version: 66.04
glider: 166
mission: 2
dive: 316
start: 7 11 109 8 46 11
data:
$ID,166
$MISSION,2
$DIVE,316
$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,-11554.71
$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,43
$R_STBD_OVSHOOT,77
$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
$GPS1,083806,2455.931,12408.178,29,0.9,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.6
$GPS2,084549,2456.012,12408.319,13,1.3,18,-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,218.5,42768,-13.7,-7.990
$D_GRID,1684
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,64,0.00,0.00,-45.72,0.000,2,0.000,0.000,119,1690,2163
$GC,68,-1.01,-170.3,3.0,-3.5,7,126,9.40,2.20,-41.42,0.000,4,0.232,0.054,2449,238,3642
$GC,150,-1.01,-170.3,15.8,-20.1,20,156,0.00,2.08,0.00,0.000,6,0.000,0.028,2447,1671,3641
$GC,494,-1.01,-170.3,71.5,-13.3,81,500,0.00,2.05,0.00,0.000,4,0.000,0.038,2442,3070,3643
$GC,530,-1.01,-170.3,76.4,-14.1,87,536,0.00,2.03,0.00,0.000,6,0.000,0.029,2439,1660,3643
$GC,874,-1.01,-170.3,123.9,-12.0,148,880,0.00,2.05,0.00,0.000,4,0.000,0.041,2439,276,3644
$GC,960,-1.01,-170.3,135.8,-13.8,163,967,0.00,2.03,0.00,0.000,6,0.000,0.027,2439,1695,3644
$GC,1307,-1.01,-170.3,178.0,-11.5,224,1313,0.00,2.03,0.00,0.000,4,0.000,0.038,2439,3078,3644
$GC,1331,-1.01,-170.3,181.1,-11.9,228,1337,0.00,2.05,0.00,0.000,6,0.000,0.029,2438,1674,3644
$GC,1676,-1.01,-170.3,223.6,-11.7,289,1682,0.00,2.08,0.00,0.000,4,0.000,0.041,2438,279,3644
$GC,1716,-1.01,-170.3,228.7,-13.0,296,1722,0.00,2.03,0.00,0.000,6,0.000,0.027,2439,1699,3644
$GC,2060,-1.01,-170.3,268.0,-11.9,357,2066,0.00,2.12,0.00,0.000,4,0.000,0.042,2439,280,3644
$GC,2084,-1.01,-170.3,271.1,-12.1,361,2090,0.00,2.00,0.00,0.000,6,0.000,0.028,2442,1677,3644
$GC,2429,-1.01,-170.3,310.0,-11.3,415,2433,0.00,2.05,0.00,0.000,4,0.000,0.041,2453,3068,3644
$GC,2486,-1.01,-170.3,316.7,-12.1,420,2489,0.00,2.03,0.00,0.000,6,0.000,0.030,2445,1668,3644
$GC,2816,-1.01,-170.3,356.4,-11.6,451,2820,0.00,2.10,0.00,0.000,4,0.000,0.044,2446,267,3643
$GC,2867,-1.01,-170.3,362.6,-12.3,455,2873,0.00,2.05,0.00,0.000,6,0.000,0.029,2460,1687,3643
$GC,3191,-1.01,-170.3,394.4,-9.0,486,3195,0.00,2.05,0.00,0.000,4,0.000,0.042,2460,3070,3641
$GC,3236,-1.01,-170.3,398.8,-9.7,490,3240,0.00,2.03,0.00,0.000,6,0.000,0.032,2460,1676,3641
$GC,3567,-1.01,-170.3,432.9,-10.5,521,3570,0.00,2.12,0.00,0.000,4,0.000,0.047,2460,272,3638
$GC,3650,-1.01,-170.3,442.2,-10.9,528,3657,0.00,2.08,0.00,0.000,6,0.000,0.030,2460,1677,3638
$GC,3977,-1.01,-170.3,472.7,-9.0,559,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1677,3636
$GC,4294,-1.01,-170.3,502.5,-9.8,588,4297,0.00,2.10,0.00,0.000,4,0.000,0.046,2460,3073,3633
$GC,4363,-1.01,-170.3,509.8,-10.7,591,4367,0.00,2.05,0.00,0.000,6,0.000,0.035,2460,1679,3633
$GC,4696,-1.01,-170.3,545.5,-10.5,607,4700,0.00,2.12,0.00,0.000,4,0.000,0.048,2460,3075,3630
$GC,4724,-1.01,-170.3,548.7,-10.7,608,4728,0.00,2.08,0.00,0.000,6,0.000,0.036,2460,1672,3630
$GC,5051,-1.01,-170.3,579.1,-8.5,624,5055,0.00,2.12,0.00,0.000,4,0.000,0.047,2460,3067,3628
$GC,5096,-1.01,-170.3,582.9,-8.6,626,5100,0.00,2.08,0.00,0.000,6,0.000,0.037,2460,1667,3628
$GC,5429,-1.01,-170.3,613.1,-9.2,642,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1667,3626
$GC,5738,-1.01,-170.3,644.4,-10.6,657,5741,0.00,2.15,0.00,0.000,4,0.000,0.050,2460,3067,3623
$GC,5805,-1.01,-170.3,651.6,-10.8,660,5809,0.00,2.10,0.00,0.000,6,0.000,0.043,2461,1674,3622
$GC,6139,-1.01,-170.3,684.9,-9.7,676,6143,0.00,2.15,0.00,0.000,4,0.000,0.055,2460,3066,3620
$GC,6184,-1.01,-170.3,689.4,-10.1,678,6188,0.00,2.10,0.00,0.000,6,0.000,0.045,2460,1673,3620
$GC,6518,-1.01,-170.3,719.2,-8.9,694,6521,0.00,2.15,0.00,0.000,4,0.000,0.051,2460,3075,3619
$GC,6551,-1.01,-170.3,722.4,-9.2,695,6554,0.00,2.12,0.00,0.000,6,0.000,0.042,2460,1671,3618
$GC,6874,-1.01,-170.3,750.2,-8.8,711,6878,0.00,2.15,0.00,0.000,4,0.000,0.052,2460,3066,3616
$GC,6913,-1.01,-170.3,753.9,-9.5,712,6920,0.00,2.15,0.00,0.000,6,0.000,0.044,2460,1668,3615
$GC,7229,-1.01,-170.3,782.3,-9.0,728,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1668,3614
$GC,7538,-1.01,-170.3,809.7,-8.7,743,7542,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,3070,3612
$GC,7622,-1.01,-170.3,817.3,-9.7,746,7630,0.00,2.15,0.00,0.000,6,0.000,0.041,2460,1670,3611
$GC,7938,-1.01,-170.3,846.5,-9.3,762,7942,0.00,2.17,0.00,0.000,4,0.000,0.055,2453,3069,3609
$GC,7977,-1.01,-170.3,850.5,-10.5,763,7983,0.00,2.10,0.00,0.000,6,0.000,0.041,2458,1677,3609
$GC,8293,-1.01,-170.3,884.3,-10.8,779,8297,0.00,2.22,0.00,0.000,4,0.000,0.059,2456,261,3607
$GC,8343,-1.01,-170.3,890.3,-12.2,781,8347,0.00,2.15,0.00,0.000,6,0.000,0.044,2439,1659,3606
$GC,8672,-1.01,-170.3,925.4,-10.7,797,8675,0.00,2.20,0.00,0.000,4,0.000,0.058,2440,262,3605
$GC,8732,-1.01,-170.3,932.7,-12.0,799,8738,0.00,2.15,0.00,0.000,6,0.000,0.040,2432,1683,3604
$GC,9049,-1.01,-170.3,964.4,-10.2,815,9053,0.00,2.22,0.00,0.000,4,0.000,0.058,2433,273,3603
$GC,9096,-1.01,-170.3,969.5,-11.2,817,9100,0.00,2.12,0.00,0.000,6,0.000,0.041,2428,1676,3603
$STATE,9302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9302,begin apogee
$GC,9308,-0.29,0.0,991.7,10.8,827,9458,0.77,0.00,145.93,1.513,6,0.115,0.000,2681,1342,2945
$STATE,9458,end apogee,CONTROL_FINISHED_OK
$STATE,9459,begin climb
$GC,9462,1.01,170.3,999.6,0.0,834,9629,1.17,2.47,155.73,1.463,4,0.052,0.052,3104,2759,2248
$GC,9726,1.01,170.3,983.0,13.2,846,9730,0.00,2.25,0.00,0.000,6,0.000,0.053,3115,1344,2245
$GC,10053,1.01,170.3,943.8,12.1,862,10056,0.00,2.22,0.00,0.000,4,0.000,0.053,3115,2765,2242
$GC,10080,1.01,170.3,940.0,12.8,863,10084,0.00,2.22,0.00,0.000,6,0.000,0.053,3125,1339,2241
$GC,10407,1.01,170.3,899.3,12.5,879,10411,0.00,1.77,0.00,0.000,4,0.000,0.061,3134,202,2241
$GC,10454,1.01,170.3,893.0,13.9,881,10458,0.00,1.75,0.00,0.000,6,0.000,0.041,3134,1358,2240
$GC,10786,1.01,170.3,851.5,12.2,897,10790,0.00,2.15,0.00,0.000,4,0.000,0.052,3134,2756,2239
$GC,10854,1.01,170.3,842.7,12.7,900,10859,0.15,2.17,0.00,0.000,6,0.199,0.048,3110,1346,2238
$GC,11187,1.01,170.3,805.5,10.7,916,11190,0.00,2.17,0.00,0.000,4,0.000,0.053,3107,2746,2238
$GC,11248,1.01,170.3,798.5,11.2,918,11254,0.00,2.15,0.00,0.000,6,0.000,0.048,3116,1345,2238
$GC,11563,1.01,170.3,764.1,10.9,934,11567,0.00,2.17,0.00,0.000,4,0.000,0.052,3115,2747,2237
$GC,11614,1.01,170.3,758.4,11.3,936,11617,0.00,2.17,0.00,0.000,6,0.000,0.053,3126,1342,2237
$GC,11940,1.01,170.3,720.7,11.9,952,11944,0.00,1.80,0.00,0.000,4,0.000,0.068,3135,201,2237
$GC,11996,1.01,170.3,713.7,13.0,954,11999,0.00,1.75,0.00,0.000,6,0.000,0.041,3135,1353,2236
$GC,12318,1.01,170.3,678.8,10.5,970,12321,0.00,2.15,0.00,0.000,4,0.000,0.051,3134,2752,2235
$GC,12395,1.01,170.3,670.3,10.5,973,12400,0.15,2.17,0.00,0.000,6,0.196,0.047,3109,1337,2235
$GC,12719,1.01,170.3,638.0,10.6,989,12722,0.00,1.77,0.00,0.000,4,0.000,0.060,3115,201,2235
$GC,12802,1.01,170.3,627.7,11.3,992,12808,0.00,1.75,0.00,0.000,6,0.000,0.041,3115,1354,2235
$GC,13118,1.01,170.3,594.9,10.0,1008,13121,0.00,2.15,0.00,0.000,4,0.000,0.050,3115,2756,2234
$GC,13242,1.01,170.3,582.7,9.3,1013,13246,0.00,2.17,0.00,0.000,6,0.000,0.051,3125,1347,2234
$GC,13557,1.01,170.3,553.5,9.5,1028,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1347,2234
$GC,13867,1.01,170.3,523.1,9.6,1043,13870,0.00,1.80,0.00,0.000,4,0.000,0.058,3134,193,2234
$GC,13928,1.01,170.3,516.7,10.3,1045,13934,0.00,1.75,0.00,0.000,6,0.000,0.041,3133,1364,2234
$GC,14248,1.01,170.3,488.5,8.3,1067,14251,0.00,2.15,0.00,0.000,4,0.000,0.054,3133,2760,2235
$GC,14271,1.01,170.3,486.4,9.4,1069,14276,0.15,2.15,0.00,0.000,6,0.192,0.044,3108,1350,2234
$GC,14596,1.01,170.3,456.8,9.9,1099,14600,0.00,2.17,0.00,0.000,4,0.000,0.054,3105,2754,2234
$GC,14758,1.01,170.3,441.0,9.1,1113,14764,0.00,2.17,0.00,0.000,6,0.000,0.049,3113,1337,2235
$GC,15086,1.03,185.1,414.3,7.5,1144,15102,0.00,0.00,11.85,1.039,6,0.000,0.000,3114,1337,2189
$GC,15424,1.05,201.3,389.1,7.5,1176,15447,0.00,2.20,15.77,1.037,4,0.000,0.047,3114,2751,2123
$GC,15560,1.05,201.3,375.9,10.0,1188,15564,0.00,2.17,0.00,0.000,6,0.000,0.048,3123,1341,2122
$GC,15895,1.06,206.5,346.9,7.8,1219,15908,0.00,2.17,6.10,0.838,4,0.000,0.044,3124,2757,2103
$GC,15936,1.06,206.5,343.0,8.1,1222,15943,0.00,2.17,0.00,0.000,6,0.000,0.042,3133,1355,2103
$GC,16263,1.08,224.3,317.9,7.4,1253,16286,0.00,2.15,16.92,0.978,4,0.000,0.044,3134,2756,2029
$GC,16470,1.08,224.3,297.3,10.2,1274,16477,0.00,2.15,0.00,0.000,6,0.000,0.041,3146,1343,2028
$GC,16815,1.08,224.3,262.7,10.1,1335,16822,0.00,2.15,0.00,0.000,4,0.000,0.043,3149,2756,2028
$GC,16929,1.08,224.3,251.9,9.3,1355,16937,0.12,2.12,0.00,0.000,6,0.179,0.039,3129,1350,2028
$GC,17277,1.11,245.5,223.4,7.3,1416,17303,0.00,2.20,19.27,0.897,4,0.000,0.041,3124,2756,1942
$GC,17372,1.11,245.5,215.3,9.1,1432,17379,0.00,2.17,0.00,0.000,6,0.000,0.038,3134,1341,1940
$GC,17717,1.11,248.9,186.6,7.9,1493,17730,0.00,2.20,4.15,0.573,4,0.000,0.040,3134,2758,1929
$GC,17753,1.11,248.9,183.3,9.0,1499,17761,0.00,2.12,0.00,0.000,6,0.000,0.038,3144,1341,1929
$GC,18099,1.11,248.9,154.8,8.1,1560,18105,0.00,1.75,0.00,0.000,4,0.000,0.051,3152,211,1929
$GC,18230,1.11,248.9,143.6,8.2,1583,18238,0.00,1.70,0.00,0.000,6,0.000,0.033,3153,1366,1929
$GC,18576,1.17,298.0,115.6,6.4,1644,18627,0.00,2.12,42.40,0.810,4,0.000,0.038,3153,2739,1729
$GC,18774,1.17,298.0,100.2,8.8,1678,18780,0.00,2.12,0.00,0.000,6,0.000,0.037,3162,1349,1727
$GC,19119,1.17,298.0,69.6,8.4,1739,19126,0.00,2.10,0.00,0.000,4,0.000,0.036,3162,2759,1727
$GC,19292,1.24,351.0,57.7,6.3,1769,19344,0.00,2.12,44.92,0.745,6,0.000,0.036,3172,1353,1514
$GC,19684,1.37,460.4,29.4,4.5,1837,19782,0.15,2.20,92.03,0.709,4,0.060,0.034,3240,2747,1067
$GC,19862,1.37,460.4,12.8,10.2,1866,19870,0.08,2.12,0.00,0.000,6,0.160,0.034,3226,1356,1067
$STATE,19966,end climb,SURFACE_DEPTH_REACHED
$STATE,19966,begin surface coast
$FINISH,0.8,1.015010
$STATE,19993,end surface coast,CONTROL_FINISHED_OK
$STATE,19994,begin surface
$SM_CCo,20072,0.00,0.000,0,0,1063,461.16
$SM_GC,1.57,8.18,0.00,0.00,0.044,0.000,0.000,151,1692,1063,-8.16,0.48,461.16
$IRIDIUM_FIX,2446.56,12409.09,051098,030347
$TT8_MAMPS,0.026845
$HUMID,1533
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,186
$24V_AH,22.7,69.468
$10V_AH,10.7,44.087
$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,20.325,189.375,555.075,0.000,0.000,22.930,32.871,237.785,54.500,0.000,0.000,18.187,3296.033,11935.546,684.822,3833.950,764.568,0.000,2391.708,0.000,3810.127,0.000,54.413,0.000
$DEVICE_MAMPS,231.634,68.263,1512.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1282.470,1317.263,2208.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110647,1889
$CAP_FILE_SIZE,190267,0
$CFSIZE,260165632,210096128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 42.6,1
$GPS,110709,142200,2455.395,12408.469,37,1.9,42,-3.7