version: 66.04
glider: 166
mission: 2
dive: 326
start: 7 13 109 17 18 12
data:
$ID,166
$MISSION,2
$DIVE,326
$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,-11759.313
$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,47
$R_STBD_OVSHOOT,74
$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
$GPS1,170555,2453.229,12415.061,40,1.1,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.5
$GPS2,171750,2453.187,12415.173,12,1.3,12,-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,216.5,18056,-13.7,-7.990
$D_GRID,1902
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-57.30,0.000,2,0.000,0.000,165,1699,2457
$GC,79,-1.01,-170.3,3.3,-4.0,9,126,9.27,2.17,-30.75,0.000,4,0.229,0.051,2437,254,3641
$GC,206,-1.01,-170.3,29.2,-21.9,30,213,0.00,2.08,0.00,0.000,6,0.000,0.028,2430,1663,3641
$GC,551,-1.01,-170.3,90.6,-13.0,91,558,0.00,2.08,0.00,0.000,4,0.000,0.039,2430,3069,3642
$GC,729,-1.01,-170.3,115.6,-15.3,122,735,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1659,3642
$GC,1073,-1.01,-170.3,163.2,-12.9,183,1080,0.00,2.12,0.00,0.000,4,0.000,0.038,2433,3067,3643
$GC,1093,-1.01,-170.3,165.5,-12.0,186,1099,0.00,2.03,0.00,0.000,6,0.000,0.029,2433,1656,3643
$GC,1439,-1.01,-170.3,212.7,-14.1,247,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1656,3643
$GC,1783,-1.01,-170.3,257.7,-11.6,308,1789,0.00,2.12,0.00,0.000,4,0.000,0.041,2427,3078,3643
$GC,1847,-1.01,-170.3,265.5,-12.1,319,1853,0.00,2.03,0.00,0.000,6,0.000,0.031,2423,1680,3643
$GC,2192,-1.01,-170.3,309.7,-12.5,374,2195,0.00,2.12,0.00,0.000,4,0.000,0.044,2424,265,3643
$GC,2242,-1.01,-170.3,316.7,-13.9,378,2249,0.12,2.03,0.00,0.000,6,0.161,0.028,2451,1676,3643
$GC,2567,-1.01,-170.3,357.1,-13.0,409,2570,0.00,2.08,0.00,0.000,4,0.000,0.041,2448,3071,3642
$GC,2590,-1.01,-170.3,360.0,-12.8,411,2594,0.00,2.03,0.00,0.000,6,0.000,0.031,2455,1673,3641
$GC,2923,-1.01,-170.3,396.7,-9.7,442,2926,0.00,2.10,0.00,0.000,4,0.000,0.046,2450,274,3640
$GC,3013,-1.01,-170.3,406.3,-10.4,450,3017,0.00,2.05,0.00,0.000,6,0.000,0.037,2442,1679,3639
$GC,3343,-1.01,-170.3,438.2,-10.9,481,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1679,3638
$GC,3662,-1.01,-170.3,473.5,-11.2,511,3666,0.00,2.08,0.00,0.000,4,0.000,0.044,2457,3064,3635
$GC,3724,-1.01,-170.3,480.6,-11.4,516,3730,0.00,2.03,0.00,0.000,6,0.000,0.033,2455,1675,3635
$GC,4055,-1.01,-170.3,514.2,-9.7,541,4058,0.00,2.12,0.00,0.000,4,0.000,0.048,2457,277,3632
$GC,4161,-1.01,-170.3,525.7,-11.0,545,4168,0.00,2.05,0.00,0.000,6,0.000,0.031,2460,1681,3631
$GC,4476,-1.01,-170.3,557.7,-9.9,561,4480,0.00,2.10,0.00,0.000,4,0.000,0.045,2460,3078,3629
$GC,4503,-1.01,-170.3,560.5,-10.7,562,4507,0.00,2.05,0.00,0.000,6,0.000,0.033,2460,1675,3629
$GC,4831,-1.01,-170.3,589.4,-8.7,578,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1676,3627
$GC,5141,-1.01,-170.3,618.5,-9.6,593,5145,0.00,2.12,0.00,0.000,4,0.000,0.048,2460,3067,3623
$GC,5191,-1.01,-170.3,623.9,-10.4,595,5195,0.00,2.05,0.00,0.000,6,0.000,0.035,2460,1677,3624
$GC,5518,-1.01,-170.3,654.4,-9.1,611,5522,0.00,2.15,0.00,0.000,4,0.000,0.051,2460,275,3621
$GC,5613,-1.01,-170.3,664.9,-10.7,615,5617,0.00,2.08,0.00,0.000,6,0.000,0.037,2460,1674,3620
$GC,5940,-1.01,-170.3,698.6,-10.3,631,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1674,3618
$GC,6250,-1.01,-170.3,729.2,-9.8,646,6254,0.00,2.15,0.00,0.000,4,0.000,0.051,2460,3071,3616
$GC,6318,-1.01,-170.3,735.9,-10.2,649,6322,0.00,2.10,0.00,0.000,6,0.000,0.040,2460,1672,3616
$GC,6652,-1.01,-170.3,767.6,-9.8,665,6656,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,3076,3613
$GC,6668,-1.01,-170.3,769.4,-9.5,665,6675,0.00,2.10,0.00,0.000,6,0.000,0.037,2460,1667,3613
$GC,6984,-1.01,-170.3,799.1,-9.0,681,6988,0.00,2.20,0.00,0.000,4,0.000,0.058,2456,3079,3610
$GC,7017,-1.01,-170.3,802.1,-8.9,682,7021,0.00,2.12,0.00,0.000,6,0.000,0.039,2460,1670,3610
$GC,7340,-1.01,-170.3,827.8,-7.8,698,7343,0.00,2.20,0.00,0.000,4,0.000,0.058,2459,269,3608
$GC,7350,-1.01,-170.3,829.0,-7.8,698,7355,0.00,2.12,0.00,0.000,6,0.000,0.041,2452,1677,3608
$GC,7672,-1.01,-170.3,852.2,-6.3,714,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1677,3606
$GC,7982,-1.01,-170.3,870.8,-6.1,729,7986,0.00,2.20,0.00,0.000,4,0.000,0.056,2454,274,3604
$GC,8050,-1.01,-170.3,875.7,-7.1,732,8054,0.00,2.12,0.00,0.000,6,0.000,0.038,2435,1687,3604
$GC,8382,-1.01,-170.3,898.7,-7.9,748,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1688,3602
$GC,8694,-1.01,-170.3,927.1,-9.4,763,8698,0.00,2.22,0.00,0.000,4,0.000,0.057,2435,276,3601
$GC,8763,-1.01,-170.3,934.7,-11.0,766,8766,0.00,2.12,0.00,0.000,6,0.000,0.041,2427,1679,3599
$GC,9096,-1.01,-170.3,969.0,-9.9,782,9099,0.00,2.22,0.00,0.000,4,0.000,0.057,2430,269,3598
$GC,9164,-1.01,-170.3,976.3,-10.9,785,9168,0.00,2.15,0.00,0.000,6,0.000,0.040,2426,1685,3598
$STATE,9308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9308,begin apogee
$GC,9315,-0.29,0.0,990.4,9.6,792,9472,0.77,0.00,147.38,1.492,6,0.114,0.000,2679,1349,2945
$STATE,9472,end apogee,CONTROL_FINISHED_OK
$STATE,9472,begin climb
$GC,9476,1.01,170.3,998.5,0.0,800,9642,1.17,2.45,155.23,1.461,4,0.051,0.051,3108,2760,2248
$GC,9716,1.01,170.3,982.1,13.5,811,9720,0.00,2.25,0.00,0.000,6,0.000,0.051,3118,1350,2245
$GC,10044,1.01,170.3,938.1,13.3,827,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1350,2243
$GC,10352,1.01,170.3,898.8,12.2,842,10356,0.00,1.83,0.00,0.000,4,0.000,0.067,3127,205,2242
$GC,10374,1.01,170.3,895.9,13.1,843,10378,0.00,1.75,0.00,0.000,6,0.000,0.043,3127,1364,2241
$GC,10708,1.01,170.3,851.7,13.4,859,10711,0.00,2.12,0.00,0.000,4,0.000,0.052,3125,2750,2240
$GC,10820,1.01,170.3,835.9,13.9,864,10824,0.00,2.15,0.00,0.000,6,0.000,0.046,3133,1346,2240
$GC,11152,1.01,170.3,790.7,13.7,880,11156,0.00,2.20,0.00,0.000,4,0.000,0.052,3133,2760,2239
$GC,11271,1.01,170.3,775.0,12.7,885,11276,0.15,2.17,0.00,0.000,6,0.200,0.046,3108,1342,2238
$GC,11592,1.01,170.3,739.8,10.6,901,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1343,2238
$GC,11902,1.01,170.3,708.5,9.8,916,11905,0.00,2.20,0.00,0.000,4,0.000,0.051,3106,2753,2237
$GC,11951,1.01,170.3,703.5,9.3,918,11955,0.00,2.15,0.00,0.000,6,0.000,0.044,3114,1349,2236
$GC,12279,1.01,170.3,670.1,10.8,934,12282,0.00,2.17,0.00,0.000,4,0.000,0.051,3111,2753,2237
$GC,12385,1.01,170.3,657.1,12.4,938,12391,0.00,2.15,0.00,0.000,6,0.000,0.045,3120,1347,2236
$GC,12701,1.01,170.3,618.9,11.7,954,12704,0.00,1.80,0.00,0.000,4,0.000,0.058,3129,194,2236
$GC,12778,1.01,170.3,609.8,11.0,957,12782,0.00,1.77,0.00,0.000,6,0.000,0.043,3128,1354,2236
$GC,13101,1.01,170.3,576.1,9.4,973,13105,0.00,2.15,0.00,0.000,4,0.000,0.051,3124,2756,2236
$GC,13168,1.01,170.3,569.6,8.9,976,13172,0.00,2.15,0.00,0.000,6,0.000,0.044,3132,1346,2235
$GC,13502,1.01,170.3,539.3,8.1,992,13505,0.00,2.17,0.00,0.000,4,0.000,0.050,3132,2755,2235
$GC,13727,1.01,170.3,518.2,9.8,1002,13732,0.15,2.15,0.00,0.000,6,0.193,0.043,3105,1348,2235
$GC,14047,1.01,170.3,487.6,10.1,1023,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1348,2235
$GC,14365,1.01,170.3,458.6,8.0,1053,14369,0.00,2.17,0.00,0.000,4,0.000,0.048,3105,2760,2235
$GC,14623,1.04,189.1,439.0,7.4,1076,14646,0.00,2.15,15.00,1.086,6,0.000,0.043,3114,1348,2173
$GC,14963,1.04,189.1,409.0,9.1,1108,14967,0.00,2.17,0.00,0.000,4,0.000,0.047,3115,2759,2173
$GC,15099,1.04,189.1,396.0,9.7,1120,15103,0.00,2.17,0.00,0.000,6,0.000,0.048,3124,1343,2173
$GC,15424,1.04,189.1,366.6,9.1,1150,15428,0.00,2.17,0.00,0.000,4,0.000,0.049,3125,2753,2173
$GC,15483,1.04,189.1,361.3,8.8,1155,15487,0.00,2.12,0.00,0.000,6,0.000,0.040,3136,1349,2172
$GC,15817,1.04,189.1,330.3,8.7,1186,15821,0.00,2.15,0.00,0.000,4,0.000,0.044,3138,2759,2173
$GC,16031,1.07,216.8,313.2,7.1,1205,16066,0.00,2.15,25.75,0.990,6,0.000,0.040,3149,1335,2060
$GC,16396,1.07,216.8,281.5,8.9,1256,16404,0.00,2.20,0.00,0.000,4,0.000,0.042,3149,2759,2058
$GC,16466,1.07,216.8,275.2,9.0,1268,16473,0.10,2.17,0.00,0.000,6,0.176,0.039,3128,1344,2058
$GC,16811,1.07,216.8,248.0,8.4,1329,16818,0.00,1.75,0.00,0.000,4,0.000,0.051,3137,198,2058
$GC,16960,1.07,216.8,234.1,8.8,1355,16966,0.00,1.70,0.00,0.000,6,0.000,0.035,3137,1366,2058
$GC,17303,1.08,223.4,206.8,7.8,1416,17317,0.00,2.12,7.32,0.760,4,0.000,0.040,3135,2746,2034
$GC,17445,1.09,230.4,195.4,7.8,1440,17459,0.00,2.10,7.90,0.764,6,0.000,0.037,3144,1335,2004
$GC,17799,1.13,262.3,168.1,7.0,1502,17832,0.00,2.20,27.85,0.850,4,0.000,0.038,3143,2743,1875
$GC,17947,1.13,262.3,153.6,10.4,1527,17954,0.00,2.12,0.00,0.000,6,0.000,0.038,3154,1361,1872
$GC,18291,1.13,262.3,121.0,8.9,1588,18297,0.00,2.08,0.00,0.000,4,0.000,0.038,3153,2752,1871
$GC,18502,1.13,262.3,103.5,9.0,1625,18510,0.00,2.10,0.00,0.000,6,0.000,0.035,3163,1337,1872
$GC,18849,1.27,380.5,81.1,4.3,1686,18952,0.00,2.25,97.80,0.777,4,0.000,0.035,3163,2755,1394
$GC,19011,1.27,380.5,67.6,9.5,1712,19018,0.00,2.12,0.00,0.000,6,0.000,0.034,3173,1348,1392
$GC,19357,1.29,390.7,39.4,7.7,1773,19372,0.00,2.15,9.80,0.639,4,0.000,0.034,3173,2756,1352
$GC,19505,1.29,390.7,27.3,8.1,1798,19512,0.00,2.12,0.00,0.000,6,0.000,0.034,3182,1346,1352
$GC,19850,1.29,390.7,3.2,11.2,1859,19857,0.00,1.75,0.00,0.000,4,0.000,0.046,3192,199,1352
$STATE,19861,end climb,SURFACE_DEPTH_REACHED
$STATE,19861,begin surface coast
$FINISH,0.8,1.010078
$STATE,19893,end surface coast,CONTROL_FINISHED_OK
$STATE,19893,begin surface
$SM_CCo,19913,49.78,0.680,0,0,1109,450.13
$SM_GC,1.58,0.00,0.00,49.78,0.000,0.000,0.680,168,1710,1109,-8.16,0.99,450.13
$IRIDIUM_FIX,2441.81,12413.02,071098,171709
$TT8_MAMPS,0.026845
$HUMID,1512
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.70
$XPDR_PINGS,169
$24V_AH,22.7,71.630
$10V_AH,10.7,45.913
$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,19.800,168.850,494.025,49.775,0.000,47.604,64.869,377.199,50.250,0.000,0.000,12.520,3286.512,11952.964,660.994,3826.680,934.572,0.000,2335.331,0.000,3795.366,0.000,56.030,0.000
$DEVICE_MAMPS,228.566,67.496,1491.815,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1268.723,1296.822,2178.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107344,1866
$CAP_FILE_SIZE,188552,0
$CFSIZE,260165632,209096704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146, 56.5,1
$GPS,130709,225206,2452.518,12415.873,31,1.4,31,-3.7