version: 66.04
glider: 166
mission: 2
dive: 307
start: 7 9 109 5 36 56
data:
$ID,166
$MISSION,2
$DIVE,307
$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,-11382.736
$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,45
$R_STBD_OVSHOOT,70
$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
$GPS1,052831,2501.375,12406.442,43,0.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.8
$GPS2,053632,2501.553,12406.470,15,0.9,15,-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,214.5,50155,-13.7,-7.990
$D_GRID,1826
$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,-51.70,0.000,2,0.000,0.000,172,1804,2304
$GC,72,-1.01,-170.3,3.2,-4.4,8,125,9.20,2.15,-36.67,0.000,4,0.227,0.054,2447,385,3640
$GC,170,-1.01,-170.3,20.6,-21.4,24,177,0.00,2.08,0.00,0.000,6,0.000,0.028,2446,1787,3641
$GC,515,-1.01,-170.3,83.3,-16.4,85,521,0.00,2.08,0.00,0.000,4,0.000,0.040,2445,392,3642
$GC,609,-1.01,-170.3,97.5,-15.0,101,615,0.00,2.03,0.00,0.000,6,0.000,0.027,2445,1807,3642
$GC,952,-1.01,-170.3,142.8,-13.4,162,960,0.00,2.12,0.00,0.000,4,0.000,0.040,2438,401,3643
$GC,1102,-1.01,-170.3,165.0,-15.4,188,1108,0.00,2.03,0.00,0.000,6,0.000,0.028,2437,1798,3643
$GC,1447,-1.01,-170.3,211.8,-12.8,249,1453,0.00,2.10,0.00,0.000,4,0.000,0.040,2437,385,3643
$GC,1483,-1.01,-170.3,216.7,-13.8,255,1489,0.00,2.03,0.00,0.000,6,0.000,0.027,2440,1803,3643
$GC,1828,-1.01,-170.3,257.4,-11.0,316,1834,0.00,2.10,0.00,0.000,4,0.000,0.041,2440,389,3643
$GC,1902,-1.01,-170.3,266.1,-11.2,329,1909,0.00,2.03,0.00,0.000,6,0.000,0.028,2444,1802,3643
$GC,2245,-1.01,-170.3,301.6,-10.5,389,2249,0.00,2.10,0.00,0.000,4,0.000,0.041,2444,397,3643
$GC,2284,-1.01,-170.3,306.5,-12.6,392,2291,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1798,3643
$GC,2609,-1.01,-170.3,342.2,-11.1,423,2613,0.00,2.10,0.00,0.000,4,0.000,0.043,2445,397,3642
$GC,2710,-1.01,-170.3,354.0,-11.0,432,2714,0.00,2.03,0.00,0.000,6,0.000,0.029,2431,1801,3641
$GC,3043,-1.01,-170.3,385.2,-8.8,463,3047,0.00,2.12,0.00,0.000,4,0.000,0.044,2429,388,3639
$GC,3091,-1.01,-170.3,389.8,-9.8,467,3095,0.00,2.05,0.00,0.000,6,0.000,0.031,2430,1796,3639
$GC,3421,-1.01,-170.3,423.0,-10.2,498,3424,0.00,2.10,0.00,0.000,4,0.000,0.044,2431,398,3636
$GC,3492,-1.01,-170.3,431.2,-11.5,504,3499,0.00,2.08,0.00,0.000,6,0.000,0.031,2437,1798,3636
$GC,3818,-1.01,-170.3,462.4,-9.2,535,3822,0.00,2.12,0.00,0.000,4,0.000,0.046,2438,393,3633
$GC,3910,-1.01,-170.3,472.1,-11.2,543,3914,0.00,2.08,0.00,0.000,6,0.000,0.032,2446,1810,3633
$GC,4238,-1.01,-170.3,504.8,-10.4,572,4242,0.00,2.15,0.00,0.000,4,0.000,0.048,2445,399,3629
$GC,4356,-1.01,-170.3,518.2,-11.8,577,4359,0.00,2.08,0.00,0.000,6,0.000,0.034,2433,1805,3629
$GC,4683,-1.01,-170.3,549.3,-8.8,593,4686,0.00,2.15,0.00,0.000,4,0.000,0.049,2435,398,3626
$GC,4784,-1.01,-170.3,558.5,-9.0,597,4787,0.00,2.08,0.00,0.000,6,0.000,0.035,2429,1801,3626
$GC,5105,-1.01,-170.3,582.2,-7.4,613,5109,0.00,2.17,0.00,0.000,4,0.000,0.052,2430,392,3623
$GC,5173,-1.01,-170.3,588.2,-9.2,616,5177,0.00,2.12,0.00,0.000,6,0.000,0.043,2429,1811,3623
$GC,5506,-1.01,-170.3,618.2,-10.0,632,5509,0.00,2.20,0.00,0.000,4,0.000,0.058,2429,397,3621
$GC,5574,-1.01,-170.3,626.1,-11.5,635,5578,0.00,2.12,0.00,0.000,6,0.000,0.039,2428,1811,3620
$GC,5907,-1.01,-170.3,662.1,-10.5,651,5911,0.00,2.20,0.00,0.000,4,0.000,0.055,2428,400,3619
$GC,5976,-1.01,-170.3,669.9,-11.8,654,5979,0.00,2.12,0.00,0.000,6,0.000,0.040,2427,1808,3617
$GC,6308,-1.01,-170.3,698.4,-7.5,670,6311,0.00,2.20,0.00,0.000,4,0.000,0.060,2427,403,3615
$GC,6324,-1.01,-170.3,699.7,-7.5,670,6333,0.00,2.12,0.00,0.000,6,0.000,0.043,2429,1814,3615
$GC,6641,-1.01,-170.3,726.8,-9.5,686,6644,0.00,2.20,0.00,0.000,4,0.000,0.054,2427,397,3614
$GC,6747,-1.01,-170.3,738.5,-11.2,690,6755,0.00,2.12,0.00,0.000,6,0.000,0.042,2429,1801,3613
$GC,7063,-1.01,-170.3,773.6,-11.4,706,7067,0.00,2.17,0.00,0.000,4,0.000,0.054,2430,401,3611
$GC,7146,-1.01,-170.3,784.1,-11.9,709,7153,0.00,2.12,0.00,0.000,6,0.000,0.041,2437,1812,3611
$GC,7463,-1.01,-170.3,817.1,-9.8,725,7466,0.00,2.20,0.00,0.000,4,0.000,0.056,2435,404,3609
$GC,7576,-1.01,-170.3,828.8,-10.0,730,7580,0.00,2.12,0.00,0.000,6,0.000,0.044,2435,1802,3608
$GC,7908,-1.01,-170.3,856.9,-8.2,746,7911,0.00,2.20,0.00,0.000,4,0.000,0.058,2437,399,3606
$GC,7976,-1.01,-170.3,862.7,-8.7,749,7979,0.00,2.12,0.00,0.000,6,0.000,0.041,2429,1802,3605
$GC,8309,-1.01,-170.3,889.2,-8.4,765,8313,0.00,2.20,0.00,0.000,4,0.000,0.057,2429,401,3603
$GC,8445,-1.01,-170.3,902.0,-9.0,771,8449,0.00,2.15,0.00,0.000,6,0.000,0.043,2425,1808,3603
$GC,8778,-1.01,-170.3,932.5,-9.4,787,8783,0.10,2.22,0.00,0.000,4,0.162,0.058,2451,403,3601
$GC,8872,-1.01,-170.3,941.4,-9.3,791,8876,0.00,2.12,0.00,0.000,6,0.000,0.041,2439,1803,3601
$GC,9195,-1.01,-170.3,970.8,-9.3,807,9198,0.00,2.20,0.00,0.000,4,0.000,0.059,2439,408,3599
$GC,9278,-1.01,-170.3,979.8,-10.6,810,9286,0.00,2.12,0.00,0.000,6,0.000,0.043,2434,1804,3599
$STATE,9406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9406,begin apogee
$GC,9412,-0.29,0.0,991.9,9.4,817,9570,0.75,0.00,147.35,1.501,6,0.110,0.000,2682,1359,2945
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9574,1.01,170.3,1000.8,0.0,825,9735,1.17,0.00,156.95,1.467,6,0.048,0.000,3114,1360,2250
$GC,10030,1.01,170.3,951.9,14.4,847,10034,0.00,2.20,0.00,0.000,4,0.000,0.055,3115,2760,2244
$GC,10085,1.01,170.3,943.6,14.4,849,10089,0.00,2.22,0.00,0.000,6,0.000,0.055,3125,1338,2243
$GC,10407,1.01,170.3,900.5,12.8,865,10411,0.00,1.80,0.00,0.000,4,0.000,0.062,3134,196,2242
$GC,10445,1.01,170.3,895.0,14.4,866,10454,0.00,1.80,0.00,0.000,6,0.000,0.044,3134,1366,2241
$GC,10761,1.01,170.3,856.2,12.6,882,10765,0.00,2.15,0.00,0.000,4,0.000,0.054,3134,2757,2240
$GC,10785,1.01,170.3,853.3,13.2,883,10790,0.15,2.17,0.00,0.000,6,0.208,0.046,3109,1337,2240
$GC,11112,1.01,170.3,814.0,12.2,899,11116,0.00,2.20,0.00,0.000,4,0.000,0.053,3108,2759,2239
$GC,11172,1.01,170.3,806.0,13.2,901,11179,0.00,2.17,0.00,0.000,6,0.000,0.047,3116,1343,2239
$GC,11489,1.01,170.3,763.9,13.6,917,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1343,2238
$GC,11797,1.01,170.3,722.8,13.4,932,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1343,2238
$GC,12107,1.01,170.3,684.1,12.1,947,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1343,2237
$GC,12416,1.01,170.3,646.5,12.1,962,12420,0.00,2.20,0.00,0.000,4,0.000,0.053,3116,2757,2236
$GC,12566,1.01,170.3,628.6,11.6,968,12573,0.00,2.20,0.00,0.000,6,0.000,0.045,3125,1346,2236
$GC,12883,1.01,170.3,594.2,10.8,984,12886,0.00,2.17,0.00,0.000,4,0.000,0.051,3124,2750,2236
$GC,12932,1.01,170.3,588.6,10.5,986,12936,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1350,2236
$GC,13259,1.01,170.3,555.9,9.9,1002,13262,0.00,2.17,0.00,0.000,4,0.000,0.051,3131,2758,2236
$GC,13515,1.01,170.3,531.6,9.1,1013,13520,0.12,2.15,0.00,0.000,6,0.201,0.044,3111,1349,2236
$GC,13837,1.01,170.3,504.1,8.5,1029,13840,0.00,2.17,0.00,0.000,4,0.000,0.049,3109,2756,2235
$GC,13887,1.01,170.3,499.5,9.1,1031,13893,0.00,2.15,0.00,0.000,6,0.000,0.044,3117,1347,2236
$GC,14213,1.01,170.3,468.8,10.1,1062,14216,0.00,2.17,0.00,0.000,4,0.000,0.048,3117,2762,2236
$GC,14251,1.01,170.3,464.6,10.0,1065,14257,0.00,2.15,0.00,0.000,6,0.000,0.043,3126,1350,2236
$GC,14578,1.01,170.3,432.8,9.4,1096,14581,0.00,2.17,0.00,0.000,4,0.000,0.048,3124,2751,2236
$GC,14672,1.01,170.3,423.4,9.2,1104,14679,0.00,2.20,0.00,0.000,6,0.000,0.049,3131,1344,2236
$GC,15001,1.04,192.4,395.6,7.3,1135,15024,0.00,2.25,18.02,1.065,4,0.000,0.047,3131,2758,2160
$GC,15208,1.04,192.4,375.6,9.7,1153,15214,0.00,2.17,0.00,0.000,6,0.000,0.044,3141,1347,2158
$GC,15536,1.04,192.4,340.4,11.3,1184,15540,0.00,2.17,0.00,0.000,4,0.000,0.051,3141,2756,2159
$GC,15598,1.04,192.4,332.9,11.4,1189,15604,0.15,2.15,0.00,0.000,6,0.194,0.041,3116,1338,2158
$GC,15922,1.04,192.4,300.6,10.5,1220,15926,0.00,2.17,0.00,0.000,4,0.000,0.051,3109,2757,2158
$GC,15978,1.04,192.4,294.2,11.9,1229,15984,0.00,2.12,0.00,0.000,6,0.000,0.040,3117,1350,2158
$GC,16321,1.04,192.4,259.3,8.4,1290,16329,0.00,1.77,0.00,0.000,4,0.000,0.051,3127,209,2159
$GC,16353,1.04,192.4,256.6,8.7,1295,16359,0.00,1.70,0.00,0.000,6,0.000,0.037,3127,1370,2159
$GC,16696,1.08,221.5,229.4,7.1,1356,16729,0.00,2.12,26.45,0.935,4,0.000,0.047,3125,2754,2041
$GC,16765,1.08,221.5,223.7,9.2,1367,16771,0.00,2.15,0.00,0.000,6,0.000,0.038,3133,1339,2039
$GC,17109,1.08,221.5,193.6,8.5,1428,17116,0.00,2.15,0.00,0.000,4,0.000,0.041,3136,2739,2038
$GC,17197,1.09,233.8,186.8,7.6,1443,17216,0.00,2.10,11.82,0.837,6,0.000,0.038,3144,1340,1991
$GC,17555,1.09,233.8,155.6,8.7,1506,17563,0.00,2.12,0.00,0.000,4,0.000,0.040,3146,2747,1989
$GC,17654,1.09,233.8,147.0,9.1,1523,17660,0.00,2.10,0.00,0.000,6,0.000,0.036,3159,1339,1989
$GC,17997,1.09,233.8,122.4,8.5,1584,18004,0.00,1.75,0.00,0.000,4,0.000,0.048,3168,199,1989
$GC,18202,1.09,233.8,103.9,8.4,1620,18209,0.10,1.70,0.00,0.000,6,0.170,0.032,3139,1354,1989
$GC,18547,1.25,359.4,82.1,4.0,1681,18656,0.12,0.00,103.95,0.777,6,0.072,0.000,3194,1354,1479
$GC,18995,1.25,359.4,39.7,10.8,1758,19002,0.00,2.08,0.00,0.000,4,0.000,0.035,3192,2755,1475
$GC,19015,1.25,359.4,37.4,10.7,1761,19022,0.00,2.10,0.00,0.000,6,0.000,0.034,3195,1338,1475
$GC,19362,1.27,377.8,7.4,7.4,1822,19383,0.00,2.17,16.35,0.660,4,0.000,0.035,3196,2754,1404
$GC,19389,1.28,383.9,5.0,7.8,1826,19404,0.00,2.08,6.70,0.539,6,0.000,0.033,3206,1349,1379
$STATE,19414,end climb,SURFACE_DEPTH_REACHED
$STATE,19414,begin surface coast
$FINISH,0.8,1.009019
$STATE,19456,end surface coast,CONTROL_FINISHED_OK
$STATE,19456,begin surface
$SM_CCo,19475,54.20,0.684,0,0,1109,450.13
$SM_GC,1.74,0.00,0.00,54.20,0.000,0.000,0.684,171,1814,1109,-8.16,0.40,450.13
$IRIDIUM_FIX,2451.31,12405.15,021098,232349
$TT8_MAMPS,0.026845
$HUMID,1516
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,180
$24V_AH,22.6,67.586
$10V_AH,10.7,42.442
$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,20.075,182.900,487.600,54.200,0.000,24.751,32.964,257.632,53.000,0.000,0.000,15.599,3244.618,11500.393,710.789,3800.562,737.248,0.000,2370.023,0.000,3757.088,0.000,55.966,0.000
$DEVICE_MAMPS,227.032,62.127,1501.019,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1248.774,1274.552,2142.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107358,1837
$CAP_FILE_SIZE,186964,0
$CFSIZE,260165632,211005440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137, 48.7,1
$GPS,090709,110337,2500.776,12407.338,33,1.2,33,-3.7