version: 66.04
glider: 166
mission: 2
dive: 318
start: 7 11 109 20 23 59
data:
$ID,166
$MISSION,2
$DIVE,318
$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,-11604.247
$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
$GPS1,200531,2455.296,12408.797,38,1.8,38,-3.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.4
$GPS2,202337,2455.463,12409.008,11,1.4,16,-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,223.1,42616,-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,-170.3,0.0,0.0,0,69,0.00,0.00,-49.83,0.000,2,0.000,0.000,153,1691,2263
$GC,72,-1.01,-170.3,3.1,-4.5,8,125,9.45,2.15,-37.10,0.000,4,0.235,0.053,2439,265,3640
$GC,231,-1.01,-170.3,31.7,-18.2,34,238,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1670,3640
$GC,576,-1.01,-170.3,92.2,-15.6,95,583,0.00,2.08,0.00,0.000,4,0.000,0.038,2432,3062,3641
$GC,707,-1.01,-170.3,112.3,-15.4,118,715,0.00,2.05,0.00,0.000,6,0.000,0.028,2447,1657,3641
$GC,1053,-1.01,-170.3,159.6,-12.2,179,1059,0.00,2.05,0.00,0.000,4,0.000,0.041,2448,269,3641
$GC,1095,-1.01,-170.3,165.0,-13.3,186,1103,0.00,2.03,0.00,0.000,6,0.000,0.026,2448,1698,3641
$GC,1441,-1.01,-170.3,207.4,-12.9,247,1447,0.00,2.12,0.00,0.000,4,0.000,0.041,2448,274,3641
$GC,1481,-1.01,-170.3,213.2,-14.8,254,1489,0.00,2.03,0.00,0.000,6,0.000,0.027,2448,1697,3641
$GC,1827,-1.01,-170.3,263.0,-13.4,315,1833,0.00,2.12,0.00,0.000,4,0.000,0.040,2445,273,3641
$GC,1840,-1.01,-170.3,264.8,-13.4,317,1846,0.00,2.03,0.00,0.000,6,0.000,0.027,2445,1688,3641
$GC,2186,-1.01,-170.3,303.0,-9.3,376,2189,0.00,2.05,0.00,0.000,4,0.000,0.040,2427,3075,3640
$GC,2243,-1.01,-170.3,308.3,-9.2,381,2247,0.00,2.03,0.00,0.000,6,0.000,0.030,2428,1669,3640
$GC,2573,-1.01,-170.3,340.9,-10.7,412,2577,0.00,2.10,0.00,0.000,4,0.000,0.043,2427,264,3638
$GC,2611,-1.01,-170.3,345.8,-12.9,415,2618,0.00,2.05,0.00,0.000,6,0.000,0.028,2426,1687,3638
$GC,2936,-1.01,-170.3,384.7,-12.1,446,2940,0.00,2.05,0.00,0.000,4,0.000,0.041,2435,3067,3636
$GC,2981,-1.01,-170.3,389.9,-11.2,450,2985,0.00,2.03,0.00,0.000,6,0.000,0.031,2430,1668,3636
$GC,3312,-1.01,-170.3,428.0,-10.6,481,3315,0.00,2.10,0.00,0.000,4,0.000,0.045,2431,270,3634
$GC,3359,-1.01,-170.3,433.3,-11.7,485,3362,0.00,2.05,0.00,0.000,6,0.000,0.030,2446,1683,3634
$GC,3690,-1.01,-170.3,467.8,-9.9,516,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1683,3631
$GC,4007,-1.01,-170.3,499.3,-9.8,546,4011,0.00,2.15,0.00,0.000,4,0.000,0.048,2444,280,3628
$GC,4056,-1.01,-170.3,505.0,-11.6,549,4060,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1676,3628
$GC,4386,-1.01,-170.3,542.2,-12.2,565,4389,0.00,2.15,0.00,0.000,4,0.000,0.050,2448,276,3625
$GC,4432,-1.01,-170.3,548.3,-13.8,567,4436,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1675,3625
$GC,4766,-1.01,-170.3,585.3,-10.4,583,4769,0.00,2.15,0.00,0.000,4,0.000,0.051,2447,276,3622
$GC,4798,-1.01,-170.3,589.2,-11.6,584,4802,0.00,2.08,0.00,0.000,6,0.000,0.034,2447,1681,3622
$GC,5120,-1.01,-170.3,622.2,-10.6,600,5123,0.00,2.17,0.00,0.000,4,0.000,0.056,2447,280,3620
$GC,5175,-1.01,-170.3,628.7,-11.6,602,5179,0.00,2.08,0.00,0.000,6,0.000,0.035,2447,1682,3620
$GC,5497,-1.01,-170.3,660.4,-9.6,618,5500,0.00,2.12,0.00,0.000,4,0.000,0.051,2446,3073,3617
$GC,5520,-1.01,-170.3,662.7,-9.6,619,5524,0.00,2.08,0.00,0.000,6,0.000,0.037,2447,1675,3617
$GC,5853,-1.01,-170.3,695.2,-9.7,635,5856,0.00,2.17,0.00,0.000,4,0.000,0.056,2447,274,3615
$GC,5931,-1.01,-170.3,703.6,-10.4,638,5935,0.00,2.10,0.00,0.000,6,0.000,0.042,2447,1677,3614
$GC,6252,-1.01,-170.3,735.5,-10.8,654,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1678,3611
$GC,6562,-1.01,-170.3,768.4,-10.7,669,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1678,3608
$GC,6871,-1.01,-170.3,800.3,-9.8,684,6875,0.00,2.20,0.00,0.000,4,0.000,0.057,2447,268,3607
$GC,6960,-1.01,-170.3,810.0,-11.1,688,6964,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,1677,3606
$GC,7292,-1.01,-170.3,843.8,-10.2,704,7296,0.00,2.22,0.00,0.000,4,0.000,0.062,2446,270,3604
$GC,7325,-1.01,-170.3,847.5,-11.6,705,7329,0.00,2.12,0.00,0.000,6,0.000,0.041,2444,1674,3604
$GC,7647,-1.01,-170.3,884.0,-11.7,721,7650,0.00,2.20,0.00,0.000,4,0.000,0.057,2442,274,3601
$GC,7708,-1.01,-170.3,892.0,-12.8,723,7714,0.00,2.12,0.00,0.000,6,0.000,0.040,2434,1682,3601
$GC,8024,-1.01,-170.3,928.9,-11.3,739,8028,0.00,2.15,0.00,0.000,4,0.000,0.054,2419,3076,3598
$GC,8074,-1.01,-170.3,934.5,-10.9,741,8078,0.00,2.12,0.00,0.000,6,0.000,0.042,2427,1672,3599
$GC,8402,-1.01,-170.3,968.7,-10.5,757,8404,0.12,0.00,0.00,0.000,6,0.150,0.000,2455,1673,3597
$STATE,8646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8646,begin apogee
$GC,8653,-0.29,0.0,991.7,9.3,769,8800,0.70,0.00,144.20,1.500,6,0.110,0.000,2683,1348,2945
$STATE,8801,end apogee,CONTROL_FINISHED_OK
$STATE,8801,begin climb
$GC,8803,1.01,170.3,999.2,0.0,776,8968,1.15,2.38,154.40,1.461,4,0.046,0.051,3110,2750,2249
$GC,9087,1.01,170.3,976.4,15.5,789,9091,0.00,2.22,0.00,0.000,6,0.000,0.054,3120,1341,2244
$GC,9414,1.01,170.3,931.4,14.0,805,9418,0.00,2.22,0.00,0.000,4,0.000,0.058,3120,2760,2242
$GC,9514,1.01,170.3,916.9,14.1,809,9518,0.00,2.20,0.00,0.000,6,0.000,0.054,3130,1344,2241
$GC,9837,1.01,170.3,872.9,13.7,825,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1345,2240
$GC,10145,1.01,170.3,833.0,12.7,840,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1345,2239
$GC,10455,1.01,170.3,796.0,11.8,855,10459,0.00,1.83,0.00,0.000,4,0.000,0.061,3139,201,2238
$GC,10538,1.01,170.3,785.1,13.3,858,10547,0.10,1.77,0.00,0.000,6,0.193,0.041,3112,1366,2238
$GC,10856,1.01,170.3,748.7,11.4,874,10860,0.00,2.12,0.00,0.000,4,0.000,0.051,3109,2747,2237
$GC,10917,1.01,170.3,741.2,12.1,876,10923,0.00,2.20,0.00,0.000,6,0.000,0.047,3118,1337,2236
$GC,11232,1.01,170.3,705.5,11.7,892,11236,0.00,2.20,0.00,0.000,4,0.000,0.051,3118,2759,2236
$GC,11323,1.01,170.3,694.9,12.2,896,11327,0.00,2.17,0.00,0.000,6,0.000,0.048,3128,1353,2235
$GC,11649,1.01,170.3,657.0,10.7,912,11652,0.00,2.17,0.00,0.000,4,0.000,0.051,3128,2757,2235
$GC,11694,1.01,170.3,652.3,10.0,914,11698,0.12,2.17,0.00,0.000,6,0.202,0.048,3111,1343,2235
$GC,12020,1.01,170.3,624.3,8.1,930,12024,0.00,2.17,0.00,0.000,4,0.000,0.052,3110,2747,2235
$GC,12137,1.01,170.3,613.7,9.1,935,12141,0.00,2.15,0.00,0.000,6,0.000,0.046,3119,1350,2234
$GC,12466,1.01,170.3,581.3,10.4,951,12470,0.00,1.83,0.00,0.000,4,0.000,0.059,3127,196,2234
$GC,12588,1.01,170.3,566.9,11.6,956,12592,0.00,1.75,0.00,0.000,6,0.000,0.042,3126,1348,2234
$GC,12911,1.01,170.3,531.7,11.0,972,12914,0.00,2.15,0.00,0.000,4,0.000,0.049,3122,2751,2234
$GC,13136,1.01,170.3,507.7,10.3,982,13139,0.00,2.15,0.00,0.000,6,0.000,0.044,3130,1349,2234
$GC,13467,1.01,170.3,478.1,8.2,1009,13471,0.00,2.20,0.00,0.000,4,0.000,0.048,3131,2762,2234
$GC,13523,1.01,170.3,473.0,8.7,1014,13528,0.15,2.17,0.00,0.000,6,0.191,0.044,3105,1348,2234
$GC,13848,1.01,170.3,447.7,8.5,1044,13852,0.00,2.17,0.00,0.000,4,0.000,0.053,3095,2755,2234
$GC,13942,1.01,170.3,439.1,8.9,1052,13949,0.00,2.17,0.00,0.000,6,0.000,0.044,3104,1349,2234
$GC,14270,1.01,170.3,409.9,9.0,1083,14273,0.00,2.17,0.00,0.000,4,0.000,0.051,3104,2750,2234
$GC,14318,1.01,170.3,405.7,8.6,1087,14322,0.00,2.15,0.00,0.000,6,0.000,0.043,3113,1337,2234
$GC,14649,1.02,177.7,379.1,7.8,1118,14662,0.00,2.20,5.05,0.798,4,0.000,0.044,3113,2764,2221
$GC,14801,1.05,197.5,367.9,7.4,1131,14826,0.00,2.15,19.38,1.032,6,0.000,0.042,3122,1350,2138
$GC,15152,1.05,197.5,333.7,10.9,1164,15155,0.00,2.15,0.00,0.000,4,0.000,0.044,3123,2753,2136
$GC,15202,1.05,197.5,328.2,10.6,1168,15208,0.00,2.15,0.00,0.000,6,0.000,0.041,3133,1340,2136
$GC,15530,1.05,197.5,296.2,8.5,1203,15536,0.00,2.17,0.00,0.000,4,0.000,0.043,3136,2766,2135
$GC,15691,1.05,197.5,281.8,8.6,1231,15697,0.00,2.15,0.00,0.000,6,0.000,0.041,3147,1345,2136
$GC,16036,1.11,247.9,258.2,6.4,1292,16086,0.00,2.20,43.03,0.948,4,0.000,0.041,3149,2759,1932
$GC,16142,1.11,247.9,249.4,9.0,1310,16150,0.00,2.17,0.00,0.000,6,0.000,0.040,3159,1340,1930
$GC,16487,1.11,247.9,210.4,12.6,1371,16493,0.00,1.75,0.00,0.000,4,0.000,0.051,3169,199,1929
$GC,16511,1.11,247.9,207.3,12.5,1375,16518,0.12,1.70,0.00,0.000,6,0.174,0.035,3139,1363,1928
$GC,16856,1.11,247.9,169.9,9.9,1436,16863,0.00,2.10,0.00,0.000,4,0.000,0.040,3134,2747,1929
$GC,16894,1.11,247.9,166.7,8.9,1442,16902,0.00,2.10,0.00,0.000,6,0.000,0.038,3142,1343,1929
$GC,17241,1.16,289.2,143.9,6.7,1503,17285,0.00,2.20,35.47,0.836,4,0.000,0.039,3142,2742,1764
$GC,17427,1.16,289.2,124.9,11.1,1535,17433,0.00,2.10,0.00,0.000,6,0.000,0.037,3151,1350,1762
$GC,17772,1.18,304.6,96.4,7.5,1596,17792,0.00,2.17,14.32,0.752,4,0.000,0.038,3151,2751,1703
$GC,17889,1.18,304.6,85.5,9.1,1616,17895,0.00,2.12,0.00,0.000,6,0.000,0.037,3161,1355,1702
$GC,18233,1.24,354.5,61.6,6.4,1677,18284,0.00,2.17,42.47,0.751,4,0.000,0.039,3161,2754,1499
$GC,18359,1.24,354.5,51.7,9.4,1698,18367,0.00,2.12,0.00,0.000,6,0.000,0.035,3171,1338,1497
$GC,18705,1.27,376.6,28.9,7.3,1759,18732,0.00,1.80,19.95,0.686,4,0.000,0.048,3179,195,1409
$GC,18805,1.27,376.6,21.0,8.6,1776,18812,0.00,1.70,0.00,0.000,6,0.000,0.030,3179,1356,1408
$STATE,19031,end climb,SURFACE_DEPTH_REACHED
$STATE,19031,begin surface coast
$FINISH,0.9,1.021152
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19083,60.30,0.680,0,0,1109,450.13
$SM_GC,1.84,0.00,0.00,60.30,0.000,0.000,0.680,168,1690,1109,-8.16,0.42,450.13
$IRIDIUM_FIX,2446.56,12409.09,051098,202013
$TT8_MAMPS,0.027612
$HUMID,1522
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.80
$XPDR_PINGS,170
$24V_AH,22.8,69.894
$10V_AH,10.7,44.456
$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,20.000,173.000,478.275,60.300,0.000,106.290,157.042,454.406,50.500,0.000,0.000,17.054,3201.056,11445.585,668.661,3727.429,1168.597,0.000,2291.954,0.000,3689.565,0.000,54.424,0.000
$DEVICE_MAMPS,234.702,62.127,1500.252,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.356,1275.077,2146.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104140,1822
$CAP_FILE_SIZE,188060,0
$CFSIZE,260165632,209903616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 50.8,1
$GPS,120709,014424,2454.788,12409.080,25,1.0,42,-3.7