version: 66.04
glider: 166
mission: 2
dive: 319
start: 7 12 109 1 53 48
data:
$ID,166
$MISSION,2
$DIVE,319
$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,-11619.094
$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,41
$R_STBD_OVSHOOT,77
$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
$GPS1,014424,2454.788,12409.080,25,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.8
$GPS2,015326,2454.881,12409.060,14,1.2,14,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12409.700
$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,203.4,18702,-13.7,-7.990
$D_GRID,1734
$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,15,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,67,0.00,0.00,-47.75,0.000,2,0.000,0.000,151,1691,2213
$GC,70,-1.01,-170.3,3.0,-3.8,7,128,9.50,2.22,-39.78,0.000,4,0.236,0.054,2443,255,3641
$GC,209,-1.01,-170.3,28.4,-21.6,30,216,0.00,2.08,0.00,0.000,6,0.000,0.028,2445,1666,3642
$GC,554,-1.01,-170.3,88.0,-15.1,91,560,0.00,2.10,0.00,0.000,4,0.000,0.039,2453,252,3642
$GC,567,-1.01,-170.3,90.0,-14.9,93,574,0.00,2.05,0.00,0.000,6,0.000,0.027,2450,1684,3642
$GC,914,-1.01,-170.3,139.2,-14.2,154,920,0.00,2.03,0.00,0.000,4,0.000,0.038,2453,3072,3643
$GC,1067,-1.01,-170.3,159.1,-12.0,181,1075,0.00,2.03,0.00,0.000,6,0.000,0.028,2453,1654,3643
$GC,1414,-1.01,-170.3,200.8,-12.0,242,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1654,3644
$GC,1760,-1.01,-170.3,243.6,-12.2,303,1766,0.00,2.10,0.00,0.000,4,0.000,0.039,2440,3066,3644
$GC,1789,-1.01,-170.3,247.6,-12.6,308,1795,0.00,2.03,0.00,0.000,6,0.000,0.029,2442,1655,3644
$GC,2133,-1.01,-170.3,289.0,-12.0,369,2140,0.00,2.05,0.00,0.000,4,0.000,0.043,2440,277,3643
$GC,2214,-1.01,-170.3,299.3,-12.4,383,2220,0.00,2.00,0.00,0.000,6,0.000,0.028,2442,1677,3643
$GC,2547,-1.01,-170.3,337.1,-11.0,415,2550,0.00,2.05,0.00,0.000,4,0.000,0.041,2448,3064,3643
$GC,2597,-1.01,-170.3,343.0,-11.3,419,2603,0.00,2.03,0.00,0.000,6,0.000,0.030,2441,1681,3642
$GC,2923,-1.01,-170.3,379.0,-11.0,450,2926,0.00,2.10,0.00,0.000,4,0.000,0.044,2442,274,3641
$GC,3024,-1.01,-170.3,391.4,-12.0,459,3027,0.00,2.03,0.00,0.000,6,0.000,0.029,2452,1673,3640
$GC,3355,-1.01,-170.3,430.1,-12.0,490,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1673,3639
$GC,3672,-1.01,-170.3,464.2,-9.5,520,3676,0.00,2.12,0.00,0.000,4,0.000,0.047,2456,277,3637
$GC,3706,-1.01,-170.3,467.5,-9.8,523,3710,0.00,2.05,0.00,0.000,6,0.000,0.031,2460,1684,3636
$GC,4037,-1.01,-170.3,496.7,-9.0,554,4040,0.00,2.15,0.00,0.000,4,0.000,0.048,2460,276,3634
$GC,4064,-1.01,-170.3,499.6,-10.1,556,4072,0.00,2.08,0.00,0.000,6,0.000,0.031,2459,1674,3634
$GC,4379,-1.01,-170.3,530.1,-10.3,572,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1674,3632
$GC,4690,-1.01,-170.3,568.2,-12.7,587,4694,0.00,2.15,0.00,0.000,4,0.000,0.051,2459,280,3629
$GC,4750,-1.01,-170.3,576.9,-14.3,589,4758,0.00,2.05,0.00,0.000,6,0.000,0.033,2460,1676,3628
$GC,5068,-1.01,-170.3,611.8,-10.0,605,5071,0.00,2.17,0.00,0.000,4,0.000,0.056,2459,279,3626
$GC,5129,-1.01,-170.3,618.4,-10.3,607,5135,0.00,2.05,0.00,0.000,6,0.000,0.033,2460,1674,3626
$GC,5445,-1.01,-170.3,650.5,-10.4,623,5449,0.00,2.15,0.00,0.000,4,0.000,0.052,2460,282,3623
$GC,5468,-1.01,-170.3,653.2,-11.2,624,5472,0.00,2.08,0.00,0.000,6,0.000,0.035,2460,1676,3623
$GC,5801,-1.01,-170.3,684.2,-8.7,640,5804,0.00,2.17,0.00,0.000,4,0.000,0.059,2460,284,3621
$GC,5839,-1.01,-170.3,687.9,-9.3,641,5846,0.00,2.10,0.00,0.000,6,0.000,0.040,2459,1685,3620
$GC,6156,-1.01,-170.3,715.8,-8.8,657,6160,0.00,2.20,0.00,0.000,4,0.000,0.060,2459,283,3618
$GC,6191,-1.01,-170.3,719.3,-10.3,658,6195,0.00,2.10,0.00,0.000,6,0.000,0.042,2460,1680,3618
$GC,6513,-1.01,-170.3,749.4,-9.0,674,6516,0.00,2.15,0.00,0.000,4,0.000,0.051,2450,3083,3616
$GC,6545,-1.01,-170.3,752.7,-9.4,675,6549,0.00,2.12,0.00,0.000,6,0.000,0.041,2450,1679,3615
$GC,6868,-1.01,-170.3,783.8,-9.9,691,6872,0.00,2.20,0.00,0.000,4,0.000,0.055,2450,260,3613
$GC,6952,-1.01,-170.3,793.0,-10.4,694,6958,0.00,2.15,0.00,0.000,6,0.000,0.042,2447,1686,3612
$GC,7267,-1.01,-170.3,824.3,-9.6,710,7271,0.00,2.22,0.00,0.000,4,0.000,0.055,2447,261,3610
$GC,7317,-1.01,-170.3,829.5,-10.6,712,7321,0.00,2.15,0.00,0.000,6,0.000,0.045,2447,1679,3610
$GC,7644,-1.01,-170.3,859.8,-9.4,728,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1679,3608
$GC,7953,-1.01,-170.3,889.1,-9.8,743,7957,0.00,2.22,0.00,0.000,4,0.000,0.058,2445,268,3606
$GC,7992,-1.01,-170.3,893.5,-10.9,744,7999,0.00,2.12,0.00,0.000,6,0.000,0.038,2434,1683,3606
$GC,8307,-1.01,-170.3,922.6,-9.1,760,8311,0.00,2.22,0.00,0.000,4,0.000,0.058,2435,271,3604
$GC,8346,-1.01,-170.3,926.6,-10.7,761,8353,0.00,2.12,0.00,0.000,6,0.000,0.041,2428,1676,3604
$GC,8663,-1.01,-170.3,954.3,-9.0,777,8666,0.00,2.22,0.00,0.000,4,0.000,0.059,2432,268,3602
$GC,8753,-1.01,-170.3,963.5,-10.3,781,8757,0.00,2.15,0.00,0.000,6,0.000,0.041,2425,1686,3601
$STATE,9062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9062,begin apogee
$GC,9069,-0.29,0.0,991.1,8.8,796,9226,0.80,0.00,147.25,1.488,6,0.117,0.000,2684,1353,2945
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9229,1.01,170.3,997.8,0.0,804,9393,1.15,2.40,155.05,1.459,4,0.044,0.053,3114,2758,2250
$GC,9506,1.01,170.3,973.5,14.3,816,9512,0.00,2.22,0.00,0.000,6,0.000,0.048,3124,1350,2246
$GC,9821,1.01,170.3,930.0,13.2,832,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1350,2244
$GC,10131,1.01,170.3,887.8,13.8,847,10134,0.00,1.83,0.00,0.000,4,0.000,0.070,3133,192,2241
$GC,10163,1.01,170.3,882.5,15.7,848,10167,0.00,1.77,0.00,0.000,6,0.000,0.043,3133,1368,2242
$GC,10484,1.01,170.3,836.7,13.8,864,10488,0.00,2.12,0.00,0.000,4,0.000,0.051,3133,2749,2240
$GC,10574,1.01,170.3,824.3,14.0,868,10579,0.15,2.17,0.00,0.000,6,0.202,0.048,3108,1334,2239
$GC,10901,1.01,170.3,784.8,11.7,884,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1334,2239
$GC,11210,1.01,170.3,749.7,10.9,899,11213,0.00,1.77,0.00,0.000,4,0.000,0.061,3115,200,2238
$GC,11300,1.01,170.3,739.3,12.2,903,11304,0.00,1.73,0.00,0.000,6,0.000,0.043,3115,1352,2238
$GC,11633,1.01,170.3,702.3,11.2,919,11637,0.00,2.15,0.00,0.000,4,0.000,0.051,3115,2754,2237
$GC,11689,1.01,170.3,695.5,11.8,921,11693,0.00,2.17,0.00,0.000,6,0.000,0.048,3125,1343,2236
$GC,12011,1.01,170.3,660.3,10.2,937,12014,0.00,1.80,0.00,0.000,4,0.000,0.061,3133,194,2237
$GC,12056,1.01,170.3,655.4,10.1,939,12060,0.00,1.77,0.00,0.000,6,0.000,0.044,3133,1353,2237
$GC,12389,1.01,170.3,622.2,10.0,955,12392,0.00,2.15,0.00,0.000,4,0.000,0.051,3133,2755,2236
$GC,12571,1.01,170.3,602.9,10.8,963,12576,0.15,2.17,0.00,0.000,6,0.195,0.048,3107,1339,2236
$GC,12898,1.01,170.3,568.5,10.5,979,12901,0.00,1.80,0.00,0.000,4,0.000,0.064,3114,196,2235
$GC,12959,1.01,170.3,561.8,11.0,981,12966,0.00,1.77,0.00,0.000,6,0.000,0.042,3111,1361,2235
$GC,13276,1.01,170.3,532.5,8.7,997,13279,0.00,2.12,0.00,0.000,4,0.000,0.050,3111,2747,2235
$GC,13315,1.01,170.3,528.8,9.3,998,13322,0.00,2.15,0.00,0.000,6,0.000,0.045,3120,1340,2235
$GC,13632,1.01,170.3,497.4,10.4,1015,13635,0.00,2.17,0.00,0.000,4,0.000,0.048,3120,2752,2236
$GC,13695,1.01,170.3,490.6,11.3,1020,13701,0.00,2.15,0.00,0.000,6,0.000,0.044,3129,1341,2235
$GC,14023,1.01,170.3,457.1,10.2,1051,14026,0.00,2.17,0.00,0.000,4,0.000,0.048,3129,2754,2235
$GC,14238,1.04,190.1,437.5,7.4,1070,14260,0.00,2.17,15.88,1.089,6,0.000,0.044,3138,1343,2170
$GC,14579,1.04,190.1,408.7,8.8,1102,14583,0.00,2.17,0.00,0.000,4,0.000,0.048,3139,2755,2169
$GC,14808,1.04,190.1,384.5,10.3,1122,14815,0.10,2.17,0.00,0.000,6,0.182,0.043,3121,1353,2168
$GC,15133,1.04,190.1,352.8,9.2,1153,15137,0.00,2.15,0.00,0.000,4,0.000,0.047,3111,2754,2168
$GC,15201,1.04,190.1,346.6,8.5,1159,15205,0.00,2.17,0.00,0.000,6,0.000,0.048,3120,1338,2168
$GC,15534,1.16,287.7,324.6,4.9,1190,15623,0.00,2.25,84.10,1.017,4,0.000,0.044,3122,2758,1772
$GC,15659,1.16,287.7,315.6,8.9,1201,15663,0.00,2.20,0.00,0.000,6,0.000,0.041,3133,1350,1769
$GC,15994,1.16,287.7,278.9,12.0,1247,16000,0.00,2.15,0.00,0.000,4,0.000,0.043,3136,2762,1765
$GC,16064,1.16,287.7,270.0,12.7,1259,16070,0.00,2.15,0.00,0.000,6,0.000,0.041,3147,1349,1765
$GC,16408,1.16,287.7,222.7,13.7,1320,16414,0.00,2.12,0.00,0.000,4,0.000,0.042,3149,2754,1765
$GC,16445,1.16,287.7,218.1,13.7,1326,16451,0.00,2.12,0.00,0.000,6,0.000,0.040,3158,1343,1765
$GC,16789,1.16,287.7,179.6,9.9,1387,16795,0.00,2.15,0.00,0.000,4,0.000,0.041,3159,2749,1765
$GC,16968,1.16,287.7,161.5,10.1,1418,16974,0.00,2.10,0.00,0.000,6,0.000,0.038,3170,1347,1765
$GC,17313,1.16,287.7,126.0,10.6,1479,17320,0.00,2.10,0.00,0.000,4,0.000,0.039,3170,2756,1765
$GC,17494,1.16,287.7,105.5,11.4,1511,17501,0.00,2.10,0.00,0.000,6,0.000,0.037,3179,1346,1765
$GC,17839,1.18,301.4,77.1,7.6,1572,17865,0.00,1.75,14.88,0.650,4,0.000,0.048,3188,196,1716
$GC,17906,1.19,314.0,72.0,7.6,1583,17927,0.00,1.73,12.15,0.713,6,0.000,0.032,3188,1371,1665
$GC,18268,1.25,358.0,43.9,6.6,1646,18312,0.00,2.08,37.88,0.739,4,0.000,0.035,3188,2750,1486
$GC,18348,1.25,358.0,37.3,8.6,1659,18355,0.00,2.10,0.00,0.000,6,0.000,0.035,3198,1347,1485
$GC,18693,1.27,378.9,11.9,7.3,1720,18719,0.00,1.80,19.02,0.675,4,0.000,0.054,3207,202,1400
$STATE,18797,end climb,SURFACE_DEPTH_REACHED
$STATE,18797,begin surface coast
$FINISH,0.9,1.020539
$STATE,18837,end surface coast,CONTROL_FINISHED_OK
$STATE,18838,begin surface
$SM_CCo,18858,58.22,0.686,0,0,1110,450.13
$SM_GC,1.76,0.00,0.00,58.22,0.000,0.000,0.686,153,1693,1110,-8.17,0.51,450.13
$IRIDIUM_FIX,2448.93,12357.22,051098,202030
$TT8_MAMPS,0.026845
$HUMID,1527
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.30
$XPDR_PINGS,156
$24V_AH,22.7,70.104
$10V_AH,10.7,44.629
$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,20.050,171.650,486.200,58.225,0.000,25.885,33.532,321.732,47.000,0.000,0.000,14.220,3067.877,11310.262,687.701,3583.479,791.443,0.000,2265.371,0.000,3543.412,0.000,57.559,0.000
$DEVICE_MAMPS,236.236,69.797,1487.980,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.635,1216.790,2062.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101196,1745
$CAP_FILE_SIZE,177647,0
$CFSIZE,260165632,209817600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.129, 30.2,1
$GPS,120709,071024,2454.371,12409.596,40,1.4,40,-3.7