version: 66.04
glider: 166
mission: 2
dive: 327
start: 7 13 109 23 7 54
data:
$ID,166
$MISSION,2
$DIVE,327
$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,-11774.727
$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,42
$R_STBD_OVSHOOT,83
$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
$GPS1,225206,2452.518,12415.873,31,1.4,31,-3.7
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.8
$GPS2,230732,2452.447,12416.170,14,1.5,14,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12423.900
$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,175.2,19225,-13.7,-7.990
$D_GRID,1906
$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,-58.28,0.000,2,0.000,0.000,168,1710,2473
$GC,79,-1.01,-170.3,3.4,-4.8,9,125,9.15,0.00,-30.92,0.000,6,0.225,0.000,2444,1710,3641
$GC,464,-1.01,-170.3,75.1,-16.5,76,470,0.00,2.17,0.00,0.000,4,0.000,0.041,2444,252,3641
$GC,527,-1.01,-170.3,84.7,-15.1,87,534,0.00,2.03,0.00,0.000,6,0.000,0.028,2436,1661,3641
$GC,873,-1.01,-170.3,136.5,-14.4,148,880,0.00,2.10,0.00,0.000,4,0.000,0.038,2435,3066,3642
$GC,954,-1.01,-170.3,148.6,-14.7,162,961,0.00,2.05,0.00,0.000,6,0.000,0.029,2434,1665,3642
$GC,1298,-1.01,-170.3,194.9,-13.5,223,1305,0.00,2.10,0.00,0.000,4,0.000,0.039,2434,3081,3642
$GC,1398,-1.01,-170.3,208.2,-13.3,240,1405,0.00,2.03,0.00,0.000,6,0.000,0.030,2434,1676,3642
$GC,1742,-1.01,-170.3,254.5,-12.9,301,1748,0.00,2.10,0.00,0.000,4,0.000,0.044,2434,272,3642
$GC,1811,-1.01,-170.3,264.0,-13.8,313,1817,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1681,3642
$GC,2159,-1.01,-170.3,304.5,-13.1,372,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1680,3642
$GC,2476,-1.01,-170.3,344.5,-11.7,402,2480,0.00,2.12,0.00,0.000,4,0.000,0.045,2434,272,3641
$GC,2505,-1.01,-170.3,348.1,-13.2,404,2511,0.00,2.03,0.00,0.000,6,0.000,0.028,2425,1681,3641
$GC,2829,-1.01,-170.3,386.1,-11.1,435,2834,0.12,2.15,0.00,0.000,4,0.156,0.044,2454,265,3639
$GC,2852,-1.01,-170.3,388.5,-10.9,436,2858,0.00,2.05,0.00,0.000,6,0.000,0.029,2440,1683,3639
$GC,3178,-1.01,-170.3,420.0,-10.1,467,3182,0.00,2.08,0.00,0.000,4,0.000,0.043,2441,3069,3637
$GC,3207,-1.01,-170.3,423.3,-11.3,469,3213,0.00,2.05,0.00,0.000,6,0.000,0.032,2440,1665,3636
$GC,3532,-1.01,-170.3,459.1,-11.6,500,3535,0.00,2.12,0.00,0.000,4,0.000,0.044,2447,3066,3634
$GC,3559,-1.01,-170.3,462.5,-11.5,502,3566,0.00,2.08,0.00,0.000,6,0.000,0.032,2443,1676,3634
$GC,3884,-1.01,-170.3,497.4,-10.3,533,3888,0.00,2.10,0.00,0.000,4,0.000,0.044,2459,3074,3632
$GC,3907,-1.01,-170.3,499.7,-9.8,535,3912,0.00,2.05,0.00,0.000,6,0.000,0.034,2459,1674,3631
$GC,4230,-1.01,-170.3,532.1,-10.4,551,4234,0.00,2.12,0.00,0.000,4,0.000,0.045,2459,3073,3628
$GC,4263,-1.01,-170.3,535.9,-10.4,552,4267,0.00,2.10,0.00,0.000,6,0.000,0.034,2459,1669,3628
$GC,4586,-1.01,-170.3,568.4,-9.5,568,4589,0.00,2.12,0.00,0.000,4,0.000,0.046,2459,3067,3626
$GC,4624,-1.01,-170.3,572.4,-9.8,569,4630,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,1677,3626
$GC,4941,-1.01,-170.3,602.8,-9.5,585,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1676,3624
$GC,5250,-1.01,-170.3,630.1,-8.4,600,5254,0.00,2.12,0.00,0.000,4,0.000,0.048,2459,3072,3620
$GC,5340,-1.01,-170.3,637.6,-8.1,604,5344,0.00,2.08,0.00,0.000,6,0.000,0.036,2459,1670,3620
$GC,5674,-1.01,-170.3,667.9,-10.2,620,5677,0.00,2.17,0.00,0.000,4,0.000,0.054,2458,263,3617
$GC,5706,-1.01,-170.3,671.8,-11.3,621,5710,0.00,2.10,0.00,0.000,6,0.000,0.040,2451,1671,3617
$GC,6028,-1.01,-170.3,708.3,-11.1,637,6032,0.00,2.20,0.00,0.000,4,0.000,0.054,2451,260,3616
$GC,6083,-1.01,-170.3,715.2,-12.3,639,6087,0.00,2.15,0.00,0.000,6,0.000,0.040,2448,1688,3615
$GC,6406,-1.01,-170.3,749.5,-10.2,655,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1688,3613
$GC,6714,-1.01,-170.3,779.2,-9.4,670,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1688,3610
$GC,7024,-1.01,-170.3,808.8,-9.3,685,7028,0.00,2.22,0.00,0.000,4,0.000,0.058,2447,275,3609
$GC,7164,-1.01,-170.3,823.6,-10.0,691,7168,0.00,2.12,0.00,0.000,6,0.000,0.044,2447,1678,3607
$GC,7491,-1.01,-170.3,852.3,-9.3,707,7494,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,269,3605
$GC,7565,-1.01,-170.3,860.2,-10.8,710,7569,0.00,2.12,0.00,0.000,6,0.000,0.038,2442,1680,3605
$GC,7892,-1.01,-170.3,894.3,-10.6,726,7895,0.00,2.20,0.00,0.000,4,0.000,0.055,2443,274,3603
$GC,7919,-1.01,-170.3,897.5,-12.3,727,7923,0.00,2.12,0.00,0.000,6,0.000,0.039,2436,1681,3602
$GC,8247,-1.01,-170.3,933.9,-11.6,743,8250,0.00,2.22,0.00,0.000,4,0.000,0.056,2438,264,3600
$GC,8364,-1.01,-170.3,948.7,-12.5,748,8368,0.00,2.17,0.00,0.000,6,0.000,0.044,2429,1671,3599
$GC,8691,-1.01,-170.3,983.3,-10.5,764,8695,0.00,2.22,0.00,0.000,4,0.000,0.063,2432,270,3597
$GC,8736,-1.01,-170.3,988.7,-12.4,766,8740,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,1686,3597
$STATE,8750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8750,begin apogee
$GC,8756,-0.29,0.0,990.6,11.4,766,8912,0.73,0.00,147.20,1.493,6,0.114,0.000,2672,1347,2944
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8916,1.01,170.3,999.2,0.0,774,9080,1.20,2.38,154.52,1.463,4,0.058,0.051,3099,2754,2250
$GC,9141,1.01,170.3,987.0,11.9,784,9145,0.00,2.25,0.00,0.000,6,0.000,0.051,3109,1348,2246
$GC,9464,1.01,170.3,947.6,12.3,800,9467,0.00,2.20,0.00,0.000,4,0.000,0.052,3109,2755,2243
$GC,9541,1.01,170.3,937.5,12.1,803,9545,0.00,2.20,0.00,0.000,6,0.000,0.050,3119,1336,2243
$GC,9863,1.01,170.3,896.7,12.7,819,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1336,2241
$GC,10173,1.01,170.3,859.6,11.9,834,10176,0.00,2.22,0.00,0.000,4,0.000,0.052,3119,2767,2240
$GC,10295,1.01,170.3,844.4,11.8,839,10299,0.00,2.17,0.00,0.000,6,0.000,0.045,3129,1350,2239
$GC,10617,1.01,170.3,806.8,11.6,855,10620,0.00,2.20,0.00,0.000,4,0.000,0.051,3129,2769,2238
$GC,10662,1.01,170.3,801.1,12.3,857,10667,0.12,2.17,0.00,0.000,6,0.203,0.045,3111,1339,2239
$GC,10995,1.01,170.3,765.4,10.2,873,10999,0.00,2.20,0.00,0.000,4,0.000,0.051,3109,2757,2238
$GC,11113,1.01,170.3,752.9,10.6,878,11117,0.00,2.17,0.00,0.000,6,0.000,0.047,3117,1341,2237
$GC,11441,1.01,170.3,716.0,11.3,894,11444,0.00,2.20,0.00,0.000,4,0.000,0.051,3117,2758,2237
$GC,11468,1.01,170.3,712.8,11.3,895,11472,0.00,2.17,0.00,0.000,6,0.000,0.045,3127,1337,2236
$GC,11795,1.01,170.3,675.8,11.5,911,11798,0.00,1.77,0.00,0.000,4,0.000,0.058,3136,198,2236
$GC,11902,1.01,170.3,662.3,12.4,915,11909,0.00,1.75,0.00,0.000,6,0.000,0.042,3136,1366,2236
$GC,12217,1.01,170.3,626.3,11.1,931,12221,0.00,2.12,0.00,0.000,4,0.000,0.051,3136,2747,2235
$GC,12452,1.01,170.3,599.9,10.7,941,12456,0.15,2.15,0.00,0.000,6,0.195,0.044,3109,1340,2234
$GC,12775,1.01,170.3,570.4,9.0,957,12779,0.00,1.77,0.00,0.000,4,0.000,0.058,3116,199,2235
$GC,12809,1.01,170.3,567.0,9.3,958,12812,0.00,1.75,0.00,0.000,6,0.000,0.041,3116,1344,2234
$GC,13129,1.01,170.3,534.2,10.8,974,13133,0.00,2.15,0.00,0.000,4,0.000,0.048,3117,2752,2234
$GC,13207,1.01,170.3,525.5,10.2,977,13211,0.00,2.15,0.00,0.000,6,0.000,0.043,3125,1341,2234
$GC,13531,1.01,170.3,493.6,8.8,996,13535,0.00,2.20,0.00,0.000,4,0.000,0.054,3125,2754,2234
$GC,13570,1.02,172.1,490.4,7.9,999,13577,0.00,2.15,0.00,0.000,6,0.000,0.042,3133,1344,2234
$GC,13897,1.04,188.7,465.8,7.5,1030,13921,0.00,2.22,14.82,1.112,4,0.000,0.048,3133,2750,2175
$GC,14083,1.04,188.7,448.0,9.4,1046,14090,0.08,2.17,0.00,0.000,6,0.187,0.041,3123,1350,2173
$GC,14408,1.04,188.7,420.2,8.2,1077,14412,0.00,2.15,0.00,0.000,4,0.000,0.047,3119,2751,2174
$GC,14503,1.04,188.7,412.3,8.1,1085,14509,0.00,2.15,0.00,0.000,6,0.000,0.041,3128,1340,2173
$GC,14831,1.04,188.7,382.5,9.3,1116,14834,0.00,1.75,0.00,0.000,4,0.000,0.054,3138,204,2174
$GC,14921,1.04,188.7,373.3,9.6,1124,14925,0.00,1.73,0.00,0.000,6,0.000,0.039,3139,1344,2173
$GC,15256,1.04,188.8,342.6,8.0,1155,15260,0.00,2.15,0.00,0.000,4,0.000,0.044,3139,2765,2173
$GC,15380,1.05,200.7,333.0,7.6,1166,15406,0.12,2.17,14.45,0.854,6,0.188,0.043,3120,1347,2126
$GC,15721,1.07,218.5,309.0,7.4,1198,15745,0.00,1.77,16.90,0.967,4,0.000,0.052,3129,204,2054
$GC,15852,1.07,218.5,296.7,9.6,1212,15859,0.00,1.75,0.00,0.000,6,0.000,0.036,3129,1367,2052
$GC,16197,1.08,223.7,268.9,7.8,1273,16209,0.00,2.10,6.20,0.772,4,0.000,0.042,3129,2754,2031
$GC,16362,1.08,223.7,255.2,9.0,1302,16370,0.00,2.15,0.00,0.000,6,0.000,0.038,3139,1347,2031
$GC,16708,1.08,223.7,222.8,8.6,1363,16715,0.00,2.12,0.00,0.000,4,0.000,0.041,3138,2757,2031
$GC,16940,1.13,267.0,204.9,6.6,1404,16983,0.00,2.15,37.25,0.894,6,0.000,0.038,3146,1341,1856
$GC,17323,1.13,267.0,169.2,10.3,1471,17330,0.00,2.12,0.00,0.000,4,0.000,0.038,3146,2758,1852
$GC,17410,1.13,267.0,160.6,9.5,1486,17417,0.00,2.12,0.00,0.000,6,0.000,0.036,3156,1356,1852
$GC,17755,1.16,292.3,132.8,7.2,1547,17782,0.00,2.17,22.40,0.809,4,0.000,0.038,3156,2757,1752
$GC,17862,1.16,292.3,124.5,8.4,1565,17869,0.00,2.15,0.00,0.000,6,0.000,0.035,3166,1346,1750
$GC,18206,1.24,355.6,99.4,6.0,1626,18270,0.00,2.20,53.45,0.786,4,0.000,0.035,3166,2751,1494
$GC,18359,1.26,366.1,88.5,7.7,1651,18374,0.00,2.10,10.50,0.685,6,0.000,0.034,3176,1347,1452
$GC,18712,1.28,383.2,58.3,7.5,1713,18732,0.00,0.00,15.85,0.696,6,0.000,0.000,3175,1347,1382
$GC,19070,1.29,395.8,30.9,7.6,1776,19089,0.00,2.08,12.38,0.649,4,0.000,0.032,3175,2754,1330
$GC,19211,1.29,395.8,19.2,8.9,1800,19217,0.00,2.08,0.00,0.000,6,0.000,0.032,3185,1344,1330
$STATE,19400,end climb,SURFACE_DEPTH_REACHED
$STATE,19400,begin surface coast
$FINISH,0.9,1.021256
$STATE,19436,end surface coast,CONTROL_FINISHED_OK
$STATE,19436,begin surface
$SM_CCo,19455,44.75,0.672,0,0,1110,450.13
$SM_GC,1.56,0.00,0.00,44.75,0.000,0.000,0.672,169,1712,1110,-8.16,1.07,450.13
$IRIDIUM_FIX,2441.81,12418.28,071098,232303
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,26.10
$XPDR_PINGS,152
$24V_AH,22.8,71.852
$10V_AH,10.7,46.098
$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,19.550,173.525,505.925,44.750,0.000,74.963,108.344,445.099,46.000,0.000,0.000,14.784,3228.135,11642.077,678.433,3784.196,1075.401,0.000,2340.539,0.000,3743.091,0.000,54.433,0.000
$DEVICE_MAMPS,224.731,62.894,1493.349,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.715,1276.388,2146.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107226,1840
$CAP_FILE_SIZE,190286,0
$CFSIZE,260165632,208994304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.108, 30.0,1
$GPS,140709,043407,2451.775,12417.322,34,1.0,34,-3.7