version: 66.04
glider: 166
mission: 2
dive: 323
start: 7 13 109 0 22 0
data:
$ID,166
$MISSION,2
$DIVE,323
$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,-11699.38
$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,71
$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
$GPS1,001200,2453.405,12413.104,36,1.2,41,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-57.5
$GPS2,002138,2453.473,12413.399,14,1.3,14,-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,231.9,17225,-13.7,-7.990
$D_GRID,1875
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,87,0.00,0.00,-67.18,0.000,2,0.000,0.000,164,1683,2544
$GC,90,-1.01,-170.3,3.5,-5.3,10,135,9.52,2.17,-28.33,0.000,4,0.238,0.056,2442,258,3638
$GC,206,-1.01,-170.3,26.4,-22.6,29,214,0.00,2.03,0.00,0.000,6,0.000,0.028,2439,1664,3639
$GC,551,-1.01,-170.3,88.1,-14.7,90,558,0.00,2.10,0.00,0.000,4,0.000,0.040,2436,3061,3639
$GC,690,-1.01,-170.3,107.9,-13.8,114,697,0.00,2.03,0.00,0.000,6,0.000,0.030,2448,1658,3640
$GC,1035,-1.01,-170.3,156.6,-14.0,175,1042,0.00,2.12,0.00,0.000,4,0.000,0.039,2447,3064,3641
$GC,1060,-1.01,-170.3,160.3,-14.0,179,1066,0.00,2.03,0.00,0.000,6,0.000,0.030,2448,1658,3641
$GC,1406,-1.01,-170.3,204.5,-11.7,240,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1658,3641
$GC,1750,-1.01,-170.3,245.8,-12.7,301,1757,0.00,2.12,0.00,0.000,4,0.000,0.041,2442,3078,3641
$GC,1797,-1.01,-170.3,251.7,-12.3,309,1804,0.00,2.03,0.00,0.000,6,0.000,0.031,2448,1679,3641
$GC,2144,-1.01,-170.3,292.1,-11.4,370,2150,0.00,2.10,0.00,0.000,4,0.000,0.045,2448,276,3641
$GC,2209,-1.01,-170.3,300.0,-12.3,381,2217,0.00,2.03,0.00,0.000,6,0.000,0.028,2429,1679,3640
$GC,2534,-1.01,-170.3,339.3,-12.7,412,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1680,3640
$GC,2854,-1.01,-170.3,378.4,-11.5,442,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1680,3639
$GC,3172,-1.01,-170.3,412.8,-10.2,472,3175,0.00,2.15,0.00,0.000,4,0.000,0.048,2425,267,3636
$GC,3229,-1.01,-170.3,419.2,-10.8,477,3232,0.00,2.05,0.00,0.000,6,0.000,0.031,2433,1675,3636
$GC,3559,-1.01,-170.3,455.4,-11.7,508,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1676,3634
$GC,3878,-1.01,-170.3,489.2,-9.8,538,3881,0.00,2.15,0.00,0.000,4,0.000,0.050,2434,272,3632
$GC,3912,-1.01,-170.3,492.8,-11.2,541,3916,0.00,2.05,0.00,0.000,6,0.000,0.031,2447,1676,3631
$GC,4235,-1.01,-170.3,521.6,-8.6,560,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1676,3629
$GC,4545,-1.01,-170.3,551.0,-10.5,575,4549,0.00,2.15,0.00,0.000,4,0.000,0.051,2447,279,3627
$GC,4583,-1.01,-170.3,555.6,-11.9,576,4590,0.00,2.08,0.00,0.000,6,0.000,0.033,2447,1668,3626
$GC,4900,-1.01,-170.3,592.7,-12.2,592,4903,0.00,2.15,0.00,0.000,4,0.000,0.051,2447,270,3624
$GC,4927,-1.01,-170.3,596.3,-12.7,593,4931,0.00,2.08,0.00,0.000,6,0.000,0.033,2447,1679,3624
$GC,5254,-1.01,-170.3,633.3,-11.1,609,5258,0.00,2.17,0.00,0.000,4,0.000,0.052,2448,267,3622
$GC,5288,-1.01,-170.3,637.3,-11.5,610,5291,0.00,2.10,0.00,0.000,6,0.000,0.035,2447,1686,3621
$GC,5609,-1.01,-170.3,665.4,-8.3,626,5613,0.00,2.20,0.00,0.000,4,0.000,0.055,2447,276,3619
$GC,5632,-1.01,-170.3,667.5,-9.2,627,5636,0.00,2.10,0.00,0.000,6,0.000,0.041,2448,1685,3619
$GC,5966,-1.01,-170.3,697.5,-9.5,643,5969,0.00,2.12,0.00,0.000,4,0.000,0.051,2447,3082,3617
$GC,5981,-1.01,-170.3,699.1,-9.5,643,5988,0.00,2.10,0.00,0.000,6,0.000,0.044,2447,1680,3617
$GC,6298,-1.01,-170.3,730.9,-10.3,659,6301,0.00,2.20,0.00,0.000,4,0.000,0.061,2447,270,3615
$GC,6444,-1.01,-170.3,747.4,-11.0,665,6447,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,1684,3614
$GC,6767,-1.01,-170.3,776.4,-8.7,681,6771,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,272,3611
$GC,6817,-1.01,-170.3,781.6,-9.7,683,6821,0.00,2.12,0.00,0.000,6,0.000,0.037,2446,1683,3610
$GC,7147,-1.01,-170.3,810.0,-8.9,699,7150,0.00,2.22,0.00,0.000,4,0.000,0.054,2446,269,3609
$GC,7224,-1.01,-170.3,818.3,-10.2,702,7229,0.00,2.15,0.00,0.000,6,0.000,0.043,2439,1672,3608
$GC,7547,-1.01,-170.3,849.5,-10.2,718,7552,0.00,2.17,0.00,0.000,4,0.000,0.055,2433,3079,3606
$GC,7585,-1.01,-170.3,853.6,-9.7,719,7591,0.00,2.12,0.00,0.000,6,0.000,0.048,2440,1680,3606
$GC,7902,-1.01,-170.3,888.0,-11.3,735,7906,0.00,2.20,0.00,0.000,4,0.000,0.058,2441,272,3604
$GC,7971,-1.01,-170.3,896.6,-12.8,738,7975,0.00,2.12,0.00,0.000,6,0.000,0.039,2430,1683,3604
$GC,8303,-1.01,-170.3,933.0,-10.9,754,8307,0.00,2.22,0.00,0.000,4,0.000,0.058,2433,268,3602
$GC,8348,-1.01,-170.3,938.3,-11.6,756,8353,0.12,2.12,0.00,0.000,6,0.160,0.039,2451,1679,3601
$GC,8675,-1.01,-170.3,969.5,-9.5,772,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1679,3600
$STATE,8899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8899,begin apogee
$GC,8905,-0.29,0.0,991.2,9.5,783,9062,0.70,0.00,146.50,1.486,6,0.109,0.000,2681,1344,2945
$STATE,9063,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9065,1.01,170.3,1000.7,0.0,791,9230,1.15,2.38,154.88,1.455,4,0.046,0.051,3109,2747,2249
$GC,9336,1.01,170.3,981.3,13.6,803,9340,0.00,2.22,0.00,0.000,6,0.000,0.048,3119,1338,2245
$GC,9659,1.01,170.3,939.8,13.1,819,9663,0.00,2.22,0.00,0.000,4,0.000,0.054,3120,2764,2243
$GC,9750,1.01,170.3,927.7,13.8,823,9754,0.00,2.20,0.00,0.000,6,0.000,0.048,3129,1340,2242
$GC,10076,1.01,170.3,884.3,13.7,839,10080,0.00,2.20,0.00,0.000,4,0.000,0.052,3130,2753,2241
$GC,10213,1.01,170.3,864.9,13.5,845,10217,0.15,2.17,0.00,0.000,6,0.199,0.047,3105,1341,2239
$GC,10540,1.01,170.3,823.4,11.8,861,10544,0.00,2.20,0.00,0.000,4,0.000,0.052,3103,2756,2239
$GC,10618,1.01,170.3,813.3,12.7,864,10622,0.00,2.17,0.00,0.000,6,0.000,0.054,3112,1349,2239
$GC,10939,1.01,170.3,775.6,11.3,880,10943,0.00,1.80,0.00,0.000,4,0.000,0.061,3121,199,2238
$GC,11079,1.01,170.3,758.8,12.1,886,11082,0.00,1.75,0.00,0.000,6,0.000,0.043,3121,1349,2237
$GC,11407,1.01,170.3,721.9,10.9,902,11411,0.00,2.17,0.00,0.000,4,0.000,0.052,3121,2761,2236
$GC,11452,1.01,170.3,716.8,11.0,904,11455,0.00,2.17,0.00,0.000,6,0.000,0.048,3129,1346,2236
$GC,11784,1.01,170.3,677.6,12.2,920,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1346,2236
$GC,12094,1.01,170.3,640.6,12.0,935,12098,0.00,1.80,0.00,0.000,4,0.000,0.061,3138,198,2236
$GC,12280,1.01,170.3,619.0,10.8,943,12285,0.10,1.77,0.00,0.000,6,0.191,0.044,3109,1346,2235
$GC,12608,1.03,180.0,592.2,7.7,959,12622,0.00,2.25,7.10,1.071,4,0.000,0.050,3103,2758,2211
$GC,12697,1.03,180.0,584.7,8.5,963,12700,0.00,2.17,0.00,0.000,6,0.000,0.044,3112,1338,2211
$GC,13030,1.03,180.0,553.1,10.2,979,13034,0.00,2.20,0.00,0.000,4,0.000,0.049,3111,2762,2211
$GC,13085,1.03,180.0,547.0,10.4,981,13089,0.00,2.17,0.00,0.000,6,0.000,0.043,3120,1339,2210
$GC,13407,1.03,180.0,515.1,9.3,997,13411,0.00,2.17,0.00,0.000,4,0.000,0.048,3121,2752,2210
$GC,13485,1.03,180.0,507.5,9.1,1000,13489,0.00,2.15,0.00,0.000,6,0.000,0.042,3130,1338,2210
$GC,13815,1.03,180.0,476.9,10.0,1027,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1339,2210
$GC,14131,1.03,180.0,446.3,8.9,1057,14135,0.00,2.20,0.00,0.000,4,0.000,0.053,3130,2758,2210
$GC,14244,1.03,180.0,435.6,9.3,1067,14247,0.00,2.15,0.00,0.000,6,0.000,0.041,3139,1342,2210
$GC,14577,1.03,180.0,406.3,8.9,1098,14581,0.00,2.17,0.00,0.000,4,0.000,0.046,3139,2754,2210
$GC,14671,1.03,180.0,397.7,8.2,1106,14678,0.10,2.17,0.00,0.000,6,0.180,0.044,3109,1352,2210
$GC,14998,1.05,197.9,373.2,7.4,1137,15023,0.00,2.17,17.70,1.029,4,0.000,0.044,3107,2764,2137
$GC,15125,1.07,213.1,363.2,7.5,1148,15149,0.00,2.15,14.73,0.993,6,0.000,0.040,3116,1350,2076
$GC,15467,1.07,217.2,337.0,7.9,1180,15479,0.00,2.20,5.03,0.747,4,0.000,0.044,3118,2762,2059
$GC,15581,1.07,217.2,328.0,8.3,1190,15585,0.00,2.15,0.00,0.000,6,0.000,0.039,3128,1344,2058
$GC,15914,1.07,217.2,300.4,8.3,1221,15915,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1345,2058
$GC,16247,1.08,224.0,270.6,7.8,1280,16261,0.00,1.83,7.85,0.826,4,0.000,0.051,3140,192,2031
$GC,16419,1.08,224.0,256.4,8.1,1310,16426,0.00,1.75,0.00,0.000,6,0.000,0.036,3141,1365,2030
$GC,16764,1.08,224.0,225.6,9.3,1371,16770,0.00,2.08,0.00,0.000,4,0.000,0.041,3140,2750,2031
$GC,16929,1.08,224.0,210.7,9.2,1400,16935,0.00,2.10,0.00,0.000,6,0.000,0.037,3149,1340,2031
$GC,17274,1.16,289.8,186.4,5.9,1461,17339,0.00,2.20,55.60,0.871,4,0.000,0.038,3149,2741,1762
$GC,17486,1.16,289.8,166.9,11.7,1497,17494,0.00,2.12,0.00,0.000,6,0.000,0.036,3158,1354,1759
$GC,17832,1.16,289.8,127.6,9.9,1558,17838,0.00,1.77,0.00,0.000,4,0.000,0.048,3168,203,1759
$GC,17993,1.16,289.8,112.4,8.9,1586,17999,0.00,1.70,0.00,0.000,6,0.000,0.032,3167,1352,1758
$GC,18336,1.16,289.8,86.0,8.2,1647,18343,0.00,2.10,0.00,0.000,4,0.000,0.036,3168,2742,1758
$GC,18402,1.16,289.8,81.1,8.0,1658,18408,0.00,2.12,0.00,0.000,6,0.000,0.035,3177,1335,1758
$GC,18746,1.30,399.8,58.1,4.5,1719,18843,0.00,2.25,90.43,0.743,4,0.000,0.034,3177,2756,1316
$GC,18918,1.30,399.8,45.0,8.9,1747,18925,0.00,2.12,0.00,0.000,6,0.000,0.034,3187,1337,1314
$GC,19263,1.30,399.8,14.5,11.7,1808,19269,0.00,2.10,0.00,0.000,4,0.000,0.034,3187,2762,1313
$GC,19354,1.30,399.8,4.4,10.1,1824,19361,0.00,2.12,0.00,0.000,6,0.000,0.032,3197,1341,1313
$STATE,19371,end climb,SURFACE_DEPTH_REACHED
$STATE,19371,begin surface coast
$FINISH,0.8,1.011031
$STATE,19407,end surface coast,CONTROL_FINISHED_OK
$STATE,19407,begin surface
$SM_CCo,19426,41.60,0.670,0,0,1109,450.13
$SM_GC,1.66,0.00,0.00,41.60,0.000,0.000,0.670,168,1699,1109,-8.16,0.68,450.13
$IRIDIUM_FIX,2444.18,12413.02,061098,181852
$TT8_MAMPS,0.027612
$HUMID,1512
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.80
$XPDR_PINGS,167
$24V_AH,22.8,70.991
$10V_AH,10.7,45.365
$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,19.925,165.525,499.800,41.600,0.000,26.529,36.049,348.902,49.750,0.000,0.000,14.258,3204.283,11563.063,670.198,3735.815,855.351,0.000,2313.498,0.000,3715.689,0.000,56.904,0.000
$DEVICE_MAMPS,237.770,61.360,1485.679,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1245.583,1269.956,2128.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107389,1833
$CAP_FILE_SIZE,182924,0
$CFSIZE,260165632,209403904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.177, 49.6,1
$GPS,130709,054754,2453.258,12413.698,28,1.5,46,-3.7