version: 66.04
glider: 166
mission: 2
dive: 295
start: 7 6 109 9 53 10
data:
$ID,166
$MISSION,2
$DIVE,295
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-11200.213
$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,1800
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,61
$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
$GPS1,094507,2512.414,12359.136,41,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.2
$GPS2,095250,2512.457,12359.318,12,1.8,12,-3.8
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,194.9,56345,-14.9,-7.990
$D_GRID,2201
$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,16,-1.06,-146.0,0.0,0.0,0,69,0.00,0.00,-50.10,0.000,2,0.000,0.000,168,1823,2267
$GC,72,-1.06,-146.0,3.2,-4.3,8,125,9.10,2.10,-35.65,0.000,4,0.228,0.054,2423,3189,3542
$GC,144,-1.06,-146.0,14.2,-18.7,19,150,0.00,2.05,0.00,0.000,6,0.000,0.030,2423,1785,3543
$GC,488,-1.06,-146.0,80.6,-16.5,80,495,0.00,2.10,0.00,0.000,4,0.000,0.041,2423,391,3543
$GC,529,-1.06,-146.0,87.3,-16.5,87,536,0.00,2.03,0.00,0.000,6,0.000,0.029,2420,1803,3543
$GC,874,-1.06,-146.0,139.4,-15.8,148,881,0.00,2.10,0.00,0.000,4,0.000,0.041,2416,389,3544
$GC,973,-1.06,-146.0,155.1,-16.3,165,981,0.12,2.03,0.00,0.000,6,0.174,0.028,2435,1810,3544
$GC,1319,-1.06,-146.0,202.1,-12.4,226,1326,0.00,2.12,0.00,0.000,4,0.000,0.041,2433,401,3545
$GC,1350,-1.06,-146.0,206.1,-13.0,231,1356,0.00,2.00,0.00,0.000,6,0.000,0.028,2432,1799,3545
$GC,1693,-1.06,-146.0,249.0,-11.6,292,1699,0.00,2.08,0.00,0.000,4,0.000,0.041,2431,394,3545
$GC,1768,-1.06,-146.0,258.4,-13.0,305,1775,0.00,2.03,0.00,0.000,6,0.000,0.028,2433,1807,3545
$GC,2113,-1.06,-146.0,302.0,-12.3,365,2116,0.00,2.10,0.00,0.000,4,0.000,0.041,2432,394,3545
$GC,2191,-1.06,-146.0,312.6,-13.3,372,2195,0.00,2.03,0.00,0.000,6,0.000,0.029,2433,1797,3545
$GC,2523,-1.06,-146.0,350.2,-9.9,403,2526,0.00,2.10,0.00,0.000,4,0.000,0.042,2434,392,3544
$GC,2602,-1.06,-146.0,358.4,-10.2,410,2606,0.00,2.03,0.00,0.000,6,0.000,0.030,2425,1802,3543
$GC,2936,-1.06,-146.0,394.4,-11.8,441,2940,0.00,2.10,0.00,0.000,4,0.000,0.044,2420,403,3542
$GC,2982,-1.06,-146.0,400.7,-12.7,445,2986,0.00,2.03,0.00,0.000,6,0.000,0.031,2414,1800,3542
$GC,3312,-1.06,-146.0,441.6,-11.8,476,3316,0.00,2.10,0.00,0.000,4,0.000,0.045,2414,404,3539
$GC,3403,-1.06,-146.0,452.3,-11.7,484,3407,0.00,2.05,0.00,0.000,6,0.000,0.031,2415,1810,3539
$GC,3735,-1.06,-146.0,486.6,-10.5,515,3738,0.00,2.12,0.00,0.000,4,0.000,0.047,2414,405,3536
$GC,3781,-1.06,-146.0,491.8,-11.6,519,3785,0.00,2.05,0.00,0.000,6,0.000,0.033,2420,1807,3536
$GC,4117,-1.06,-146.0,527.1,-10.7,539,4121,0.00,2.15,0.00,0.000,4,0.000,0.048,2416,396,3534
$GC,4178,-1.06,-146.0,534.6,-11.4,541,4185,0.00,2.08,0.00,0.000,6,0.000,0.035,2429,1801,3533
$GC,4495,-1.06,-146.0,567.4,-10.4,557,4498,0.00,2.15,0.00,0.000,4,0.000,0.054,2423,406,3529
$GC,4550,-1.06,-146.0,573.9,-11.5,559,4554,0.00,2.10,0.00,0.000,6,0.000,0.040,2434,1811,3529
$GC,4872,-1.06,-146.0,608.1,-10.9,575,4875,0.00,2.12,0.00,0.000,4,0.000,0.054,2434,3198,3526
$GC,4900,-1.06,-146.0,611.2,-10.9,576,4903,0.00,2.08,0.00,0.000,6,0.000,0.038,2434,1797,3526
$GC,5226,-1.06,-146.0,646.6,-10.7,592,5229,0.00,2.15,0.00,0.000,4,0.000,0.053,2434,394,3524
$GC,5331,-1.06,-146.0,658.9,-11.8,596,5339,0.00,2.15,0.00,0.000,6,0.000,0.041,2434,1804,3523
$GC,5648,-1.06,-146.0,689.9,-9.4,612,5651,0.00,2.20,0.00,0.000,4,0.000,0.053,2433,390,3521
$GC,5720,-1.06,-146.0,697.5,-10.0,615,5724,0.00,2.15,0.00,0.000,6,0.000,0.044,2420,1815,3520
$GC,6047,-1.06,-146.0,728.0,-8.9,631,6051,0.00,2.20,0.00,0.000,4,0.000,0.054,2422,397,3518
$GC,6103,-1.06,-146.0,733.5,-9.8,633,6108,0.12,2.10,0.00,0.000,6,0.171,0.038,2438,1804,3517
$GC,6419,-1.06,-146.0,759.1,-8.4,648,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1804,3515
$GC,6729,-1.06,-146.0,787.5,-9.7,663,6733,0.00,2.20,0.00,0.000,4,0.000,0.055,2430,392,3513
$GC,6819,-1.06,-146.0,797.2,-10.8,667,6823,0.00,2.12,0.00,0.000,6,0.000,0.041,2426,1802,3513
$GC,7153,-1.06,-146.0,830.1,-9.4,683,7157,0.00,2.20,0.00,0.000,4,0.000,0.056,2427,392,3511
$GC,7226,-1.06,-146.0,838.1,-11.1,686,7230,0.00,2.15,0.00,0.000,6,0.000,0.041,2424,1813,3510
$GC,7553,-1.06,-146.0,868.8,-9.2,702,7556,0.00,2.22,0.00,0.000,4,0.000,0.057,2426,394,3508
$GC,7666,-1.06,-146.0,880.5,-10.5,707,7670,0.00,2.15,0.00,0.000,6,0.000,0.042,2423,1807,3508
$GC,7999,-1.06,-146.0,911.9,-9.4,723,8003,0.00,2.22,0.00,0.000,4,0.000,0.058,2425,390,3506
$GC,8156,-1.06,-146.0,929.2,-11.1,730,8160,0.00,2.15,0.00,0.000,6,0.000,0.043,2422,1807,3505
$GC,8489,-1.06,-146.0,961.3,-9.6,746,8493,0.00,2.22,0.00,0.000,4,0.000,0.058,2422,394,3503
$GC,8648,-1.06,-146.0,978.4,-10.7,753,8651,0.00,2.15,0.00,0.000,6,0.000,0.044,2421,1804,3502
$STATE,8772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8772,begin apogee
$GC,8779,-0.29,0.0,991.5,10.1,759,8915,0.80,0.00,125.55,1.489,6,0.116,0.000,2682,1343,2945
$STATE,8916,end apogee,CONTROL_FINISHED_OK
$STATE,8916,begin climb
$GC,8918,1.06,146.0,998.8,0.0,766,9059,1.20,2.42,132.82,1.461,4,0.048,0.053,3128,2757,2349
$GC,9139,1.06,146.0,984.8,14.1,776,9143,0.00,2.28,0.00,0.000,6,0.000,0.048,3137,1340,2345
$GC,9461,1.06,146.0,943.1,13.0,792,9464,0.00,2.22,0.00,0.000,4,0.000,0.053,3140,2765,2343
$GC,9493,1.06,146.0,938.7,12.8,793,9497,0.00,2.22,0.00,0.000,6,0.000,0.054,3149,1337,2343
$GC,9816,1.06,146.0,897.5,12.6,809,9819,0.00,2.22,0.00,0.000,4,0.000,0.052,3152,2769,2341
$GC,9842,1.06,146.0,893.6,12.7,810,9847,0.17,2.20,0.00,0.000,6,0.209,0.047,3121,1342,2341
$GC,10169,1.06,146.0,854.7,12.1,826,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1341,2341
$GC,10479,1.06,146.0,819.2,11.6,841,10483,0.00,2.20,0.00,0.000,4,0.000,0.053,3110,2762,2340
$GC,10562,1.06,146.0,809.3,11.6,844,10570,0.00,2.20,0.00,0.000,6,0.000,0.049,3119,1356,2339
$GC,10880,1.06,146.0,773.0,11.5,860,10883,0.00,2.20,0.00,0.000,4,0.000,0.052,3110,2771,2339
$GC,10952,1.06,146.0,764.3,12.2,863,10957,0.00,2.20,0.00,0.000,6,0.000,0.048,3119,1342,2338
$GC,11279,1.06,146.0,728.7,10.6,879,11283,0.00,2.22,0.00,0.000,4,0.000,0.051,3113,2773,2338
$GC,11497,1.06,146.0,704.1,10.7,888,11504,0.00,2.22,0.00,0.000,6,0.000,0.047,3121,1350,2337
$GC,11813,1.06,146.0,669.9,10.6,904,11816,0.00,2.20,0.00,0.000,4,0.000,0.052,3121,2766,2337
$GC,11902,1.06,146.0,660.3,11.1,908,11907,0.00,2.20,0.00,0.000,6,0.000,0.048,3132,1336,2337
$GC,12230,1.06,146.0,625.9,10.2,924,12233,0.00,2.22,0.00,0.000,4,0.000,0.050,3130,2771,2336
$GC,12470,1.06,146.0,600.2,10.4,934,12477,0.00,2.22,0.00,0.000,6,0.000,0.048,3137,1350,2336
$GC,12787,1.06,146.0,573.1,8.2,950,12790,0.00,2.20,0.00,0.000,4,0.000,0.051,3132,2767,2336
$GC,12836,1.06,146.0,568.7,9.2,952,12841,0.00,2.22,0.00,0.000,6,0.000,0.046,3141,1346,2336
$GC,13163,1.06,146.0,539.5,9.8,968,13167,0.00,1.80,0.00,0.000,4,0.000,0.059,3151,192,2336
$GC,13247,1.06,146.0,531.4,10.3,971,13253,0.00,1.77,0.00,0.000,6,0.000,0.043,3150,1376,2336
$GC,13562,1.06,146.0,502.6,8.7,987,13566,0.00,2.12,0.00,0.000,4,0.000,0.051,3150,2757,2336
$GC,13820,1.06,146.0,480.6,9.1,1008,13825,0.15,2.17,0.00,0.000,6,0.205,0.046,3126,1337,2336
$GC,14145,1.06,146.0,454.6,8.3,1038,14149,0.00,2.17,0.00,0.000,4,0.000,0.048,3116,2750,2336
$GC,14236,1.06,146.0,446.6,8.9,1046,14240,0.00,2.17,0.00,0.000,6,0.000,0.045,3124,1340,2336
$GC,14562,1.06,146.0,417.4,8.7,1076,14566,0.00,1.77,0.00,0.000,4,0.000,0.057,3131,195,2336
$GC,14642,1.06,146.0,409.6,9.2,1083,14646,0.00,1.73,0.00,0.000,6,0.000,0.039,3127,1361,2336
$GC,14973,1.10,183.6,382.1,6.6,1114,15009,0.00,2.17,30.90,1.071,4,0.000,0.047,3125,2740,2195
$GC,15090,1.10,183.6,372.7,8.4,1124,15096,0.00,2.15,0.00,0.000,6,0.000,0.044,3131,1345,2194
$GC,15418,1.10,183.6,344.5,8.9,1155,15421,0.00,1.80,0.00,0.000,4,0.000,0.056,3140,195,2193
$GC,15468,1.10,183.6,339.2,10.8,1159,15474,0.00,1.73,0.00,0.000,6,0.000,0.038,3140,1359,2193
$GC,15794,1.10,183.6,308.2,9.8,1190,15798,0.00,2.12,0.00,0.000,4,0.000,0.048,3136,2747,2193
$GC,15828,1.10,183.6,304.7,9.8,1193,15832,0.00,2.12,0.00,0.000,6,0.000,0.042,3143,1347,2193
$GC,16170,1.11,190.0,274.2,7.8,1249,16185,0.00,1.80,6.88,0.825,4,0.000,0.054,3152,201,2169
$GC,16209,1.11,190.0,271.0,8.5,1255,16215,0.00,1.70,0.00,0.000,6,0.000,0.036,3153,1360,2169
$GC,16552,1.12,193.4,243.2,7.9,1316,16565,0.00,1.83,4.88,0.691,4,0.000,0.053,3161,204,2156
$GC,16712,1.12,193.4,228.0,9.6,1344,16718,0.00,1.70,0.00,0.000,6,0.000,0.036,3161,1348,2156
$GC,17056,1.13,201.5,199.1,7.7,1405,17070,0.00,1.77,8.88,0.803,4,0.000,0.058,3170,197,2123
$GC,17326,1.13,201.5,176.6,9.9,1452,17332,0.00,1.70,0.00,0.000,6,0.000,0.035,3166,1349,2122
$GC,17670,1.14,215.0,147.8,7.5,1513,17690,0.00,1.80,13.43,0.801,4,0.000,0.051,3176,202,2067
$GC,17944,1.14,215.0,126.5,8.2,1561,17952,0.10,1.70,0.00,0.000,6,0.193,0.033,3152,1352,2066
$GC,18291,1.22,278.5,102.5,5.6,1622,18348,0.00,2.20,52.20,0.796,4,0.000,0.038,3147,2753,1808
$GC,18385,1.22,278.5,94.7,9.8,1637,18393,0.00,2.15,0.00,0.000,6,0.000,0.036,3157,1336,1806
$GC,18730,1.29,334.6,66.9,5.9,1698,18784,0.10,2.22,46.45,0.749,4,0.081,0.037,3202,2747,1580
$GC,18965,1.29,334.6,46.9,8.4,1738,18972,0.00,2.12,0.00,0.000,6,0.000,0.036,3210,1352,1577
$GC,19310,1.29,334.6,16.8,8.3,1799,19316,0.00,1.75,0.00,0.000,4,0.000,0.048,3218,207,1577
$STATE,19462,end climb,SURFACE_DEPTH_REACHED
$STATE,19462,begin surface coast
$FINISH,0.9,1.002065
$STATE,19497,end surface coast,CONTROL_FINISHED_OK
$STATE,19497,begin surface
$SM_CCo,19516,94.22,0.686,0,0,1109,450.13
$SM_GC,1.71,0.00,0.00,94.22,0.000,0.000,0.686,170,1811,1109,-8.16,0.31,450.13
$IRIDIUM_FIX,2505.59,12353.96,300998,040442
$TT8_MAMPS,0.026845
$HUMID,1483
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.50
$XPDR_PINGS,142
$24V_AH,22.7,65.119
$10V_AH,10.7,40.261
$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,19.975,184.225,421.975,94.225,0.000,26.433,38.815,238.689,43.500,0.000,0.000,12.420,3257.267,11531.559,654.461,3867.864,744.020,0.000,2348.642,0.000,3847.894,0.000,54.407,0.000
$DEVICE_MAMPS,227.799,59.059,1488.747,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1247.496,1275.773,2137.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107364,1832
$CAP_FILE_SIZE,188090,0
$CFSIZE,260165632,212209664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125, 91.6,1
$GPS,060709,152106,2510.788,12400.819,26,1.6,26,-3.8