version: 66.04
glider: 166
mission: 2
dive: 293
start: 7 5 109 22 49 16
data:
$ID,166
$MISSION,2
$DIVE,293
$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,-11170.667
$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,39
$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
$GPS1,224037,2515.364,12352.518,30,1.0,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.2
$GPS2,224855,2515.435,12352.686,14,1.3,31,-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,189.7,67424,-14.9,-7.990
$D_GRID,2068
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,68,0.00,0.00,-49.97,0.000,2,0.000,0.000,171,1796,2246
$GC,71,-1.06,-146.0,3.1,-3.8,8,123,9.27,0.00,-37.42,0.000,6,0.233,0.000,2435,1795,3541
$GC,460,-1.06,-146.0,74.2,-14.6,76,467,0.00,2.10,0.00,0.000,4,0.000,0.041,2434,3213,3542
$GC,479,-1.06,-146.0,76.9,-14.5,79,486,0.00,2.08,0.00,0.000,6,0.000,0.030,2434,1778,3542
$GC,825,-1.06,-146.0,125.1,-15.2,140,832,0.00,2.05,0.00,0.000,4,0.000,0.042,2433,391,3543
$GC,962,-1.06,-146.0,147.7,-16.0,164,968,0.00,2.05,0.00,0.000,6,0.000,0.028,2432,1821,3543
$GC,1305,-1.06,-146.0,193.4,-12.6,225,1311,0.00,2.12,0.00,0.000,4,0.000,0.041,2430,388,3544
$GC,1420,-1.06,-146.0,209.6,-14.5,245,1427,0.00,2.03,0.00,0.000,6,0.000,0.028,2430,1802,3544
$GC,1764,-1.06,-146.0,252.0,-11.7,306,1771,0.00,2.08,0.00,0.000,4,0.000,0.041,2428,402,3544
$GC,1845,-1.06,-146.0,262.4,-13.1,320,1851,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1816,3544
$GC,2188,-1.06,-146.0,304.0,-12.9,378,2192,0.00,2.12,0.00,0.000,4,0.000,0.042,2433,391,3544
$GC,2282,-1.06,-146.0,316.8,-13.1,386,2290,0.00,2.08,0.00,0.000,6,0.000,0.030,2433,1802,3544
$GC,2608,-1.06,-146.0,354.9,-11.2,417,2611,0.00,2.10,0.00,0.000,4,0.000,0.043,2434,398,3543
$GC,2657,-1.06,-146.0,361.2,-12.7,421,2664,0.00,2.05,0.00,0.000,6,0.000,0.030,2427,1808,3543
$GC,2984,-1.06,-146.0,395.8,-10.6,452,2988,0.00,2.12,0.00,0.000,4,0.000,0.044,2426,394,3541
$GC,3079,-1.06,-146.0,407.2,-11.8,460,3085,0.00,2.08,0.00,0.000,6,0.000,0.031,2414,1796,3540
$GC,3405,-1.06,-146.0,441.5,-10.7,491,3409,0.00,2.10,0.00,0.000,4,0.000,0.047,2413,3198,3539
$GC,3432,-1.06,-146.0,444.6,-10.7,493,3438,0.00,2.08,0.00,0.000,6,0.000,0.033,2412,1801,3538
$GC,3757,-1.06,-146.0,479.8,-11.6,524,3760,0.00,2.12,0.00,0.000,4,0.000,0.048,2412,392,3536
$GC,3863,-1.06,-146.0,493.5,-13.4,533,3869,0.00,2.08,0.00,0.000,6,0.000,0.034,2414,1802,3535
$GC,4190,-1.06,-146.0,530.8,-11.3,552,4194,0.00,2.12,0.00,0.000,4,0.000,0.049,2427,3208,3533
$GC,4207,-1.06,-146.0,532.7,-11.2,552,4214,0.00,2.08,0.00,0.000,6,0.000,0.036,2417,1800,3533
$GC,4523,-1.06,-146.0,567.1,-10.9,568,4527,0.00,2.15,0.00,0.000,4,0.000,0.051,2416,390,3530
$GC,4594,-1.06,-146.0,575.7,-11.6,571,4599,0.00,2.10,0.00,0.000,6,0.000,0.037,2426,1804,3529
$GC,4922,-1.06,-146.0,609.3,-10.0,587,4926,0.00,2.17,0.00,0.000,4,0.000,0.051,2421,391,3527
$GC,4969,-1.06,-146.0,614.4,-11.1,589,4972,0.00,2.12,0.00,0.000,6,0.000,0.038,2420,1811,3526
$GC,5302,-1.06,-146.0,648.0,-10.0,605,5306,0.00,2.20,0.00,0.000,4,0.000,0.054,2417,397,3524
$GC,5370,-1.06,-146.0,655.6,-10.6,608,5374,0.00,2.10,0.00,0.000,6,0.000,0.040,2409,1802,3524
$GC,5702,-1.06,-146.0,690.6,-10.9,624,5706,0.00,2.17,0.00,0.000,4,0.000,0.053,2411,397,3521
$GC,5741,-1.06,-146.0,695.4,-12.4,625,5748,0.15,2.10,0.00,0.000,6,0.169,0.038,2442,1803,3521
$GC,6060,-1.06,-146.0,726.6,-9.9,641,6063,0.00,2.17,0.00,0.000,4,0.000,0.054,2439,398,3519
$GC,6109,-1.06,-146.0,732.4,-11.1,643,6113,0.00,2.10,0.00,0.000,6,0.000,0.038,2424,1799,3518
$GC,6437,-1.06,-146.0,765.2,-10.2,659,6441,0.00,2.17,0.00,0.000,4,0.000,0.055,2426,392,3516
$GC,6560,-1.06,-146.0,778.8,-11.2,664,6564,0.00,2.12,0.00,0.000,6,0.000,0.040,2415,1803,3515
$GC,6880,-1.06,-146.0,810.0,-9.6,680,6884,0.00,2.17,0.00,0.000,4,0.000,0.055,2416,404,3513
$GC,6963,-1.06,-146.0,818.9,-10.7,683,6970,0.00,2.12,0.00,0.000,6,0.000,0.041,2411,1810,3512
$GC,7281,-1.06,-146.0,849.7,-9.7,699,7289,0.00,2.20,0.00,0.000,4,0.000,0.057,2411,403,3510
$GC,7395,-1.06,-146.0,862.5,-11.5,704,7400,0.12,2.12,0.00,0.000,6,0.167,0.047,2442,1802,3509
$GC,7722,-1.06,-146.0,891.9,-8.9,720,7725,0.00,2.20,0.00,0.000,4,0.000,0.058,2441,398,3508
$GC,7791,-1.06,-146.0,898.7,-10.1,723,7794,0.00,2.12,0.00,0.000,6,0.000,0.042,2436,1801,3508
$GC,8125,-1.06,-146.0,930.7,-10.0,739,8128,0.00,2.20,0.00,0.000,4,0.000,0.058,2436,401,3506
$GC,8198,-1.06,-146.0,938.8,-10.1,742,8201,0.00,2.15,0.00,0.000,6,0.000,0.044,2435,1810,3506
$GC,8524,-1.06,-146.0,971.8,-10.1,758,8527,0.00,2.22,0.00,0.000,4,0.000,0.059,2435,397,3504
$GC,8596,-1.06,-146.0,980.1,-11.0,761,8600,0.00,2.15,0.00,0.000,6,0.000,0.044,2435,1803,3504
$STATE,8693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8694,begin apogee
$GC,8700,-0.29,0.0,990.1,10.1,766,8837,0.75,0.00,125.25,1.485,6,0.110,0.000,2683,1358,2945
$STATE,8837,end apogee,CONTROL_FINISHED_OK
$STATE,8838,begin climb
$GC,8840,1.06,146.0,997.6,0.0,773,8981,1.23,2.40,133.27,1.457,4,0.049,0.057,3130,2763,2348
$GC,9047,1.06,146.0,985.7,14.1,782,9055,0.00,2.30,0.00,0.000,6,0.000,0.048,3141,1356,2345
$GC,9363,1.06,146.0,943.3,13.5,798,9366,0.00,2.20,0.00,0.000,4,0.000,0.052,3139,2764,2343
$GC,9401,1.06,146.0,938.0,14.4,799,9407,0.00,2.20,0.00,0.000,6,0.000,0.047,3148,1342,2342
$GC,9718,1.06,146.0,895.9,13.7,815,9722,0.00,2.20,0.00,0.000,4,0.000,0.054,3147,2763,2341
$GC,9756,1.06,146.0,890.1,14.3,816,9764,0.10,2.22,0.00,0.000,6,0.211,0.048,3131,1349,2341
$GC,10073,1.06,146.0,848.9,13.0,832,10077,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,2760,2340
$GC,10097,1.06,146.0,845.8,13.3,833,10101,0.00,2.17,0.00,0.000,6,0.000,0.048,3132,1342,2339
$GC,10429,1.06,146.0,802.7,12.9,849,10432,0.00,1.77,0.00,0.000,4,0.000,0.061,3140,202,2339
$GC,10483,1.06,146.0,795.0,13.9,851,10487,0.00,1.77,0.00,0.000,6,0.000,0.043,3140,1362,2339
$GC,10806,1.06,146.0,756.6,11.9,867,10810,0.00,2.12,0.00,0.000,4,0.000,0.052,3133,2754,2337
$GC,10866,1.06,146.0,749.0,12.1,869,10873,0.00,2.17,0.00,0.000,6,0.000,0.048,3141,1339,2338
$GC,11182,1.06,146.0,712.4,11.8,885,11186,0.00,1.77,0.00,0.000,4,0.000,0.059,3150,199,2337
$GC,11229,1.06,146.0,706.6,12.2,887,11233,0.00,1.75,0.00,0.000,6,0.000,0.043,3149,1350,2337
$GC,11561,1.06,146.0,667.9,11.7,903,11565,0.00,2.17,0.00,0.000,4,0.000,0.054,3149,2757,2336
$GC,11621,1.06,146.0,660.9,11.1,905,11628,0.15,2.17,0.00,0.000,6,0.218,0.048,3124,1348,2336
$GC,11938,1.06,146.0,630.5,9.2,921,11942,0.00,2.17,0.00,0.000,4,0.000,0.053,3117,2747,2336
$GC,12195,1.06,146.0,607.3,8.7,932,12199,0.00,2.15,0.00,0.000,6,0.000,0.047,3125,1347,2336
$GC,12517,1.06,146.0,578.1,9.6,948,12520,0.00,2.17,0.00,0.000,4,0.000,0.051,3121,2748,2335
$GC,12555,1.06,146.0,574.1,10.0,949,12561,0.00,2.15,0.00,0.000,6,0.000,0.046,3129,1348,2336
$GC,12871,1.06,146.0,543.6,9.7,965,12875,0.00,2.17,0.00,0.000,4,0.000,0.050,3123,2752,2335
$GC,13078,1.06,146.0,524.6,9.4,974,13082,0.00,2.15,0.00,0.000,6,0.000,0.046,3131,1351,2335
$GC,13396,1.06,146.0,495.3,9.4,991,13400,0.00,1.80,0.00,0.000,4,0.000,0.059,3139,198,2335
$GC,13447,1.06,146.0,490.0,10.6,995,13452,0.00,1.73,0.00,0.000,6,0.000,0.041,3139,1351,2335
$GC,13772,1.06,146.0,456.4,10.6,1026,13776,0.00,2.15,0.00,0.000,4,0.000,0.049,3140,2751,2335
$GC,13833,1.06,146.0,449.9,10.1,1031,13839,0.00,2.15,0.00,0.000,6,0.000,0.044,3149,1345,2335
$GC,14160,1.06,149.6,421.3,7.9,1062,14164,0.00,2.15,0.00,0.000,4,0.000,0.048,3149,2750,2335
$GC,14263,1.07,155.4,413.0,7.8,1071,14275,0.15,2.15,7.12,0.953,6,0.209,0.044,3124,1339,2311
$GC,14592,1.07,155.4,386.9,8.3,1102,14596,0.00,1.77,0.00,0.000,4,0.000,0.056,3130,191,2311
$GC,14764,1.09,174.4,373.0,7.3,1117,14788,0.00,1.73,17.83,1.040,6,0.000,0.041,3130,1355,2233
$GC,15104,1.09,174.4,340.9,9.5,1149,15107,0.00,2.12,0.00,0.000,4,0.000,0.047,3125,2745,2232
$GC,15142,1.09,174.4,337.0,9.4,1152,15149,0.00,2.17,0.00,0.000,6,0.000,0.043,3132,1347,2232
$GC,15470,1.09,174.4,305.3,9.6,1183,15474,0.00,2.15,0.00,0.000,4,0.000,0.045,3127,2758,2232
$GC,15549,1.09,174.4,297.9,9.1,1192,15555,0.00,2.15,0.00,0.000,6,0.000,0.042,3134,1339,2232
$GC,15892,1.17,234.4,274.1,5.8,1253,15953,0.00,1.85,51.20,0.973,4,0.000,0.053,3144,198,1988
$GC,15994,1.17,234.4,265.5,9.7,1270,16001,0.00,1.77,0.00,0.000,6,0.000,0.037,3144,1360,1986
$GC,16341,1.17,234.4,228.6,11.0,1331,16347,0.00,2.10,0.00,0.000,4,0.000,0.044,3146,2746,1984
$GC,16514,1.17,234.4,209.5,10.9,1361,16520,0.00,2.12,0.00,0.000,6,0.000,0.040,3156,1341,1983
$GC,16858,1.17,234.4,175.0,8.9,1422,16866,0.00,2.15,0.00,0.000,4,0.000,0.041,3159,2747,1983
$GC,17119,1.17,234.4,148.6,11.4,1468,17126,0.00,2.10,0.00,0.000,6,0.000,0.039,3168,1348,1983
$GC,17465,1.17,234.4,115.5,8.4,1529,17472,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1348,1983
$GC,17810,1.22,279.3,91.2,6.3,1590,17855,0.00,1.80,37.53,0.785,4,0.000,0.055,3178,205,1806
$GC,18059,1.22,279.3,68.5,9.1,1633,18065,0.00,1.70,0.00,0.000,6,0.000,0.031,3179,1366,1804
$GC,18403,1.29,336.8,46.0,5.9,1694,18461,0.00,2.12,47.83,0.730,4,0.000,0.037,3179,2735,1571
$GC,18550,1.31,351.1,35.7,7.5,1718,18571,0.00,2.10,13.40,0.662,6,0.000,0.036,3191,1337,1513
$GC,18910,1.31,351.1,4.0,8.1,1781,18916,0.00,2.10,0.00,0.000,4,0.000,0.035,3188,2754,1512
$STATE,18923,end climb,SURFACE_DEPTH_REACHED
$STATE,18923,begin surface coast
$FINISH,0.9,1.009529
$STATE,18962,end surface coast,CONTROL_FINISHED_OK
$STATE,18962,begin surface
$SM_CCo,18981,80.75,0.680,0,0,1110,450.13
$SM_GC,1.65,0.00,0.00,80.75,0.000,0.000,0.680,169,1792,1110,-8.16,-0.25,450.13
$IRIDIUM_FIX,2507.97,12351.98,290998,161634
$TT8_MAMPS,0.026845
$HUMID,1497
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.50
$XPDR_PINGS,153
$24V_AH,22.7,64.739
$10V_AH,10.7,39.897
$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,20.000,183.925,433.425,80.750,0.000,24.219,30.833,258.267,46.250,0.000,0.000,33.118,3157.051,11216.239,687.331,3742.345,730.098,0.000,2327.637,0.000,3693.103,0.000,54.425,0.000
$DEVICE_MAMPS,233.168,60.593,1484.912,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1217.399,1249.285,2095.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104252,1790
$CAP_FILE_SIZE,184311,0
$CFSIZE,260165632,212414464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222, 88.5,1
$GPS,060709,040807,2513.923,12355.574,31,1.0,31,-3.8