version: 66.04
glider: 166
mission: 2
dive: 353
start: 7 17 109 11 59 59
data:
$ID,166
$MISSION,2
$DIVE,353
$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,-12340.32
$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,45
$R_STBD_OVSHOOT,73
$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
$GPS1,115237,2412.941,12429.201,68,0.8,68,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.3
$GPS2,115937,2412.939,12429.251,15,1.5,15,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,284.6,85018,-13.7,-7.990
$D_GRID,954
$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,15,-1.01,-170.3,0.0,0.0,0,77,0.00,0.00,-59.22,0.000,2,0.000,0.000,157,1686,2502
$GC,81,-1.01,-170.3,3.3,-3.4,9,127,9.12,2.15,-29.20,0.000,4,0.225,0.055,2448,267,3640
$GC,281,-1.01,-170.3,40.1,-18.5,43,289,0.00,2.03,0.00,0.000,6,0.000,0.027,2444,1682,3640
$GC,628,-1.01,-170.3,97.7,-15.0,104,634,0.00,2.15,0.00,0.000,4,0.000,0.044,2435,273,3640
$GC,724,-1.01,-170.3,113.0,-15.3,121,730,0.00,2.05,0.00,0.000,6,0.000,0.027,2433,1681,3640
$GC,1069,-1.01,-170.3,163.2,-14.1,182,1075,0.00,2.05,0.00,0.000,4,0.000,0.039,2425,3082,3641
$GC,1116,-1.01,-170.3,169.7,-14.1,190,1123,0.00,2.05,0.00,0.000,6,0.000,0.031,2426,1660,3641
$GC,1461,-1.01,-170.3,211.3,-12.3,251,1468,0.00,2.08,0.00,0.000,4,0.000,0.044,2426,272,3643
$GC,1509,-1.01,-170.3,218.1,-15.0,259,1516,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1683,3643
$GC,1855,-1.01,-170.3,260.9,-10.9,320,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1684,3642
$GC,2201,-1.01,-170.3,303.0,-11.8,380,2205,0.00,2.05,0.00,0.000,4,0.000,0.040,2424,3076,3643
$GC,2263,-1.01,-170.3,310.2,-11.7,385,2270,0.00,2.05,0.00,0.000,6,0.000,0.031,2425,1662,3642
$GC,2588,-1.01,-170.3,349.7,-11.9,416,2593,0.00,2.10,0.00,0.000,4,0.000,0.047,2426,265,3642
$GC,2639,-1.01,-170.3,356.2,-13.0,420,2645,0.00,2.03,0.00,0.000,6,0.000,0.028,2423,1682,3642
$GC,2965,-1.01,-170.3,392.2,-10.8,451,2969,0.00,2.05,0.00,0.000,4,0.000,0.041,2424,3067,3641
$GC,3015,-1.01,-170.3,397.7,-10.8,455,3022,0.00,2.03,0.00,0.000,6,0.000,0.031,2426,1674,3640
$GC,3339,-1.01,-170.3,428.6,-9.2,486,3343,0.00,2.12,0.00,0.000,4,0.000,0.047,2426,263,3639
$GC,3363,-1.01,-170.3,430.9,-9.9,488,3367,0.00,2.03,0.00,0.000,6,0.000,0.028,2424,1679,3639
$GC,3693,-1.01,-170.3,461.3,-9.1,519,3697,0.12,2.05,0.00,0.000,4,0.140,0.040,2453,3057,3637
$GC,3754,-1.01,-170.3,467.3,-9.0,524,3761,0.00,2.05,0.00,0.000,6,0.000,0.032,2454,1677,3637
$GC,4082,-1.01,-170.3,495.7,-8.7,555,4086,0.00,2.12,0.00,0.000,4,0.000,0.048,2455,273,3635
$GC,4132,-1.01,-170.3,500.7,-9.4,559,4136,0.00,2.03,0.00,0.000,6,0.000,0.029,2456,1673,3635
$GC,4459,-1.01,-170.3,531.9,-10.1,575,4463,0.00,2.10,0.00,0.000,4,0.000,0.044,2462,3076,3632
$GC,4566,-1.01,-170.3,542.0,-9.0,579,4574,0.00,2.05,0.00,0.000,6,0.000,0.034,2462,1676,3631
$GC,4882,-1.01,-170.3,567.0,-8.1,595,4886,0.00,2.10,0.00,0.000,4,0.000,0.045,2465,3067,3629
$GC,4938,-1.01,-170.3,571.7,-7.9,597,4942,0.00,2.05,0.00,0.000,6,0.000,0.035,2461,1674,3628
$GC,5260,-1.01,-170.3,605.3,-11.2,613,5264,0.00,2.10,0.00,0.000,4,0.000,0.045,2463,3064,3626
$GC,5306,-1.01,-170.3,610.3,-10.9,615,5310,0.00,2.05,0.00,0.000,6,0.000,0.036,2461,1673,3626
$GC,5638,-1.01,-170.3,641.3,-9.4,631,5642,0.00,2.12,0.00,0.000,4,0.000,0.048,2463,3063,3623
$GC,5707,-1.01,-170.3,648.2,-10.5,634,5711,0.00,2.08,0.00,0.000,6,0.000,0.037,2461,1664,3622
$GC,6041,-1.01,-170.3,683.3,-9.9,650,6044,0.00,2.15,0.00,0.000,4,0.000,0.054,2460,270,3620
$GC,6132,-1.01,-170.3,692.7,-10.4,654,6136,0.00,2.05,0.00,0.000,6,0.000,0.033,2456,1670,3619
$GC,6466,-1.01,-170.3,721.4,-8.7,670,6469,0.00,2.17,0.00,0.000,4,0.000,0.053,2454,266,3617
$GC,6549,-1.01,-170.3,729.6,-9.7,673,6555,0.00,2.10,0.00,0.000,6,0.000,0.036,2455,1680,3616
$GC,6866,-1.01,-170.3,758.7,-9.1,689,6870,0.00,2.12,0.00,0.000,4,0.000,0.051,2457,3070,3614
$GC,6934,-1.01,-170.3,765.0,-9.7,692,6938,0.00,2.10,0.00,0.000,6,0.000,0.041,2456,1677,3613
$GC,7268,-1.01,-170.3,800.1,-11.5,708,7272,0.00,2.15,0.00,0.000,4,0.000,0.051,2459,3073,3610
$GC,7369,-1.01,-170.3,811.7,-11.2,712,7373,0.00,2.12,0.00,0.000,6,0.000,0.047,2460,1671,3609
$GC,7691,-1.01,-170.3,843.0,-8.4,728,7694,0.00,2.20,0.00,0.000,4,0.000,0.059,2460,3075,3607
$GC,7797,-1.01,-170.3,852.6,-9.1,732,7804,0.00,2.12,0.00,0.000,6,0.000,0.046,2460,1676,3607
$GC,8113,-1.01,-170.3,881.2,-9.0,748,8117,0.00,2.20,0.00,0.000,4,0.000,0.058,2459,270,3606
$GC,8158,-1.01,-170.3,886.0,-10.5,750,8162,0.00,2.12,0.00,0.000,6,0.000,0.039,2460,1677,3605
$GC,8491,-1.01,-170.3,918.1,-9.4,766,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1677,3603
$GC,8800,-1.01,-170.3,947.2,-9.9,781,8804,0.00,2.22,0.00,0.000,4,0.000,0.059,2459,270,3601
$GC,8850,-1.01,-170.3,952.1,-10.0,783,8854,0.00,2.15,0.00,0.000,6,0.000,0.040,2460,1679,3600
$STATE,8885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8885,begin apogee
$GC,8893,-0.29,0.0,955.2,8.7,785,9048,0.70,0.00,144.93,1.436,6,0.110,0.000,2686,1343,2945
$STATE,9049,end apogee,CONTROL_FINISHED_OK
$STATE,9049,begin climb
$GC,9052,1.01,170.3,962.4,0.0,793,9210,1.17,2.35,149.02,1.406,4,0.063,0.051,3107,2752,2250
$GC,9252,1.01,170.3,947.8,16.1,802,9256,0.00,2.22,0.00,0.000,6,0.000,0.046,3117,1342,2247
$GC,9578,1.01,170.3,901.0,14.2,818,9582,0.00,2.20,0.00,0.000,4,0.000,0.058,3116,2755,2243
$GC,9605,1.01,170.3,896.9,14.0,819,9609,0.00,2.17,0.00,0.000,6,0.000,0.046,3126,1344,2243
$GC,9933,1.01,170.3,853.0,13.3,835,9936,0.00,2.20,0.00,0.000,4,0.000,0.054,3126,2756,2241
$GC,10035,1.01,170.3,839.3,13.6,839,10038,0.00,2.17,0.00,0.000,6,0.000,0.047,3136,1340,2241
$GC,10356,1.01,170.3,797.5,12.8,855,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1340,2239
$GC,10666,1.01,170.3,761.7,10.1,870,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1340,2239
$GC,10974,1.01,170.3,726.0,12.3,885,10978,0.00,2.20,0.00,0.000,4,0.000,0.052,3135,2759,2238
$GC,11103,1.01,170.3,709.1,14.4,890,11110,0.15,2.22,0.00,0.000,6,0.199,0.053,3110,1324,2237
$GC,11419,1.01,170.3,669.3,12.2,906,11423,0.00,2.22,0.00,0.000,4,0.000,0.051,3105,2754,2237
$GC,11451,1.01,170.3,665.3,12.4,907,11455,0.00,2.17,0.00,0.000,6,0.000,0.046,3114,1340,2237
$GC,11775,1.01,170.3,632.7,9.9,923,11778,0.00,2.20,0.00,0.000,4,0.000,0.051,3114,2758,2236
$GC,11876,1.01,170.3,622.7,10.3,927,11879,0.00,2.17,0.00,0.000,6,0.000,0.046,3124,1343,2235
$GC,12197,1.01,170.3,591.3,9.9,943,12201,0.00,1.80,0.00,0.000,4,0.000,0.061,3133,194,2235
$GC,12224,1.01,170.3,588.5,9.6,944,12228,0.00,1.77,0.00,0.000,6,0.000,0.042,3133,1357,2235
$GC,12552,1.01,170.3,557.8,9.0,960,12556,0.00,2.15,0.00,0.000,4,0.000,0.051,3133,2753,2235
$GC,12804,1.01,170.3,535.8,8.4,971,12809,0.15,2.20,0.00,0.000,6,0.190,0.052,3105,1337,2234
$GC,13133,1.01,170.3,506.0,10.1,987,13136,0.00,2.17,0.00,0.000,4,0.000,0.049,3100,2747,2234
$GC,13359,1.01,170.3,484.6,8.0,1004,13363,0.00,2.15,0.00,0.000,6,0.000,0.044,3107,1339,2234
$GC,13690,1.03,179.4,458.1,7.7,1035,13703,0.00,2.25,6.60,0.937,4,0.000,0.047,3105,2757,2213
$GC,13908,1.06,205.2,440.4,7.2,1054,13941,0.00,2.15,24.25,1.077,6,0.000,0.044,3112,1352,2107
$GC,14260,1.12,253.2,415.5,6.5,1087,14307,0.00,1.88,41.67,1.055,4,0.000,0.064,3126,208,1911
$GC,14421,1.12,253.2,400.8,11.0,1101,14424,0.00,1.73,0.00,0.000,6,0.000,0.038,3127,1361,1908
$GC,14753,1.12,253.2,365.6,10.7,1132,14756,0.00,2.10,0.00,0.000,4,0.000,0.044,3128,2748,1906
$GC,14878,1.12,253.2,352.5,10.7,1143,14882,0.00,2.15,0.00,0.000,6,0.000,0.042,3138,1335,1905
$GC,15208,1.12,253.2,319.1,9.3,1174,15212,0.00,2.15,0.00,0.000,4,0.000,0.043,3138,2757,1905
$GC,15299,1.12,253.2,311.0,8.0,1182,15303,0.00,2.15,0.00,0.000,6,0.000,0.041,3146,1336,1905
$GC,15635,1.12,253.2,283.4,9.0,1230,15641,0.00,2.17,0.00,0.000,4,0.000,0.042,3146,2755,1905
$GC,15721,1.12,253.2,275.4,8.8,1245,15727,0.00,2.12,0.00,0.000,6,0.000,0.040,3156,1344,1905
$GC,16067,1.12,253.2,239.8,9.6,1306,16073,0.00,1.77,0.00,0.000,4,0.000,0.053,3165,203,1905
$GC,16097,1.12,253.2,236.6,9.7,1311,16104,0.00,1.67,0.00,0.000,6,0.000,0.035,3165,1359,1905
$GC,16442,1.20,321.2,213.5,5.8,1372,16503,0.00,0.00,58.10,0.861,6,0.000,0.000,3165,1359,1635
$GC,16843,1.20,321.2,176.7,9.9,1442,16850,0.00,2.10,0.00,0.000,4,0.000,0.038,3165,2743,1629
$GC,16902,1.20,321.2,170.5,10.2,1452,16909,0.00,2.10,0.00,0.000,6,0.000,0.038,3174,1341,1630
$GC,17248,1.20,321.2,134.5,11.0,1513,17254,0.00,1.75,0.00,0.000,4,0.000,0.049,3182,205,1630
$GC,17263,1.20,321.2,132.9,11.0,1515,17270,0.00,1.67,0.00,0.000,6,0.000,0.031,3182,1356,1630
$GC,17609,1.20,321.2,98.9,9.2,1576,17616,0.00,2.08,0.00,0.000,4,0.000,0.036,3182,2746,1630
$GC,17825,1.22,335.1,79.7,7.6,1614,17846,0.00,2.10,13.12,0.686,6,0.000,0.035,3187,1350,1577
$GC,18186,1.26,367.3,51.0,7.0,1677,18218,0.00,1.80,28.15,0.692,4,0.000,0.048,3193,206,1447
$GC,18429,1.29,391.2,32.0,7.2,1719,18456,0.00,1.67,21.48,0.660,6,0.000,0.029,3193,1364,1349
$STATE,18761,end climb,SURFACE_DEPTH_REACHED
$STATE,18761,begin surface coast
$FINISH,0.8,1.003341
$STATE,18808,end surface coast,CONTROL_FINISHED_OK
$STATE,18809,begin surface
$SM_CCo,18827,49.22,0.647,0,0,1109,450.13
$SM_GC,1.51,0.00,0.00,49.22,0.000,0.000,0.647,168,1681,1109,-8.16,0.17,450.13
$IRIDIUM_FIX,2403.92,12429.90,111098,080800
$TT8_MAMPS,0.026845
$HUMID,1561
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,26.00
$XPDR_PINGS,149
$24V_AH,23.4,75.778
$10V_AH,10.7,49.633
$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,19.500,167.200,487.325,49.225,0.000,22.901,31.523,212.193,45.000,0.000,0.000,15.283,3151.537,11022.681,656.855,3738.316,717.823,0.000,2294.968,0.000,3701.439,0.000,52.773,0.000
$DEVICE_MAMPS,224.731,64.428,1435.824,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1211.153,1230.271,2077.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104095,1786
$CAP_FILE_SIZE,178960,0
$CFSIZE,260165632,207151104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,184.8,1
$GPS,170709,171555,2412.189,12427.691,40,1.2,40,-3.6