version: 66.04
glider: 166
mission: 2
dive: 309
start: 7 9 109 16 51 36
data:
$ID,166
$MISSION,2
$DIVE,309
$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,-11430.013
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,164336,2459.895,12407.370,35,0.8,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.2
$GPS2,165114,2500.013,12407.362,12,1.7,12,-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,213.1,48272,-13.7,-7.990
$D_GRID,1705
$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,16,-1.01,-170.3,0.0,0.0,0,74,0.00,0.00,-55.47,0.000,2,0.000,0.000,148,1810,2406
$GC,77,-1.01,-170.3,3.5,-4.6,8,124,9.32,2.22,-31.77,0.000,4,0.235,0.053,2442,386,3642
$GC,181,-1.01,-170.3,24.0,-20.3,25,187,0.00,2.08,0.00,0.000,6,0.000,0.028,2443,1814,3642
$GC,526,-1.01,-170.3,81.5,-15.2,86,533,0.00,2.12,0.00,0.000,4,0.000,0.041,2441,392,3643
$GC,663,-1.01,-170.3,104.0,-16.4,110,671,0.00,2.03,0.00,0.000,6,0.000,0.028,2440,1802,3644
$GC,1010,-1.01,-170.3,153.0,-13.5,171,1017,0.00,2.10,0.00,0.000,4,0.000,0.041,2441,389,3644
$GC,1063,-1.01,-170.3,160.5,-14.0,180,1070,0.00,2.03,0.00,0.000,6,0.000,0.028,2440,1799,3644
$GC,1407,-1.01,-170.3,203.5,-12.5,241,1413,0.00,2.10,0.00,0.000,4,0.000,0.041,2440,387,3645
$GC,1504,-1.01,-170.3,217.8,-15.4,258,1511,0.00,2.05,0.00,0.000,6,0.000,0.028,2439,1816,3645
$GC,1850,-1.01,-170.3,259.0,-9.7,319,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1816,3645
$GC,2192,-1.01,-170.3,291.8,-9.6,380,2198,0.00,2.15,0.00,0.000,4,0.000,0.044,2440,385,3645
$GC,2305,-1.01,-170.3,304.5,-11.1,397,2309,0.00,2.05,0.00,0.000,6,0.000,0.029,2438,1803,3645
$GC,2635,-1.01,-170.3,337.1,-10.3,428,2638,0.00,2.12,0.00,0.000,4,0.000,0.044,2439,391,3644
$GC,2702,-1.01,-170.3,344.8,-11.6,434,2706,0.00,2.05,0.00,0.000,6,0.000,0.030,2440,1801,3644
$GC,3033,-1.01,-170.3,380.5,-10.2,465,3037,0.00,2.12,0.00,0.000,4,0.000,0.046,2441,391,3643
$GC,3113,-1.01,-170.3,389.3,-11.4,472,3116,0.00,2.05,0.00,0.000,6,0.000,0.031,2441,1797,3641
$GC,3443,-1.01,-170.3,422.2,-10.1,503,3447,0.00,2.12,0.00,0.000,4,0.000,0.048,2441,398,3639
$GC,3529,-1.01,-170.3,431.4,-11.4,510,3537,0.00,2.05,0.00,0.000,6,0.000,0.031,2443,1809,3639
$GC,3857,-1.01,-170.3,461.7,-8.8,541,3861,0.00,2.10,0.00,0.000,4,0.000,0.048,2440,3204,3637
$GC,3959,-1.01,-170.3,471.1,-8.5,550,3963,0.00,2.08,0.00,0.000,6,0.000,0.035,2441,1793,3635
$GC,4299,-1.01,-170.3,502.4,-9.9,581,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1792,3633
$GC,4608,-1.01,-170.3,534.1,-10.9,596,4612,0.00,2.12,0.00,0.000,4,0.000,0.051,2440,400,3630
$GC,4641,-1.01,-170.3,538.2,-12.0,597,4645,0.00,2.08,0.00,0.000,6,0.000,0.036,2439,1797,3629
$GC,4963,-1.01,-170.3,573.5,-10.8,613,4966,0.00,2.17,0.00,0.000,4,0.000,0.058,2439,392,3628
$GC,5054,-1.01,-170.3,583.6,-11.1,617,5058,0.00,2.10,0.00,0.000,6,0.000,0.035,2439,1803,3627
$GC,5386,-1.01,-170.3,615.6,-8.7,633,5390,0.00,2.17,0.00,0.000,4,0.000,0.054,2439,401,3625
$GC,5454,-1.01,-170.3,622.0,-9.7,636,5458,0.00,2.10,0.00,0.000,6,0.000,0.041,2438,1808,3624
$GC,5787,-1.01,-170.3,650.6,-8.9,652,5791,0.00,2.12,0.00,0.000,4,0.000,0.052,2440,3207,3622
$GC,5848,-1.01,-170.3,656.6,-9.4,654,5857,0.00,2.15,0.00,0.000,6,0.000,0.045,2440,1797,3622
$GC,6164,-1.01,-170.3,685.3,-9.0,670,6167,0.00,2.17,0.00,0.000,4,0.000,0.052,2441,3210,3620
$GC,6203,-1.01,-170.3,688.6,-9.1,671,6209,0.00,2.12,0.00,0.000,6,0.000,0.044,2440,1797,3620
$GC,6519,-1.01,-170.3,715.7,-8.9,687,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1796,3618
$GC,6827,-1.01,-170.3,743.2,-9.2,702,6831,0.00,2.17,0.00,0.000,4,0.000,0.053,2443,3204,3615
$GC,6896,-1.01,-170.3,749.3,-9.3,705,6900,0.00,2.12,0.00,0.000,6,0.000,0.043,2442,1801,3615
$GC,7228,-1.01,-170.3,777.6,-8.5,721,7232,0.00,2.17,0.00,0.000,4,0.000,0.054,2445,3205,3613
$GC,7244,-1.01,-170.3,778.9,-7.8,721,7250,0.00,2.12,0.00,0.000,6,0.000,0.041,2443,1792,3613
$GC,7561,-1.01,-170.3,803.6,-7.8,737,7565,0.00,2.20,0.00,0.000,4,0.000,0.055,2449,3206,3612
$GC,7599,-1.01,-170.3,806.8,-8.4,738,7607,0.00,2.15,0.00,0.000,6,0.000,0.041,2449,1800,3611
$GC,7915,-1.01,-170.3,833.2,-8.9,754,7918,0.00,2.20,0.00,0.000,4,0.000,0.058,2449,388,3610
$GC,7931,-1.01,-170.3,834.7,-9.0,754,7939,0.00,2.15,0.00,0.000,6,0.000,0.040,2450,1794,3609
$GC,8247,-1.01,-170.3,863.6,-9.2,770,8250,0.00,2.20,0.00,0.000,4,0.000,0.056,2452,388,3608
$GC,8330,-1.01,-170.3,872.4,-10.6,773,8337,0.00,2.15,0.00,0.000,6,0.000,0.040,2433,1803,3607
$GC,8647,-1.01,-170.3,903.6,-9.7,789,8651,0.00,2.20,0.00,0.000,4,0.000,0.057,2436,398,3606
$GC,8715,-1.01,-170.3,910.9,-10.8,792,8718,0.00,2.12,0.00,0.000,6,0.000,0.041,2428,1801,3605
$GC,9047,-1.01,-170.3,944.9,-10.6,808,9050,0.00,2.22,0.00,0.000,4,0.000,0.058,2429,389,3604
$GC,9147,-1.01,-170.3,956.5,-11.3,812,9151,0.00,2.17,0.00,0.000,6,0.000,0.048,2425,1804,3603
$STATE,9465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9465,begin apogee
$GC,9471,-0.29,0.0,991.0,10.6,828,9628,0.77,0.00,148.20,1.501,6,0.112,0.000,2679,1342,2945
$STATE,9629,end apogee,CONTROL_FINISHED_OK
$STATE,9629,begin climb
$GC,9633,1.01,170.3,1001.4,0.0,836,9800,1.17,2.45,156.77,1.476,4,0.044,0.053,3113,2751,2250
$GC,9973,1.01,170.3,974.1,12.8,851,9977,0.00,2.22,0.00,0.000,6,0.000,0.054,3124,1356,2244
$GC,10296,1.01,170.3,933.0,12.9,867,10300,0.00,2.20,0.00,0.000,4,0.000,0.059,3124,2762,2242
$GC,10346,1.01,170.3,925.8,13.7,869,10350,0.00,2.20,0.00,0.000,6,0.000,0.048,3134,1338,2242
$GC,10673,1.01,170.3,881.3,13.9,885,10677,0.00,2.22,0.00,0.000,4,0.000,0.053,3134,2767,2241
$GC,10746,1.01,170.3,870.3,15.3,888,10751,0.15,2.20,0.00,0.000,6,0.206,0.048,3110,1341,2241
$GC,11066,1.01,170.3,824.3,14.6,904,11070,0.00,1.77,0.00,0.000,4,0.000,0.061,3117,204,2240
$GC,11099,1.01,170.3,819.1,15.5,905,11103,0.00,1.77,0.00,0.000,6,0.000,0.042,3117,1365,2240
$GC,11423,1.01,170.3,773.2,13.4,921,11426,0.00,2.15,0.00,0.000,4,0.000,0.053,3117,2759,2239
$GC,11483,1.01,170.3,764.7,13.6,923,11490,0.00,2.17,0.00,0.000,6,0.000,0.048,3127,1343,2239
$GC,11801,1.01,170.3,726.6,12.0,939,11805,0.00,1.80,0.00,0.000,4,0.000,0.061,3135,209,2238
$GC,11850,1.01,170.3,720.1,12.5,941,11854,0.00,1.75,0.00,0.000,6,0.000,0.044,3135,1350,2239
$GC,12177,1.01,170.3,682.1,11.5,957,12181,0.00,2.15,0.00,0.000,4,0.000,0.052,3135,2749,2238
$GC,12200,1.01,170.3,679.6,10.9,958,12205,0.15,2.15,0.00,0.000,6,0.203,0.044,3109,1340,2237
$GC,12527,1.01,170.3,641.8,11.5,974,12530,0.00,2.20,0.00,0.000,4,0.000,0.051,3107,2759,2237
$GC,12554,1.01,170.3,638.5,11.7,975,12558,0.00,2.15,0.00,0.000,6,0.000,0.044,3116,1351,2237
$GC,12882,1.01,170.3,601.4,11.1,991,12885,0.00,2.17,0.00,0.000,4,0.000,0.051,3115,2756,2237
$GC,13111,1.01,170.3,578.6,9.1,1001,13115,0.00,2.15,0.00,0.000,6,0.000,0.044,3124,1346,2236
$GC,13438,1.01,170.3,546.9,10.0,1017,13442,0.00,2.17,0.00,0.000,4,0.000,0.050,3121,2752,2236
$GC,13472,1.01,170.3,543.4,10.4,1018,13475,0.00,2.15,0.00,0.000,6,0.000,0.043,3130,1339,2236
$GC,13792,1.01,170.3,513.1,9.2,1034,13796,0.00,2.17,0.00,0.000,4,0.000,0.048,3125,2751,2236
$GC,13898,1.01,170.3,503.2,9.3,1038,13905,0.00,2.12,0.00,0.000,6,0.000,0.042,3132,1350,2236
$GC,14224,1.01,170.3,467.6,10.2,1067,14228,0.00,1.77,0.00,0.000,4,0.000,0.055,3141,198,2236
$GC,14274,1.01,170.3,461.9,10.8,1071,14281,0.15,1.73,0.00,0.000,6,0.196,0.040,3106,1359,2236
$GC,14599,1.01,170.3,429.4,10.3,1102,14602,0.00,2.15,0.00,0.000,4,0.000,0.054,3104,2753,2236
$GC,14769,1.01,170.3,411.3,10.7,1117,14773,0.00,2.17,0.00,0.000,6,0.000,0.045,3112,1339,2236
$GC,15094,1.01,170.3,376.7,9.6,1147,15095,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1339,2237
$GC,15412,1.01,170.3,346.6,8.6,1177,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1339,2238
$GC,15734,1.05,196.0,321.4,7.2,1207,15760,0.00,2.20,21.62,1.006,4,0.000,0.045,3113,2759,2144
$GC,15846,1.05,196.0,311.3,9.1,1216,15852,0.00,2.17,0.00,0.000,6,0.000,0.042,3121,1337,2143
$GC,16181,1.05,196.0,282.2,8.5,1266,16188,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1337,2143
$GC,16526,1.06,203.4,252.8,7.8,1327,16540,0.00,2.22,8.00,0.838,4,0.000,0.043,3122,2758,2115
$GC,16659,1.06,203.4,241.7,8.2,1350,16666,0.00,2.15,0.00,0.000,6,0.000,0.041,3132,1337,2114
$GC,17005,1.10,243.1,215.5,6.7,1411,17042,0.00,0.00,34.28,0.912,6,0.000,0.000,3132,1337,1953
$GC,17380,1.10,243.1,183.5,8.4,1477,17386,0.00,2.15,0.00,0.000,4,0.000,0.041,3137,2756,1948
$GC,17472,1.10,243.1,175.2,9.3,1493,17479,0.00,2.15,0.00,0.000,6,0.000,0.038,3151,1350,1948
$GC,17817,1.10,243.1,143.5,9.1,1554,17824,0.00,2.10,0.00,0.000,4,0.000,0.041,3152,2755,1947
$GC,17877,1.10,243.1,138.1,9.7,1564,17884,0.00,2.10,0.00,0.000,6,0.000,0.038,3163,1347,1948
$GC,18222,1.13,259.8,110.8,7.5,1625,18243,0.00,1.80,15.43,0.769,4,0.000,0.049,3171,202,1885
$GC,18415,1.13,259.8,92.3,10.8,1658,18423,0.08,1.70,0.00,0.000,6,0.167,0.031,3149,1359,1883
$GC,18760,1.19,314.5,63.6,6.3,1719,18812,0.00,2.17,46.12,0.755,4,0.000,0.038,3148,2754,1662
$GC,18866,1.20,321.3,56.2,7.8,1736,18879,0.00,2.12,7.45,0.615,6,0.000,0.035,3150,1340,1633
$GC,19217,1.28,386.9,27.3,5.9,1798,19282,0.12,1.83,55.05,0.716,4,0.067,0.048,3221,199,1367
$GC,19395,1.28,386.9,10.8,10.4,1828,19402,0.08,1.70,0.00,0.000,6,0.162,0.030,3197,1354,1364
$STATE,19481,end climb,SURFACE_DEPTH_REACHED
$STATE,19481,begin surface coast
$FINISH,0.8,1.002618
$STATE,19517,end surface coast,CONTROL_FINISHED_OK
$STATE,19517,begin surface
$SM_CCo,19535,51.10,0.685,0,0,1109,450.13
$SM_GC,1.71,0.00,0.00,51.10,0.000,0.000,0.685,135,1814,1109,-8.24,0.40,450.13
$IRIDIUM_FIX,2451.31,12409.09,031098,111159
$TT8_MAMPS,0.026845
$HUMID,1518
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.20
$XPDR_PINGS,170
$24V_AH,22.6,67.997
$10V_AH,10.7,42.803
$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,20.025,173.600,492.925,51.100,0.000,23.933,37.313,239.656,50.500,0.000,0.000,12.986,3247.097,11591.592,678.708,3772.357,738.079,0.000,2340.324,0.000,3749.802,0.000,54.412,0.000
$DEVICE_MAMPS,234.702,61.360,1501.019,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.622,1277.236,2142.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107346,1849
$CAP_FILE_SIZE,184596,0
$CFSIZE,260165632,210804736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101, 47.2,1
$GPS,090709,221925,2459.020,12407.980,43,1.0,43,-3.7