version: 66.04
glider: 166
mission: 2
dive: 305
start: 7 8 109 18 9 0
data:
$ID,166
$MISSION,2
$DIVE,305
$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,-11352.604
$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,43
$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
$GPS1,175707,2502.923,12405.653,26,1.6,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.1
$GPS2,180838,2503.098,12405.722,14,1.5,14,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2437.000,12353.900
$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,212.4,52271,-13.7,-7.990
$D_GRID,1898
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.01,-170.3,0.0,0.0,0,68,0.00,0.00,-50.83,0.000,2,0.000,0.000,168,1822,2270
$GC,71,-1.01,-170.3,3.0,-4.1,8,125,9.15,2.22,-38.15,0.000,4,0.225,0.054,2443,395,3642
$GC,240,-1.01,-170.3,35.5,-21.5,36,247,0.00,2.10,0.00,0.000,6,0.000,0.029,2438,1820,3643
$GC,586,-1.01,-170.3,100.1,-14.9,97,592,0.00,2.12,0.00,0.000,4,0.000,0.041,2436,392,3643
$GC,733,-1.01,-170.3,122.6,-15.4,123,739,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1814,3643
$GC,1079,-1.01,-170.3,172.7,-14.0,184,1086,0.10,0.00,0.00,0.000,6,0.169,0.000,2448,1816,3644
$GC,1425,-1.01,-170.3,218.2,-11.8,245,1431,0.00,2.05,0.00,0.000,4,0.000,0.040,2446,3206,3644
$GC,1556,-1.01,-170.3,234.0,-12.0,268,1564,0.00,2.05,0.00,0.000,6,0.000,0.028,2444,1773,3644
$GC,1903,-1.01,-170.3,275.2,-9.3,329,1909,0.00,2.03,0.00,0.000,4,0.000,0.041,2444,404,3644
$GC,1994,-1.01,-170.3,284.2,-9.4,345,2000,0.00,2.00,0.00,0.000,6,0.000,0.028,2448,1802,3644
$GC,2329,-1.01,-170.3,315.5,-11.1,392,2333,0.00,2.10,0.00,0.000,4,0.000,0.042,2449,393,3644
$GC,2435,-1.01,-170.3,329.2,-13.2,401,2441,0.00,2.05,0.00,0.000,6,0.000,0.029,2454,1809,3643
$GC,2762,-1.01,-170.3,368.0,-10.8,432,2766,0.00,2.10,0.00,0.000,4,0.000,0.043,2459,407,3641
$GC,2857,-1.01,-170.3,379.3,-11.2,440,2864,0.00,2.05,0.00,0.000,6,0.000,0.029,2459,1800,3641
$GC,3183,-1.01,-170.3,410.0,-9.2,471,3187,0.00,2.10,0.00,0.000,4,0.000,0.044,2459,401,3638
$GC,3274,-1.01,-170.3,419.3,-10.0,479,3278,0.00,2.05,0.00,0.000,6,0.000,0.031,2458,1810,3638
$GC,3604,-1.01,-170.3,449.6,-8.7,510,3609,0.00,2.12,0.00,0.000,4,0.000,0.046,2459,408,3634
$GC,3649,-1.01,-170.3,453.8,-9.5,514,3653,0.00,2.05,0.00,0.000,6,0.000,0.032,2459,1812,3634
$GC,3982,-1.01,-170.3,482.2,-8.7,545,3986,0.00,2.12,0.00,0.000,4,0.000,0.047,2459,411,3631
$GC,4009,-1.01,-170.3,485.3,-10.2,547,4015,0.00,2.05,0.00,0.000,6,0.000,0.033,2458,1809,3631
$GC,4342,-1.01,-170.3,515.6,-9.4,571,4346,0.00,2.12,0.00,0.000,4,0.000,0.048,2458,413,3628
$GC,4409,-1.01,-170.3,523.0,-11.5,574,4413,0.00,2.05,0.00,0.000,6,0.000,0.034,2457,1811,3628
$GC,4742,-1.01,-170.3,556.3,-9.7,590,4746,0.00,2.15,0.00,0.000,4,0.000,0.050,2458,408,3626
$GC,4825,-1.01,-170.3,565.4,-10.8,593,4832,0.00,2.08,0.00,0.000,6,0.000,0.035,2457,1808,3625
$GC,5142,-1.01,-170.3,595.5,-9.3,609,5146,0.00,2.15,0.00,0.000,4,0.000,0.058,2457,414,3623
$GC,5158,-1.01,-170.3,597.2,-9.3,609,5164,0.00,2.05,0.00,0.000,6,0.000,0.036,2457,1801,3622
$GC,5474,-1.01,-170.3,624.9,-9.0,625,5482,0.00,2.15,0.00,0.000,4,0.000,0.051,2457,404,3620
$GC,5526,-1.01,-170.3,630.2,-9.9,627,5530,0.00,2.10,0.00,0.000,6,0.000,0.039,2457,1813,3620
$GC,5854,-1.01,-170.3,660.3,-9.2,643,5858,0.00,2.17,0.00,0.000,4,0.000,0.053,2458,415,3618
$GC,5901,-1.01,-170.3,665.0,-10.8,645,5905,0.00,2.08,0.00,0.000,6,0.000,0.038,2457,1810,3618
$GC,6234,-1.01,-170.3,694.8,-8.5,661,6237,0.00,2.15,0.00,0.000,4,0.000,0.055,2446,3202,3615
$GC,6267,-1.01,-170.3,697.8,-9.1,662,6271,0.00,2.10,0.00,0.000,6,0.000,0.041,2459,1807,3614
$GC,6590,-1.01,-170.3,726.5,-9.4,678,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1806,3613
$GC,6897,-1.01,-170.3,757.7,-10.5,693,6901,0.00,2.17,0.00,0.000,4,0.000,0.054,2444,3208,3611
$GC,6966,-1.01,-170.3,764.9,-10.4,696,6970,0.00,2.12,0.00,0.000,6,0.000,0.042,2454,1801,3611
$GC,7298,-1.01,-170.3,795.3,-8.2,712,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1800,3609
$GC,7607,-1.01,-170.3,820.0,-8.0,727,7611,0.00,2.20,0.00,0.000,4,0.000,0.058,2441,3203,3607
$GC,7680,-1.01,-170.3,826.2,-9.0,730,7684,0.00,2.15,0.00,0.000,6,0.000,0.048,2447,1792,3606
$GC,8007,-1.01,-170.3,855.4,-9.6,746,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1792,3605
$GC,8317,-1.01,-170.3,883.8,-8.9,761,8320,0.00,2.20,0.00,0.000,4,0.000,0.058,2442,388,3603
$GC,8378,-1.01,-170.3,889.6,-10.0,763,8385,0.00,2.15,0.00,0.000,6,0.000,0.041,2427,1809,3603
$GC,8694,-1.01,-170.3,917.5,-8.6,779,8697,0.00,2.22,0.00,0.000,4,0.000,0.058,2428,395,3601
$GC,8822,-1.01,-170.3,929.6,-9.7,784,8830,0.12,2.15,0.00,0.000,6,0.156,0.044,2456,1811,3601
$GC,9138,-1.01,-170.3,953.1,-7.7,800,9141,0.00,2.22,0.00,0.000,4,0.000,0.059,2455,400,3599
$GC,9232,-1.01,-170.3,961.7,-9.7,804,9236,0.00,2.17,0.00,0.000,6,0.000,0.044,2451,1801,3599
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9557,begin apogee
$GC,9564,-0.29,0.0,990.7,9.4,820,9720,0.70,0.00,146.88,1.495,6,0.112,0.000,2681,1340,2945
$STATE,9721,end apogee,CONTROL_FINISHED_OK
$STATE,9721,begin climb
$GC,9723,1.01,170.3,1001.7,0.0,828,9891,1.17,2.50,155.93,1.463,4,0.045,0.054,3118,2760,2249
$GC,10070,1.01,170.3,972.9,12.8,843,10077,0.00,2.22,0.00,0.000,6,0.000,0.050,3128,1350,2244
$GC,10387,1.01,170.3,932.7,12.7,859,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1350,2242
$GC,10697,1.01,170.3,892.3,13.2,874,10701,0.00,2.20,0.00,0.000,4,0.000,0.054,3128,2757,2241
$GC,10791,1.01,170.3,878.7,14.0,878,10796,0.12,2.17,0.00,0.000,6,0.214,0.047,3111,1343,2241
$GC,11118,1.01,170.3,837.7,12.4,894,11122,0.00,1.77,0.00,0.000,4,0.000,0.060,3118,205,2240
$GC,11175,1.01,170.3,830.1,13.8,896,11179,0.00,1.75,0.00,0.000,6,0.000,0.044,3118,1369,2239
$GC,11496,1.01,170.3,789.9,12.7,912,11499,0.00,2.12,0.00,0.000,4,0.000,0.053,3118,2750,2239
$GC,11597,1.01,170.3,777.0,12.6,916,11600,0.00,2.15,0.00,0.000,6,0.000,0.048,3128,1342,2238
$GC,11917,1.01,170.3,737.7,12.0,932,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1342,2238
$GC,12227,1.01,170.3,698.8,12.4,947,12231,0.00,2.20,0.00,0.000,4,0.000,0.054,3127,2753,2237
$GC,12311,1.01,170.3,688.4,11.5,950,12317,0.00,2.17,0.00,0.000,6,0.000,0.048,3135,1337,2237
$GC,12626,1.01,170.3,652.8,10.5,966,12630,0.00,2.20,0.00,0.000,4,0.000,0.052,3134,2754,2236
$GC,12653,1.01,170.3,649.8,10.6,967,12658,0.15,2.17,0.00,0.000,6,0.203,0.047,3107,1340,2236
$GC,12981,1.01,170.3,618.7,9.3,983,12985,0.00,2.17,0.00,0.000,4,0.000,0.052,3105,2750,2237
$GC,13164,1.01,170.3,601.9,8.4,991,13168,0.00,2.15,0.00,0.000,6,0.000,0.046,3114,1346,2236
$GC,13497,1.01,170.3,570.1,9.5,1007,13501,0.00,1.80,0.00,0.000,4,0.000,0.060,3123,196,2236
$GC,13524,1.01,170.3,567.2,10.3,1008,13528,0.00,1.75,0.00,0.000,6,0.000,0.041,3122,1348,2236
$GC,13851,1.01,170.3,536.1,9.7,1024,13854,0.00,2.15,0.00,0.000,4,0.000,0.049,3121,2753,2236
$GC,14080,1.01,170.3,511.7,10.6,1034,14084,0.00,2.17,0.00,0.000,6,0.000,0.048,3129,1360,2236
$GC,14404,1.01,170.3,476.1,11.2,1059,14408,0.00,2.15,0.00,0.000,4,0.000,0.049,3128,2756,2236
$GC,14474,1.01,170.3,467.8,11.4,1065,14478,0.00,2.17,0.00,0.000,6,0.000,0.045,3136,1333,2236
$GC,14804,1.01,170.3,430.8,9.7,1096,14807,0.00,2.20,0.00,0.000,4,0.000,0.049,3136,2759,2236
$GC,14849,1.01,170.3,426.3,9.6,1100,14854,0.15,2.17,0.00,0.000,6,0.196,0.044,3109,1350,2236
$GC,15174,1.05,197.3,400.9,7.1,1130,15201,0.00,2.25,22.52,1.077,4,0.000,0.048,3105,2754,2140
$GC,15241,1.05,197.3,395.6,8.5,1135,15247,0.00,2.20,0.00,0.000,6,0.000,0.050,3114,1338,2138
$GC,15568,1.05,197.3,364.1,10.8,1166,15572,0.00,1.80,0.00,0.000,4,0.000,0.061,3123,195,2138
$GC,15760,1.05,197.3,340.5,12.4,1183,15763,0.00,1.75,0.00,0.000,6,0.000,0.048,3123,1360,2137
$GC,16089,1.05,197.3,304.8,9.8,1214,16093,0.00,2.10,0.00,0.000,4,0.000,0.046,3121,2747,2137
$GC,16192,1.05,197.3,295.2,9.5,1227,16198,0.00,2.12,0.00,0.000,6,0.000,0.042,3130,1347,2137
$GC,16536,1.05,197.3,260.0,9.5,1288,16543,0.00,1.80,0.00,0.000,4,0.000,0.054,3138,199,2137
$GC,16583,1.05,197.3,255.3,9.6,1296,16590,0.00,1.73,0.00,0.000,6,0.000,0.038,3138,1351,2137
$GC,16928,1.07,217.4,228.7,7.4,1357,16954,0.00,2.20,18.75,0.915,4,0.000,0.043,3137,2760,2057
$GC,17050,1.07,217.4,217.2,9.3,1378,17056,0.00,2.15,0.00,0.000,6,0.000,0.042,3146,1347,2055
$GC,17395,1.07,217.4,184.7,9.9,1439,17402,0.00,1.77,0.00,0.000,4,0.000,0.053,3158,208,2056
$GC,17425,1.07,217.4,181.9,9.9,1444,17433,0.10,1.70,0.00,0.000,6,0.181,0.036,3131,1348,2056
$GC,17771,1.07,217.4,156.1,8.1,1505,17777,0.00,2.10,0.00,0.000,4,0.000,0.041,3130,2754,2056
$GC,17897,1.08,220.6,145.8,7.9,1527,17912,0.00,2.12,4.20,0.560,6,0.000,0.038,3139,1333,2046
$GC,18252,1.22,336.3,125.7,4.3,1589,18354,0.00,1.85,96.15,0.821,4,0.000,0.049,3150,198,1573
$GC,18445,1.22,336.3,107.1,11.7,1621,18452,0.00,1.73,0.00,0.000,6,0.000,0.033,3150,1351,1570
$GC,18791,1.22,336.3,73.7,8.9,1682,18797,0.00,2.08,0.00,0.000,4,0.000,0.038,3152,2747,1568
$GC,18840,1.22,336.3,69.3,8.9,1690,18846,0.00,2.10,0.00,0.000,6,0.000,0.037,3162,1340,1568
$GC,19183,1.27,374.8,38.6,6.8,1751,19223,0.00,1.80,32.97,0.718,4,0.000,0.048,3171,202,1416
$GC,19346,1.28,388.0,27.7,7.6,1778,19366,0.00,1.70,12.38,0.651,6,0.000,0.031,3171,1364,1362
$STATE,19652,end climb,SURFACE_DEPTH_REACHED
$STATE,19653,begin surface coast
$FINISH,0.8,1.008638
$STATE,19687,end surface coast,CONTROL_FINISHED_OK
$STATE,19687,begin surface
$SM_CCo,19706,51.05,0.681,0,0,1109,450.13
$SM_GC,1.66,0.00,0.00,51.05,0.000,0.000,0.681,168,1808,1109,-8.16,0.23,450.13
$IRIDIUM_FIX,2453.69,12405.15,021098,181824
$TT8_MAMPS,0.026845
$HUMID,1512
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,141
$24V_AH,22.6,67.178
$10V_AH,10.7,42.078
$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,19.750,171.450,489.775,51.050,0.000,45.191,68.478,346.672,43.250,0.000,0.000,14.392,3229.818,11845.150,677.922,3787.873,889.417,0.000,2347.660,0.000,3752.395,0.000,54.432,0.000
$DEVICE_MAMPS,224.731,61.360,1494.883,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.987,1270.731,2135.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107485,1838
$CAP_FILE_SIZE,188000,0
$CFSIZE,260165632,211206144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108, 51.1,1
$GPS,080709,233937,2502.198,12406.509,41,1.0,41,-3.7