version: 66.04
glider: 166
mission: 2
dive: 299
start: 7 7 109 8 13 18
data:
$ID,166
$MISSION,2
$DIVE,299
$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,-11260.327
$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,68
$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
$GPS1,080124,2506.932,12405.725,39,1.4,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.6
$GPS2,081256,2507.119,12405.915,13,1.2,13,-3.7
$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,245.8,112395,-13.7,-7.990
$D_GRID,1954
$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,-1.01,-170.3,0.0,0.0,0,75,0.00,0.00,-56.10,0.000,2,0.000,0.000,168,1813,2426
$GC,78,-1.01,-170.3,3.2,-4.1,8,125,9.25,2.20,-32.80,0.000,4,0.230,0.054,2445,398,3641
$GC,272,-1.01,-170.3,43.5,-21.3,41,279,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1791,3642
$GC,617,-1.01,-170.3,105.7,-15.2,102,624,0.00,2.08,0.00,0.000,4,0.000,0.039,2434,389,3643
$GC,681,-1.01,-170.3,115.7,-15.1,113,688,0.00,2.03,0.00,0.000,6,0.000,0.027,2431,1808,3643
$GC,1028,-1.01,-170.3,160.6,-13.0,174,1035,0.00,2.10,0.00,0.000,4,0.000,0.039,2429,388,3643
$GC,1086,-1.01,-170.3,168.9,-14.4,184,1093,0.00,2.05,0.00,0.000,6,0.000,0.027,2423,1800,3643
$GC,1430,-1.01,-170.3,214.0,-13.7,245,1436,0.10,2.10,0.00,0.000,4,0.165,0.039,2450,387,3643
$GC,1510,-1.01,-170.3,224.9,-13.6,259,1517,0.00,2.03,0.00,0.000,6,0.000,0.027,2452,1805,3643
$GC,1854,-1.01,-170.3,265.6,-11.0,320,1861,0.00,2.10,0.00,0.000,4,0.000,0.040,2452,385,3643
$GC,1942,-1.01,-170.3,275.4,-11.3,335,1948,0.00,2.03,0.00,0.000,6,0.000,0.027,2453,1804,3643
$GC,2281,-1.01,-170.3,310.2,-10.4,387,2284,0.00,2.10,0.00,0.000,4,0.000,0.041,2456,391,3643
$GC,2387,-1.01,-170.3,322.7,-11.9,396,2394,0.00,2.03,0.00,0.000,6,0.000,0.028,2456,1807,3642
$GC,2712,-1.01,-170.3,358.2,-11.4,427,2716,0.00,2.12,0.00,0.000,4,0.000,0.043,2466,388,3640
$GC,2781,-1.01,-170.3,366.7,-12.6,433,2785,0.00,2.05,0.00,0.000,6,0.000,0.028,2457,1811,3640
$GC,3111,-1.01,-170.3,401.4,-9.0,464,3115,0.00,2.12,0.00,0.000,4,0.000,0.044,2453,397,3638
$GC,3194,-1.01,-170.3,409.9,-9.8,471,3200,0.00,2.05,0.00,0.000,6,0.000,0.030,2450,1811,3637
$GC,3520,-1.01,-170.3,439.5,-9.2,502,3524,0.00,2.12,0.00,0.000,4,0.000,0.045,2450,398,3634
$GC,3616,-1.01,-170.3,449.5,-10.5,510,3625,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,1813,3633
$GC,3941,-1.01,-170.3,479.2,-9.2,541,3944,0.00,2.08,0.00,0.000,4,0.000,0.047,2468,3196,3631
$GC,3975,-1.01,-170.3,482.3,-9.5,544,3978,0.00,2.05,0.00,0.000,6,0.000,0.033,2465,1796,3630
$GC,4312,-1.01,-170.3,515.0,-10.3,569,4316,0.00,2.12,0.00,0.000,4,0.000,0.048,2472,3200,3628
$GC,4334,-1.01,-170.3,517.5,-10.5,570,4338,0.00,2.05,0.00,0.000,6,0.000,0.035,2471,1799,3627
$GC,4667,-1.01,-170.3,551.2,-9.7,586,4671,0.00,2.12,0.00,0.000,4,0.000,0.049,2472,3195,3625
$GC,4708,-1.01,-170.3,555.1,-10.0,587,4714,0.00,2.05,0.00,0.000,6,0.000,0.035,2472,1799,3624
$GC,5024,-1.01,-170.3,582.8,-8.3,603,5028,0.00,2.15,0.00,0.000,4,0.000,0.054,2470,397,3622
$GC,5051,-1.01,-170.3,585.6,-9.6,604,5055,0.00,2.08,0.00,0.000,6,0.000,0.035,2472,1798,3621
$GC,5380,-1.01,-170.3,612.2,-8.7,620,5384,0.00,2.15,0.00,0.000,4,0.000,0.052,2472,3201,3619
$GC,5435,-1.01,-170.3,617.5,-9.6,622,5439,0.00,2.08,0.00,0.000,6,0.000,0.036,2472,1798,3619
$GC,5758,-1.01,-170.3,648.0,-9.7,638,5762,0.00,2.17,0.00,0.000,4,0.000,0.056,2465,3204,3617
$GC,5798,-1.01,-170.3,652.3,-10.1,639,5804,0.00,2.10,0.00,0.000,6,0.000,0.044,2465,1799,3616
$GC,6114,-1.01,-170.3,683.2,-9.8,655,6117,0.00,2.17,0.00,0.000,4,0.000,0.059,2465,392,3614
$GC,6136,-1.01,-170.3,685.7,-10.5,656,6140,0.00,2.10,0.00,0.000,6,0.000,0.037,2460,1806,3614
$GC,6471,-1.01,-170.3,715.6,-8.9,672,6474,0.00,2.15,0.00,0.000,4,0.000,0.053,2459,3212,3612
$GC,6516,-1.01,-170.3,719.9,-9.4,674,6519,0.00,2.12,0.00,0.000,6,0.000,0.040,2460,1795,3611
$GC,6849,-1.01,-170.3,749.6,-9.0,690,6854,0.00,2.20,0.00,0.000,4,0.000,0.054,2456,3208,3610
$GC,6882,-1.01,-170.3,752.7,-9.3,691,6886,0.00,2.12,0.00,0.000,6,0.000,0.039,2460,1798,3609
$GC,7204,-1.01,-170.3,781.2,-8.7,707,7207,0.00,2.17,0.00,0.000,4,0.000,0.055,2458,392,3607
$GC,7226,-1.01,-170.3,783.4,-9.5,708,7230,0.00,2.12,0.00,0.000,6,0.000,0.044,2451,1801,3607
$GC,7560,-1.01,-170.3,812.2,-8.9,724,7564,0.00,2.20,0.00,0.000,4,0.000,0.054,2449,389,3605
$GC,7629,-1.01,-170.3,819.3,-10.7,727,7633,0.00,2.12,0.00,0.000,6,0.000,0.047,2442,1798,3604
$GC,7961,-1.01,-170.3,852.2,-9.8,743,7965,0.00,2.20,0.00,0.000,4,0.000,0.056,2442,391,3603
$GC,8039,-1.01,-170.3,861.0,-11.7,746,8043,0.00,2.15,0.00,0.000,6,0.000,0.041,2438,1804,3603
$GC,8362,-1.01,-170.3,892.3,-9.5,762,8365,0.00,2.20,0.00,0.000,4,0.000,0.056,2438,397,3600
$GC,8456,-1.01,-170.3,902.5,-10.3,766,8460,0.00,2.15,0.00,0.000,6,0.000,0.048,2436,1807,3600
$GC,8785,-1.01,-170.3,933.3,-9.4,782,8788,0.00,2.22,0.00,0.000,4,0.000,0.058,2436,401,3598
$GC,8890,-1.01,-170.3,944.8,-11.5,786,8898,0.00,2.15,0.00,0.000,6,0.000,0.041,2427,1798,3598
$GC,9206,-1.01,-170.3,974.6,-9.5,802,9214,0.00,2.20,0.00,0.000,4,0.000,0.058,2429,399,3596
$GC,9314,-1.01,-170.3,985.9,-10.3,806,9323,0.12,2.15,0.00,0.000,6,0.158,0.042,2456,1816,3595
$STATE,9359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9366,-0.29,0.0,990.0,8.9,809,9513,0.68,0.00,144.23,1.504,6,0.106,0.000,2683,1355,2945
$STATE,9514,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9517,1.01,170.3,997.0,0.0,816,9677,1.17,0.00,155.43,1.456,6,0.050,0.000,3115,1355,2250
$GC,9981,1.01,170.3,950.1,13.5,839,9985,0.00,2.20,0.00,0.000,4,0.000,0.055,3115,2766,2244
$GC,10050,1.01,170.3,940.6,14.0,842,10054,0.00,2.20,0.00,0.000,6,0.000,0.048,3125,1349,2242
$GC,10377,1.01,170.3,894.7,14.3,858,10381,0.00,2.20,0.00,0.000,4,0.000,0.053,3125,2764,2241
$GC,10410,1.01,170.3,889.6,14.4,859,10414,0.00,2.20,0.00,0.000,6,0.000,0.048,3133,1341,2240
$GC,10733,1.01,170.3,843.1,14.4,875,10736,0.00,2.22,0.00,0.000,4,0.000,0.052,3134,2769,2240
$GC,10856,1.01,170.3,825.1,14.4,880,10860,0.15,2.20,0.00,0.000,6,0.208,0.048,3111,1341,2240
$GC,11172,1.01,170.3,785.3,12.4,895,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1341,2239
$GC,11481,1.01,170.3,746.5,12.5,910,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1342,2239
$GC,11790,1.01,170.3,708.6,11.9,925,11794,0.00,2.22,0.00,0.000,4,0.000,0.051,3110,2764,2238
$GC,11880,1.01,170.3,697.9,10.9,929,11884,0.00,2.17,0.00,0.000,6,0.000,0.048,3120,1350,2238
$GC,12213,1.01,170.3,660.6,10.9,945,12217,0.00,2.17,0.00,0.000,4,0.000,0.051,3114,2763,2237
$GC,12291,1.01,170.3,651.7,10.9,948,12295,0.00,2.17,0.00,0.000,6,0.000,0.047,3123,1346,2237
$GC,12614,1.01,170.3,615.5,10.8,964,12617,0.00,1.80,0.00,0.000,4,0.000,0.059,3131,192,2236
$GC,12809,1.01,170.3,592.2,12.2,972,12816,0.00,1.80,0.00,0.000,6,0.000,0.042,3131,1370,2236
$GC,13125,1.01,170.3,557.7,10.7,988,13128,0.00,2.10,0.00,0.000,4,0.000,0.049,3126,2748,2236
$GC,13293,1.01,170.3,539.5,11.5,995,13297,0.00,2.15,0.00,0.000,6,0.000,0.045,3133,1343,2236
$GC,13615,1.01,170.3,505.0,11.0,1011,13618,0.00,2.17,0.00,0.000,4,0.000,0.049,3129,2756,2236
$GC,13654,1.01,170.3,500.7,10.1,1012,13660,0.00,2.15,0.00,0.000,6,0.000,0.045,3136,1347,2236
$GC,13979,1.01,170.3,465.3,10.7,1042,13982,0.00,2.15,0.00,0.000,4,0.000,0.049,3136,2748,2235
$GC,14080,1.01,170.3,454.3,11.3,1051,14085,0.15,2.17,0.00,0.000,6,0.199,0.051,3109,1337,2236
$GC,14405,1.01,170.3,424.6,8.6,1081,14409,0.00,2.20,0.00,0.000,4,0.000,0.048,3105,2759,2235
$GC,14461,1.01,170.3,419.9,8.3,1086,14464,0.00,2.15,0.00,0.000,6,0.000,0.044,3113,1349,2236
$GC,14793,1.01,170.3,393.0,8.5,1117,14795,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1349,2236
$GC,15110,1.01,170.3,364.7,8.8,1147,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1348,2236
$GC,15430,1.02,170.5,338.1,8.0,1177,15434,0.00,1.80,0.00,0.000,4,0.000,0.060,3122,199,2237
$GC,15457,1.02,170.5,335.4,8.6,1179,15464,0.00,1.75,0.00,0.000,6,0.000,0.046,3122,1353,2237
$GC,15785,1.03,182.0,307.9,7.6,1210,15799,0.00,2.20,9.43,0.920,4,0.000,0.044,3118,2757,2203
$GC,15871,1.04,193.4,300.5,7.6,1217,15891,0.00,2.17,11.60,0.931,6,0.000,0.048,3126,1340,2156
$GC,16231,1.05,202.2,272.0,7.7,1279,16248,0.00,1.83,9.48,0.881,4,0.000,0.054,3135,198,2119
$GC,16306,1.05,202.2,265.7,8.5,1292,16312,0.00,1.73,0.00,0.000,6,0.000,0.036,3135,1349,2119
$GC,16649,1.05,202.2,237.4,8.2,1353,16655,0.00,2.10,0.00,0.000,4,0.000,0.042,3136,2747,2118
$GC,16717,1.05,202.2,231.2,8.9,1365,16724,0.00,2.12,0.00,0.000,6,0.000,0.040,3146,1338,2118
$GC,17062,1.05,202.2,203.2,8.5,1426,17069,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1339,2118
$GC,17408,1.06,203.6,176.3,7.9,1487,17414,0.00,2.12,0.00,0.000,4,0.000,0.041,3150,2753,2119
$GC,17590,1.06,203.6,160.3,8.3,1519,17597,0.17,2.10,0.00,0.000,6,0.179,0.038,3118,1347,2119
$GC,17934,1.16,291.9,139.6,5.2,1580,18018,0.10,2.22,74.18,0.835,4,0.081,0.038,3166,2750,1754
$GC,18177,1.16,291.9,117.4,9.1,1621,18184,0.00,2.12,0.00,0.000,6,0.000,0.037,3177,1347,1752
$GC,18523,1.16,291.9,85.0,9.6,1682,18531,0.00,1.77,0.00,0.000,4,0.000,0.049,3185,198,1751
$GC,18639,1.19,316.7,74.7,7.2,1702,18665,0.00,1.70,21.92,0.742,6,0.000,0.031,3185,1365,1653
$GC,19003,1.19,316.7,43.1,8.0,1766,19011,0.00,2.03,0.00,0.000,4,0.000,0.036,3185,2737,1651
$GC,19090,1.19,316.7,35.8,8.0,1781,19097,0.00,2.08,0.00,0.000,6,0.000,0.035,3191,1337,1651
$GC,19436,1.24,352.3,9.9,6.9,1842,19475,0.00,1.75,30.70,0.684,4,0.000,0.047,3195,209,1507
$STATE,19526,end climb,SURFACE_DEPTH_REACHED
$STATE,19526,begin surface coast
$FINISH,0.8,0.998407
$STATE,19566,end surface coast,CONTROL_FINISHED_OK
$STATE,19567,begin surface
$SM_CCo,19586,79.20,0.678,0,0,1109,450.13
$SM_GC,1.65,0.00,0.00,79.20,0.000,0.000,0.678,171,1799,1109,-8.16,-0.03,450.13
$IRIDIUM_FIX,2458.45,12406.49,011098,080839
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,174
$24V_AH,22.7,65.923
$10V_AH,10.7,40.986
$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,20.075,181.050,456.950,79.200,0.000,51.912,115.181,308.371,51.500,0.000,0.000,13.587,3280.796,11673.424,696.640,3796.726,892.321,0.000,2351.454,0.000,3759.712,0.000,54.450,0.000
$DEVICE_MAMPS,230.100,59.826,1504.087,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1267.915,1290.861,2168.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107146,1864
$CAP_FILE_SIZE,188109,0
$CFSIZE,260165632,211808256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 69.5,1
$GPS,070709,134224,2506.197,12405.370,25,1.1,42,-3.7