version: 66.04
glider: 166
mission: 2
dive: 294
start: 7 6 109 4 19 24
data:
$ID,166
$MISSION,2
$DIVE,294
$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,-11187.164
$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,46
$R_STBD_OVSHOOT,70
$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
$GPS1,040807,2513.923,12355.574,31,1.0,31,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.7
$GPS2,041902,2514.120,12355.864,15,1.5,15,-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,192.1,62217,-14.9,-7.990
$D_GRID,2223
$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,-1.06,-146.0,0.0,0.0,0,68,0.00,0.00,-51.17,0.000,2,0.000,0.000,169,1792,2289
$GC,71,-1.06,-146.0,3.2,-4.3,8,124,8.98,2.15,-35.53,0.000,4,0.222,0.057,2432,3171,3542
$GC,164,-1.06,-146.0,18.0,-18.9,23,170,0.00,2.03,0.00,0.000,6,0.000,0.030,2431,1780,3543
$GC,508,-1.06,-146.0,82.3,-16.3,84,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1780,3543
$GC,851,-1.06,-146.0,131.6,-13.7,145,859,0.00,2.08,0.00,0.000,4,0.000,0.041,2425,398,3544
$GC,957,-1.06,-146.0,146.5,-14.3,163,963,0.00,2.03,0.00,0.000,6,0.000,0.028,2421,1818,3544
$GC,1301,-1.06,-146.0,192.4,-12.8,224,1307,0.00,2.12,0.00,0.000,4,0.000,0.040,2420,406,3544
$GC,1348,-1.06,-146.0,198.9,-14.0,232,1355,0.00,2.03,0.00,0.000,6,0.000,0.027,2422,1807,3544
$GC,1692,-1.06,-146.0,242.7,-12.4,293,1699,0.00,2.10,0.00,0.000,4,0.000,0.041,2420,394,3544
$GC,1824,-1.06,-146.0,261.1,-13.5,316,1830,0.00,2.03,0.00,0.000,6,0.000,0.028,2421,1811,3545
$GC,2172,-1.06,-146.0,302.6,-11.1,376,2176,0.00,2.12,0.00,0.000,4,0.000,0.041,2424,389,3544
$GC,2274,-1.06,-146.0,314.9,-12.1,385,2277,0.00,2.03,0.00,0.000,6,0.000,0.029,2431,1798,3544
$GC,2604,-1.06,-146.0,350.2,-11.3,416,2608,0.00,2.10,0.00,0.000,4,0.000,0.042,2431,392,3543
$GC,2683,-1.06,-146.0,360.3,-12.7,423,2687,0.00,2.05,0.00,0.000,6,0.000,0.030,2429,1804,3542
$GC,3014,-1.06,-146.0,398.6,-11.5,454,3017,0.00,2.10,0.00,0.000,4,0.000,0.044,2421,402,3540
$GC,3087,-1.06,-146.0,407.7,-12.1,460,3094,0.12,2.03,0.00,0.000,6,0.169,0.030,2437,1801,3540
$GC,3414,-1.06,-146.0,442.6,-10.6,491,3418,0.00,2.10,0.00,0.000,4,0.000,0.044,2436,404,3538
$GC,3515,-1.06,-146.0,453.9,-11.0,500,3519,0.00,2.05,0.00,0.000,6,0.000,0.031,2432,1808,3538
$GC,3847,-1.06,-146.0,488.2,-10.6,531,3850,0.00,2.12,0.00,0.000,4,0.000,0.046,2432,406,3535
$GC,3904,-1.06,-146.0,495.2,-12.3,536,3907,0.00,2.05,0.00,0.000,6,0.000,0.033,2436,1801,3534
$GC,4236,-1.06,-146.0,532.4,-10.7,554,4240,0.00,2.12,0.00,0.000,4,0.000,0.048,2432,403,3532
$GC,4309,-1.06,-146.0,540.9,-11.8,557,4313,0.00,2.08,0.00,0.000,6,0.000,0.035,2444,1811,3531
$GC,4637,-1.06,-146.0,574.3,-9.8,573,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1812,3528
$GC,4944,-1.06,-146.0,603.6,-9.1,588,4948,0.00,2.17,0.00,0.000,4,0.000,0.054,2439,406,3526
$GC,5035,-1.06,-146.0,612.7,-10.4,592,5039,0.00,2.10,0.00,0.000,6,0.000,0.036,2447,1812,3525
$GC,5367,-1.06,-146.0,643.9,-9.6,608,5370,0.00,2.17,0.00,0.000,4,0.000,0.058,2445,410,3523
$GC,5399,-1.06,-146.0,647.5,-11.0,609,5403,0.00,2.10,0.00,0.000,6,0.000,0.039,2447,1809,3523
$GC,5723,-1.06,-146.0,678.5,-9.7,625,5727,0.00,2.17,0.00,0.000,4,0.000,0.052,2447,400,3520
$GC,5823,-1.06,-146.0,689.0,-10.3,629,5828,0.00,2.12,0.00,0.000,6,0.000,0.044,2447,1811,3520
$GC,6147,-1.06,-146.0,717.7,-9.1,645,6150,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,401,3518
$GC,6215,-1.06,-146.0,725.0,-10.3,648,6223,0.00,2.10,0.00,0.000,6,0.000,0.039,2434,1805,3517
$GC,6549,-1.06,-146.0,757.7,-9.8,664,6553,0.00,2.17,0.00,0.000,4,0.000,0.054,2435,401,3514
$GC,6599,-1.06,-146.0,763.1,-10.8,666,6603,0.00,2.15,0.00,0.000,6,0.000,0.041,2428,1803,3514
$GC,6926,-1.06,-146.0,793.9,-9.2,682,6930,0.00,2.17,0.00,0.000,4,0.000,0.055,2429,404,3512
$GC,7017,-1.06,-146.0,803.1,-10.0,686,7020,0.00,2.10,0.00,0.000,6,0.000,0.039,2425,1808,3511
$GC,7349,-1.06,-146.0,834.1,-9.6,702,7353,0.00,2.17,0.00,0.000,4,0.000,0.056,2427,413,3510
$GC,7466,-1.06,-146.0,846.6,-10.6,707,7470,0.00,2.10,0.00,0.000,6,0.000,0.041,2424,1804,3509
$GC,7793,-1.06,-146.0,877.6,-9.6,723,7797,0.00,2.17,0.00,0.000,4,0.000,0.056,2425,410,3507
$GC,7911,-1.06,-146.0,889.8,-9.8,728,7914,0.00,2.12,0.00,0.000,6,0.000,0.048,2423,1804,3506
$GC,8237,-1.06,-146.0,920.4,-9.4,744,8241,0.00,2.17,0.00,0.000,4,0.000,0.057,2424,413,3505
$GC,8321,-1.06,-146.0,929.2,-11.0,747,8327,0.00,2.10,0.00,0.000,6,0.000,0.041,2422,1804,3505
$GC,8637,-1.06,-146.0,960.2,-9.9,763,8640,0.00,2.20,0.00,0.000,4,0.000,0.058,2423,403,3503
$GC,8772,-1.06,-146.0,974.9,-11.2,769,8780,0.00,2.12,0.00,0.000,6,0.000,0.042,2423,1803,3502
$STATE,8940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8940,begin apogee
$GC,8947,-0.29,0.0,991.4,9.6,777,9074,0.80,0.00,123.40,1.503,6,0.120,0.000,2681,1358,2945
$STATE,9074,end apogee,CONTROL_FINISHED_OK
$STATE,9074,begin climb
$GC,9077,1.06,146.0,997.0,0.0,783,9219,1.20,2.45,132.85,1.457,4,0.048,0.051,3127,2765,2347
$GC,9283,1.06,146.0,984.7,14.1,792,9287,0.00,2.30,0.00,0.000,6,0.000,0.051,3139,1343,2345
$GC,9604,1.06,146.0,941.7,13.4,808,9607,0.00,2.22,0.00,0.000,4,0.000,0.052,3138,2767,2343
$GC,9636,1.06,146.0,937.1,13.9,809,9641,0.00,2.22,0.00,0.000,6,0.000,0.048,3147,1336,2342
$GC,9960,1.06,146.0,894.3,13.5,825,9964,0.00,2.22,0.00,0.000,4,0.000,0.051,3147,2769,2341
$GC,10043,1.06,146.0,882.3,13.2,828,10051,0.12,2.22,0.00,0.000,6,0.202,0.048,3124,1352,2340
$GC,10360,1.06,146.0,844.1,11.7,844,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1352,2340
$GC,10669,1.06,146.0,808.2,11.9,859,10672,0.00,2.20,0.00,0.000,4,0.000,0.051,3118,2768,2339
$GC,10741,1.06,146.0,799.1,12.7,862,10745,0.00,2.20,0.00,0.000,6,0.000,0.048,3126,1341,2338
$GC,11069,1.06,146.0,758.4,12.6,878,11072,0.00,1.77,0.00,0.000,4,0.000,0.061,3135,204,2338
$GC,11141,1.06,146.0,748.4,13.6,881,11145,0.00,1.77,0.00,0.000,6,0.000,0.042,3134,1369,2337
$GC,11468,1.06,146.0,710.6,10.8,897,11471,0.00,2.12,0.00,0.000,4,0.000,0.051,3129,2754,2337
$GC,11574,1.06,146.0,698.8,10.6,901,11582,0.00,2.17,0.00,0.000,6,0.000,0.047,3137,1337,2336
$GC,11890,1.06,146.0,666.7,9.6,917,11893,0.00,1.77,0.00,0.000,4,0.000,0.059,3145,198,2336
$GC,11935,1.06,146.0,661.9,10.5,919,11939,0.00,1.73,0.00,0.000,6,0.000,0.041,3143,1355,2336
$GC,12269,1.06,146.0,627.8,10.4,935,12272,0.00,2.15,0.00,0.000,4,0.000,0.052,3134,2751,2335
$GC,12520,1.06,146.0,599.6,10.8,946,12524,0.00,2.15,0.00,0.000,6,0.000,0.046,3143,1347,2335
$GC,12848,1.06,146.0,565.3,10.1,962,12852,0.00,2.17,0.00,0.000,4,0.000,0.051,3136,2752,2335
$GC,12993,1.06,146.0,549.6,10.2,968,12997,0.00,2.15,0.00,0.000,6,0.000,0.046,3145,1347,2335
$GC,13315,1.06,146.0,517.5,9.9,984,13319,0.00,2.17,0.00,0.000,4,0.000,0.051,3144,2753,2335
$GC,13574,1.06,146.0,491.3,9.7,999,13579,0.15,2.15,0.00,0.000,6,0.205,0.045,3120,1347,2335
$GC,13899,1.06,146.0,460.7,9.2,1029,13903,0.00,2.17,0.00,0.000,4,0.000,0.055,3116,2755,2335
$GC,13948,1.06,146.0,455.9,9.4,1033,13955,0.00,2.15,0.00,0.000,6,0.000,0.044,3124,1349,2335
$GC,14275,1.06,146.0,427.2,8.4,1064,14279,0.00,2.17,0.00,0.000,4,0.000,0.048,3120,2753,2335
$GC,14343,1.06,146.0,421.0,8.3,1070,14347,0.00,2.15,0.00,0.000,6,0.000,0.043,3127,1341,2335
$GC,14677,1.07,158.8,394.4,7.5,1101,14693,0.00,0.00,10.18,1.011,6,0.000,0.000,3126,1341,2297
$GC,15014,1.10,177.1,368.6,7.3,1133,15037,0.00,2.20,16.83,1.034,4,0.000,0.046,3126,2759,2223
$GC,15164,1.10,177.1,354.3,9.3,1146,15168,0.00,2.17,0.00,0.000,6,0.000,0.044,3133,1344,2222
$GC,15496,1.10,177.1,321.6,9.9,1177,15500,0.00,2.17,0.00,0.000,4,0.000,0.050,3131,2752,2222
$GC,15575,1.10,177.1,313.8,9.3,1184,15579,0.00,2.15,0.00,0.000,6,0.000,0.042,3138,1341,2222
$GC,15909,1.10,177.1,283.7,8.8,1231,15915,0.00,1.77,0.00,0.000,4,0.000,0.057,3146,198,2222
$GC,16057,1.10,177.1,270.9,8.5,1257,16064,0.00,1.70,0.00,0.000,6,0.000,0.038,3146,1355,2222
$GC,16401,1.10,183.1,244.2,7.8,1318,16414,0.00,2.10,7.18,0.810,4,0.000,0.043,3140,2754,2197
$GC,16518,1.11,189.0,235.2,7.8,1338,16531,0.00,2.12,6.78,0.788,6,0.000,0.040,3148,1343,2174
$GC,16869,1.11,189.0,204.3,8.4,1400,16875,0.00,2.12,0.00,0.000,4,0.000,0.041,3149,2753,2173
$GC,16916,1.11,191.1,200.5,7.9,1408,16922,0.00,2.12,0.00,0.000,6,0.000,0.039,3158,1338,2173
$GC,17260,1.19,255.8,175.9,5.6,1469,17325,0.00,2.22,55.75,0.877,4,0.000,0.041,3162,2744,1900
$GC,17461,1.19,255.8,157.3,10.7,1503,17468,0.00,2.12,0.00,0.000,6,0.000,0.038,3175,1348,1897
$GC,17806,1.19,255.8,122.5,10.3,1564,17812,0.00,1.77,0.00,0.000,4,0.000,0.051,3183,203,1897
$GC,18067,1.22,275.1,96.8,7.3,1610,18092,0.00,1.70,17.10,0.769,6,0.000,0.032,3184,1355,1822
$GC,18433,1.23,287.4,69.7,7.5,1674,18452,0.00,2.10,11.88,0.706,4,0.000,0.037,3184,2756,1772
$GC,18632,1.25,300.7,54.6,7.5,1709,18653,0.00,2.15,12.65,0.691,6,0.000,0.037,3194,1341,1718
$GC,18992,1.25,304.9,27.6,7.8,1772,19006,0.00,2.12,5.43,0.534,4,0.000,0.036,3194,2738,1701
$GC,19176,1.28,322.8,13.7,7.3,1804,19197,0.00,2.05,16.35,0.663,6,0.000,0.036,3196,1351,1629
$STATE,19307,end climb,SURFACE_DEPTH_REACHED
$STATE,19307,begin surface coast
$FINISH,0.8,1.012620
$STATE,19342,end surface coast,CONTROL_FINISHED_OK
$STATE,19342,begin surface
$SM_CCo,19360,102.62,0.683,0,0,1109,450.13
$SM_GC,1.54,0.00,0.00,102.62,0.000,0.000,0.683,168,1823,1109,-8.16,0.65,450.13
$IRIDIUM_FIX,2503.20,12357.26,300998,040416
$TT8_MAMPS,0.026845
$HUMID,1482
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.70
$XPDR_PINGS,147
$24V_AH,22.8,64.932
$10V_AH,10.7,40.080
$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,19.525,173.675,416.350,102.625,0.000,49.927,146.591,241.188,44.750,0.000,0.000,15.869,3253.064,11481.208,657.713,3864.752,844.182,0.000,2337.193,0.000,3821.982,0.000,54.430,0.000
$DEVICE_MAMPS,221.663,60.593,1503.320,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1248.175,1273.389,2141.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107345,1833
$CAP_FILE_SIZE,186726,0
$CFSIZE,260165632,212312064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252, 91.3,1
$GPS,060709,094507,2512.414,12359.136,41,1.0,41,-3.8