version: 66.04
glider: 166
mission: 2
dive: 354
start: 7 17 109 17 27 50
data:
$ID,166
$MISSION,2
$DIVE,354
$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,-12376.419
$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,75
$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
$GPS1,171555,2412.189,12427.691,40,1.2,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.7
$GPS2,172728,2412.220,12427.816,13,2.3,32,-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,265.9,82250,-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,13,begin dive
$GC,15,-1.01,-170.3,0.0,0.0,0,71,0.00,0.00,-53.10,0.000,2,0.000,0.000,169,1681,2312
$GC,75,-1.01,-170.3,3.1,-3.7,8,128,9.30,2.17,-36.60,0.000,4,0.229,0.056,2442,252,3640
$GC,198,-1.01,-170.3,25.6,-22.4,28,204,0.00,2.05,0.00,0.000,6,0.000,0.028,2440,1670,3641
$GC,543,-1.01,-170.3,83.5,-16.1,89,550,0.00,2.15,0.00,0.000,4,0.000,0.044,2444,269,3640
$GC,585,-1.01,-170.3,90.9,-17.3,96,591,0.00,2.03,0.00,0.000,6,0.000,0.028,2441,1682,3641
$GC,930,-1.01,-170.3,143.2,-14.3,157,938,0.00,2.05,0.00,0.000,4,0.000,0.040,2436,3078,3641
$GC,956,-1.01,-170.3,146.8,-14.1,161,963,0.00,2.08,0.00,0.000,6,0.000,0.031,2441,1671,3641
$GC,1304,-1.01,-170.3,195.7,-13.2,222,1310,0.00,2.10,0.00,0.000,4,0.000,0.046,2439,268,3642
$GC,1384,-1.01,-170.3,206.7,-14.1,236,1391,0.00,2.03,0.00,0.000,6,0.000,0.027,2432,1685,3642
$GC,1728,-1.01,-170.3,250.9,-12.7,297,1735,0.00,2.05,0.00,0.000,4,0.000,0.040,2429,3076,3642
$GC,1781,-1.01,-170.3,257.5,-12.6,306,1788,0.00,2.03,0.00,0.000,6,0.000,0.031,2429,1673,3642
$GC,2126,-1.01,-170.3,297.2,-11.4,367,2132,0.00,2.10,0.00,0.000,4,0.000,0.046,2429,276,3642
$GC,2151,-1.01,-170.3,300.3,-12.3,371,2155,0.00,2.03,0.00,0.000,6,0.000,0.028,2433,1683,3642
$GC,2481,-1.01,-170.3,341.4,-12.4,402,2485,0.00,2.05,0.00,0.000,4,0.000,0.041,2429,3067,3641
$GC,2549,-1.01,-170.3,349.9,-12.3,408,2557,0.00,2.03,0.00,0.000,6,0.000,0.031,2430,1672,3641
$GC,2883,-1.01,-170.3,382.5,-8.5,439,2887,0.00,2.12,0.00,0.000,4,0.000,0.048,2427,266,3640
$GC,2922,-1.01,-170.3,386.5,-10.4,442,2928,0.00,2.08,0.00,0.000,6,0.000,0.028,2426,1688,3640
$GC,3247,-1.01,-170.3,421.1,-10.9,473,3251,0.10,2.15,0.00,0.000,4,0.148,0.046,2453,276,3638
$GC,3302,-1.01,-170.3,426.9,-10.0,477,3309,0.00,2.03,0.00,0.000,6,0.000,0.028,2451,1681,3638
$GC,3629,-1.01,-170.3,456.4,-9.4,508,3633,0.00,2.08,0.00,0.000,4,0.000,0.042,2451,3073,3636
$GC,3719,-1.01,-170.3,465.8,-10.9,516,3723,0.00,2.05,0.00,0.000,6,0.000,0.033,2453,1663,3636
$GC,4051,-1.01,-170.3,500.8,-9.8,547,4055,0.00,2.12,0.00,0.000,4,0.000,0.044,2451,3066,3633
$GC,4097,-1.01,-170.3,505.3,-8.9,549,4101,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,1669,3633
$GC,4430,-1.01,-170.3,533.5,-8.5,565,4434,0.00,2.12,0.00,0.000,4,0.000,0.044,2453,3070,3631
$GC,4476,-1.01,-170.3,537.6,-9.0,567,4480,0.00,2.05,0.00,0.000,6,0.000,0.035,2454,1677,3630
$GC,4810,-1.01,-170.3,567.1,-9.1,583,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1677,3628
$GC,5118,-1.01,-170.3,598.1,-10.8,598,5122,0.00,2.12,0.00,0.000,4,0.000,0.048,2455,3070,3626
$GC,5164,-1.01,-170.3,603.2,-10.6,600,5168,0.00,2.08,0.00,0.000,6,0.000,0.037,2460,1673,3625
$GC,5498,-1.01,-170.3,634.9,-8.6,616,5501,0.00,2.12,0.00,0.000,4,0.000,0.048,2456,3066,3622
$GC,5592,-1.01,-170.3,643.0,-8.6,620,5596,0.00,2.08,0.00,0.000,6,0.000,0.037,2460,1670,3621
$GC,5922,-1.01,-170.3,670.6,-8.8,636,5925,0.00,2.12,0.00,0.000,4,0.000,0.048,2455,3057,3619
$GC,5982,-1.01,-170.3,676.8,-9.9,638,5989,0.00,2.10,0.00,0.000,6,0.000,0.039,2458,1676,3619
$GC,6299,-1.01,-170.3,706.7,-9.8,654,6303,0.00,2.12,0.00,0.000,4,0.000,0.050,2459,3059,3616
$GC,6391,-1.01,-170.3,716.2,-10.6,658,6395,0.00,2.08,0.00,0.000,6,0.000,0.039,2457,1674,3615
$GC,6723,-1.01,-170.3,752.0,-10.0,674,6727,0.00,2.15,0.00,0.000,4,0.000,0.057,2452,3058,3613
$GC,6819,-1.01,-170.3,761.4,-9.9,678,6822,0.00,2.08,0.00,0.000,6,0.000,0.040,2453,1675,3612
$GC,7146,-1.01,-170.3,787.9,-7.9,694,7150,0.00,2.17,0.00,0.000,4,0.000,0.056,2445,3064,3609
$GC,7202,-1.01,-170.3,792.3,-7.6,696,7206,0.00,2.10,0.00,0.000,6,0.000,0.041,2451,1669,3608
$GC,7526,-1.01,-170.3,817.1,-7.8,712,7529,0.00,2.20,0.00,0.000,4,0.000,0.058,2451,264,3606
$GC,7587,-1.01,-170.3,822.8,-9.1,714,7593,0.00,2.12,0.00,0.000,6,0.000,0.038,2442,1661,3606
$GC,7903,-1.01,-170.3,853.0,-10.5,730,7906,0.00,2.20,0.00,0.000,4,0.000,0.055,2428,3077,3604
$GC,7976,-1.01,-170.3,861.2,-11.4,733,7979,0.00,2.15,0.00,0.000,6,0.000,0.043,2429,1666,3603
$GC,8302,-1.01,-170.3,896.0,-10.0,749,8306,0.00,2.20,0.00,0.000,4,0.000,0.060,2430,268,3601
$GC,8330,-1.01,-170.3,899.1,-11.4,750,8334,0.00,2.12,0.00,0.000,6,0.000,0.040,2425,1678,3600
$GC,8658,-1.01,-170.3,929.5,-9.0,766,8661,0.00,2.20,0.00,0.000,4,0.000,0.061,2425,3075,3599
$GC,8685,-1.01,-170.3,932.2,-9.9,767,8689,0.00,2.15,0.00,0.000,6,0.000,0.044,2426,1666,3599
$STATE,8927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8927,begin apogee
$GC,8934,-0.29,0.0,954.6,8.7,779,9080,0.77,0.00,142.90,1.452,6,0.110,0.000,2679,1340,2945
$STATE,9081,end apogee,CONTROL_FINISHED_OK
$STATE,9081,begin climb
$GC,9084,1.01,170.3,961.5,0.0,786,9245,1.15,2.35,150.65,1.407,4,0.051,0.051,3110,2758,2249
$GC,9380,1.01,170.3,937.9,12.7,799,9386,0.00,2.22,0.00,0.000,6,0.000,0.050,3122,1344,2245
$GC,9696,1.01,170.3,897.7,12.4,815,9699,0.00,2.20,0.00,0.000,4,0.000,0.058,3121,2753,2242
$GC,9728,1.01,170.3,893.2,13.5,816,9732,0.00,2.20,0.00,0.000,6,0.000,0.052,3130,1337,2242
$GC,10050,1.01,170.3,854.3,12.2,832,10054,0.00,2.20,0.00,0.000,4,0.000,0.052,3129,2755,2241
$GC,10178,1.01,170.3,837.5,12.8,837,10186,0.12,2.20,0.00,0.000,6,0.201,0.054,3110,1336,2240
$GC,10494,1.01,170.3,801.2,11.5,853,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1336,2239
$GC,10804,1.01,170.3,767.1,10.5,868,10808,0.00,1.80,0.00,0.000,4,0.000,0.062,3117,192,2238
$GC,10859,1.01,170.3,760.5,11.7,870,10864,0.00,1.77,0.00,0.000,6,0.000,0.043,3117,1353,2238
$GC,11181,1.01,170.3,725.7,9.9,886,11185,0.00,2.15,0.00,0.000,4,0.000,0.052,3111,2750,2237
$GC,11310,1.01,170.3,712.4,11.6,891,11317,0.00,2.17,0.00,0.000,6,0.000,0.054,3119,1349,2236
$GC,11626,1.01,170.3,679.8,10.7,907,11630,0.00,2.17,0.00,0.000,4,0.000,0.052,3120,2749,2236
$GC,11744,1.01,170.3,666.6,9.9,912,11748,0.00,2.17,0.00,0.000,6,0.000,0.048,3129,1349,2235
$GC,12070,1.01,170.3,632.0,11.3,928,12074,0.00,1.80,0.00,0.000,4,0.000,0.061,3138,202,2235
$GC,12148,1.01,170.3,622.6,10.9,931,12153,0.08,1.75,0.00,0.000,6,0.196,0.042,3108,1348,2235
$GC,12472,1.01,170.3,593.4,8.7,947,12476,0.00,2.17,0.00,0.000,4,0.000,0.050,3104,2756,2235
$GC,12528,1.01,170.3,587.8,9.7,949,12532,0.00,2.20,0.00,0.000,6,0.000,0.054,3113,1342,2235
$GC,12849,1.01,170.3,556.4,9.6,965,12853,0.00,2.20,0.00,0.000,4,0.000,0.057,3112,2749,2235
$GC,12928,1.01,170.3,549.1,8.6,968,12932,0.00,2.15,0.00,0.000,6,0.000,0.046,3121,1351,2234
$GC,13249,1.01,170.3,521.7,8.2,984,13252,0.00,2.17,0.00,0.000,4,0.000,0.050,3122,2755,2235
$GC,13317,1.01,170.3,515.9,8.1,987,13321,0.00,2.17,0.00,0.000,6,0.000,0.045,3132,1341,2234
$GC,13643,1.03,184.2,491.3,7.6,1008,13658,0.00,1.80,10.77,1.073,4,0.000,0.058,3142,199,2192
$GC,13715,1.03,184.2,485.2,8.3,1014,13721,0.00,1.75,0.00,0.000,6,0.000,0.041,3142,1349,2192
$GC,14042,1.03,184.2,459.3,8.0,1045,14046,0.00,1.83,0.00,0.000,4,0.000,0.064,3152,201,2192
$GC,14155,1.03,184.2,448.3,9.8,1055,14159,0.15,1.75,0.00,0.000,6,0.184,0.047,3118,1358,2191
$GC,14485,1.06,203.3,421.6,7.4,1086,14509,0.00,2.20,18.33,1.052,4,0.000,0.046,3114,2749,2116
$GC,14635,1.08,221.6,410.4,7.4,1099,14658,0.00,2.15,17.23,1.023,6,0.000,0.044,3122,1349,2041
$GC,14976,1.08,221.6,379.7,9.8,1131,14979,0.00,2.15,0.00,0.000,4,0.000,0.046,3122,2750,2038
$GC,15026,1.08,221.6,374.5,10.2,1135,15032,0.00,2.15,0.00,0.000,6,0.000,0.042,3129,1343,2038
$GC,15355,1.08,221.6,343.6,8.8,1166,15359,0.00,2.15,0.00,0.000,4,0.000,0.044,3130,2752,2037
$GC,15393,1.08,221.6,339.8,8.6,1169,15401,0.00,2.15,0.00,0.000,6,0.000,0.040,3137,1337,2037
$GC,15721,1.11,246.8,316.6,7.2,1200,15748,0.00,2.17,22.58,0.950,4,0.000,0.041,3141,2756,1937
$GC,15795,1.12,253.8,311.3,7.8,1206,15807,0.00,2.15,7.47,0.806,6,0.000,0.040,3149,1348,1910
$GC,16136,1.12,253.8,281.2,10.3,1254,16143,0.00,2.12,0.00,0.000,4,0.000,0.042,3150,2750,1907
$GC,16201,1.12,253.8,274.9,10.0,1265,16208,0.00,2.12,0.00,0.000,6,0.000,0.039,3156,1346,1907
$GC,16547,1.12,253.8,243.7,10.2,1326,16553,0.00,2.15,0.00,0.000,4,0.000,0.041,3156,2751,1907
$GC,16656,1.12,253.8,232.6,10.3,1345,16663,0.00,2.12,0.00,0.000,6,0.000,0.038,3166,1340,1908
$GC,17001,1.12,253.8,203.0,9.1,1406,17008,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1340,1907
$GC,17346,1.12,253.8,173.8,9.2,1467,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1340,1908
$GC,17691,1.12,253.8,144.1,8.0,1528,17697,0.00,1.75,0.00,0.000,4,0.000,0.050,3180,204,1909
$GC,17872,1.15,280.0,130.1,7.2,1560,17904,0.00,1.73,24.25,0.763,6,0.000,0.040,3179,1369,1802
$GC,18241,1.15,280.0,99.6,8.4,1625,18248,0.00,2.03,0.00,0.000,4,0.000,0.035,3179,2746,1801
$GC,18409,1.18,300.6,86.8,7.3,1654,18436,0.12,2.10,18.88,0.707,6,0.171,0.036,3159,1332,1718
$GC,18776,1.22,340.3,61.8,6.7,1718,18815,0.00,2.20,33.80,0.700,4,0.000,0.035,3156,2751,1556
$GC,18839,1.22,340.3,56.8,8.2,1728,18845,0.00,2.10,0.00,0.000,6,0.000,0.034,3163,1350,1556
$GC,19183,1.27,381.5,33.1,6.7,1789,19222,0.00,1.80,34.85,0.669,4,0.000,0.047,3168,206,1389
$GC,19320,1.27,381.5,21.3,9.2,1812,19327,0.00,1.67,0.00,0.000,6,0.000,0.029,3168,1362,1388
$STATE,19516,end climb,SURFACE_DEPTH_REACHED
$STATE,19516,begin surface coast
$FINISH,0.8,1.021602
$STATE,19545,end surface coast,CONTROL_FINISHED_OK
$STATE,19545,begin surface
$SM_CCo,19565,56.72,0.643,0,0,1109,450.13
$SM_GC,1.55,0.00,0.00,56.72,0.000,0.000,0.643,139,1678,1109,-8.16,0.08,450.13
$IRIDIUM_FIX,2401.56,12428.57,111098,171713
$TT8_MAMPS,0.026845
$HUMID,1526
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.80
$XPDR_PINGS,153
$24V_AH,23.3,75.981
$10V_AH,10.7,49.817
$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,19.775,183.900,481.700,56.725,0.000,45.613,67.185,331.194,46.000,0.000,0.000,35.469,3260.186,11598.484,677.377,3840.382,922.097,0.000,2359.590,0.000,3793.030,0.000,52.765,0.000
$DEVICE_MAMPS,229.333,64.428,1451.931,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.599,1290.824,2168.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107465,1852
$CAP_FILE_SIZE,191011,0
$CFSIZE,260165632,207036416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,178.8,1
$GPS,170709,225627,2411.472,12426.025,36,2.5,55,-3.5