version: 66.04
glider: 166
mission: 2
dive: 315
start: 7 11 109 3 10 50
data:
$ID,166
$MISSION,2
$DIVE,315
$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,-11535.895
$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,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,69
$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
$GPS1,030231,2456.524,12407.769,43,1.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.5
$GPS2,031026,2456.571,12407.806,14,1.4,14,-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,211.5,43149,-13.7,-7.990
$D_GRID,1638
$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,-170.3,0.0,0.0,0,69,0.00,0.00,-52.50,0.000,2,0.000,0.000,188,1685,2314
$GC,72,-1.01,-170.3,3.0,-4.2,8,126,9.32,2.15,-37.62,0.000,4,0.237,0.056,2441,268,3635
$GC,172,-1.01,-170.3,20.0,-21.5,24,179,0.00,2.08,0.00,0.000,6,0.000,0.029,2441,1665,3636
$GC,516,-1.01,-170.3,81.1,-16.5,85,523,0.00,2.10,0.00,0.000,4,0.000,0.046,2450,273,3636
$GC,603,-1.01,-170.3,95.5,-16.9,100,609,0.00,2.08,0.00,0.000,6,0.000,0.028,2437,1683,3637
$GC,946,-1.01,-170.3,149.1,-15.5,161,954,0.00,2.15,0.00,0.000,4,0.000,0.046,2438,258,3638
$GC,973,-1.01,-170.3,153.1,-15.3,165,981,0.00,2.05,0.00,0.000,6,0.000,0.028,2433,1682,3638
$GC,1319,-1.01,-170.3,200.7,-12.9,226,1326,0.00,2.12,0.00,0.000,4,0.000,0.047,2435,273,3638
$GC,1361,-1.01,-170.3,206.6,-14.3,233,1368,0.00,2.05,0.00,0.000,6,0.000,0.028,2435,1692,3638
$GC,1706,-1.01,-170.3,246.0,-10.1,294,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1692,3638
$GC,2050,-1.01,-170.3,286.6,-11.9,355,2056,0.00,2.15,0.00,0.000,4,0.000,0.048,2433,273,3638
$GC,2092,-1.01,-170.3,291.8,-13.4,362,2098,0.00,2.03,0.00,0.000,6,0.000,0.028,2428,1683,3638
$GC,2421,-1.01,-170.3,332.4,-12.1,398,2424,0.00,2.15,0.00,0.000,4,0.000,0.048,2429,268,3638
$GC,2466,-1.01,-170.3,338.4,-13.6,402,2470,0.00,2.05,0.00,0.000,6,0.000,0.030,2427,1681,3638
$GC,2798,-1.01,-170.3,369.8,-8.4,433,2802,0.00,2.08,0.00,0.000,4,0.000,0.043,2427,3070,3637
$GC,2844,-1.01,-170.3,373.8,-8.4,437,2847,0.00,2.05,0.00,0.000,6,0.000,0.034,2427,1670,3636
$GC,3174,-1.01,-170.3,406.5,-10.9,468,3177,0.00,2.12,0.00,0.000,4,0.000,0.049,2427,268,3635
$GC,3242,-1.01,-170.3,414.4,-12.0,474,3245,0.00,2.05,0.00,0.000,6,0.000,0.030,2426,1679,3634
$GC,3576,-1.01,-170.3,449.5,-10.5,505,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1680,3632
$GC,3902,-1.01,-170.3,484.6,-11.7,536,3906,0.00,2.10,0.00,0.000,4,0.000,0.046,2427,3076,3629
$GC,3927,-1.01,-170.3,487.4,-11.5,538,3931,0.00,2.08,0.00,0.000,6,0.000,0.036,2426,1671,3629
$GC,4252,-1.01,-170.3,522.4,-10.1,559,4255,0.00,2.15,0.00,0.000,4,0.000,0.052,2426,267,3626
$GC,4290,-1.01,-170.3,526.8,-10.8,560,4297,0.00,2.10,0.00,0.000,6,0.000,0.032,2436,1675,3627
$GC,4606,-1.01,-170.3,554.3,-8.5,576,4610,0.00,2.10,0.00,0.000,4,0.000,0.046,2447,3070,3624
$GC,4639,-1.01,-170.3,557.2,-8.4,577,4643,0.00,2.10,0.00,0.000,6,0.000,0.040,2447,1670,3624
$GC,4961,-1.01,-170.3,584.4,-8.4,593,4964,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,266,3622
$GC,5010,-1.01,-170.3,589.5,-10.8,595,5015,0.00,2.10,0.00,0.000,6,0.000,0.034,2447,1670,3621
$GC,5338,-1.01,-170.3,619.2,-8.6,611,5342,0.00,2.12,0.00,0.000,4,0.000,0.048,2447,3075,3619
$GC,5365,-1.01,-170.3,621.8,-9.1,612,5369,0.00,2.10,0.00,0.000,6,0.000,0.038,2447,1662,3618
$GC,5694,-1.01,-170.3,652.0,-10.1,628,5698,0.00,2.15,0.00,0.000,4,0.000,0.055,2447,270,3616
$GC,5717,-1.01,-170.3,654.7,-11.1,629,5721,0.00,2.10,0.00,0.000,6,0.000,0.036,2447,1683,3616
$GC,6049,-1.01,-170.3,689.2,-10.3,645,6053,0.00,2.22,0.00,0.000,4,0.000,0.061,2446,264,3614
$GC,6088,-1.01,-170.3,693.7,-12.1,646,6094,0.00,2.12,0.00,0.000,6,0.000,0.035,2447,1672,3613
$GC,6405,-1.01,-170.3,723.0,-8.8,662,6408,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,274,3612
$GC,6451,-1.01,-170.3,727.4,-10.2,664,6455,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,1688,3612
$GC,6783,-1.01,-170.3,759.1,-10.5,680,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1689,3610
$GC,7094,-1.01,-170.3,793.2,-10.7,695,7098,0.00,2.25,0.00,0.000,4,0.000,0.063,2447,264,3607
$GC,7149,-1.01,-170.3,799.9,-11.7,697,7160,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,1683,3607
$GC,7465,-1.01,-170.3,832.5,-10.2,713,7469,0.00,2.15,0.00,0.000,4,0.000,0.053,2447,3083,3605
$GC,7498,-1.01,-170.3,835.9,-9.9,714,7502,0.00,2.12,0.00,0.000,6,0.000,0.041,2447,1674,3605
$GC,7820,-1.01,-170.3,868.0,-10.0,730,7823,0.00,2.22,0.00,0.000,4,0.000,0.061,2446,263,3603
$GC,7882,-1.01,-170.3,875.1,-12.0,732,7888,0.00,2.12,0.00,0.000,6,0.000,0.039,2447,1679,3603
$GC,8198,-1.01,-170.3,907.1,-9.9,748,8201,0.00,2.15,0.00,0.000,4,0.000,0.054,2447,3073,3601
$GC,8213,-1.01,-170.3,908.8,-9.7,748,8220,0.00,2.15,0.00,0.000,6,0.000,0.041,2447,1667,3601
$GC,8529,-1.01,-170.3,938.3,-9.5,764,8533,0.00,2.20,0.00,0.000,4,0.000,0.059,2443,263,3599
$GC,8692,-1.01,-170.3,955.5,-10.7,771,8696,0.00,2.15,0.00,0.000,6,0.000,0.040,2436,1686,3598
$GC,9018,-1.01,-170.3,986.3,-9.2,787,9022,0.00,2.25,0.00,0.000,4,0.000,0.058,2432,260,3596
$STATE,9055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9055,begin apogee
$GC,9063,-0.29,0.0,990.2,9.3,788,9211,0.75,0.00,144.60,1.508,6,0.115,0.000,2676,1367,2945
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9214,1.01,170.3,996.8,0.0,796,9381,1.20,2.38,155.23,1.460,4,0.051,0.050,3112,2745,2249
$GC,9488,1.01,170.3,974.4,13.2,808,9492,0.00,2.20,0.00,0.000,6,0.000,0.048,3122,1352,2245
$GC,9808,1.01,170.3,935.4,11.7,824,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1352,2243
$GC,10118,1.01,170.3,900.8,11.2,839,10121,0.00,1.80,0.00,0.000,4,0.000,0.061,3131,204,2240
$GC,10168,1.01,170.3,894.5,13.3,841,10172,0.00,1.75,0.00,0.000,6,0.000,0.049,3131,1345,2241
$GC,10495,1.01,170.3,855.0,13.1,857,10499,0.00,2.17,0.00,0.000,4,0.000,0.051,3132,2759,2239
$GC,10647,1.01,170.3,833.1,13.7,863,10654,0.15,2.17,0.00,0.000,6,0.199,0.047,3108,1343,2239
$GC,10962,1.01,170.3,791.8,13.2,879,10966,0.00,2.17,0.00,0.000,4,0.000,0.052,3105,2750,2238
$GC,10995,1.01,170.3,787.3,13.3,880,10999,0.00,2.15,0.00,0.000,6,0.000,0.047,3113,1349,2238
$GC,11317,1.01,170.3,749.1,11.5,896,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1349,2238
$GC,11626,1.01,170.3,713.9,11.0,911,11630,0.00,1.80,0.00,0.000,4,0.000,0.059,3123,195,2236
$GC,11676,1.01,170.3,707.9,12.4,913,11680,0.00,1.77,0.00,0.000,6,0.000,0.042,3122,1357,2236
$GC,12004,1.01,170.3,669.9,11.8,929,12007,0.00,2.15,0.00,0.000,4,0.000,0.051,3122,2760,2236
$GC,12109,1.01,170.3,656.7,12.1,933,12117,0.00,2.17,0.00,0.000,6,0.000,0.045,3132,1338,2236
$GC,12425,1.01,170.3,620.4,11.4,949,12429,0.00,2.20,0.00,0.000,4,0.000,0.051,3132,2757,2235
$GC,12504,1.01,170.3,611.3,10.5,952,12508,0.15,2.17,0.00,0.000,6,0.196,0.045,3105,1338,2235
$GC,12819,1.01,170.3,580.3,9.4,967,12823,0.00,2.20,0.00,0.000,4,0.000,0.050,3098,2760,2234
$GC,13006,1.01,170.3,563.7,9.1,975,13010,0.00,2.17,0.00,0.000,6,0.000,0.052,3106,1345,2234
$GC,13332,1.01,170.3,533.7,9.8,991,13336,0.00,1.77,0.00,0.000,4,0.000,0.058,3115,203,2234
$GC,13378,1.01,170.3,529.2,9.8,993,13381,0.00,1.73,0.00,0.000,6,0.000,0.041,3112,1366,2234
$GC,13711,1.01,170.3,498.6,8.9,1009,13715,0.00,1.83,0.00,0.000,4,0.000,0.057,3119,195,2234
$GC,13745,1.01,170.3,495.2,9.5,1012,13749,0.00,1.73,0.00,0.000,6,0.000,0.041,3119,1354,2235
$GC,14076,1.01,170.3,465.2,8.9,1043,14080,0.00,2.12,0.00,0.000,4,0.000,0.048,3120,2751,2234
$GC,14193,1.01,170.3,453.9,9.6,1053,14200,0.00,2.15,0.00,0.000,6,0.000,0.044,3129,1340,2234
$GC,14520,1.02,174.2,424.5,7.9,1084,14524,0.00,2.17,0.00,0.000,4,0.000,0.046,3127,2753,2235
$GC,14555,1.02,176.6,421.8,7.9,1087,14566,0.00,2.15,4.25,0.749,6,0.000,0.043,3135,1338,2225
$GC,14884,1.02,176.6,396.4,8.4,1118,14888,0.00,2.17,0.00,0.000,4,0.000,0.046,3133,2761,2225
$GC,15144,1.02,176.6,371.6,10.1,1141,15148,0.12,2.15,0.00,0.000,6,0.193,0.042,3114,1345,2225
$GC,15468,1.02,176.6,340.5,8.5,1171,15472,0.00,2.17,0.00,0.000,4,0.000,0.045,3108,2757,2225
$GC,15548,1.06,210.8,334.5,6.9,1178,15584,0.00,2.17,31.33,1.026,6,0.000,0.046,3116,1338,2085
$GC,15909,1.06,210.8,304.0,8.0,1212,15913,0.00,2.15,0.00,0.000,4,0.000,0.043,3116,2752,2082
$GC,16158,1.06,210.8,282.2,9.8,1251,16164,0.00,2.15,0.00,0.000,6,0.000,0.041,3126,1337,2081
$GC,16501,1.06,210.8,250.1,8.3,1312,16507,0.00,1.77,0.00,0.000,4,0.000,0.053,3138,199,2081
$GC,16554,1.06,210.8,245.6,9.2,1321,16561,0.00,1.70,0.00,0.000,6,0.000,0.035,3139,1368,2081
$GC,16899,1.12,252.5,221.4,6.7,1382,16941,0.00,2.10,35.53,0.917,4,0.000,0.040,3138,2741,1915
$GC,17144,1.12,252.5,198.2,10.5,1425,17152,0.00,2.12,0.00,0.000,6,0.000,0.039,3146,1339,1912
$GC,17491,1.12,258.3,163.8,7.8,1486,17504,0.00,1.75,6.40,0.699,4,0.000,0.050,3155,196,1891
$GC,17558,1.12,258.3,157.9,9.8,1497,17565,0.00,1.70,0.00,0.000,6,0.000,0.034,3155,1348,1891
$GC,17902,1.12,258.3,127.1,9.0,1558,17909,0.00,2.10,0.00,0.000,4,0.000,0.038,3155,2743,1892
$GC,17991,1.12,258.3,119.7,8.3,1573,17998,0.00,2.08,0.00,0.000,6,0.000,0.037,3165,1346,1891
$GC,18336,1.12,258.3,90.9,9.6,1634,18343,0.00,2.12,0.00,0.000,4,0.000,0.038,3165,2752,1891
$GC,18373,1.12,258.3,87.3,10.0,1640,18380,0.12,2.08,0.00,0.000,6,0.172,0.036,3145,1349,1892
$GC,18719,1.21,332.6,63.3,5.6,1701,18791,0.00,1.85,62.97,0.762,4,0.000,0.048,3151,196,1587
$GC,18811,1.21,332.6,56.5,9.2,1715,18817,0.00,1.73,0.00,0.000,6,0.000,0.030,3151,1355,1586
$GC,19154,1.28,387.6,31.0,6.3,1776,19207,0.12,2.10,46.42,0.716,4,0.070,0.035,3212,2754,1364
$GC,19280,1.28,387.6,20.3,8.9,1796,19286,0.00,2.10,0.00,0.000,6,0.000,0.034,3222,1350,1362
$STATE,19465,end climb,SURFACE_DEPTH_REACHED
$STATE,19465,begin surface coast
$FINISH,0.8,1.018447
$STATE,19498,end surface coast,CONTROL_FINISHED_OK
$STATE,19498,begin surface
$SM_CCo,19517,50.42,0.685,0,0,1110,450.13
$SM_GC,1.73,0.00,0.00,50.42,0.000,0.000,0.685,167,1690,1110,-8.16,0.42,450.13
$IRIDIUM_FIX,2446.56,12407.76,041098,212155
$TT8_MAMPS,0.027612
$HUMID,1515
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.30
$XPDR_PINGS,155
$24V_AH,22.7,69.261
$10V_AH,10.7,43.903
$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,20.125,182.900,486.725,50.425,0.000,26.004,37.399,252.738,46.750,0.000,0.000,14.826,3220.323,11623.245,680.077,3748.364,755.919,0.000,2341.297,0.000,3716.027,0.000,54.433,0.000
$DEVICE_MAMPS,237.003,62.894,1507.922,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1246.631,1266.067,2129.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107350,1835
$CAP_FILE_SIZE,185770,0
$CFSIZE,260165632,210206720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135, 35.0,1
$GPS,110709,083806,2455.931,12408.178,29,0.9,29,-3.7