version: 66.04
glider: 166
mission: 2
dive: 296
start: 7 6 109 15 29 10
data:
$ID,166
$MISSION,2
$DIVE,296
$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,150
$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,-11215.679
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,152106,2510.788,12400.819,26,1.6,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.8
$GPS2,152832,2510.909,12400.960,14,1.8,14,-3.8
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,175.8,52430,-14.9,-7.990
$D_GRID,2092
$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,-1.06,-146.0,0.0,0.0,0,66,0.00,0.00,-48.97,0.000,2,0.000,0.000,171,1811,2233
$GC,69,-1.06,-146.0,3.0,-3.2,7,122,9.18,2.15,-37.10,0.000,4,0.231,0.054,2432,393,3540
$GC,128,-1.06,-146.0,11.4,-15.2,16,135,0.00,2.05,0.00,0.000,6,0.000,0.028,2423,1807,3540
$GC,473,-1.06,-146.0,76.7,-16.7,77,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1808,3541
$GC,817,-1.06,-146.0,132.2,-16.2,138,824,0.00,2.15,0.00,0.000,4,0.000,0.041,2408,391,3542
$GC,905,-1.06,-146.0,146.3,-15.7,153,913,0.12,2.03,0.00,0.000,6,0.174,0.028,2437,1809,3542
$GC,1251,-1.06,-146.0,187.5,-11.7,214,1258,0.00,2.15,0.00,0.000,4,0.000,0.041,2436,388,3543
$GC,1289,-1.06,-146.0,192.0,-12.6,220,1296,0.00,2.03,0.00,0.000,6,0.000,0.027,2440,1805,3543
$GC,1633,-1.06,-146.0,233.9,-13.8,281,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1806,3543
$GC,1977,-1.06,-146.0,278.7,-13.0,342,1983,0.00,2.10,0.00,0.000,4,0.000,0.041,2440,394,3542
$GC,2057,-1.06,-146.0,289.6,-13.7,356,2063,0.00,2.05,0.00,0.000,6,0.000,0.029,2441,1796,3542
$GC,2388,-1.06,-146.0,325.2,-9.3,394,2392,0.00,2.10,0.00,0.000,4,0.000,0.042,2442,394,3543
$GC,2445,-1.06,-146.0,331.5,-11.2,399,2448,0.00,2.05,0.00,0.000,6,0.000,0.029,2444,1813,3542
$GC,2777,-1.06,-146.0,367.1,-11.1,430,2781,0.00,2.15,0.00,0.000,4,0.000,0.043,2447,385,3541
$GC,2856,-1.06,-146.0,377.0,-12.5,437,2860,0.00,2.05,0.00,0.000,6,0.000,0.030,2440,1807,3541
$GC,3189,-1.06,-146.0,415.3,-10.7,468,3192,0.00,2.12,0.00,0.000,4,0.000,0.044,2435,395,3539
$GC,3260,-1.06,-146.0,423.9,-11.6,474,3267,0.00,2.10,0.00,0.000,6,0.000,0.035,2427,1804,3538
$GC,3586,-1.06,-146.0,454.5,-9.1,505,3590,0.00,2.12,0.00,0.000,4,0.000,0.046,2427,397,3536
$GC,3635,-1.06,-146.0,459.6,-9.8,509,3643,0.00,2.05,0.00,0.000,6,0.000,0.032,2426,1797,3536
$GC,3962,-1.06,-146.0,492.1,-10.6,540,3965,0.00,2.12,0.00,0.000,4,0.000,0.048,2426,394,3534
$GC,4045,-1.06,-146.0,501.7,-11.4,547,4051,0.00,2.08,0.00,0.000,6,0.000,0.033,2426,1807,3533
$GC,4360,-1.06,-146.0,532.3,-9.3,563,4364,0.00,2.15,0.00,0.000,4,0.000,0.049,2427,399,3530
$GC,4433,-1.06,-146.0,539.6,-9.7,566,4437,0.00,2.08,0.00,0.000,6,0.000,0.034,2435,1808,3530
$GC,4759,-1.06,-146.0,568.3,-9.5,582,4763,0.00,2.17,0.00,0.000,4,0.000,0.055,2429,398,3527
$GC,4827,-1.06,-146.0,575.8,-11.5,585,4831,0.00,2.10,0.00,0.000,6,0.000,0.041,2440,1807,3527
$GC,5161,-1.06,-146.0,612.2,-11.0,601,5164,0.00,2.17,0.00,0.000,4,0.000,0.057,2433,392,3524
$GC,5207,-1.06,-146.0,617.7,-12.2,603,5211,0.00,2.12,0.00,0.000,6,0.000,0.040,2446,1807,3524
$GC,5542,-1.06,-146.0,651.6,-10.1,619,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1807,3522
$GC,5850,-1.06,-146.0,682.2,-10.0,634,5853,0.00,2.17,0.00,0.000,4,0.000,0.053,2446,403,3520
$GC,5944,-1.06,-146.0,692.3,-10.0,638,5948,0.00,2.10,0.00,0.000,6,0.000,0.038,2447,1797,3519
$GC,6273,-1.06,-146.0,722.7,-9.2,654,6277,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,394,3517
$GC,6364,-1.06,-146.0,731.5,-9.4,658,6368,0.00,2.12,0.00,0.000,6,0.000,0.039,2447,1810,3516
$GC,6697,-1.06,-146.0,761.6,-9.4,674,6701,0.00,2.22,0.00,0.000,4,0.000,0.055,2447,391,3514
$GC,6797,-1.06,-146.0,772.7,-11.0,678,6801,0.00,2.12,0.00,0.000,6,0.000,0.040,2444,1803,3513
$GC,7119,-1.06,-146.0,803.7,-9.6,694,7122,0.00,2.20,0.00,0.000,4,0.000,0.061,2445,403,3511
$GC,7224,-1.06,-146.0,814.9,-10.7,698,7231,0.00,2.12,0.00,0.000,6,0.000,0.039,2432,1794,3510
$GC,7541,-1.06,-146.0,844.6,-9.2,714,7545,0.00,2.17,0.00,0.000,4,0.000,0.058,2436,404,3508
$GC,7636,-1.06,-146.0,854.6,-10.2,718,7640,0.00,2.15,0.00,0.000,6,0.000,0.041,2428,1803,3508
$GC,7963,-1.06,-146.0,885.3,-9.6,734,7966,0.00,2.20,0.00,0.000,4,0.000,0.057,2429,401,3506
$GC,8098,-1.06,-146.0,899.8,-11.2,740,8106,0.00,2.12,0.00,0.000,6,0.000,0.042,2426,1801,3505
$GC,8432,-1.06,-146.0,932.4,-9.7,756,8436,0.00,2.20,0.00,0.000,4,0.000,0.058,2425,400,3504
$GC,8561,-1.06,-146.0,945.9,-10.7,761,8569,0.00,2.15,0.00,0.000,6,0.000,0.044,2423,1810,3502
$GC,8878,-1.06,-146.0,974.9,-8.9,777,8883,0.00,2.22,0.00,0.000,4,0.000,0.059,2424,398,3502
$GC,8984,-1.06,-146.0,985.6,-9.9,781,8991,0.00,2.15,0.00,0.000,6,0.000,0.042,2413,1811,3501
$STATE,9050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9050,begin apogee
$GC,9056,-0.29,0.0,991.8,9.4,785,9193,0.82,0.00,125.20,1.486,6,0.120,0.000,2679,1352,2946
$STATE,9193,end apogee,CONTROL_FINISHED_OK
$STATE,9193,begin climb
$GC,9196,1.06,146.0,997.1,0.0,792,9338,1.25,0.00,133.85,1.459,6,0.047,0.000,3137,1351,2348
$GC,9649,1.06,146.0,946.9,14.3,814,9653,0.00,2.22,0.00,0.000,4,0.000,0.053,3138,2770,2344
$GC,9717,1.06,146.0,936.6,15.4,817,9721,0.00,2.22,0.00,0.000,6,0.000,0.048,3148,1343,2343
$GC,10044,1.06,146.0,890.1,14.1,833,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1343,2342
$GC,10354,1.06,146.0,845.5,14.4,848,10357,0.00,2.20,0.00,0.000,4,0.000,0.052,3150,2761,2341
$GC,10391,1.06,146.0,839.9,14.7,849,10399,0.15,2.20,0.00,0.000,6,0.214,0.048,3126,1338,2341
$GC,10707,1.06,146.0,801.0,12.0,865,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1339,2340
$GC,11017,1.06,146.0,765.0,11.2,880,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1338,2339
$GC,11326,1.06,146.0,731.2,10.8,895,11329,0.00,2.22,0.00,0.000,4,0.000,0.052,3124,2766,2338
$GC,11364,1.06,146.0,727.0,9.9,896,11371,0.00,2.22,0.00,0.000,6,0.000,0.047,3132,1342,2338
$GC,11680,1.06,146.0,694.4,10.5,912,11684,0.00,2.22,0.00,0.000,4,0.000,0.051,3128,2773,2338
$GC,11736,1.06,146.0,687.9,11.2,914,11739,0.00,2.20,0.00,0.000,6,0.000,0.047,3136,1347,2337
$GC,12057,1.06,146.0,653.5,10.7,930,12061,0.00,2.20,0.00,0.000,4,0.000,0.052,3133,2762,2337
$GC,12118,1.06,146.0,646.9,10.9,932,12125,0.00,2.17,0.00,0.000,6,0.000,0.048,3141,1341,2336
$GC,12433,1.06,146.0,614.2,10.5,948,12437,0.00,2.20,0.00,0.000,4,0.000,0.052,3136,2760,2337
$GC,12578,1.06,146.0,598.4,10.3,954,12583,0.00,2.17,0.00,0.000,6,0.000,0.047,3145,1347,2336
$GC,12901,1.06,146.0,567.2,9.7,970,12904,0.00,1.80,0.00,0.000,4,0.000,0.060,3155,196,2336
$GC,12933,1.06,146.0,563.5,10.8,971,12938,0.10,1.77,0.00,0.000,6,0.202,0.041,3128,1361,2336
$GC,13256,1.06,146.0,534.5,9.4,987,13260,0.00,2.15,0.00,0.000,4,0.000,0.050,3117,2759,2336
$GC,13302,1.06,146.0,530.0,9.7,989,13306,0.00,2.17,0.00,0.000,6,0.000,0.046,3126,1341,2336
$GC,13634,1.06,146.0,498.5,9.0,1005,13638,0.00,2.17,0.00,0.000,4,0.000,0.051,3126,2756,2336
$GC,13775,1.06,146.0,485.7,8.6,1017,13782,0.00,2.15,0.00,0.000,6,0.000,0.044,3135,1349,2336
$GC,14101,1.06,146.0,457.4,8.6,1048,14104,0.00,1.80,0.00,0.000,4,0.000,0.058,3143,195,2336
$GC,14139,1.06,146.0,453.6,9.3,1051,14145,0.00,1.75,0.00,0.000,6,0.000,0.041,3141,1349,2336
$GC,14466,1.06,146.0,424.1,9.1,1082,14470,0.00,2.15,0.00,0.000,4,0.000,0.047,3137,2760,2336
$GC,14637,1.06,146.0,409.1,8.8,1097,14641,0.00,2.15,0.00,0.000,6,0.000,0.044,3145,1350,2336
$GC,14969,1.11,189.2,383.4,6.4,1128,15014,0.00,1.88,35.58,1.073,4,0.000,0.057,3153,201,2172
$GC,15131,1.11,189.2,370.0,9.3,1142,15134,0.00,1.75,0.00,0.000,6,0.000,0.044,3153,1358,2170
$GC,15464,1.11,189.2,337.2,10.9,1173,15468,0.00,2.12,0.00,0.000,4,0.000,0.047,3150,2750,2169
$GC,15503,1.11,189.2,332.2,11.7,1176,15509,0.00,2.20,0.00,0.000,6,0.000,0.045,3158,1346,2169
$GC,15830,1.11,189.2,294.6,10.7,1211,15836,0.00,1.80,0.00,0.000,4,0.000,0.061,3166,190,2168
$GC,15910,1.11,189.2,286.7,9.9,1225,15917,0.00,1.73,0.00,0.000,6,0.000,0.039,3166,1357,2168
$GC,16256,1.15,217.3,257.9,7.0,1286,16287,0.00,2.15,25.02,0.952,4,0.000,0.044,3167,2754,2057
$GC,16416,1.15,217.3,244.0,8.8,1313,16423,0.00,2.15,0.00,0.000,6,0.000,0.041,3175,1348,2055
$GC,16761,1.15,217.3,210.4,9.4,1374,16767,0.00,2.15,0.00,0.000,4,0.000,0.043,3176,2746,2055
$GC,16842,1.15,217.3,202.3,10.4,1388,16849,0.15,2.12,0.00,0.000,6,0.196,0.040,3152,1340,2055
$GC,17187,1.15,217.3,174.1,8.6,1449,17194,0.00,2.12,0.00,0.000,4,0.000,0.041,3143,2756,2054
$GC,17447,1.15,217.3,151.1,9.3,1495,17454,0.00,2.15,0.00,0.000,6,0.000,0.039,3153,1345,2055
$GC,17792,1.20,263.5,125.1,6.3,1556,17837,0.00,2.15,39.17,0.820,4,0.000,0.038,3147,2754,1868
$GC,17894,1.20,263.5,116.9,8.3,1573,17902,0.00,2.12,0.00,0.000,6,0.000,0.038,3157,1348,1866
$GC,18240,1.24,297.2,88.7,6.7,1634,18273,0.00,1.83,28.75,0.769,4,0.000,0.049,3167,202,1733
$GC,18461,1.24,297.2,71.9,8.6,1672,18467,0.00,1.70,0.00,0.000,6,0.000,0.031,3167,1364,1730
$GC,18805,1.27,314.8,45.6,7.3,1733,18825,0.00,2.10,15.98,0.691,4,0.000,0.036,3168,2739,1661
$GC,18922,1.34,375.5,37.8,5.8,1753,18982,0.08,2.10,51.03,0.714,6,0.060,0.036,3221,1349,1413
$STATE,19297,end climb,SURFACE_DEPTH_REACHED
$STATE,19297,begin surface coast
$FINISH,0.8,1.008844
$STATE,19330,end surface coast,CONTROL_FINISHED_OK
$STATE,19330,begin surface
$SM_CCo,19348,61.00,0.675,0,0,1109,450.13
$SM_GC,1.61,0.00,0.00,61.00,0.000,0.000,0.675,167,1799,1109,-8.17,-0.03,450.13
$IRIDIUM_FIX,2503.20,12357.26,300998,090926
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,171
$24V_AH,22.8,65.307
$10V_AH,10.7,40.439
$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,20.050,169.325,454.575,61.000,0.000,25.235,34.246,226.948,50.750,0.000,0.000,14.837,3204.252,11521.022,689.016,3740.056,699.385,0.000,2308.858,0.000,3706.472,0.000,54.444,0.000
$DEVICE_MAMPS,230.867,60.593,1486.446,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.276,1272.583,2139.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104340,1824
$CAP_FILE_SIZE,180784,0
$CFSIZE,260165632,212115456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151, 89.4,1
$GPS,060709,205400,2509.346,12403.526,41,1.6,41,-3.8