version: 66.04
glider: 166
mission: 2
dive: 283
start: 7 3 109 5 37 48
data:
$ID,166
$MISSION,2
$DIVE,283
$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,-4
$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,-10957.165
$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,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,052831,2505.179,12321.579,41,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.7
$GPS2,053726,2505.430,12321.575,17,1.2,17,-3.7
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,OFF_4
$TGT_LATLONG,2506.900,12323.900
$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,65.1,4755,-27.6,-7.990
$D_GRID,1851
$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,-1.68,-45.1,0.0,0.0,0,69,0.00,0.00,-51.83,0.000,2,0.000,0.000,168,1780,2287
$GC,72,-1.72,-80.8,3.1,-3.8,8,118,8.38,2.10,-28.55,0.000,4,0.232,0.052,2208,3183,3277
$GC,276,-1.19,-80.8,55.1,-27.0,43,283,0.73,2.12,0.00,0.000,6,0.217,0.032,2388,1725,3278
$GC,623,-1.04,-80.8,118.1,-15.4,104,630,0.17,2.12,0.00,0.000,4,0.183,0.038,2434,3157,3280
$GC,671,-1.04,-80.8,125.6,-14.8,112,677,0.00,2.03,0.00,0.000,6,0.000,0.029,2417,1746,3280
$GC,1016,-1.04,-80.8,171.5,-13.0,173,1023,0.00,2.10,0.00,0.000,4,0.000,0.039,2423,3144,3281
$GC,1064,-1.09,-80.8,177.9,-13.3,181,1071,0.00,2.00,0.00,0.000,6,0.000,0.029,2418,1769,3281
$GC,1410,-1.09,-80.8,220.7,-11.9,242,1417,0.00,2.10,0.00,0.000,4,0.000,0.040,2420,342,3281
$GC,1670,-1.09,-80.8,255.4,-13.8,288,1677,0.00,2.05,0.00,0.000,6,0.000,0.029,2434,1744,3281
$GC,2015,-1.15,-80.8,291.1,-9.0,349,2021,0.00,2.08,0.00,0.000,4,0.000,0.041,2434,348,3281
$GC,2190,-1.15,-80.8,312.4,-12.2,371,2196,0.00,1.98,0.00,0.000,6,0.000,0.028,2425,1727,3281
$GC,2515,-1.21,-80.8,352.3,-11.3,402,2519,0.00,2.05,0.00,0.000,4,0.000,0.043,2425,357,3280
$GC,2531,-1.21,-80.8,354.4,-11.3,403,2537,0.00,1.95,0.00,0.000,6,0.000,0.030,2421,1687,3280
$GC,2858,-1.27,-80.8,386.3,-9.9,434,2863,0.15,2.00,0.00,0.000,4,0.077,0.043,2361,357,3278
$GC,3118,-1.11,-80.8,420.3,-12.1,457,3122,0.25,1.92,0.00,0.000,6,0.193,0.032,2416,1683,3277
$GC,3448,-1.18,-80.8,455.1,-10.9,488,3451,0.00,2.00,0.00,0.000,4,0.000,0.046,2414,361,3274
$GC,3651,-1.18,-80.8,477.4,-10.6,506,3654,0.00,1.88,0.00,0.000,6,0.000,0.032,2410,1649,3272
$GC,3991,-1.23,-80.8,510.2,-9.4,533,3994,0.00,1.95,0.00,0.000,4,0.000,0.048,2407,364,3270
$GC,4127,-1.23,-80.8,524.2,-10.6,539,4131,0.00,1.85,0.00,0.000,6,0.000,0.035,2391,1622,3269
$GC,4460,-1.28,-80.8,559.7,-11.2,555,4464,0.00,1.92,0.00,0.000,4,0.000,0.049,2391,358,3267
$GC,4718,-1.28,-80.8,590.2,-11.2,566,4722,0.00,1.85,0.00,0.000,6,0.000,0.043,2387,1581,3265
$GC,5039,-1.28,-80.8,624.5,-11.3,582,5047,0.00,1.88,0.00,0.000,4,0.000,0.051,2391,357,3263
$GC,5170,-1.28,-80.8,641.5,-13.2,587,5176,0.00,1.80,0.00,0.000,6,0.000,0.039,2379,1574,3262
$GC,5486,-1.28,-80.8,680.0,-12.5,603,5490,0.00,2.40,0.00,0.000,4,0.000,0.058,2359,3131,3260
$GC,5553,-1.28,-80.8,687.8,-12.0,606,5557,0.00,2.30,0.00,0.000,6,0.000,0.044,2367,1603,3260
$GC,5880,-1.28,-80.8,723.5,-10.5,622,5884,0.00,1.92,0.00,0.000,4,0.000,0.060,2365,357,3258
$GC,6132,-1.22,-80.8,752.6,-11.5,633,6136,0.15,1.80,0.00,0.000,6,0.196,0.045,2384,1561,3256
$GC,6459,-1.30,-80.8,784.7,-10.0,649,6463,0.00,1.85,0.00,0.000,4,0.000,0.055,2384,368,3254
$GC,6559,-1.30,-80.8,796.1,-11.4,653,6563,0.00,1.77,0.00,0.000,6,0.000,0.038,2375,1546,3253
$GC,6882,-1.36,-80.8,829.9,-10.4,669,6886,0.00,1.85,0.00,0.000,4,0.000,0.057,2375,356,3251
$GC,6943,-1.36,-80.8,836.7,-10.6,671,6950,0.00,1.80,0.00,0.000,6,0.000,0.041,2366,1539,3250
$GC,7260,-1.41,-80.8,868.3,-10.0,687,7262,0.12,0.00,0.00,0.000,6,0.084,0.000,2316,1540,3248
$GC,7569,-1.33,-80.8,903.5,-11.6,702,7571,0.12,0.00,0.00,0.000,6,0.205,0.000,2344,1540,3247
$GC,7878,-1.33,-80.8,935.5,-10.3,717,7881,0.00,1.85,0.00,0.000,4,0.000,0.058,2345,359,3246
$GC,7933,-1.26,-80.8,941.9,-12.3,719,7938,0.12,1.77,0.00,0.000,6,0.210,0.041,2367,1540,3245
$GC,8257,-1.32,-80.8,975.7,-10.8,735,8261,0.00,1.85,0.00,0.000,4,0.000,0.058,2368,360,3244
$GC,8340,-1.32,-80.8,986.0,-12.7,738,8348,0.00,1.77,0.00,0.000,6,0.000,0.040,2360,1526,3243
$STATE,8386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8386,begin apogee
$GC,8393,-0.29,0.0,991.2,11.4,741,8470,1.08,0.00,68.50,1.477,6,0.157,0.000,2679,1316,2945
$STATE,8470,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8473,1.72,80.8,994.6,0.0,745,8554,1.83,1.88,73.30,1.469,4,0.061,0.058,3344,208,2615
$GC,8667,1.06,80.8,983.4,11.6,753,8674,0.93,1.65,0.00,0.000,6,0.257,0.043,3129,1289,2612
$GC,8983,0.83,81.1,958.3,8.0,769,8987,0.28,2.20,0.00,0.000,4,0.206,0.051,3042,2707,2610
$GC,9021,0.78,88.3,955.6,7.1,770,9033,0.00,2.17,7.47,1.221,6,0.000,0.044,3050,1287,2584
$GC,9357,0.73,98.4,932.5,6.8,787,9372,0.12,1.70,10.15,1.316,4,0.207,0.058,3028,191,2545
$GC,9401,0.75,108.8,929.3,6.8,789,9417,0.00,1.70,11.40,1.320,6,0.000,0.043,3028,1312,2500
$GC,9727,0.75,114.4,904.8,7.3,804,9738,0.00,2.22,6.45,1.165,4,0.000,0.052,3028,2707,2478
$GC,9850,0.75,115.1,894.7,7.9,809,9856,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,1312,2477
$GC,10167,0.75,115.1,869.5,8.2,825,10171,0.00,2.15,0.00,0.000,4,0.000,0.052,3037,2699,2476
$GC,10304,0.75,115.1,857.4,9.4,831,10307,0.00,2.12,0.00,0.000,6,0.000,0.046,3046,1318,2475
$GC,10637,0.75,116.0,828.7,7.9,847,10640,0.00,1.73,0.00,0.000,4,0.000,0.058,3055,200,2475
$GC,10720,0.67,116.0,821.5,8.4,850,10728,0.17,1.70,0.00,0.000,6,0.185,0.042,3004,1321,2474
$GC,11036,0.77,129.6,800.3,6.4,866,11059,0.00,2.17,14.35,1.339,4,0.000,0.052,3001,2694,2416
$GC,11084,0.87,129.6,796.7,8.0,868,11089,0.15,2.12,0.00,0.000,6,0.067,0.047,3074,1325,2415
$GC,11410,0.80,129.6,765.3,10.1,884,11414,0.15,1.75,0.00,0.000,4,0.196,0.057,3045,201,2414
$GC,11481,0.80,129.6,758.0,9.9,887,11485,0.00,1.75,0.00,0.000,6,0.000,0.044,3045,1338,2414
$GC,11810,0.80,129.6,727.4,8.9,903,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1339,2413
$GC,12118,0.81,133.6,701.6,7.5,918,12124,0.00,0.00,4.65,0.953,6,0.000,0.000,3045,1339,2400
$GC,12427,0.82,144.8,679.8,6.7,933,12448,0.00,2.17,11.62,1.240,4,0.000,0.051,3039,2707,2353
$GC,12522,0.86,147.7,671.9,7.7,937,12531,0.00,2.15,4.43,0.895,6,0.000,0.046,3047,1314,2341
$GC,12849,0.86,147.7,643.8,8.3,953,12852,0.00,2.15,0.00,0.000,4,0.000,0.052,3047,2697,2341
$GC,12927,0.86,147.7,636.9,9.2,956,12931,0.00,2.10,0.00,0.000,6,0.000,0.046,3055,1330,2340
$GC,13248,0.86,147.7,609.7,8.3,972,13251,0.00,2.12,0.00,0.000,4,0.000,0.052,3055,2703,2340
$GC,13383,0.86,147.7,598.4,8.2,978,13387,0.00,2.08,0.00,0.000,6,0.000,0.045,3063,1349,2340
$GC,13715,0.86,147.7,570.0,8.3,994,13719,0.00,2.10,0.00,0.000,4,0.000,0.051,3063,2707,2340
$GC,13753,0.86,147.7,566.7,8.6,995,13759,0.00,2.10,0.00,0.000,6,0.000,0.044,3072,1353,2340
$GC,14071,0.86,147.7,539.1,9.2,1011,14074,0.00,1.83,0.00,0.000,4,0.000,0.058,3081,196,2340
$GC,14165,0.80,147.7,529.6,9.8,1015,14170,0.17,1.77,0.00,0.000,6,0.189,0.044,3039,1373,2340
$GC,14493,0.88,147.7,502.3,8.0,1031,14497,0.00,1.83,0.00,0.000,4,0.000,0.056,3045,198,2340
$GC,14566,0.88,147.7,496.0,8.9,1035,14572,0.00,1.73,0.00,0.000,6,0.000,0.043,3045,1351,2340
$GC,14892,0.94,159.2,472.2,6.6,1066,14910,0.10,2.10,11.35,1.097,4,0.085,0.050,3091,2695,2295
$GC,14944,0.90,162.6,467.9,7.6,1070,14954,0.12,2.08,4.43,0.795,6,0.198,0.044,3071,1336,2282
$GC,15269,0.90,162.6,442.4,8.4,1101,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1336,2282
$GC,15588,0.90,162.6,415.5,9.0,1131,15592,0.00,2.10,0.00,0.000,4,0.000,0.048,3063,2701,2282
$GC,15661,0.90,163.9,409.0,7.8,1137,15667,0.00,2.08,0.00,0.000,6,0.000,0.043,3072,1338,2282
$GC,15990,0.90,165.0,385.5,7.9,1168,16001,0.00,2.12,4.18,0.729,4,0.000,0.048,3074,2701,2272
$GC,16035,0.90,165.0,381.3,8.6,1172,16039,0.00,2.10,0.00,0.000,6,0.000,0.047,3082,1328,2272
$GC,16366,0.90,165.0,351.5,8.4,1203,16370,0.00,1.77,0.00,0.000,4,0.000,0.058,3090,202,2271
$GC,16625,0.90,169.1,331.4,7.5,1226,16638,0.00,1.67,5.65,0.821,6,0.000,0.040,3089,1307,2254
$GC,16955,0.90,169.1,305.2,8.0,1257,16958,0.00,2.15,0.00,0.000,4,0.000,0.051,3087,2708,2254
$GC,17101,0.91,175.9,294.0,7.2,1277,17115,0.00,2.10,7.60,0.873,6,0.000,0.045,3094,1328,2227
$GC,17453,0.93,186.4,269.1,6.7,1339,17471,0.00,1.77,10.27,0.904,4,0.000,0.053,3102,198,2185
$GC,17636,0.93,186.4,251.9,9.5,1371,17642,0.00,1.67,0.00,0.000,6,0.000,0.038,3102,1331,2184
$GC,17979,0.94,196.3,222.8,6.8,1432,17998,0.00,2.10,10.15,0.862,4,0.000,0.043,3100,2696,2144
$GC,18061,1.00,207.9,217.2,6.6,1446,18080,0.00,2.03,11.27,0.861,6,0.000,0.040,3108,1352,2098
$GC,18419,1.08,216.7,192.2,6.9,1509,18434,0.00,1.83,9.20,0.808,4,0.000,0.051,3117,198,2061
$GC,18514,1.08,217.4,184.6,7.9,1525,18520,0.00,1.75,0.00,0.000,6,0.000,0.035,3117,1369,2061
$GC,18858,1.14,217.4,155.0,9.6,1586,18866,0.00,2.03,0.00,0.000,4,0.000,0.041,3119,2730,2061
$GC,19032,1.20,222.3,140.8,7.4,1616,19045,0.08,2.05,6.57,0.698,6,0.061,0.037,3172,1373,2038
$GC,19385,1.22,233.9,115.4,6.6,1678,19401,0.00,2.08,11.32,0.760,4,0.000,0.040,3173,2713,1991
$GC,19576,1.22,233.9,97.2,8.2,1711,19583,0.00,1.98,0.00,0.000,6,0.000,0.037,3182,1405,1989
$GC,19921,1.22,236.3,72.4,7.7,1772,19927,0.00,1.85,0.00,0.000,4,0.000,0.047,3194,195,1989
$GC,20181,1.19,245.7,54.1,6.9,1818,20201,0.10,1.75,11.50,0.694,6,0.183,0.031,3168,1392,1942
$GC,20544,1.34,272.9,36.2,4.8,1881,20577,0.12,1.85,23.33,0.710,4,0.077,0.044,3235,199,1831
$GC,20690,1.30,275.5,24.7,7.7,1906,20700,0.10,1.83,3.65,0.407,6,0.181,0.030,3206,1447,1821
$GC,21043,1.41,295.5,4.1,5.6,1967,21062,0.00,0.00,17.20,0.655,2,0.000,0.000,3206,1447,1745
$STATE,21062,end climb,SURFACE_DEPTH_REACHED
$STATE,21063,begin surface coast
$FINISH,0.8,1.021459
$STATE,21123,end surface coast,CONTROL_FINISHED_OK
$STATE,21123,begin surface
$SM_CCo,21142,124.85,0.679,0,0,1108,450.13
$SM_GC,1.52,0.00,0.00,124.85,0.000,0.000,0.679,168,1775,1108,-8.16,0.71,450.13
$IRIDIUM_FIX,2451.31,12315.69,260998,232301
$TT8_MAMPS,0.026845
$HUMID,1451
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,180
$24V_AH,23.3,62.517
$10V_AH,10.7,37.827
$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,23.825,169.550,360.000,124.850,0.000,26.521,40.643,287.573,53.000,0.000,0.000,17.118,3539.013,12585.172,655.003,4171.396,825.244,0.000,2458.852,0.000,4143.743,0.000,58.904,0.000
$DEVICE_MAMPS,256.945,59.826,1477.242,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1350.932,1378.606,2307.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116746,1981
$CAP_FILE_SIZE,212284,0
$CFSIZE,260165632,213602304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.244, 38.4,1
$GPS,030709,113337,2508.571,12324.593,43,1.0,43,-3.7