,3640
$GC,2776,-1.01,-170.3,366.8,-13.4,435,2780,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1678,3640
$GC,3106,-1.01,-170.3,405.0,-10.2,466,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1677,3637
$GC,3425,-1.01,-170.3,438.2,-11.6,496,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1678,3635
$GC,3744,-1.01,-170.3,474.4,-10.7,526,3752,0.00,2.12,0.00,0.000,4,0.000,0.048,2428,283,3632
$GC,3791,-1.01,-170.3,480.0,-12.2,530,3795,0.00,2.03,0.00,0.000,6,0.000,0.031,2430,1673,3632
$GC,4119,-1.01,-170.3,512.9,-9.7,555,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1673,3629
$GC,4427,-1.01,-170.3,545.5,-10.8,570,4430,0.00,2.15,0.00,0.000,4,0.000,0.050,2430,274,3626
$GC,4466,-1.01,-170.3,550.2,-12.6,571,4472,0.00,2.05,0.00,0.000,6,0.000,0.033,2434,1672,3626
$GC,4782,-1.01,-170.3,583.2,-10.5,587,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1672,3624
$GC,5091,-1.01,-170.3,613.9,-9.9,602,5095,0.00,2.17,0.00,0.000,4,0.000,0.059,2434,274,3622
$GC,5124,-1.01,-170.3,617.9,-11.5,603,5128,0.10,2.08,0.00,0.000,6,0.166,0.037,2449,1677,3621
$GC,5448,-1.01,-170.3,652.2,-10.8,619,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1677,3619
$GC,5754,-1.01,-170.3,682.9,-9.6,634,5758,0.00,2.17,0.00,0.000,4,0.000,0.054,2446,279,3617
$GC,5778,-1.01,-170.3,685.2,-10.0,635,5781,0.00,2.10,0.00,0.000,6,0.000,0.041,2444,1683,3616
$GC,6110,-1.01,-170.3,718.5,-10.3,651,6114,0.00,2.15,0.00,0.000,4,0.000,0.053,2441,3083,3614
$GC,6157,-1.01,-170.3,723.2,-10.2,653,6161,0.00,2.10,0.00,0.000,6,0.000,0.040,2441,1689,3613
$GC,6490,-1.01,-170.3,757.6,-10.0,669,6494,0.00,2.15,0.00,0.000,4,0.000,0.053,2442,3076,3611
$GC,6528,-1.01,-170.3,761.7,-10.3,670,6535,0.00,2.12,0.00,0.000,6,0.000,0.040,2441,1677,3611
$GC,6845,-1.01,-170.3,792.8,-9.8,686,6848,0.00,2.15,0.00,0.000,4,0.000,0.052,2442,3071,3609
$GC,6894,-1.01,-170.3,798.0,-10.4,688,6899,0.00,2.15,0.00,0.000,6,0.000,0.044,2442,1674,3608
$GC,7222,-1.01,-170.3,830.0,-9.5,704,7225,0.00,2.20,0.00,0.000,4,0.000,0.057,2441,260,3606
$GC,7247,-1.01,-170.3,832.3,-10.5,705,7250,0.00,2.12,0.00,0.000,6,0.000,0.038,2441,1680,3606
$GC,7579,-1.01,-170.3,864.8,-9.9,721,7583,0.00,2.22,0.00,0.000,4,0.000,0.057,2441,261,3604
$GC,7612,-1.01,-170.3,868.5,-11.1,722,7616,0.00,2.15,0.00,0.000,6,0.000,0.038,2440,1688,3604
$GC,7935,-1.01,-170.3,901.3,-10.3,738,7939,0.00,2.22,0.00,0.000,4,0.000,0.057,2440,270,3603
$GC,8025,-1.01,-170.3,911.7,-11.1,742,8029,0.00,2.12,0.00,0.000,6,0.000,0.039,2438,1683,3601
$GC,8358,-1.01,-170.3,944.5,-9.6,758,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1683,3600
$GC,8667,-1.01,-170.3,973.5,-9.4,773,8671,0.00,2.22,0.00,0.000,4,0.000,0.058,2438,271,3598
$GC,8739,-1.01,-170.3,981.3,-11.5,776,8743,0.00,2.12,0.00,0.000,6,0.000,0.040,2428,1675,3597
$STATE,8838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8838,begin apogee
$GC,8845,-0.29,0.0,991.3,10.1,781,8992,0.77,0.00,144.35,1.501,6,0.115,0.000,2682,1340,2945
$STATE,8993,end apogee,CONTROL_FINISHED_OK
$STATE,8993,begin climb
$GC,8996,1.01,170.3,999.8,0.0,788,9160,1.17,2.40,154.93,1.459,4,0.049,0.051,3113,2753,2248
$GC,9212,1.01,170.3,988.9,13.9,798,9217,0.00,2.28,0.00,0.000,6,0.000,0.051,3123,1345,2246
$GC,9539,1.01,170.3,945.9,13.4,814,9543,0.00,1.83,0.00,0.000,4,0.000,0.061,3131,192,2242
$GC,9639,1.01,170.3,931.4,13.9,818,9644,0.00,1.80,0.00,0.000,6,0.000,0.042,3132,1364,2241
$GC,9962,1.01,170.3,889.5,12.8,834,9965,0.00,2.12,0.00,0.000,4,0.000,0.051,3132,2747,2240
$GC,9989,1.01,170.3,885.5,13.8,835,9993,0.15,2.17,0.00,0.000,6,0.201,0.047,3107,1338,2239
$GC,10309,1.01,170.3,847.5,11.9,851,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1339,2239
$GC,10619,1.01,170.3,813.9,10.3,866,10623,0.00,2.20,0.00,0.000,4,0.000,0.051,3105,2759,2237
$GC,10710,1.01,170.3,803.9,11.6,870,10714,0.00,2.17,0.00,0.000,6,0.000,0.048,3114,1343,2237
$GC,11042,1.01,170.3,766.8,11.5,886,11046,0.00,2.17,0.00,0.000,4,0.000,0.051,3114,2751,2237
$GC,11076,1.01,170.3,762.7,11.4,887,11080,0.00,2.15,0.00,0.000,6,0.000,0.047,3124,1345,2237
$GC,11397,1.01,170.3,722.1,13.3,903,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1344,2236
$GC,11706,1.01,170.3,686.7,10.8,918,11710,0.00,2.17,0.00,0.000,4,0.000,0.051,3124,2752,2235
$GC,11734,1.01,170.3,683.7,10.4,919,11738,0.00,2.15,0.00,0.000,6,0.000,0.045,3132,1349,2235
$GC,12061,1.01,170.3,650.4,9.8,935,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1349,2235
$GC,12369,1.01,170.3,618.1,10.7,950,12373,0.00,2.17,0.00,0.000,4,0.000,0.051,3132,2758,2234
$GC,12448,1.01,170.3,609.0,11.1,953,12453,0.15,2.15,0.00,0.000,6,0.195,0.046,3107,1345,2234
$GC,12768,1.01,170.3,576.6,9.4,969,12772,0.00,2.17,0.00,0.000,4,0.000,0.050,3103,2750,2234
$GC,12829,1.01,170.3,570.9,8.8,971,12836,0.00,2.15,0.00,0.000,6,0.000,0.044,3111,1346,2233
$GC,13146,1.01,170.3,540.3,9.6,987,13150,0.00,2.17,0.00,0.000,4,0.000,0.050,3110,2760,2233
$GC,13246,1.01,170.3,530.1,9.6,991,13250,0.00,2.17,0.00,0.000,6,0.000,0.046,3118,1342,2234
$GC,13567,1.01,170.3,498.7,10.0,1007,13571,0.00,2.17,0.00,0.000,4,0.000,0.050,3118,2753,2233
$GC,13618,1.01,170.3,493.3,10.5,1011,13624,0.00,2.15,0.00,0.000,6,0.000,0.044,3128,1346,2234
$GC,13944,1.01,170.3,461.7,8.8,1042,13948,0.00,1.77,0.00,0.000,4,0.000,0.057,3137,202,2234
$GC,14041,1.01,170.3,452.6,8.8,1050,14048,0.08,1.75,0.00,0.000,6,0.189,0.040,3115,1358,2233
$GC,14366,1.01,170.3,424.5,8.7,1081,14369,0.00,2.15,0.00,0.000,4,0.000,0.050,3108,2753,2234
$GC,14537,1.01,170.3,409.4,8.2,1096,14541,0.00,2.17,0.00,0.000,6,0.000,0.046,3117,1337,2234
$GC,14862,1.02,178.2,383.0,7.7,1126,14874,0.00,2.20,5.80,0.855,4,0.000,0.047,3117,2757,2218
$GC,14960,1.02,178.2,374.9,8.5,1134,14966,0.00,2.15,0.00,0.000,6,0.000,0.042,3125,1344,2217
$GC,15288,1.02,178.2,346.2,9.2,1165,15292,0.00,2.17,0.00,0.000,4,0.000,0.051,3125,2750,2217
$GC,15417,1.02,178.2,333.9,9.2,1176,15424,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1353,2217
$GC,15744,1.04,189.6,304.3,7.6,1207,15760,0.00,2.17,11.57,0.937,4,0.000,0.045,3133,2765,2172
$GC,15882,1.06,207.0,293.2,7.4,1226,15906,0.00,2.15,17.05,0.954,6,0.000,0.039,3143,1341,2100
$GC,16246,1.06,207.0,264.1,8.3,1290,16253,0.00,2.15,0.00,0.000,4,0.000,0.043,3144,2756,2097
$GC,16497,1.06,207.0,240.8,9.8,1334,16504,0.15,2.12,0.00,0.000,6,0.183,0.038,3120,1339,2097
$GC,16842,1.16,286.6,218.5,5.5,1395,16916,0.00,1.80,66.88,0.915,4,0.000,0.048,3130,198,1775
$GC,16962,1.16,286.6,209.8,8.4,1415,16968,0.00,1.75,0.00,0.000,6,0.000,0.035,3130,1368,1773
$GC,17305,1.16,286.6,174.0,11.3,1476,17312,0.00,2.10,0.00,0.000,4,0.000,0.041,3133,2745,1770
$GC,17453,1.16,286.6,157.4,10.5,1502,17460,0.00,2.12,0.00,0.000,6,0.000,0.038,3144,1352,1769
$GC,17798,1.16,286.6,123.5,9.4,1563,17804,0.00,1.77,0.00,0.000,4,0.000,0.050,3148,204,1770
$GC,17817,1.16,286.6,122.0,9.3,1566,17823,0.00,1.70,0.00,0.000,6,0.000,0.033,3147,1358,1770
$GC,18161,1.16,286.6,91.8,8.3,1627,18167,0.00,1.80,0.00,0.000,4,0.000,0.049,3155,197,1770
$GC,18238,1.16,286.6,85.1,9.1,1640,18244,0.00,1.70,0.00,0.000,6,0.000,0.033,3155,1358,1770
$GC,18583,1.21,327.4,57.1,6.7,1701,18623,0.00,1.85,34.97,0.746,4,0.000,0.048,3163,196,1610
$GC,18664,1.21,327.4,51.0,8.0,1714,18670,0.00,1.70,0.00,0.000,6,0.000,0.031,3162,1350,1609
$GC,19008,1.30,402.1,28.2,5.6,1775,19080,0.10,2.12,62.88,0.713,4,0.077,0.035,3212,2751,1304
$GC,19272,1.30,402.1,4.9,10.0,1820,19279,0.00,2.10,0.00,0.000,6,0.000,0.034,3222,1334,1303
$STATE,19288,end climb,SURFACE_DEPTH_REACHED
$STATE,19289,begin surface coast
$FINISH,0.7,1.009121
$STATE,19318,end surface coast,CONTROL_FINISHED_OK
$STATE,19318,begin surface
$SM_CCo,19336,38.70,0.672,0,0,1109,450.13
$SM_GC,1.64,0.00,0.00,38.70,0.000,0.000,0.672,148,1690,1109,-8.23,0.42,450.13
$IRIDIUM_FIX,2451.31,12407.12,041098,101024
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.50
$XPDR_PINGS,145
$24V_AH,22.7,68.623
$10V_AH,10.7,43.357
$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,20.125,167.550,498.425,38.700,0.000,110.125,194.043,361.074,44.250,0.000,0.000,31.229,3182.468,11798.238,656.317,3653.355,1103.578,0.000,2259.091,0.000,3606.545,0.000,56.804,0.000
$DEVICE_MAMPS,234.702,61.360,1501.019,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1242.129,1260.075,2117.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107289,1828
$CAP_FILE_SIZE,184237,0
$CFSIZE,260165632,210505728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 34.3,1
$GPS,100709,153101,2457.337,12408.073,41,1.2,41,-3.7