version: 66.04
glider: 166
mission: 2
dive: 317
start: 7 11 109 14 30 27
data:
$ID,166
$MISSION,2
$DIVE,317
$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,-11586.564
$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,69
$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
$GPS1,142200,2455.395,12408.469,37,1.9,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.4
$GPS2,143006,2455.427,12408.645,15,1.3,31,-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,223.2,42200,-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,-170.3,0.0,0.0,0,74,0.00,0.00,-55.17,0.000,2,0.000,0.000,139,1692,2350
$GC,77,-1.01,-170.3,3.6,-4.9,8,125,9.43,2.22,-32.67,0.000,4,0.234,0.054,2442,267,3641
$GC,195,-1.01,-170.3,27.5,-21.8,27,202,0.00,2.03,0.00,0.000,6,0.000,0.027,2441,1678,3641
$GC,540,-1.01,-170.3,84.6,-14.6,88,546,0.00,2.08,0.00,0.000,4,0.000,0.038,2443,3065,3642
$GC,615,-1.01,-170.3,96.1,-15.3,101,621,0.00,2.03,0.00,0.000,6,0.000,0.029,2460,1658,3642
$GC,961,-1.01,-170.3,145.0,-13.0,162,969,0.00,2.08,0.00,0.000,4,0.000,0.036,2460,3070,3643
$GC,998,-1.01,-170.3,150.2,-13.5,168,1004,0.00,2.03,0.00,0.000,6,0.000,0.028,2460,1654,3643
$GC,1344,-1.01,-170.3,191.6,-11.4,229,1350,0.00,2.05,0.00,0.000,4,0.000,0.041,2460,267,3644
$GC,1380,-1.01,-170.3,195.9,-12.3,235,1387,0.00,2.03,0.00,0.000,6,0.000,0.026,2460,1694,3644
$GC,1723,-1.01,-170.3,240.2,-13.9,296,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1694,3644
$GC,2066,-1.01,-170.3,283.2,-10.8,357,2072,0.00,2.12,0.00,0.000,4,0.000,0.042,2460,277,3643
$GC,2112,-1.01,-170.3,288.8,-12.5,365,2119,0.00,2.00,0.00,0.000,6,0.000,0.028,2459,1677,3644
$GC,2449,-1.01,-170.3,322.7,-10.7,406,2452,0.00,2.05,0.00,0.000,4,0.000,0.040,2440,3067,3643
$GC,2507,-1.01,-170.3,328.8,-10.7,411,2511,0.00,2.00,0.00,0.000,6,0.000,0.031,2442,1679,3643
$GC,2837,-1.01,-170.3,366.6,-11.2,442,2840,0.00,2.10,0.00,0.000,4,0.000,0.044,2440,276,3642
$GC,2904,-1.01,-170.3,374.5,-11.7,448,2909,0.00,2.03,0.00,0.000,6,0.000,0.028,2439,1684,3641
$GC,3235,-1.01,-170.3,407.2,-9.8,479,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1685,3639
$GC,3554,-1.01,-170.3,436.9,-9.0,509,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1685,3638
$GC,3872,-1.01,-170.3,466.4,-9.4,539,3876,0.00,2.08,0.00,0.000,4,0.000,0.044,2460,3069,3636
$GC,3928,-1.01,-170.3,472.2,-10.1,544,3932,0.00,2.05,0.00,0.000,6,0.000,0.034,2460,1672,3635
$GC,4267,-1.01,-170.3,506.6,-9.8,573,4271,0.00,2.12,0.00,0.000,4,0.000,0.048,2460,276,3633
$GC,4328,-1.01,-170.3,513.3,-10.4,575,4334,0.00,2.05,0.00,0.000,6,0.000,0.031,2460,1679,3632
$GC,4645,-1.01,-170.3,542.9,-9.4,591,4649,0.00,2.15,0.00,0.000,4,0.000,0.049,2460,274,3630
$GC,4668,-1.01,-170.3,545.4,-9.8,592,4672,0.00,2.05,0.00,0.000,6,0.000,0.031,2460,1673,3629
$GC,5000,-1.01,-170.3,577.5,-10.0,608,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1674,3627
$GC,5311,-1.01,-170.3,607.2,-9.2,623,5314,0.00,2.15,0.00,0.000,4,0.000,0.051,2460,3076,3625
$GC,5372,-1.01,-170.3,612.8,-9.2,625,5378,0.00,2.10,0.00,0.000,6,0.000,0.042,2460,1676,3625
$GC,5688,-1.01,-170.3,639.4,-8.5,641,5691,0.00,2.20,0.00,0.000,4,0.000,0.055,2459,261,3622
$GC,5703,-1.01,-170.3,641.0,-8.7,641,5710,0.00,2.12,0.00,0.000,6,0.000,0.041,2460,1688,3622
$GC,6020,-1.01,-170.3,669.3,-9.6,657,6024,0.00,2.12,0.00,0.000,4,0.000,0.053,2460,3077,3620
$GC,6044,-1.01,-170.3,671.6,-10.0,658,6048,0.00,2.10,0.00,0.000,6,0.000,0.038,2460,1667,3620
$GC,6376,-1.01,-170.3,707.6,-11.0,674,6379,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,3072,3618
$GC,6400,-1.01,-170.3,709.9,-10.4,675,6404,0.00,2.10,0.00,0.000,6,0.000,0.043,2460,1676,3618
$GC,6733,-1.01,-170.3,743.4,-9.2,691,6737,0.00,2.17,0.00,0.000,4,0.000,0.052,2460,3072,3616
$GC,6772,-1.01,-170.3,746.9,-9.2,692,6778,0.00,2.12,0.00,0.000,6,0.000,0.039,2460,1672,3616
$GC,7088,-1.01,-170.3,771.8,-7.4,708,7092,0.00,2.17,0.00,0.000,4,0.000,0.058,2459,3070,3613
$GC,7137,-1.01,-170.3,775.6,-7.5,710,7141,0.00,2.10,0.00,0.000,6,0.000,0.040,2460,1671,3613
$GC,7464,-1.01,-170.3,799.8,-7.9,726,7472,0.00,2.17,0.00,0.000,4,0.000,0.052,2452,3077,3611
$GC,7513,-1.01,-170.3,803.6,-8.4,728,7516,0.00,2.12,0.00,0.000,6,0.000,0.041,2459,1663,3610
$GC,7845,-1.01,-170.3,830.5,-8.1,744,7848,0.00,2.20,0.00,0.000,4,0.000,0.054,2448,3079,3608
$GC,7890,-1.01,-170.3,834.1,-8.2,746,7893,0.00,2.15,0.00,0.000,6,0.000,0.048,2457,1665,3608
$GC,8222,-1.01,-170.3,863.5,-9.6,762,8226,0.00,2.20,0.00,0.000,4,0.000,0.061,2445,3066,3606
$GC,8260,-1.01,-170.3,867.2,-9.3,763,8266,0.00,2.12,0.00,0.000,6,0.000,0.048,2454,1672,3606
$GC,8577,-1.01,-170.3,898.2,-9.7,779,8580,0.00,2.17,0.00,0.000,4,0.000,0.054,2442,3070,3605
$GC,8616,-1.01,-170.3,902.1,-9.8,780,8622,0.00,2.12,0.00,0.000,6,0.000,0.042,2450,1664,3605
$GC,8931,-1.01,-170.3,932.7,-9.6,796,8934,0.00,2.20,0.00,0.000,4,0.000,0.060,2447,266,3603
$GC,8986,-1.01,-170.3,938.6,-10.0,798,8990,0.00,2.12,0.00,0.000,6,0.000,0.040,2430,1674,3602
$GC,9307,-1.01,-170.3,969.5,-9.3,814,9311,0.00,2.22,0.00,0.000,4,0.000,0.059,2434,267,3601
$GC,9345,-1.01,-170.3,973.6,-10.2,815,9351,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,1685,3600
$STATE,9515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9515,begin apogee
$GC,9521,-0.29,0.0,990.3,9.7,824,9670,0.77,0.00,145.65,1.506,6,0.116,0.000,2678,1349,2945
$STATE,9671,end apogee,CONTROL_FINISHED_OK
$STATE,9671,begin climb
$GC,9675,1.01,170.3,997.3,0.0,831,9840,1.17,2.40,155.55,1.459,4,0.048,0.051,3108,2757,2249
$GC,9970,1.01,170.3,972.2,13.8,843,9976,0.00,2.22,0.00,0.000,6,0.000,0.047,3119,1345,2244
$GC,10286,1.01,170.3,929.9,13.4,859,10289,0.00,2.20,0.00,0.000,4,0.000,0.053,3119,2754,2242
$GC,10387,1.01,170.3,915.9,14.1,863,10391,0.00,2.20,0.00,0.000,6,0.000,0.053,3130,1334,2241
$GC,10703,1.01,170.3,873.8,13.4,878,10707,0.00,2.22,0.00,0.000,4,0.000,0.056,3130,2762,2240
$GC,10728,1.01,170.3,870.4,14.3,879,10733,0.12,2.17,0.00,0.000,6,0.206,0.047,3112,1349,2240
$GC,11055,1.01,170.3,827.7,13.3,895,11058,0.00,1.80,0.00,0.000,4,0.000,0.061,3119,201,2239
$GC,11105,1.01,170.3,820.3,15.6,897,11109,0.00,1.75,0.00,0.000,6,0.000,0.041,3119,1372,2238
$GC,11433,1.01,170.3,776.7,12.3,913,11437,0.00,2.12,0.00,0.000,4,0.000,0.052,3118,2756,2238
$GC,11483,1.01,170.3,769.8,13.2,915,11487,0.00,2.17,0.00,0.000,6,0.000,0.047,3129,1343,2238
$GC,11812,1.01,170.3,730.1,11.4,931,11816,0.00,2.17,0.00,0.000,4,0.000,0.052,3125,2749,2237
$GC,11884,1.01,170.3,721.0,12.6,934,11888,0.00,2.17,0.00,0.000,6,0.000,0.047,3134,1337,2237
$GC,12212,1.01,170.3,681.4,11.6,950,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1337,2236
$GC,12521,1.01,170.3,646.7,11.0,965,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1337,2236
$GC,12830,1.01,170.3,616.0,9.2,980,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1337,2236
$GC,13139,1.01,170.3,586.4,10.0,995,13143,0.00,2.20,0.00,0.000,4,0.000,0.049,3131,2756,2235
$GC,13173,1.01,170.3,582.8,10.0,996,13178,0.12,2.17,0.00,0.000,6,0.201,0.045,3112,1340,2236
$GC,13493,1.01,170.3,549.0,10.8,1012,13497,0.00,2.17,0.00,0.000,4,0.000,0.050,3109,2748,2235
$GC,13576,1.01,170.3,540.4,10.3,1015,13583,0.00,2.15,0.00,0.000,6,0.000,0.044,3117,1346,2235
$GC,13893,1.01,170.3,509.5,9.6,1031,13897,0.00,1.80,0.00,0.000,4,0.000,0.058,3127,199,2235
$GC,14006,1.01,170.3,498.1,9.8,1036,14010,0.00,1.75,0.00,0.000,6,0.000,0.048,3126,1359,2235
$GC,14337,1.01,170.3,470.5,8.1,1067,14341,0.00,2.15,0.00,0.000,4,0.000,0.049,3125,2757,2235
$GC,14465,1.01,170.3,458.8,8.5,1078,14473,0.00,2.20,0.00,0.000,6,0.000,0.044,3132,1340,2235
$GC,14794,1.01,170.3,427.9,9.7,1109,14798,0.00,1.77,0.00,0.000,4,0.000,0.055,3142,196,2235
$GC,14863,1.01,170.3,420.9,9.6,1115,14867,0.15,1.73,0.00,0.000,6,0.190,0.039,3106,1364,2235
$GC,15193,1.02,173.4,395.6,7.9,1146,15197,0.00,2.12,0.00,0.000,4,0.000,0.048,3106,2747,2235
$GC,15450,1.02,173.4,373.3,8.9,1169,15454,0.00,2.12,0.00,0.000,6,0.000,0.042,3114,1345,2236
$GC,15784,1.08,225.9,348.9,6.3,1200,15840,0.00,2.25,46.38,1.041,4,0.000,0.051,3115,2747,2022
$GC,16003,1.08,225.9,330.4,8.4,1219,16009,0.00,2.15,0.00,0.000,6,0.000,0.041,3124,1348,2019
$GC,16329,1.08,225.9,301.5,9.6,1250,16332,0.00,2.15,0.00,0.000,4,0.000,0.050,3126,2748,2018
$GC,16482,1.08,225.9,287.1,8.6,1275,16488,0.00,2.12,0.00,0.000,6,0.000,0.041,3137,1348,2018
$GC,16824,1.08,225.9,255.3,8.7,1336,16830,0.00,1.80,0.00,0.000,4,0.000,0.053,3148,196,2018
$GC,16882,1.08,225.9,250.0,9.1,1346,16890,0.00,1.73,0.00,0.000,6,0.000,0.036,3149,1353,2018
$GC,17229,1.09,232.7,220.3,7.8,1407,17242,0.00,2.10,7.12,0.771,4,0.000,0.040,3150,2752,1995
$GC,17380,1.09,232.7,207.7,9.0,1433,17386,0.00,2.12,0.00,0.000,6,0.000,0.039,3160,1338,1995
$GC,17724,1.09,232.7,175.1,9.9,1494,17732,0.00,1.75,0.00,0.000,4,0.000,0.051,3171,207,1995
$GC,17907,1.09,232.7,156.2,9.6,1526,17915,0.12,1.70,0.00,0.000,6,0.164,0.033,3134,1360,1995
$GC,18253,1.17,293.5,129.8,6.1,1587,18312,0.00,1.83,51.65,0.828,4,0.000,0.049,3141,198,1747
$GC,18458,1.17,293.5,112.9,9.0,1622,18466,0.00,1.70,0.00,0.000,6,0.000,0.033,3141,1346,1745
$GC,18805,1.17,293.5,85.8,8.2,1683,18811,0.00,2.08,0.00,0.000,4,0.000,0.038,3141,2750,1744
$GC,18847,1.17,293.5,82.4,8.1,1690,18855,0.00,2.10,0.00,0.000,6,0.000,0.036,3150,1335,1744
$GC,19193,1.17,293.5,54.0,8.5,1751,19200,0.00,1.73,0.00,0.000,4,0.000,0.048,3159,208,1744
$GC,19265,1.17,296.4,48.4,7.9,1763,19273,0.00,1.65,3.90,0.451,6,0.000,0.031,3159,1350,1736
$GC,19613,1.26,370.1,25.8,5.7,1824,19683,0.00,1.77,61.78,0.715,4,0.000,0.047,3168,205,1436
$GC,19730,1.31,409.8,18.3,6.7,1843,19769,0.00,1.67,34.72,0.686,6,0.000,0.030,3168,1346,1273
$STATE,19938,end climb,SURFACE_DEPTH_REACHED
$STATE,19938,begin surface coast
$FINISH,0.9,1.021022
$STATE,19977,end surface coast,CONTROL_FINISHED_OK
$STATE,19977,begin surface
$SM_CCo,19995,32.65,0.667,0,0,1109,450.13
$SM_GC,1.94,0.00,0.00,32.65,0.000,0.000,0.667,168,1690,1109,-8.16,0.42,450.13
$IRIDIUM_FIX,2444.18,12407.76,051098,080825
$TT8_MAMPS,0.027612
$HUMID,1516
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.50
$XPDR_PINGS,180
$24V_AH,22.7,69.671
$10V_AH,10.7,44.272
$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,19.875,178.300,506.750,32.650,0.000,24.354,46.038,238.904,53.000,0.000,0.000,31.225,3305.572,11930.718,668.135,3829.529,761.182,0.000,2348.323,0.000,3788.422,0.000,54.435,0.000
$DEVICE_MAMPS,233.935,61.360,1505.621,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.355,1313.679,2206.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110568,1886
$CAP_FILE_SIZE,187673,0
$CFSIZE,260165632,210001920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 40.9,1
$GPS,110709,200531,2455.296,12408.797,38,1.8,38,-3.7