version: 66.04
glider: 166
mission: 2
dive: 303
start: 7 8 109 6 51 0
data:
$ID,166
$MISSION,2
$DIVE,303
$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,-11322.005
$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,43
$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
$GPS1,064307,2504.116,12405.327,42,1.5,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.2
$GPS2,065038,2504.265,12405.431,15,2.0,15,-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,232.1,108234,-13.7,-7.990
$D_GRID,1914
$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,-170.3,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,2,0.000,0.000,169,1805,2380
$GC,76,-1.01,-170.3,3.2,-4.5,8,129,9.23,2.17,-33.92,0.000,4,0.229,0.054,2445,397,3642
$GC,244,-1.01,-170.3,37.2,-22.9,36,250,0.00,2.05,0.00,0.000,6,0.000,0.029,2445,1788,3642
$GC,588,-1.01,-170.3,97.3,-15.0,97,596,0.00,2.10,0.00,0.000,4,0.000,0.041,2432,382,3643
$GC,687,-1.01,-170.3,113.5,-16.8,114,694,0.00,2.05,0.00,0.000,6,0.000,0.028,2431,1813,3644
$GC,1035,-1.01,-170.3,160.0,-12.2,175,1041,0.00,2.12,0.00,0.000,4,0.000,0.040,2429,382,3644
$GC,1117,-1.01,-170.3,171.3,-13.6,189,1124,0.00,2.03,0.00,0.000,6,0.000,0.028,2429,1801,3644
$GC,1463,-1.01,-170.3,216.0,-12.4,250,1469,0.00,2.10,0.00,0.000,4,0.000,0.041,2427,385,3644
$GC,1520,-1.01,-170.3,223.7,-13.5,260,1526,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1799,3644
$GC,1865,-1.01,-170.3,266.2,-12.6,321,1872,0.00,2.10,0.00,0.000,4,0.000,0.041,2427,388,3644
$GC,1958,-1.01,-170.3,278.8,-14.0,337,1965,0.00,2.05,0.00,0.000,6,0.000,0.029,2430,1813,3644
$GC,2299,-1.01,-170.3,317.0,-10.6,384,2302,0.00,2.12,0.00,0.000,4,0.000,0.042,2430,392,3644
$GC,2404,-1.01,-170.3,329.0,-11.0,393,2412,0.00,2.05,0.00,0.000,6,0.000,0.029,2426,1812,3644
$GC,2731,-1.01,-170.3,365.7,-11.7,424,2735,0.00,2.12,0.00,0.000,4,0.000,0.043,2428,392,3642
$GC,2770,-1.01,-170.3,370.9,-12.8,427,2776,0.00,2.05,0.00,0.000,6,0.000,0.031,2435,1806,3641
$GC,3095,-1.01,-170.3,406.3,-10.7,458,3099,0.00,2.12,0.00,0.000,4,0.000,0.044,2438,392,3640
$GC,3207,-1.01,-170.3,418.4,-11.3,468,3211,0.00,2.08,0.00,0.000,6,0.000,0.037,2434,1803,3639
$GC,3542,-1.01,-170.3,449.9,-10.3,499,3546,0.00,2.15,0.00,0.000,4,0.000,0.046,2440,391,3637
$GC,3631,-1.01,-170.3,460.9,-11.8,507,3636,0.00,2.08,0.00,0.000,6,0.000,0.033,2430,1810,3636
$GC,3962,-1.01,-170.3,496.1,-10.0,538,3965,0.00,2.15,0.00,0.000,4,0.000,0.048,2431,396,3633
$GC,4057,-1.01,-170.3,506.4,-10.6,544,4061,0.00,2.08,0.00,0.000,6,0.000,0.034,2426,1804,3632
$GC,4385,-1.01,-170.3,536.7,-9.6,560,4388,0.00,2.15,0.00,0.000,4,0.000,0.048,2429,395,3630
$GC,4475,-1.01,-170.3,546.7,-10.7,564,4479,0.00,2.08,0.00,0.000,6,0.000,0.035,2426,1799,3629
$GC,4807,-1.01,-170.3,580.2,-9.9,580,4811,0.00,2.17,0.00,0.000,4,0.000,0.056,2426,392,3626
$GC,4862,-1.01,-170.3,586.5,-11.8,582,4867,0.00,2.10,0.00,0.000,6,0.000,0.036,2425,1810,3626
$GC,5187,-1.01,-170.3,620.8,-11.0,598,5190,0.00,2.20,0.00,0.000,4,0.000,0.058,2426,392,3624
$GC,5281,-1.01,-170.3,632.3,-11.8,602,5285,0.00,2.10,0.00,0.000,6,0.000,0.038,2425,1801,3623
$GC,5608,-1.01,-170.3,666.1,-9.6,618,5612,0.00,2.17,0.00,0.000,4,0.000,0.054,2424,400,3621
$GC,5692,-1.01,-170.3,674.6,-9.8,621,5700,0.00,2.12,0.00,0.000,6,0.000,0.044,2425,1813,3620
$GC,6009,-1.01,-170.3,700.6,-8.0,637,6012,0.00,2.20,0.00,0.000,4,0.000,0.054,2425,391,3618
$GC,6087,-1.01,-170.3,708.2,-10.2,640,6092,0.12,2.12,0.00,0.000,6,0.159,0.044,2451,1801,3617
$GC,6403,-1.01,-170.3,735.2,-9.1,655,6406,0.00,2.15,0.00,0.000,4,0.000,0.054,2444,3203,3615
$GC,6435,-1.01,-170.3,738.5,-9.8,656,6439,0.00,2.12,0.00,0.000,6,0.000,0.045,2451,1793,3614
$GC,6759,-1.01,-170.3,769.1,-9.3,672,6762,0.00,2.20,0.00,0.000,4,0.000,0.055,2437,3213,3612
$GC,6804,-1.01,-170.3,773.3,-9.5,674,6808,0.00,2.12,0.00,0.000,6,0.000,0.040,2444,1795,3612
$GC,7137,-1.01,-170.3,802.6,-8.6,690,7140,0.00,2.20,0.00,0.000,4,0.000,0.056,2436,3208,3610
$GC,7176,-1.01,-170.3,806.1,-9.0,691,7182,0.00,2.12,0.00,0.000,6,0.000,0.040,2441,1794,3610
$GC,7491,-1.01,-170.3,835.4,-9.7,707,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1794,3608
$GC,7801,-1.01,-170.3,865.3,-9.6,722,7804,0.00,2.20,0.00,0.000,4,0.000,0.057,2435,3200,3606
$GC,7879,-1.01,-170.3,873.4,-10.2,725,7883,0.00,2.12,0.00,0.000,6,0.000,0.042,2436,1794,3605
$GC,8200,-1.01,-170.3,905.1,-10.1,741,8204,0.00,2.20,0.00,0.000,4,0.000,0.059,2435,388,3604
$GC,8345,-1.01,-170.3,921.6,-10.8,747,8349,0.00,2.15,0.00,0.000,6,0.000,0.048,2434,1795,3603
$GC,8667,-1.01,-170.3,952.7,-9.4,763,8671,0.00,2.20,0.00,0.000,4,0.000,0.059,2434,398,3601
$GC,8758,-1.01,-170.3,961.8,-10.3,767,8762,0.00,2.15,0.00,0.000,6,0.000,0.044,2434,1809,3601
$STATE,9088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9088,begin apogee
$GC,9095,-0.29,0.0,990.1,8.5,783,9252,0.77,0.00,147.05,1.490,6,0.114,0.000,2688,1351,2945
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9255,1.01,170.3,998.3,0.0,791,9422,1.15,2.47,155.40,1.458,4,0.050,0.053,3111,2757,2250
$GC,9528,1.01,170.3,976.2,14.6,803,9532,0.00,2.25,0.00,0.000,6,0.000,0.049,3122,1346,2245
$GC,9850,1.01,170.3,932.8,13.3,819,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1346,2242
$GC,10159,1.01,170.3,891.8,13.1,834,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1346,2241
$GC,10469,1.01,170.3,853.6,12.4,849,10473,0.00,2.22,0.00,0.000,4,0.000,0.054,3122,2763,2241
$GC,10501,1.01,170.3,849.4,11.7,850,10505,0.00,2.20,0.00,0.000,6,0.000,0.050,3131,1342,2240
$GC,10823,1.01,170.3,809.2,12.6,866,10826,0.00,2.22,0.00,0.000,4,0.000,0.054,3132,2768,2240
$GC,10952,1.01,170.3,792.2,12.9,871,10958,0.15,2.20,0.00,0.000,6,0.207,0.048,3107,1342,2239
$GC,11267,1.01,170.3,752.8,12.8,887,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1342,2239
$GC,11577,1.01,170.3,717.8,10.6,902,11580,0.00,2.20,0.00,0.000,4,0.000,0.053,3106,2760,2238
$GC,11638,1.01,170.3,710.7,11.7,904,11644,0.00,2.17,0.00,0.000,6,0.000,0.048,3114,1346,2237
$GC,11953,1.01,170.3,673.7,12.0,920,11956,0.00,1.80,0.00,0.000,4,0.000,0.061,3124,198,2237
$GC,11986,1.01,170.3,669.5,12.4,921,11990,0.00,1.77,0.00,0.000,6,0.000,0.044,3123,1357,2237
$GC,12308,1.01,170.3,630.7,11.7,937,12312,0.00,2.15,0.00,0.000,4,0.000,0.054,3122,2748,2237
$GC,12346,1.01,170.3,625.8,11.4,938,12353,0.00,2.17,0.00,0.000,6,0.000,0.047,3130,1352,2236
$GC,12662,1.01,170.3,593.5,9.5,954,12666,0.00,2.20,0.00,0.000,4,0.000,0.052,3130,2760,2236
$GC,12780,1.01,170.3,581.7,10.0,959,12785,0.12,2.17,0.00,0.000,6,0.206,0.048,3111,1348,2236
$GC,13100,1.01,170.3,549.8,10.2,975,13104,0.00,2.17,0.00,0.000,4,0.000,0.051,3110,2751,2236
$GC,13207,1.01,170.3,538.4,10.0,979,13213,0.00,2.15,0.00,0.000,6,0.000,0.046,3119,1350,2236
$GC,13523,1.01,170.3,505.1,10.7,995,13526,0.00,2.17,0.00,0.000,4,0.000,0.051,3116,2755,2236
$GC,13711,1.01,170.3,486.4,10.0,1008,13717,0.00,2.17,0.00,0.000,6,0.000,0.052,3125,1347,2236
$GC,14039,1.01,170.3,454.7,9.8,1039,14042,0.00,2.17,0.00,0.000,4,0.000,0.050,3124,2753,2236
$GC,14066,1.01,170.3,451.6,10.0,1041,14073,0.00,2.15,0.00,0.000,6,0.000,0.044,3132,1349,2236
$GC,14395,1.01,170.3,419.7,10.1,1072,14398,0.00,2.20,0.00,0.000,4,0.000,0.055,3132,2759,2236
$GC,14474,1.01,170.3,411.4,9.6,1079,14478,0.15,2.17,0.00,0.000,6,0.197,0.044,3107,1338,2236
$GC,14798,1.01,170.3,383.0,8.7,1109,14802,0.00,1.77,0.00,0.000,4,0.000,0.057,3114,204,2236
$GC,14904,1.01,170.3,373.7,8.6,1118,14911,0.00,1.75,0.00,0.000,6,0.000,0.040,3113,1358,2236
$GC,15232,1.01,170.3,344.6,9.5,1149,15235,0.00,2.12,0.00,0.000,4,0.000,0.048,3111,2753,2237
$GC,15304,1.03,181.2,338.3,7.6,1155,15321,0.00,2.17,8.68,0.930,6,0.000,0.048,3119,1336,2206
$GC,15639,1.03,181.2,311.2,8.2,1187,15643,0.00,1.75,0.00,0.000,4,0.000,0.055,3128,201,2206
$GC,15696,1.03,181.2,306.5,8.3,1192,15699,0.00,1.73,0.00,0.000,6,0.000,0.038,3128,1366,2205
$GC,16035,1.03,181.2,279.3,8.7,1245,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1367,2205
$GC,16379,1.03,181.2,248.6,9.1,1306,16385,0.00,1.83,0.00,0.000,4,0.000,0.054,3136,208,2206
$GC,16487,1.03,181.2,238.6,8.5,1325,16494,0.00,1.70,0.00,0.000,6,0.000,0.038,3136,1359,2206
$GC,16834,1.13,262.5,214.2,5.4,1386,16908,0.00,2.25,69.05,0.918,4,0.000,0.043,3136,2755,1875
$GC,16966,1.13,262.5,204.1,9.1,1408,16972,0.00,2.17,0.00,0.000,6,0.000,0.040,3146,1344,1872
$GC,17309,1.13,262.5,166.8,10.4,1469,17317,0.00,2.17,0.00,0.000,4,0.000,0.041,3150,2753,1869
$GC,17425,1.13,262.5,153.7,11.0,1489,17433,0.00,2.17,0.00,0.000,6,0.000,0.040,3162,1344,1869
$GC,17772,1.18,306.3,124.6,6.6,1550,17816,0.00,2.17,37.22,0.822,4,0.000,0.040,3164,2757,1695
$GC,17886,1.18,306.3,114.1,10.3,1569,17893,0.00,2.15,0.00,0.000,6,0.000,0.038,3173,1341,1693
$GC,18231,1.18,306.3,79.1,9.1,1630,18238,0.00,1.75,0.00,0.000,4,0.000,0.050,3182,211,1693
$GC,18306,1.18,306.3,71.9,9.3,1643,18313,0.00,1.70,0.00,0.000,6,0.000,0.033,3182,1365,1693
$GC,18653,1.18,306.3,44.6,8.6,1704,18659,0.00,1.77,0.00,0.000,4,0.000,0.048,3192,214,1692
$GC,18702,1.18,306.3,39.8,10.2,1712,18709,0.10,1.65,0.00,0.000,6,0.161,0.031,3163,1347,1692
$GC,19046,1.29,390.1,16.5,5.3,1773,19124,0.00,2.12,69.72,0.709,4,0.000,0.040,3162,2747,1354
$GC,19200,1.29,390.1,5.3,8.8,1798,19206,0.00,2.10,0.00,0.000,6,0.000,0.035,3170,1340,1354
$STATE,19227,end climb,SURFACE_DEPTH_REACHED
$STATE,19227,begin surface coast
$FINISH,0.8,1.020408
$STATE,19268,end surface coast,CONTROL_FINISHED_OK
$STATE,19268,begin surface
$SM_CCo,19286,48.97,0.675,0,0,1109,450.13
$SM_GC,1.62,0.00,0.00,48.97,0.000,0.000,0.675,168,1807,1109,-8.16,0.17,450.13
$IRIDIUM_FIX,2458.45,12401.21,021098,010142
$TT8_MAMPS,0.026845
$HUMID,1525
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.50
$XPDR_PINGS,172
$24V_AH,22.6,66.755
$10V_AH,10.7,41.712
$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,19.875,177.175,487.125,48.975,0.000,24.353,31.010,232.684,51.000,0.000,0.000,15.416,3180.494,11465.623,686.631,3729.191,707.694,0.000,2328.920,0.000,3691.635,0.000,56.693,0.000
$DEVICE_MAMPS,229.333,61.360,1490.281,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.315,1245.525,2091.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107088,1810
$CAP_FILE_SIZE,182057,0
$CFSIZE,260165632,211410944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134, 44.7,1
$GPS,080709,121436,2503.676,12405.670,35,0.9,41,-3.7