version: 66.04
glider: 166
mission: 2
dive: 300
start: 7 7 109 13 55 11
data:
$ID,166
$MISSION,2
$DIVE,300
$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,-11278.474
$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,42
$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
$GPS1,134224,2506.197,12405.370,25,1.1,42,-3.7
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.1
$GPS2,135449,2506.272,12405.382,12,1.1,17,-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,238.5,110668,-13.7,-7.990
$D_GRID,1953
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-51.35,0.000,2,0.000,0.000,171,1799,2301
$GC,74,-1.01,-170.3,3.3,-4.4,8,127,9.25,2.12,-36.35,0.000,4,0.229,0.054,2446,394,3638
$GC,232,-1.01,-170.3,32.0,-20.4,34,240,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1815,3638
$GC,577,-1.01,-170.3,93.5,-16.9,95,584,0.00,2.15,0.00,0.000,4,0.000,0.040,2443,396,3639
$GC,652,-1.01,-170.3,106.4,-16.8,108,658,0.00,2.03,0.00,0.000,6,0.000,0.027,2440,1811,3639
$GC,997,-1.01,-170.3,154.2,-14.3,169,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1811,3639
$GC,1341,-1.01,-170.3,203.2,-13.5,230,1348,0.00,2.10,0.00,0.000,4,0.000,0.040,2432,394,3640
$GC,1400,-1.01,-170.3,211.5,-14.3,240,1406,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1814,3640
$GC,1742,-1.01,-170.3,253.4,-11.7,301,1748,0.00,2.12,0.00,0.000,4,0.000,0.040,2425,386,3640
$GC,1827,-1.01,-170.3,264.6,-13.2,316,1834,0.00,2.05,0.00,0.000,6,0.000,0.028,2424,1794,3640
$GC,2170,-1.01,-170.3,302.4,-10.5,375,2174,0.00,2.10,0.00,0.000,4,0.000,0.041,2426,383,3640
$GC,2254,-1.01,-170.3,312.7,-12.5,382,2262,0.00,2.05,0.00,0.000,6,0.000,0.028,2428,1814,3640
$GC,2581,-1.01,-170.3,351.2,-13.0,413,2585,0.00,2.12,0.00,0.000,4,0.000,0.043,2433,392,3638
$GC,2676,-1.01,-170.3,363.9,-12.9,421,2682,0.00,2.03,0.00,0.000,6,0.000,0.029,2430,1801,3637
$GC,3000,-1.01,-170.3,398.1,-9.7,452,3004,0.00,2.12,0.00,0.000,4,0.000,0.044,2433,386,3635
$GC,3107,-1.01,-170.3,408.8,-9.5,461,3113,0.00,2.05,0.00,0.000,6,0.000,0.030,2424,1800,3635
$GC,3433,-1.01,-170.3,437.8,-9.5,492,3436,0.00,2.12,0.00,0.000,4,0.000,0.044,2426,391,3632
$GC,3535,-1.01,-170.3,448.6,-10.9,501,3539,0.10,2.05,0.00,0.000,6,0.165,0.031,2450,1797,3632
$GC,3864,-1.01,-170.3,477.1,-8.4,532,3868,0.00,2.12,0.00,0.000,4,0.000,0.046,2449,391,3629
$GC,3881,-1.01,-170.3,478.6,-8.8,533,3887,0.00,2.08,0.00,0.000,6,0.000,0.032,2449,1812,3628
$GC,4204,-1.01,-170.3,508.1,-9.3,560,4208,0.00,2.10,0.00,0.000,4,0.000,0.047,2450,3208,3625
$GC,4236,-1.01,-170.3,511.5,-9.8,561,4241,0.00,2.08,0.00,0.000,6,0.000,0.034,2450,1803,3625
$GC,4558,-1.01,-170.3,541.9,-9.3,577,4562,0.00,2.15,0.00,0.000,4,0.000,0.050,2450,388,3622
$GC,4671,-1.01,-170.3,553.0,-11.0,582,4675,0.00,2.08,0.00,0.000,6,0.000,0.034,2451,1800,3623
$GC,5003,-1.01,-170.3,581.9,-8.7,598,5007,0.00,2.17,0.00,0.000,4,0.000,0.053,2451,388,3620
$GC,5063,-1.01,-170.3,587.8,-10.3,600,5070,0.00,2.12,0.00,0.000,6,0.000,0.037,2451,1798,3619
$GC,5379,-1.01,-170.3,616.1,-9.0,616,5382,0.00,2.12,0.00,0.000,4,0.000,0.051,2452,3200,3617
$GC,5434,-1.01,-170.3,621.2,-9.3,618,5438,0.00,2.10,0.00,0.000,6,0.000,0.044,2451,1797,3616
$GC,5756,-1.01,-170.3,648.5,-8.5,634,5759,0.00,2.17,0.00,0.000,4,0.000,0.054,2451,391,3614
$GC,5806,-1.01,-170.3,653.2,-9.2,636,5809,0.00,2.12,0.00,0.000,6,0.000,0.035,2451,1812,3613
$GC,6132,-1.01,-170.3,683.0,-9.4,652,6136,0.00,2.15,0.00,0.000,4,0.000,0.054,2453,3212,3612
$GC,6159,-1.01,-170.3,685.5,-9.5,653,6163,0.00,2.12,0.00,0.000,6,0.000,0.044,2453,1798,3612
$GC,6487,-1.01,-170.3,715.4,-8.8,669,6491,0.00,2.17,0.00,0.000,4,0.000,0.053,2454,3209,3609
$GC,6534,-1.01,-170.3,719.5,-8.7,671,6537,0.00,2.10,0.00,0.000,6,0.000,0.038,2456,1801,3609
$GC,6868,-1.01,-170.3,746.0,-7.7,687,6872,0.00,2.20,0.00,0.000,4,0.000,0.058,2456,3211,3606
$GC,6923,-1.01,-170.3,750.4,-8.0,689,6927,0.00,2.12,0.00,0.000,6,0.000,0.040,2461,1802,3606
$GC,7247,-1.01,-170.3,775.9,-8.4,705,7251,0.00,2.17,0.00,0.000,4,0.000,0.054,2445,3204,3604
$GC,7294,-1.01,-170.3,780.2,-9.1,707,7298,0.00,2.12,0.00,0.000,6,0.000,0.041,2452,1791,3603
$GC,7627,-1.01,-170.3,810.5,-9.0,723,7631,0.00,2.20,0.00,0.000,4,0.000,0.061,2441,3197,3602
$GC,7659,-1.01,-170.3,813.7,-9.3,724,7663,0.00,2.12,0.00,0.000,6,0.000,0.040,2447,1788,3602
$GC,7981,-1.01,-170.3,843.4,-9.3,740,7985,0.00,2.20,0.00,0.000,4,0.000,0.063,2446,387,3601
$GC,8140,-1.01,-170.3,859.0,-10.1,747,8143,0.00,2.12,0.00,0.000,6,0.000,0.040,2437,1800,3599
$GC,8472,-1.01,-170.3,888.7,-9.1,763,8476,0.00,2.20,0.00,0.000,4,0.000,0.056,2438,395,3597
$GC,8551,-1.01,-170.3,896.5,-9.9,766,8554,0.00,2.12,0.00,0.000,6,0.000,0.041,2436,1800,3597
$GC,8872,-1.01,-170.3,925.4,-9.2,782,8876,0.00,2.20,0.00,0.000,4,0.000,0.058,2437,400,3595
$GC,8995,-1.01,-170.3,937.8,-10.9,787,8999,0.00,2.15,0.00,0.000,6,0.000,0.044,2436,1804,3595
$GC,9316,-1.01,-170.3,966.0,-8.6,803,9320,0.00,2.22,0.00,0.000,4,0.000,0.057,2436,389,3593
$GC,9455,-1.01,-170.3,979.8,-9.5,809,9460,0.00,2.15,0.00,0.000,6,0.000,0.041,2427,1808,3592
$STATE,9575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9575,begin apogee
$GC,9582,-0.29,0.0,990.8,9.1,815,9737,0.80,0.00,145.30,1.494,6,0.117,0.000,2686,1346,2945
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9741,1.01,170.3,999.2,0.0,823,9908,1.15,2.45,155.57,1.460,4,0.046,0.051,3115,2753,2249
$GC,9987,1.01,170.3,980.8,14.4,834,9991,0.00,2.25,0.00,0.000,6,0.000,0.048,3125,1353,2245
$GC,10313,1.01,170.3,934.9,14.2,850,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1353,2242
$GC,10624,1.01,170.3,892.5,13.8,865,10628,0.00,2.20,0.00,0.000,4,0.000,0.054,3125,2762,2241
$GC,10696,1.01,170.3,882.1,14.0,868,10701,0.00,2.22,0.00,0.000,6,0.000,0.048,3135,1346,2241
$GC,11023,1.01,170.3,837.7,13.6,884,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1346,2240
$GC,11333,1.01,170.3,796.5,13.1,899,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1346,2239
$GC,11641,1.01,170.3,757.2,12.4,914,11645,0.00,2.20,0.00,0.000,4,0.000,0.053,3135,2759,2238
$GC,11669,1.01,170.3,753.6,12.1,915,11673,0.15,2.17,0.00,0.000,6,0.206,0.048,3112,1348,2238
$GC,11996,1.01,170.3,716.7,11.9,931,12000,0.00,2.20,0.00,0.000,4,0.000,0.052,3110,2762,2238
$GC,12118,1.01,170.3,701.2,12.3,936,12123,0.00,2.20,0.00,0.000,6,0.000,0.048,3119,1335,2237
$GC,12440,1.01,170.3,660.5,12.6,952,12444,0.00,2.22,0.00,0.000,4,0.000,0.051,3115,2767,2237
$GC,12479,1.01,170.3,655.6,12.2,953,12485,0.00,2.20,0.00,0.000,6,0.000,0.047,3123,1339,2237
$GC,12794,1.01,170.3,619.8,10.7,969,12798,0.00,2.20,0.00,0.000,4,0.000,0.051,3123,2761,2237
$GC,13046,1.01,170.3,590.3,11.2,980,13050,0.00,2.17,0.00,0.000,6,0.000,0.047,3132,1349,2236
$GC,13373,1.01,170.3,554.9,10.5,996,13377,0.00,1.80,0.00,0.000,4,0.000,0.059,3141,198,2236
$GC,13445,1.01,170.3,546.9,10.8,999,13450,0.10,1.77,0.00,0.000,6,0.198,0.041,3111,1366,2236
$GC,13773,1.01,170.3,514.6,9.8,1015,13777,0.00,2.12,0.00,0.000,4,0.000,0.050,3106,2752,2236
$GC,14032,1.01,170.3,488.2,10.9,1031,14036,0.00,2.15,0.00,0.000,6,0.000,0.044,3114,1343,2236
$GC,14362,1.01,170.3,455.0,9.2,1062,14366,0.00,2.17,0.00,0.000,4,0.000,0.049,3111,2756,2236
$GC,14521,1.01,170.3,440.7,8.8,1076,14524,0.00,2.15,0.00,0.000,6,0.000,0.044,3119,1345,2236
$GC,14853,1.01,170.3,411.7,8.4,1107,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1345,2236
$GC,15170,1.01,170.3,383.0,9.2,1137,15174,0.00,2.17,0.00,0.000,4,0.000,0.054,3116,2758,2237
$GC,15205,1.01,170.3,379.6,9.5,1140,15208,0.00,2.17,0.00,0.000,6,0.000,0.049,3124,1346,2237
$GC,15538,1.01,170.3,349.5,8.2,1171,15544,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1346,2237
$GC,15865,1.08,224.7,326.4,6.3,1202,15916,0.00,0.00,45.38,1.027,6,0.000,0.000,3124,1346,2028
$GC,16240,1.08,224.7,289.4,10.1,1246,16246,0.00,2.17,0.00,0.000,4,0.000,0.045,3125,2760,2023
$GC,16299,1.08,224.7,283.2,10.6,1256,16305,0.00,2.15,0.00,0.000,6,0.000,0.042,3133,1349,2022
$GC,16644,1.08,224.7,247.6,9.0,1317,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1349,2022
$GC,16986,1.08,224.7,215.6,11.0,1378,16993,0.00,1.80,0.00,0.000,4,0.000,0.052,3145,196,2022
$GC,17140,1.08,224.7,200.3,10.1,1405,17146,0.00,1.73,0.00,0.000,6,0.000,0.036,3146,1374,2022
$GC,17486,1.08,224.7,170.1,8.6,1466,17492,0.00,1.83,0.00,0.000,4,0.000,0.051,3157,202,2023
$GC,17505,1.08,224.7,168.4,8.5,1469,17512,0.10,1.70,0.00,0.000,6,0.177,0.035,3135,1350,2022
$GC,17851,1.16,286.5,146.3,6.0,1530,17908,0.00,2.20,51.50,0.848,4,0.000,0.039,3125,2753,1777
$GC,18055,1.16,286.5,128.5,10.5,1565,18062,0.00,2.17,0.00,0.000,6,0.000,0.038,3133,1340,1774
$GC,18401,1.17,293.8,101.2,7.8,1626,18415,0.00,2.12,7.53,0.665,4,0.000,0.037,3133,2757,1746
$GC,18608,1.20,324.3,85.6,7.0,1662,18641,0.10,2.10,26.90,0.757,6,0.076,0.036,3180,1347,1623
$GC,18982,1.20,324.3,50.5,8.5,1727,18990,0.00,1.75,0.00,0.000,4,0.000,0.048,3191,208,1622
$GC,19116,1.20,324.3,38.6,8.6,1750,19122,0.00,1.67,0.00,0.000,6,0.000,0.030,3191,1365,1622
$GC,19459,1.25,357.8,10.8,6.9,1811,19493,0.00,1.83,29.27,0.680,4,0.000,0.045,3199,204,1485
$STATE,19554,end climb,SURFACE_DEPTH_REACHED
$STATE,19554,begin surface coast
$FINISH,1.8,1.021239
$STATE,19566,end surface coast,CONTROL_FINISHED_OK
$STATE,19568,begin surface
$SM_CCo,19588,75.03,0.677,0,0,1109,450.13
$SM_GC,1.64,0.00,0.00,75.03,0.000,0.000,0.677,167,1795,1109,-8.17,-0.14,450.13
$IRIDIUM_FIX,2456.07,12405.15,011098,131337
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,145
$24V_AH,22.6,66.135
$10V_AH,10.7,41.169
$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,19.900,169.150,461.450,75.025,0.000,48.698,71.062,394.954,44.250,0.000,0.000,17.517,3234.361,11747.833,667.845,3808.672,931.340,0.000,2329.123,0.000,3762.361,0.000,54.414,0.000
$DEVICE_MAMPS,229.333,62.894,1494.116,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1244.898,1267.550,2130.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107246,1829
$CAP_FILE_SIZE,185938,0
$CFSIZE,260165632,211709952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099, 45.9,1
$GPS,070709,192407,2505.596,12404.992,34,0.9,34,-3.7