version: 66.04
glider: 166
mission: 2
dive: 321
start: 7 12 109 12 59 54
data:
$ID,166
$MISSION,2
$DIVE,321
$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,610.797
$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,-11669.418
$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,48
$R_STBD_OVSHOOT,75
$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
$GPS1,124425,2453.983,12410.925,41,1.1,41,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.4
$GPS2,125932,2454.071,12411.249,15,1.4,15,-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,214.9,17366,-13.7,-7.990
$D_GRID,1734
$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,-1.01,-170.3,0.0,0.0,0,65,0.00,0.00,-47.42,0.000,2,0.000,0.000,166,1684,2230
$GC,68,-1.01,-170.3,3.3,-4.4,7,121,9.32,2.15,-37.60,0.000,4,0.232,0.053,2438,257,3640
$GC,196,-1.01,-170.3,28.5,-21.9,28,202,0.00,2.03,0.00,0.000,6,0.000,0.028,2437,1664,3640
$GC,541,-1.01,-170.3,90.5,-13.6,89,549,0.00,2.08,0.00,0.000,4,0.000,0.040,2442,3072,3640
$GC,646,-1.01,-170.3,104.0,-12.4,107,652,0.00,2.03,0.00,0.000,6,0.000,0.029,2446,1662,3641
$GC,992,-1.01,-170.3,153.6,-16.0,168,998,0.00,2.10,0.00,0.000,4,0.000,0.039,2442,3079,3642
$GC,1061,-1.01,-170.3,163.8,-13.1,180,1067,0.00,2.03,0.00,0.000,6,0.000,0.031,2445,1673,3642
$GC,1407,-1.01,-170.3,204.4,-11.5,241,1414,0.00,2.08,0.00,0.000,4,0.000,0.040,2436,3066,3642
$GC,1432,-1.01,-170.3,207.5,-11.6,245,1439,0.00,2.03,0.00,0.000,6,0.000,0.031,2447,1666,3642
$GC,1777,-1.01,-170.3,248.3,-12.3,306,1783,0.00,2.10,0.00,0.000,4,0.000,0.041,2437,3071,3642
$GC,1812,-1.01,-170.3,252.8,-12.7,312,1818,0.00,2.03,0.00,0.000,6,0.000,0.031,2444,1673,3642
$GC,2157,-1.01,-170.3,297.7,-13.0,373,2165,0.00,2.10,0.00,0.000,4,0.000,0.046,2440,276,3642
$GC,2220,-1.01,-170.3,306.8,-13.9,380,2227,0.00,2.05,0.00,0.000,6,0.000,0.029,2427,1671,3641
$GC,2547,-1.01,-170.3,344.6,-10.4,411,2551,0.00,2.10,0.00,0.000,4,0.000,0.044,2429,3082,3640
$GC,2619,-1.01,-170.3,352.6,-10.9,417,2627,0.00,2.08,0.00,0.000,6,0.000,0.033,2427,1665,3639
$GC,2944,-1.01,-170.3,390.9,-12.5,448,2947,0.00,2.10,0.00,0.000,4,0.000,0.048,2426,274,3638
$GC,2971,-1.01,-170.3,394.5,-13.5,450,2978,0.00,2.08,0.00,0.000,6,0.000,0.030,2434,1680,3637
$GC,3297,-1.01,-170.3,430.3,-9.5,481,3300,0.00,2.10,0.00,0.000,4,0.000,0.045,2443,3083,3636
$GC,3344,-1.01,-170.3,434.6,-9.0,485,3348,0.00,2.08,0.00,0.000,6,0.000,0.034,2436,1674,3635
$GC,3673,-1.01,-170.3,463.2,-9.3,516,3677,0.00,2.12,0.00,0.000,4,0.000,0.049,2439,273,3633
$GC,3734,-1.01,-170.3,469.8,-10.9,521,3742,0.00,2.05,0.00,0.000,6,0.000,0.031,2447,1681,3632
$GC,4059,-1.01,-170.3,502.8,-10.2,551,4062,0.00,2.10,0.00,0.000,4,0.000,0.046,2447,3076,3630
$GC,4082,-1.01,-170.3,505.1,-10.2,552,4086,0.00,2.08,0.00,0.000,6,0.000,0.035,2447,1664,3629
$GC,4414,-1.01,-170.3,537.2,-9.4,568,4418,0.00,2.15,0.00,0.000,4,0.000,0.051,2447,262,3627
$GC,4452,-1.01,-170.3,541.2,-10.9,569,4459,0.00,2.08,0.00,0.000,6,0.000,0.032,2447,1675,3626
$GC,4771,-1.01,-170.3,572.5,-10.2,585,4775,0.00,2.17,0.00,0.000,4,0.000,0.051,2447,264,3624
$GC,4820,-1.01,-170.3,578.4,-11.6,587,4824,0.00,2.08,0.00,0.000,6,0.000,0.032,2447,1676,3623
$GC,5149,-1.01,-170.3,613.7,-11.2,603,5153,0.00,2.10,0.00,0.000,4,0.000,0.048,2446,3064,3621
$GC,5166,-1.01,-170.3,615.9,-11.0,603,5172,0.00,2.05,0.00,0.000,6,0.000,0.036,2447,1677,3621
$GC,5481,-1.01,-170.3,647.5,-9.5,619,5485,0.00,2.17,0.00,0.000,4,0.000,0.060,2446,274,3619
$GC,5565,-1.01,-170.3,656.6,-10.8,622,5571,0.00,2.12,0.00,0.000,6,0.000,0.041,2447,1677,3618
$GC,5881,-1.01,-170.3,687.7,-9.7,638,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1677,3615
$GC,6190,-1.01,-170.3,719.2,-10.3,653,6193,0.00,2.20,0.00,0.000,4,0.000,0.055,2447,274,3614
$GC,6213,-1.01,-170.3,721.7,-10.9,654,6217,0.00,2.10,0.00,0.000,6,0.000,0.035,2447,1684,3613
$GC,6546,-1.01,-170.3,756.5,-10.1,670,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1685,3611
$GC,6856,-1.01,-170.3,789.3,-11.2,685,6860,0.00,2.22,0.00,0.000,4,0.000,0.061,2446,273,3609
$GC,6883,-1.01,-170.3,792.8,-12.2,686,6887,0.00,2.10,0.00,0.000,6,0.000,0.037,2446,1679,3609
$GC,7211,-1.01,-170.3,828.3,-9.9,702,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1679,3607
$GC,7520,-1.01,-170.3,857.5,-8.9,717,7523,0.00,2.22,0.00,0.000,4,0.000,0.058,2446,263,3605
$GC,7575,-1.01,-170.3,863.2,-10.4,719,7579,0.00,2.12,0.00,0.000,6,0.000,0.038,2426,1679,3604
$GC,7897,-1.01,-170.3,895.7,-10.5,735,7901,0.00,2.20,0.00,0.000,4,0.000,0.057,2431,277,3602
$GC,7992,-1.01,-170.3,907.4,-12.0,739,7997,0.15,2.10,0.00,0.000,6,0.156,0.039,2454,1679,3601
$GC,8320,-1.01,-170.3,938.0,-9.1,755,8324,0.00,2.15,0.00,0.000,4,0.000,0.054,2438,3071,3600
$GC,8343,-1.01,-170.3,940.3,-9.5,756,8346,0.00,2.10,0.00,0.000,6,0.000,0.041,2441,1681,3600
$GC,8676,-1.01,-170.3,973.5,-10.3,772,8680,0.00,2.25,0.00,0.000,4,0.000,0.062,2441,260,3598
$GC,8786,-1.01,-170.3,985.8,-11.7,777,8789,0.00,2.17,0.00,0.000,6,0.000,0.043,2437,1682,3597
$STATE,8827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8827,begin apogee
$GC,8833,-0.29,0.0,990.7,11.2,779,8981,0.75,0.00,144.43,1.503,6,0.110,0.000,2685,1346,2945
$STATE,8982,end apogee,CONTROL_FINISHED_OK
$STATE,8982,begin climb
$GC,8984,1.01,170.3,999.6,0.0,786,9144,1.15,0.00,154.93,1.457,6,0.047,0.000,3111,1345,2250
$GC,9439,1.01,170.3,962.1,11.4,808,9442,0.00,2.22,0.00,0.000,4,0.000,0.052,3111,2760,2243
$GC,9488,1.01,170.3,956.1,10.8,810,9492,0.00,2.22,0.00,0.000,6,0.000,0.055,3121,1358,2242
$GC,9816,1.01,170.3,917.1,12.2,826,9819,0.00,2.20,0.00,0.000,4,0.000,0.055,3121,2762,2241
$GC,9899,1.01,170.3,906.5,12.2,829,9906,0.00,2.20,0.00,0.000,6,0.000,0.048,3131,1341,2241
$GC,10215,1.01,170.3,867.6,12.5,845,10218,0.00,1.80,0.00,0.000,4,0.000,0.062,3140,195,2240
$GC,10306,1.01,170.3,855.0,15.2,849,10311,0.10,1.77,0.00,0.000,6,0.191,0.041,3113,1364,2240
$GC,10639,1.01,170.3,815.4,11.8,865,10642,0.00,2.12,0.00,0.000,4,0.000,0.051,3109,2748,2239
$GC,10700,1.01,170.3,807.7,12.1,867,10706,0.00,2.15,0.00,0.000,6,0.000,0.048,3118,1349,2238
$GC,11016,1.01,170.3,769.5,12.2,883,11020,0.00,2.17,0.00,0.000,4,0.000,0.052,3118,2755,2238
$GC,11066,1.01,170.3,762.6,13.0,885,11070,0.00,2.17,0.00,0.000,6,0.000,0.047,3128,1340,2237
$GC,11393,1.01,170.3,719.9,12.5,901,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1340,2237
$GC,11703,1.01,170.3,684.2,10.8,916,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1340,2236
$GC,12012,1.01,170.3,649.4,10.9,931,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1340,2236
$GC,12321,1.01,170.3,616.5,10.2,946,12325,0.00,2.20,0.00,0.000,4,0.000,0.051,3123,2758,2235
$GC,12422,1.01,170.3,606.0,9.8,950,12426,0.00,2.17,0.00,0.000,6,0.000,0.046,3131,1344,2235
$GC,12743,1.01,170.3,574.4,9.6,966,12747,0.00,1.83,0.00,0.000,4,0.000,0.060,3140,199,2235
$GC,12872,1.01,170.3,560.7,10.8,971,12879,0.15,1.73,0.00,0.000,6,0.194,0.042,3105,1352,2235
$GC,13188,1.01,170.3,528.1,10.4,987,13192,0.00,2.15,0.00,0.000,4,0.000,0.048,3094,2750,2235
$GC,13374,1.01,170.3,509.7,9.5,995,13378,0.00,2.15,0.00,0.000,6,0.000,0.044,3103,1345,2235
$GC,13696,1.01,170.3,482.4,8.2,1020,13699,0.00,2.17,0.00,0.000,4,0.000,0.048,3103,2753,2235
$GC,13854,1.01,170.3,468.1,9.8,1034,13857,0.00,2.17,0.00,0.000,6,0.000,0.044,3113,1341,2235
$GC,14187,1.01,170.3,434.6,10.2,1065,14190,0.00,2.17,0.00,0.000,4,0.000,0.047,3113,2756,2235
$GC,14232,1.01,170.3,429.8,9.9,1069,14236,0.00,2.17,0.00,0.000,6,0.000,0.044,3122,1342,2235
$GC,14564,1.06,203.4,404.2,6.9,1100,14599,0.00,2.20,27.50,1.081,4,0.000,0.046,3123,2752,2114
$GC,14715,1.06,203.4,391.5,8.5,1113,14719,0.00,2.17,0.00,0.000,6,0.000,0.041,3133,1334,2112
$GC,15045,1.06,203.4,361.2,9.4,1144,15048,0.00,2.20,0.00,0.000,4,0.000,0.045,3134,2757,2112
$GC,15180,1.06,203.4,348.0,9.4,1156,15184,0.00,2.17,0.00,0.000,6,0.000,0.048,3146,1350,2111
$GC,15514,1.06,203.4,317.8,8.6,1187,15518,0.00,1.77,0.00,0.000,4,0.000,0.054,3158,198,2111
$GC,15553,1.06,203.4,313.2,10.7,1190,15559,0.12,1.73,0.00,0.000,6,0.173,0.038,3121,1349,2111
$GC,15888,1.06,203.4,283.8,8.0,1238,15894,0.00,2.10,0.00,0.000,4,0.000,0.042,3121,2748,2112
$GC,16086,1.06,203.4,268.2,8.2,1273,16093,0.00,2.12,0.00,0.000,6,0.000,0.040,3131,1342,2112
$GC,16433,1.06,203.4,239.5,9.5,1334,16440,0.00,1.77,0.00,0.000,4,0.000,0.053,3140,202,2113
$GC,16480,1.06,203.4,234.8,9.0,1342,16487,0.00,1.73,0.00,0.000,6,0.000,0.035,3140,1365,2113
$GC,16825,1.09,230.2,207.8,7.1,1403,16856,0.00,2.10,24.48,0.883,4,0.000,0.040,3140,2751,2004
$GC,17015,1.09,230.2,190.3,10.0,1436,17021,0.00,2.12,0.00,0.000,6,0.000,0.038,3148,1340,2003
$GC,17359,1.09,230.2,155.5,9.5,1497,17367,0.00,2.15,0.00,0.000,4,0.000,0.039,3148,2753,2003
$GC,17416,1.09,230.2,150.1,10.2,1506,17422,0.00,2.10,0.00,0.000,6,0.000,0.037,3158,1344,2003
$GC,17760,1.18,303.0,123.5,5.7,1567,17830,0.00,2.20,60.83,0.820,4,0.000,0.038,3158,2745,1708
$GC,18052,1.18,303.0,97.4,10.4,1617,18059,0.00,2.10,0.00,0.000,6,0.000,0.037,3168,1345,1705
$GC,18397,1.27,376.3,68.3,5.7,1678,18467,0.00,2.20,61.20,0.759,4,0.000,0.037,3168,2750,1410
$GC,18491,1.27,376.3,61.4,8.4,1693,18499,0.00,2.12,0.00,0.000,6,0.000,0.035,3177,1349,1409
$GC,18836,1.27,376.3,30.8,8.5,1754,18843,0.00,1.77,0.00,0.000,4,0.000,0.049,3186,200,1406
$GC,18952,1.30,402.2,22.3,7.2,1774,18984,0.00,1.67,22.92,0.688,6,0.000,0.030,3186,1356,1304
$STATE,19179,end climb,SURFACE_DEPTH_REACHED
$STATE,19179,begin surface coast
$FINISH,0.8,1.011742
$STATE,19207,end surface coast,CONTROL_FINISHED_OK
$STATE,19208,begin surface
$SM_CCo,19226,170.57,0.679,0,0,454,610.80
$SM_GC,1.40,0.00,0.00,170.57,0.000,0.000,0.679,150,1684,454,-8.18,0.25,610.80
$IRIDIUM_FIX,2444.18,12413.02,061098,131344
$TT8_MAMPS,0.027612
$HUMID,1491
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.40
$XPDR_PINGS,176
$24V_AH,22.8,70.545
$10V_AH,10.7,44.997
$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,19.925,171.975,496.275,170.575,0.000,123.367,375.776,0.000,52.000,0.000,0.000,15.670,3174.037,11599.205,815.653,3747.448,951.112,0.000,2425.656,0.000,3727.444,0.000,56.853,0.000
$DEVICE_MAMPS,231.634,62.127,1503.320,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.310,1258.802,2189.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104189,1819
$CAP_FILE_SIZE,179285,0
$CFSIZE,260165632,209571840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178, 44.0,1
$GPS,120709,182430,2453.861,12411.793,39,1.4,39,-3.7