version: 66.04
glider: 166
mission: 2
dive: 298
start: 7 7 109 2 35 48
data:
$ID,166
$MISSION,2
$DIVE,298
$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,-11246.11
$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,46
$R_STBD_OVSHOOT,64
$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
$GPS1,022625,2507.717,12405.565,37,1.6,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.7
$GPS2,023526,2507.849,12405.691,12,1.4,12,-3.8
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,248.1,113052,-13.7,-7.990
$D_GRID,1987
$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,15,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,71,0.00,0.00,-51.95,0.000,2,0.000,0.000,170,1827,2320
$GC,74,-1.01,-170.3,3.1,-4.3,8,127,9.18,2.17,-36.80,0.000,4,0.228,0.053,2448,389,3640
$GC,243,-1.01,-170.3,36.2,-22.8,36,249,0.00,2.08,0.00,0.000,6,0.000,0.028,2448,1795,3641
$GC,587,-1.01,-170.3,98.1,-14.6,97,595,0.00,2.10,0.00,0.000,4,0.000,0.039,2434,384,3641
$GC,652,-1.01,-170.3,108.1,-15.4,108,658,0.00,2.05,0.00,0.000,6,0.000,0.027,2429,1816,3641
$GC,998,-1.01,-170.3,158.1,-14.7,169,1005,0.00,2.12,0.00,0.000,4,0.000,0.039,2427,384,3643
$GC,1073,-1.01,-170.3,169.2,-14.3,182,1079,0.00,2.05,0.00,0.000,6,0.000,0.027,2428,1796,3643
$GC,1417,-1.01,-170.3,211.6,-11.9,243,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1797,3643
$GC,1760,-1.01,-170.3,253.3,-12.5,304,1767,0.00,2.08,0.00,0.000,4,0.000,0.041,2427,397,3643
$GC,1904,-1.01,-170.3,271.4,-12.0,329,1911,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1808,3643
$GC,2249,-1.01,-170.3,308.5,-11.2,384,2252,0.00,2.12,0.00,0.000,4,0.000,0.041,2429,386,3643
$GC,2328,-1.01,-170.3,318.3,-12.6,391,2332,0.00,2.05,0.00,0.000,6,0.000,0.028,2433,1811,3642
$GC,2659,-1.01,-170.3,355.2,-10.5,422,2662,0.00,2.12,0.00,0.000,4,0.000,0.042,2436,391,3641
$GC,2730,-1.01,-170.3,363.7,-11.6,428,2737,0.00,2.08,0.00,0.000,6,0.000,0.029,2445,1801,3641
$GC,3056,-1.01,-170.3,398.6,-10.2,459,3059,0.00,2.10,0.00,0.000,4,0.000,0.044,2446,400,3639
$GC,3168,-1.01,-170.3,410.9,-11.0,469,3172,0.00,2.03,0.00,0.000,6,0.000,0.031,2433,1800,3638
$GC,3498,-1.01,-170.3,443.9,-10.8,500,3502,0.00,2.12,0.00,0.000,4,0.000,0.044,2428,391,3636
$GC,3556,-1.01,-170.3,450.6,-12.3,505,3560,0.00,2.08,0.00,0.000,6,0.000,0.031,2425,1813,3636
$GC,3888,-1.01,-170.3,486.8,-10.8,536,3892,0.00,2.15,0.00,0.000,4,0.000,0.046,2425,394,3633
$GC,3927,-1.01,-170.3,491.5,-11.7,539,3933,0.00,2.08,0.00,0.000,6,0.000,0.032,2425,1808,3633
$GC,4245,-1.01,-170.3,523.0,-9.7,559,4248,0.00,2.15,0.00,0.000,4,0.000,0.047,2425,393,3630
$GC,4317,-1.01,-170.3,531.3,-11.1,562,4321,0.00,2.08,0.00,0.000,6,0.000,0.033,2427,1804,3630
$GC,4644,-1.01,-170.3,565.7,-10.5,578,4647,0.00,2.15,0.00,0.000,4,0.000,0.049,2426,397,3627
$GC,4689,-1.01,-170.3,571.0,-11.9,580,4692,0.00,2.08,0.00,0.000,6,0.000,0.035,2430,1801,3626
$GC,5021,-1.01,-170.3,606.7,-10.5,596,5025,0.00,2.17,0.00,0.000,4,0.000,0.058,2427,394,3624
$GC,5054,-1.01,-170.3,610.5,-10.5,597,5058,0.00,2.10,0.00,0.000,6,0.000,0.038,2433,1798,3624
$GC,5376,-1.01,-170.3,641.7,-9.2,613,5379,0.00,2.17,0.00,0.000,4,0.000,0.053,2432,394,3621
$GC,5432,-1.01,-170.3,647.4,-9.9,615,5435,0.00,2.12,0.00,0.000,6,0.000,0.042,2442,1813,3621
$GC,5754,-1.01,-170.3,674.7,-8.2,631,5759,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,398,3619
$GC,5809,-1.01,-170.3,680.0,-9.5,633,5813,0.00,2.12,0.00,0.000,6,0.000,0.041,2447,1807,3618
$GC,6132,-1.01,-170.3,709.5,-10.2,649,6135,0.00,2.20,0.00,0.000,4,0.000,0.058,2446,395,3616
$GC,6226,-1.01,-170.3,720.5,-11.6,653,6230,0.00,2.10,0.00,0.000,6,0.000,0.038,2447,1801,3614
$GC,6554,-1.01,-170.3,753.1,-9.4,669,6557,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,400,3613
$GC,6671,-1.01,-170.3,765.3,-10.7,674,6675,0.00,2.10,0.00,0.000,6,0.000,0.039,2442,1800,3612
$GC,6998,-1.01,-170.3,796.1,-9.6,690,7002,0.00,2.17,0.00,0.000,4,0.000,0.054,2443,402,3610
$GC,7067,-1.01,-170.3,803.1,-10.6,693,7071,0.00,2.10,0.00,0.000,6,0.000,0.039,2431,1800,3609
$GC,7399,-1.01,-170.3,834.0,-9.1,709,7403,0.00,2.17,0.00,0.000,4,0.000,0.055,2435,404,3607
$GC,7477,-1.01,-170.3,841.9,-9.7,712,7481,0.00,2.10,0.00,0.000,6,0.000,0.040,2426,1799,3607
$GC,7800,-1.01,-170.3,870.3,-8.8,728,7804,0.00,2.17,0.00,0.000,4,0.000,0.055,2428,406,3605
$GC,7913,-1.01,-170.3,881.7,-9.6,733,7918,0.10,2.12,0.00,0.000,6,0.166,0.041,2449,1812,3604
$GC,8240,-1.01,-170.3,908.1,-8.2,749,8244,0.00,2.20,0.00,0.000,4,0.000,0.058,2447,407,3603
$GC,8331,-1.01,-170.3,916.5,-9.3,753,8335,0.00,2.10,0.00,0.000,6,0.000,0.041,2440,1801,3602
$GC,8663,-1.01,-170.3,946.0,-9.0,769,8667,0.00,2.20,0.00,0.000,4,0.000,0.058,2440,398,3601
$GC,8725,-1.01,-170.3,952.0,-9.9,771,8731,0.00,2.15,0.00,0.000,6,0.000,0.041,2436,1812,3600
$GC,9040,-1.01,-170.3,981.5,-9.4,787,9044,0.00,2.22,0.00,0.000,4,0.000,0.058,2436,401,3599
$STATE,9121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9121,begin apogee
$GC,9129,-0.29,0.0,990.4,10.3,790,9277,0.73,0.00,144.82,1.506,6,0.114,0.000,2679,1376,2945
$STATE,9277,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9281,1.01,170.3,998.5,0.0,798,9446,1.17,2.35,155.93,1.457,4,0.049,0.052,3115,2751,2249
$GC,9479,1.01,170.3,987.9,14.7,806,9483,0.00,2.28,0.00,0.000,6,0.000,0.047,3126,1363,2246
$GC,9802,1.01,170.3,942.2,14.3,822,9805,0.00,2.17,0.00,0.000,4,0.000,0.059,3128,2747,2243
$GC,9902,1.01,170.3,927.1,15.4,826,9906,0.10,2.20,0.00,0.000,6,0.195,0.050,3111,1351,2242
$GC,10224,1.01,170.3,883.1,13.9,842,10227,0.00,2.17,0.00,0.000,4,0.000,0.052,3108,2752,2241
$GC,10273,1.01,170.3,875.9,14.2,844,10277,0.00,2.17,0.00,0.000,6,0.000,0.046,3117,1337,2241
$GC,10601,1.01,170.3,832.6,13.2,860,10605,0.00,2.20,0.00,0.000,4,0.000,0.051,3113,2757,2240
$GC,10640,1.01,170.3,827.2,13.7,861,10647,0.00,2.17,0.00,0.000,6,0.000,0.045,3123,1340,2239
$GC,10956,1.01,170.3,787.8,12.3,877,10960,0.00,2.20,0.00,0.000,4,0.000,0.050,3116,2762,2239
$GC,10989,1.01,170.3,783.4,12.2,878,10993,0.00,2.17,0.00,0.000,6,0.000,0.045,3125,1346,2239
$GC,11311,1.01,170.3,743.5,12.5,894,11314,0.00,1.77,0.00,0.000,4,0.000,0.058,3133,201,2238
$GC,11356,1.01,170.3,737.4,13.6,896,11360,0.00,1.75,0.00,0.000,6,0.000,0.041,3133,1354,2238
$GC,11688,1.01,170.3,694.6,12.9,912,11692,0.00,2.15,0.00,0.000,4,0.000,0.051,3129,2750,2237
$GC,11803,1.01,170.3,680.1,12.6,917,11807,0.12,2.15,0.00,0.000,6,0.206,0.045,3109,1341,2236
$GC,12129,1.01,170.3,644.7,10.2,933,12133,0.00,2.17,0.00,0.000,4,0.000,0.051,3109,2750,2236
$GC,12258,1.01,170.3,630.6,10.7,938,12264,0.00,2.17,0.00,0.000,6,0.000,0.045,3119,1346,2236
$GC,12574,1.01,170.3,597.0,10.5,954,12578,0.00,1.77,0.00,0.000,4,0.000,0.058,3128,201,2236
$GC,12619,1.01,170.3,591.7,11.6,956,12623,0.00,1.73,0.00,0.000,6,0.000,0.040,3127,1360,2236
$GC,12951,1.01,170.3,556.3,10.5,972,12955,0.00,1.83,0.00,0.000,4,0.000,0.056,3135,192,2236
$GC,13169,1.01,170.3,532.1,11.0,981,13177,0.00,1.75,0.00,0.000,6,0.000,0.041,3134,1348,2236
$GC,13485,1.01,170.3,498.7,10.7,997,13489,0.00,2.15,0.00,0.000,4,0.000,0.048,3131,2755,2236
$GC,13543,1.01,170.3,492.2,11.2,1002,13548,0.12,2.15,0.00,0.000,6,0.202,0.042,3111,1339,2236
$GC,13867,1.01,170.3,458.9,9.5,1032,13871,0.00,2.17,0.00,0.000,4,0.000,0.048,3111,2751,2236
$GC,13962,1.01,170.3,449.8,9.8,1040,13968,0.00,2.12,0.00,0.000,6,0.000,0.041,3118,1345,2236
$GC,14290,1.01,170.3,417.1,9.4,1071,14293,0.00,2.15,0.00,0.000,4,0.000,0.047,3113,2748,2236
$GC,14415,1.01,170.3,405.7,9.3,1082,14418,0.00,2.12,0.00,0.000,6,0.000,0.041,3121,1342,2236
$GC,14747,1.04,188.4,376.7,7.4,1113,14765,0.00,0.00,14.75,1.030,6,0.000,0.000,3121,1341,2176
$GC,15086,1.04,188.4,345.9,9.5,1145,15089,0.00,2.15,0.00,0.000,4,0.000,0.044,3116,2751,2175
$GC,15154,1.04,188.4,339.2,9.1,1151,15158,0.00,2.15,0.00,0.000,6,0.000,0.043,3124,1344,2175
$GC,15487,1.04,188.4,306.5,9.6,1182,15490,0.00,2.15,0.00,0.000,4,0.000,0.051,3124,2750,2175
$GC,15605,1.04,188.4,295.6,9.3,1196,15611,0.00,2.12,0.00,0.000,6,0.000,0.041,3134,1350,2175
$GC,15948,1.04,188.4,264.1,10.1,1257,15955,0.00,1.75,0.00,0.000,4,0.000,0.051,3142,198,2175
$GC,16013,1.04,188.4,257.6,10.0,1268,16019,0.00,1.73,0.00,0.000,6,0.000,0.036,3142,1360,2175
$GC,16358,1.06,209.5,230.4,7.3,1329,16384,0.00,1.85,19.88,0.910,4,0.000,0.051,3149,201,2090
$GC,16442,1.06,209.5,223.7,8.7,1343,16448,0.00,1.70,0.00,0.000,6,0.000,0.035,3149,1361,2089
$GC,16786,1.06,209.5,194.0,8.1,1404,16792,0.00,2.08,0.00,0.000,4,0.000,0.041,3149,2752,2089
$GC,16885,1.06,209.5,185.1,8.5,1421,16893,0.15,2.10,0.00,0.000,6,0.183,0.037,3123,1343,2089
$GC,17231,1.10,236.5,159.9,7.1,1482,17263,0.00,1.77,23.90,0.839,4,0.000,0.048,3132,207,1979
$GC,17309,1.10,236.5,153.2,9.4,1495,17316,0.00,1.70,0.00,0.000,6,0.000,0.032,3133,1352,1978
$GC,17654,1.11,245.0,128.1,7.7,1556,17668,0.00,2.15,8.27,0.709,4,0.000,0.038,3134,2757,1945
$GC,17865,1.11,245.0,112.0,8.7,1593,17873,0.00,2.12,0.00,0.000,6,0.000,0.035,3145,1350,1944
$GC,18212,1.17,295.9,90.3,6.4,1654,18263,0.00,1.77,42.85,0.772,4,0.000,0.046,3154,196,1738
$GC,18309,1.17,295.9,83.2,8.6,1670,18316,0.00,1.73,0.00,0.000,6,0.000,0.031,3154,1364,1737
$GC,18654,1.24,350.5,59.3,6.3,1731,18705,0.00,2.12,45.83,0.731,4,0.000,0.035,3154,2738,1516
$GC,18852,1.24,353.0,44.7,7.9,1765,18860,0.00,2.10,0.00,0.000,6,0.000,0.034,3155,1349,1514
$GC,19199,1.30,405.3,20.1,6.3,1826,19252,0.12,2.15,46.22,0.684,4,0.069,0.034,3212,2738,1292
$GC,19299,1.30,405.3,10.7,10.5,1842,19305,0.00,2.10,0.00,0.000,6,0.000,0.033,3225,1351,1292
$STATE,19371,end climb,SURFACE_DEPTH_REACHED
$STATE,19371,begin surface coast
$FINISH,0.6,0.998142
$STATE,19402,end surface coast,CONTROL_FINISHED_OK
$STATE,19402,begin surface
$SM_CCo,19421,36.10,0.657,0,0,1109,450.13
$SM_GC,2.22,0.00,0.00,36.10,0.000,0.000,0.657,168,1812,1109,-8.17,0.34,450.13
$IRIDIUM_FIX,2500.82,12404.52,300998,212147
$TT8_MAMPS,0.026845
$HUMID,1487
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,26.00
$XPDR_PINGS,162
$24V_AH,20.7,65.715
$10V_AH,10.7,40.803
$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,20.050,187.100,502.450,36.100,0.000,23.507,39.196,317.363,48.500,0.000,0.000,12.980,3277.573,11366.505,662.286,3868.004,807.750,0.000,2368.847,0.000,3834.359,0.000,54.427,0.000
$DEVICE_MAMPS,227.799,59.059,1505.621,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.265,1306.318,2198.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107368,1860
$CAP_FILE_SIZE,190002,0
$CFSIZE,260165632,211906560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 77.4,1
$GPS,070709,080124,2506.932,12405.725,39,1.4,39,-3.7