version: 66.04
glider: 166
mission: 2
dive: 330
start: 7 14 109 16 0 31
data:
$ID,166
$MISSION,2
$DIVE,330
$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,-11819.002
$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,46
$R_STBD_OVSHOOT,78
$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
$GPS1,154907,2449.432,12421.237,30,1.2,30,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.9
$GPS2,160007,2449.371,12421.484,10,1.5,15,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12423.900
$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,182.5,9390,-13.7,-7.990
$D_GRID,1075
$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,14,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-55.42,0.000,2,0.000,0.000,172,1713,2419
$GC,75,-1.01,-170.3,3.2,-4.1,8,123,9.35,2.25,-31.92,0.000,4,0.232,0.053,2450,269,3642
$GC,143,-1.01,-170.3,15.8,-21.1,18,151,0.00,2.03,0.00,0.000,6,0.000,0.026,2448,1681,3642
$GC,489,-1.01,-170.3,82.0,-17.7,79,495,0.00,2.05,0.00,0.000,4,0.000,0.035,2447,3064,3642
$GC,502,-1.01,-170.3,84.5,-17.6,81,508,0.00,2.03,0.00,0.000,6,0.000,0.028,2448,1654,3642
$GC,846,-1.01,-170.3,137.0,-14.2,142,853,0.00,2.03,0.00,0.000,4,0.000,0.039,2447,274,3642
$GC,894,-1.01,-170.3,145.6,-17.8,150,901,0.00,2.03,0.00,0.000,6,0.000,0.025,2448,1702,3643
$GC,1239,-1.01,-170.3,194.6,-11.8,211,1246,0.00,2.03,0.00,0.000,4,0.000,0.036,2447,3070,3643
$GC,1343,-1.01,-170.3,206.5,-11.6,229,1349,0.00,2.00,0.00,0.000,6,0.000,0.028,2447,1669,3643
$GC,1688,-1.01,-170.3,253.6,-14.5,290,1696,0.00,2.05,0.00,0.000,4,0.000,0.040,2445,276,3643
$GC,1753,-1.01,-170.3,263.2,-14.7,301,1759,0.00,2.00,0.00,0.000,6,0.000,0.025,2447,1685,3643
$GC,2101,-1.01,-170.3,305.1,-11.8,359,2104,0.00,2.03,0.00,0.000,4,0.000,0.038,2446,3070,3643
$GC,2169,-1.01,-170.3,313.1,-11.3,365,2173,0.00,2.00,0.00,0.000,6,0.000,0.028,2440,1675,3643
$GC,2498,-1.01,-170.3,351.5,-11.3,396,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1675,3643
$GC,2818,-1.01,-170.3,386.6,-11.4,426,2821,0.00,2.10,0.00,0.000,4,0.000,0.043,2438,270,3641
$GC,2863,-1.01,-170.3,392.6,-13.9,430,2867,0.00,2.03,0.00,0.000,6,0.000,0.027,2434,1682,3641
$GC,3193,-1.01,-170.3,431.1,-11.0,461,3197,0.00,2.12,0.00,0.000,4,0.000,0.044,2429,273,3639
$GC,3228,-1.01,-170.3,435.0,-11.4,464,3232,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1681,3639
$GC,3559,-1.01,-170.3,471.1,-10.4,495,3562,0.00,2.05,0.00,0.000,4,0.000,0.041,2431,3064,3636
$GC,3593,-1.01,-170.3,474.7,-10.1,498,3601,0.00,2.03,0.00,0.000,6,0.000,0.031,2432,1669,3636
$GC,3935,-1.01,-170.3,506.4,-9.1,527,3939,0.00,2.10,0.00,0.000,4,0.000,0.045,2430,279,3633
$GC,3996,-1.01,-170.3,512.9,-10.9,529,4002,0.00,2.03,0.00,0.000,6,0.000,0.029,2436,1678,3633
$GC,4313,-1.01,-170.3,543.4,-10.1,545,4316,0.00,2.08,0.00,0.000,4,0.000,0.043,2442,3065,3631
$GC,4330,-1.01,-170.3,545.2,-9.8,545,4336,0.00,2.05,0.00,0.000,6,0.000,0.033,2438,1668,3630
$GC,4646,-1.01,-170.3,579.5,-11.0,561,4649,0.00,2.12,0.00,0.000,4,0.000,0.049,2437,270,3628
$GC,4714,-1.01,-170.3,587.8,-12.2,564,4718,0.00,2.05,0.00,0.000,6,0.000,0.031,2447,1676,3627
$GC,5048,-1.01,-170.3,621.8,-9.4,580,5051,0.00,2.15,0.00,0.000,4,0.000,0.049,2445,277,3625
$GC,5131,-1.01,-170.3,630.3,-10.6,583,5137,0.00,2.08,0.00,0.000,6,0.000,0.034,2447,1683,3624
$GC,5448,-1.01,-170.3,658.6,-8.9,599,5452,0.00,2.20,0.00,0.000,4,0.000,0.053,2446,267,3622
$GC,5525,-1.01,-170.3,666.9,-10.8,602,5529,0.00,2.10,0.00,0.000,6,0.000,0.035,2447,1685,3621
$GC,5848,-1.01,-170.3,695.8,-8.4,618,5852,0.00,2.12,0.00,0.000,4,0.000,0.052,2447,3073,3618
$GC,5878,-1.01,-170.3,698.2,-8.2,619,5881,0.00,2.10,0.00,0.000,6,0.000,0.038,2447,1675,3619
$GC,6206,-1.01,-170.3,726.3,-9.0,635,6209,0.00,2.15,0.00,0.000,4,0.000,0.050,2447,3079,3616
$GC,6238,-1.01,-170.3,729.7,-10.1,636,6242,0.00,2.12,0.00,0.000,6,0.000,0.045,2447,1670,3616
$GC,6562,-1.01,-170.3,758.4,-8.2,652,6566,0.00,2.20,0.00,0.000,4,0.000,0.058,2446,265,3613
$GC,6640,-1.01,-170.3,765.3,-9.2,655,6644,0.00,2.12,0.00,0.000,6,0.000,0.039,2447,1674,3613
$GC,6962,-1.01,-170.3,789.3,-6.8,671,6966,0.00,2.20,0.00,0.000,4,0.000,0.055,2447,264,3610
$GC,6991,-1.01,-170.3,791.3,-7.6,672,6994,0.00,2.12,0.00,0.000,6,0.000,0.037,2447,1675,3609
$GC,7319,-1.01,-170.3,817.1,-8.9,688,7322,0.00,2.17,0.00,0.000,4,0.000,0.058,2447,3079,3608
$GC,7368,-1.01,-170.3,822.1,-9.7,690,7372,0.00,2.12,0.00,0.000,6,0.000,0.041,2447,1667,3607
$GC,7696,-1.01,-170.3,856.6,-10.8,706,7699,0.00,2.17,0.00,0.000,4,0.000,0.058,2447,273,3606
$GC,7769,-1.01,-170.3,865.1,-11.8,709,7773,0.00,2.12,0.00,0.000,6,0.000,0.044,2447,1674,3605
$GC,8098,-1.01,-170.3,901.5,-11.3,725,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1676,3602
$GC,8405,-1.01,-170.3,933.3,-9.1,740,8409,0.00,2.22,0.00,0.000,4,0.000,0.059,2446,269,3601
$GC,8438,-1.01,-170.3,936.5,-9.6,741,8442,0.00,2.15,0.00,0.000,6,0.000,0.040,2445,1680,3601
$GC,8760,-1.01,-170.3,963.5,-8.4,757,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1680,3600
$STATE,9066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9066,begin apogee
$GC,9073,-0.29,0.0,991.1,9.0,772,9229,0.73,0.00,146.88,1.487,6,0.114,0.000,2678,1349,2945
$STATE,9230,end apogee,CONTROL_FINISHED_OK
$STATE,9230,begin climb
$GC,9233,1.01,170.3,997.0,0.0,780,9397,1.20,2.38,154.12,1.453,4,0.057,0.051,3096,2756,2249
$GC,9548,1.01,170.3,971.7,11.5,794,9552,0.00,2.22,0.00,0.000,6,0.000,0.047,3104,1337,2245
$GC,9870,1.01,170.3,931.0,12.4,810,9874,0.00,2.22,0.00,0.000,4,0.000,0.052,3104,2764,2243
$GC,9931,1.01,170.3,922.4,13.0,812,9938,0.00,2.22,0.00,0.000,6,0.000,0.046,3115,1345,2242
$GC,10247,1.01,170.3,878.8,14.1,828,10250,0.00,2.20,0.00,0.000,4,0.000,0.051,3115,2763,2241
$GC,10274,1.01,170.3,874.7,15.7,829,10278,0.00,2.17,0.00,0.000,6,0.000,0.045,3125,1348,2241
$GC,10602,1.01,170.3,828.8,14.3,845,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1348,2240
$GC,10910,1.01,170.3,787.6,12.9,860,10913,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2769,2239
$GC,10942,1.01,170.3,783.3,12.2,861,10946,0.00,2.20,0.00,0.000,6,0.000,0.051,3132,1343,2239
$GC,11266,1.01,170.3,742.3,12.8,877,11270,0.00,2.20,0.00,0.000,4,0.000,0.051,3132,2765,2238
$GC,11372,1.01,170.3,727.7,12.8,881,11379,0.15,2.17,0.00,0.000,6,0.198,0.045,3107,1345,2238
$GC,11689,1.01,170.3,691.2,10.8,897,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1344,2237
$GC,11997,1.01,170.3,661.9,8.6,912,12001,0.00,2.20,0.00,0.000,4,0.000,0.051,3103,2764,2236
$GC,12179,1.01,170.3,645.3,10.6,920,12182,0.00,2.17,0.00,0.000,6,0.000,0.044,3112,1344,2236
$GC,12511,1.01,170.3,610.5,8.7,936,12515,0.00,1.77,0.00,0.000,4,0.000,0.058,3121,204,2235
$GC,12686,1.01,170.3,591.6,9.4,943,12692,0.00,1.75,0.00,0.000,6,0.000,0.041,3121,1372,2236
$GC,13002,1.01,170.3,564.4,8.3,959,13006,0.00,2.15,0.00,0.000,4,0.000,0.055,3121,2756,2236
$GC,13260,1.01,170.3,538.5,10.8,970,13264,0.00,2.17,0.00,0.000,6,0.000,0.050,3130,1345,2235
$GC,13582,1.01,170.3,507.5,8.9,986,13586,0.00,2.17,0.00,0.000,4,0.000,0.049,3130,2751,2235
$GC,13840,1.01,170.3,483.9,9.7,1005,13845,0.12,2.17,0.00,0.000,6,0.195,0.044,3110,1340,2235
$GC,14166,1.01,170.3,458.7,8.4,1035,14169,0.00,2.20,0.00,0.000,4,0.000,0.047,3105,2759,2235
$GC,14267,1.01,170.3,449.4,9.3,1044,14271,0.00,2.15,0.00,0.000,6,0.000,0.042,3114,1347,2235
$GC,14598,1.01,170.3,418.9,8.4,1075,14601,0.00,2.15,0.00,0.000,4,0.000,0.046,3116,2753,2235
$GC,14835,1.01,170.3,400.2,8.4,1096,14838,0.00,2.12,0.00,0.000,6,0.000,0.041,3127,1350,2236
$GC,15168,1.02,178.2,376.4,7.7,1127,15175,0.00,0.00,5.90,0.844,6,0.000,0.000,3128,1350,2218
$GC,15496,1.02,178.2,350.3,8.1,1158,15499,0.00,2.15,0.00,0.000,4,0.000,0.044,3131,2762,2218
$GC,15754,1.02,178.2,329.6,9.1,1181,15759,0.12,2.15,0.00,0.000,6,0.188,0.040,3113,1339,2219
$GC,16080,1.10,241.0,307.2,6.0,1211,16145,0.00,2.28,55.45,0.983,4,0.000,0.042,3110,2753,1960
$GC,16202,1.10,241.0,297.1,9.5,1224,16208,0.00,2.20,0.00,0.000,6,0.000,0.038,3118,1344,1956
$GC,16545,1.10,241.0,263.9,9.2,1285,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1343,1954
$GC,16888,1.10,241.0,233.6,8.3,1346,16895,0.00,2.15,0.00,0.000,4,0.000,0.040,3119,2763,1954
$GC,16987,1.10,241.0,225.1,9.0,1363,16993,0.00,2.12,0.00,0.000,6,0.000,0.038,3129,1347,1954
$GC,17331,1.10,241.0,193.9,8.9,1424,17338,0.00,2.15,0.00,0.000,4,0.000,0.039,3129,2768,1955
$GC,17424,1.10,241.0,185.6,8.2,1440,17431,0.00,2.12,0.00,0.000,6,0.000,0.036,3139,1343,1954
$GC,17768,1.15,280.2,160.2,6.8,1501,17808,0.00,2.22,33.15,0.837,4,0.000,0.038,3139,2757,1801
$GC,17954,1.16,290.4,144.7,7.7,1533,17970,0.00,2.15,9.95,0.736,6,0.000,0.035,3148,1349,1761
$GC,18308,1.25,364.9,117.4,5.6,1595,18378,0.10,1.77,63.22,0.794,4,0.079,0.047,3206,205,1456
$GC,18533,1.25,364.9,96.7,10.4,1633,18539,0.00,1.73,0.00,0.000,6,0.000,0.031,3206,1373,1452
$GC,18877,1.25,364.9,63.1,9.2,1694,18885,0.00,1.80,0.00,0.000,4,0.000,0.047,3214,206,1451
$GC,18949,1.25,364.9,56.7,8.3,1706,18957,0.08,1.65,0.00,0.000,6,0.162,0.030,3191,1343,1451
$GC,19296,1.31,411.0,31.7,6.5,1767,19341,0.00,2.15,39.47,0.693,4,0.000,0.034,3191,2745,1268
$GC,19429,1.31,411.0,20.9,8.9,1789,19435,0.00,2.08,0.00,0.000,6,0.000,0.033,3197,1349,1268
$STATE,19615,end climb,SURFACE_DEPTH_REACHED
$STATE,19615,begin surface coast
$FINISH,0.8,1.021235
$STATE,19648,end surface coast,CONTROL_FINISHED_OK
$STATE,19649,begin surface
$SM_CCo,19668,32.30,0.653,0,0,1109,450.13
$SM_GC,1.78,0.00,0.00,32.30,0.000,0.000,0.653,163,1693,1109,-8.16,0.51,450.13
$IRIDIUM_FIX,2439.44,12423.54,081098,161625
$TT8_MAMPS,0.027612
$HUMID,1530
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,26.10
$XPDR_PINGS,170
$24V_AH,22.8,72.471
$10V_AH,10.7,46.642
$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,19.925,169.175,508.150,32.300,0.000,50.646,67.625,310.173,50.500,0.000,0.000,15.815,3229.389,11761.835,657.330,3817.510,878.131,0.000,2326.401,0.000,3779.479,0.000,54.432,0.000
$DEVICE_MAMPS,232.401,59.059,1487.213,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1241.622,1261.182,2118.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107330,1828
$CAP_FILE_SIZE,185882,0
$CFSIZE,260165632,208695296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,116.3,1
$GPS,140709,213007,2447.153,12423.601,37,1.0,37,-3.7