version: 66.04
glider: 166
mission: 2
dive: 302
start: 7 8 109 1 16 36
data:
$ID,166
$MISSION,2
$DIVE,302
$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,-11305.961
$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,66
$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
$GPS1,005901,2504.689,12405.101,38,1.2,38,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.1
$GPS2,011614,2504.779,12405.193,14,1.2,14,-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,234.7,108568,-13.7,-7.990
$D_GRID,1920
$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,-170.3,0.0,0.0,0,72,0.00,0.00,-53.25,0.000,2,0.000,0.000,164,1783,2350
$GC,75,-1.01,-170.3,3.1,-4.0,8,128,9.25,2.12,-35.10,0.000,4,0.227,0.054,2448,401,3642
$GC,207,-1.01,-170.3,28.5,-21.3,30,215,0.00,2.05,0.00,0.000,6,0.000,0.029,2441,1786,3642
$GC,553,-1.01,-170.3,87.2,-15.9,91,560,0.00,2.08,0.00,0.000,4,0.000,0.041,2434,392,3642
$GC,736,-1.01,-170.3,117.1,-16.7,123,742,0.00,2.03,0.00,0.000,6,0.000,0.028,2431,1807,3642
$GC,1081,-1.01,-170.3,167.4,-13.9,184,1088,0.00,2.10,0.00,0.000,4,0.000,0.039,2431,389,3643
$GC,1130,-1.01,-170.3,174.5,-15.3,192,1136,0.00,2.03,0.00,0.000,6,0.000,0.028,2432,1808,3643
$GC,1475,-1.01,-170.3,218.8,-11.8,253,1481,0.00,2.10,0.00,0.000,4,0.000,0.040,2432,394,3643
$GC,1522,-1.01,-170.3,224.8,-13.0,261,1532,0.00,2.03,0.00,0.000,6,0.000,0.028,2428,1811,3643
$GC,1868,-1.01,-170.3,264.2,-10.2,322,1876,0.00,2.12,0.00,0.000,4,0.000,0.041,2429,383,3643
$GC,1957,-1.01,-170.3,274.5,-12.4,337,1964,0.00,2.05,0.00,0.000,6,0.000,0.028,2429,1811,3642
$GC,2296,-1.01,-170.3,314.1,-11.0,387,2300,0.00,2.12,0.00,0.000,4,0.000,0.042,2428,391,3642
$GC,2364,-1.01,-170.3,322.3,-12.0,393,2368,0.00,2.05,0.00,0.000,6,0.000,0.030,2436,1811,3641
$GC,2693,-1.01,-170.3,357.4,-10.6,424,2697,0.00,2.12,0.00,0.000,4,0.000,0.043,2435,395,3639
$GC,2755,-1.01,-170.3,364.7,-12.4,429,2761,0.00,2.05,0.00,0.000,6,0.000,0.030,2440,1808,3638
$GC,3079,-1.01,-170.3,404.2,-11.5,460,3083,0.00,2.12,0.00,0.000,4,0.000,0.044,2441,398,3636
$GC,3180,-1.01,-170.3,416.7,-12.1,469,3184,0.00,2.05,0.00,0.000,6,0.000,0.031,2431,1808,3635
$GC,3511,-1.01,-170.3,451.2,-9.7,500,3515,0.00,2.12,0.00,0.000,4,0.000,0.046,2436,400,3633
$GC,3590,-1.01,-170.3,459.8,-11.3,507,3594,0.00,2.05,0.00,0.000,6,0.000,0.032,2426,1803,3632
$GC,3922,-1.01,-170.3,494.3,-10.7,538,3925,0.00,2.15,0.00,0.000,4,0.000,0.048,2427,390,3629
$GC,3957,-1.01,-170.3,498.5,-12.3,541,3961,0.00,2.08,0.00,0.000,6,0.000,0.034,2426,1801,3629
$GC,4278,-1.01,-170.3,534.7,-10.8,557,4282,0.00,2.15,0.00,0.000,4,0.000,0.048,2426,391,3626
$GC,4350,-1.01,-170.3,543.4,-11.9,560,4354,0.00,2.10,0.00,0.000,6,0.000,0.040,2426,1803,3626
$GC,4678,-1.01,-170.3,578.2,-10.3,576,4681,0.00,2.15,0.00,0.000,4,0.000,0.049,2426,397,3623
$GC,4723,-1.01,-170.3,583.3,-11.7,578,4726,0.00,2.10,0.00,0.000,6,0.000,0.035,2426,1814,3622
$GC,5055,-1.01,-170.3,616.2,-9.4,594,5058,0.00,2.17,0.00,0.000,4,0.000,0.051,2426,395,3621
$GC,5126,-1.01,-170.3,623.4,-9.3,597,5130,0.00,2.10,0.00,0.000,6,0.000,0.039,2426,1800,3620
$GC,5456,-1.01,-170.3,651.7,-8.6,613,5459,0.00,2.15,0.00,0.000,4,0.000,0.052,2427,3210,3617
$GC,5478,-1.01,-170.3,653.8,-8.5,614,5482,0.00,2.12,0.00,0.000,6,0.000,0.041,2426,1792,3617
$GC,5811,-1.01,-170.3,684.0,-9.5,630,5815,0.00,2.15,0.00,0.000,4,0.000,0.058,2428,401,3614
$GC,5946,-1.01,-170.3,698.8,-10.8,636,5950,0.00,2.10,0.00,0.000,6,0.000,0.041,2428,1796,3614
$GC,6278,-1.01,-170.3,730.3,-8.9,652,6282,0.00,2.17,0.00,0.000,4,0.000,0.058,2429,403,3612
$GC,6350,-1.01,-170.3,737.4,-9.4,655,6354,0.00,2.12,0.00,0.000,6,0.000,0.042,2429,1809,3611
$GC,6678,-1.01,-170.3,765.6,-9.0,671,6681,0.00,2.20,0.00,0.000,4,0.000,0.054,2430,395,3609
$GC,6762,-1.01,-170.3,774.3,-10.9,674,6769,0.00,2.12,0.00,0.000,6,0.000,0.040,2429,1811,3608
$GC,7077,-1.01,-170.3,805.1,-10.2,690,7081,0.00,2.20,0.00,0.000,4,0.000,0.055,2430,393,3606
$GC,7217,-1.01,-170.3,820.8,-11.3,696,7221,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,1805,3605
$GC,7543,-1.01,-170.3,853.4,-9.7,712,7548,0.10,2.22,0.00,0.000,4,0.164,0.062,2452,398,3603
$GC,7626,-1.01,-170.3,861.0,-8.8,715,7632,0.00,2.15,0.00,0.000,6,0.000,0.044,2440,1808,3603
$GC,7943,-1.01,-170.3,884.5,-7.1,731,7947,0.00,2.20,0.00,0.000,4,0.000,0.058,2440,404,3601
$GC,8049,-1.01,-170.3,893.1,-7.6,735,8056,0.00,2.12,0.00,0.000,6,0.000,0.042,2435,1807,3600
$GC,8368,-1.01,-170.3,916.9,-7.7,751,8372,0.00,2.22,0.00,0.000,4,0.000,0.058,2435,392,3598
$GC,8496,-1.01,-170.3,928.7,-9.3,756,8503,0.00,2.17,0.00,0.000,6,0.000,0.044,2434,1793,3597
$GC,8811,-1.01,-170.3,954.7,-8.4,772,8815,0.00,2.20,0.00,0.000,4,0.000,0.059,2434,398,3596
$GC,8907,-1.01,-170.3,963.7,-9.0,776,8911,0.00,2.17,0.00,0.000,6,0.000,0.045,2434,1808,3595
$STATE,9231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9231,begin apogee
$GC,9237,-0.29,0.0,991.7,8.7,792,9394,0.75,0.00,145.88,1.494,6,0.110,0.000,2682,1349,2945
$STATE,9395,end apogee,CONTROL_FINISHED_OK
$STATE,9395,begin climb
$GC,9398,1.01,170.3,1000.2,0.0,800,9563,1.15,2.42,155.30,1.462,4,0.044,0.054,3113,2761,2249
$GC,9692,1.01,170.3,976.3,13.8,813,9696,0.00,2.22,0.00,0.000,6,0.000,0.053,3124,1355,2244
$GC,10013,1.01,170.3,934.3,12.8,829,10016,0.00,2.22,0.00,0.000,4,0.000,0.061,3124,2766,2242
$GC,10085,1.01,170.3,924.5,13.3,832,10089,0.00,2.22,0.00,0.000,6,0.000,0.050,3133,1337,2242
$GC,10412,1.01,170.3,882.0,13.2,848,10415,0.00,2.22,0.00,0.000,4,0.000,0.061,3134,2758,2240
$GC,10444,1.01,170.3,877.3,14.6,849,10449,0.15,2.20,0.00,0.000,6,0.207,0.050,3109,1337,2240
$GC,10766,1.01,170.3,836.0,12.8,865,10769,0.00,2.22,0.00,0.000,4,0.000,0.055,3109,2762,2239
$GC,10827,1.01,170.3,827.5,14.1,867,10833,0.00,2.20,0.00,0.000,6,0.000,0.050,3117,1340,2239
$GC,11144,1.01,170.3,787.4,11.9,883,11147,0.00,2.22,0.00,0.000,4,0.000,0.054,3117,2767,2238
$GC,11227,1.01,170.3,776.7,11.9,886,11235,0.00,2.22,0.00,0.000,6,0.000,0.049,3127,1347,2238
$GC,11542,1.01,170.3,734.7,13.4,902,11546,0.00,1.80,0.00,0.000,4,0.000,0.062,3136,199,2237
$GC,11610,1.01,170.3,725.0,14.7,905,11614,0.00,1.75,0.00,0.000,6,0.000,0.044,3136,1363,2237
$GC,11942,1.01,170.3,680.2,12.4,921,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1364,2237
$GC,12252,1.01,170.3,645.1,11.2,936,12255,0.00,2.15,0.00,0.000,4,0.000,0.054,3134,2751,2236
$GC,12366,1.01,170.3,632.8,10.4,941,12371,0.15,2.17,0.00,0.000,6,0.203,0.048,3108,1342,2235
$GC,12692,1.01,170.3,597.2,11.2,957,12696,0.00,2.20,0.00,0.000,4,0.000,0.052,3104,2753,2235
$GC,12917,1.01,170.3,571.3,12.1,967,12921,0.00,2.17,0.00,0.000,6,0.000,0.047,3112,1336,2236
$GC,13251,1.01,170.3,539.0,9.1,983,13254,0.00,2.20,0.00,0.000,4,0.000,0.051,3110,2758,2235
$GC,13491,1.01,170.3,515.9,9.9,993,13498,0.00,2.17,0.00,0.000,6,0.000,0.047,3118,1346,2235
$GC,13812,1.01,170.3,483.6,10.3,1016,13815,0.00,2.20,0.00,0.000,4,0.000,0.051,3118,2753,2235
$GC,13891,1.01,170.3,474.9,11.7,1023,13895,0.00,2.17,0.00,0.000,6,0.000,0.051,3128,1344,2235
$GC,14221,1.01,170.3,440.4,9.7,1054,14225,0.00,2.17,0.00,0.000,4,0.000,0.050,3126,2755,2235
$GC,14340,1.01,170.3,429.2,9.3,1064,14346,0.00,2.15,0.00,0.000,6,0.000,0.044,3134,1345,2235
$GC,14668,1.01,170.3,400.2,8.2,1095,14672,0.00,1.77,0.00,0.000,4,0.000,0.057,3143,202,2236
$GC,14692,1.01,170.3,397.8,8.8,1097,14696,0.10,1.77,0.00,0.000,6,0.193,0.046,3113,1358,2236
$GC,15021,1.03,184.2,371.0,7.6,1128,15036,0.00,1.83,10.85,0.995,4,0.000,0.057,3120,199,2194
$GC,15150,1.03,184.2,359.7,8.4,1139,15156,0.00,1.75,0.00,0.000,6,0.000,0.049,3120,1357,2194
$GC,15478,1.03,184.2,331.0,8.7,1170,15482,0.00,2.15,0.00,0.000,4,0.000,0.047,3112,2756,2194
$GC,15517,1.03,184.2,327.1,9.2,1173,15523,0.00,2.17,0.00,0.000,6,0.000,0.048,3120,1344,2194
$GC,15843,1.03,184.2,300.0,8.9,1204,15846,0.00,2.17,0.00,0.000,4,0.000,0.051,3120,2749,2194
$GC,15899,1.03,184.2,294.9,8.6,1213,15905,0.00,2.15,0.00,0.000,6,0.000,0.041,3129,1336,2194
$GC,16244,1.03,184.2,263.7,8.8,1274,16251,0.00,2.15,0.00,0.000,4,0.000,0.045,3127,2753,2194
$GC,16331,1.03,184.2,255.9,8.4,1289,16337,0.00,2.12,0.00,0.000,6,0.000,0.041,3135,1350,2194
$GC,16674,1.04,191.1,229.4,7.8,1350,16688,0.00,1.77,8.62,0.834,4,0.000,0.052,3144,198,2165
$GC,16784,1.04,191.1,220.3,8.1,1369,16790,0.00,1.73,0.00,0.000,6,0.000,0.037,3144,1367,2164
$GC,17128,1.16,289.2,194.3,4.9,1430,17218,0.00,2.17,82.28,0.901,4,0.000,0.042,3145,2751,1764
$GC,17326,1.16,289.2,175.7,11.1,1463,17334,0.00,2.15,0.00,0.000,6,0.000,0.039,3155,1344,1761
$GC,17671,1.16,289.2,141.5,8.1,1524,17678,0.00,1.80,0.00,0.000,4,0.000,0.059,3168,199,1759
$GC,17691,1.16,289.2,139.7,8.7,1527,17697,0.00,1.73,0.00,0.000,6,0.000,0.035,3168,1354,1759
$GC,18036,1.16,289.2,109.3,8.0,1588,18042,0.00,2.08,0.00,0.000,4,0.000,0.040,3172,2750,1759
$GC,18122,1.16,289.2,101.4,9.4,1603,18128,0.00,2.10,0.00,0.000,6,0.000,0.038,3181,1345,1759
$GC,18468,1.19,313.7,74.8,7.2,1664,18495,0.00,2.17,21.45,0.749,4,0.000,0.038,3181,2753,1665
$GC,18733,1.20,319.4,53.2,7.8,1710,18747,0.00,2.10,6.55,0.594,6,0.000,0.036,3191,1342,1642
$GC,19087,1.25,357.7,27.4,6.8,1772,19125,0.00,1.80,32.97,0.701,4,0.000,0.048,3199,203,1485
$GC,19216,1.25,357.7,16.4,8.8,1794,19224,0.00,1.70,0.00,0.000,6,0.000,0.030,3199,1364,1484
$STATE,19376,end climb,SURFACE_DEPTH_REACHED
$STATE,19378,begin surface coast
$FINISH,0.8,1.018910
$STATE,19417,end surface coast,CONTROL_FINISHED_OK
$STATE,19417,begin surface
$SM_CCo,19435,74.93,0.676,0,0,1109,450.13
$SM_GC,1.66,0.00,0.00,74.93,0.000,0.000,0.676,168,1805,1109,-8.16,0.14,450.13
$IRIDIUM_FIX,2456.07,12406.49,021098,010136
$TT8_MAMPS,0.026845
$HUMID,1492
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.90
$XPDR_PINGS,164
$24V_AH,22.7,66.555
$10V_AH,10.7,41.535
$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,19.725,185.775,463.900,74.925,0.000,101.381,147.675,428.998,49.000,0.000,0.000,14.556,3246.155,11635.318,681.058,3854.569,1108.984,0.000,2378.445,0.000,3814.158,0.000,54.430,0.000
$DEVICE_MAMPS,227.032,62.127,1494.116,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1243.645,1263.576,2126.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107297,1829
$CAP_FILE_SIZE,191324,0
$CFSIZE,260165632,211509248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122, 48.2,1
$GPS,080709,064307,2504.116,12405.327,42,1.5,42,-3.7