version: 66.04
glider: 166
mission: 2
dive: 329
start: 7 14 109 10 18 36
data:
$ID,166
$MISSION,2
$DIVE,329
$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,-11802.558
$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,81
$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
$GPS1,101007,2450.328,12419.455,36,1.2,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.4
$GPS2,101814,2450.304,12419.648,12,1.6,12,-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,171.3,12452,-13.7,-7.990
$D_GRID,1397
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,70,0.00,0.00,-51.58,0.000,2,0.000,0.000,170,1710,2304
$GC,74,-1.01,-170.3,3.1,-4.1,8,127,9.25,2.17,-36.83,0.000,4,0.229,0.052,2445,268,3640
$GC,133,-1.01,-170.3,12.4,-17.5,17,141,0.00,2.03,0.00,0.000,6,0.000,0.025,2445,1683,3641
$GC,479,-1.01,-170.3,79.5,-19.1,78,486,0.00,2.03,0.00,0.000,4,0.000,0.037,2445,3069,3641
$GC,504,-1.01,-170.3,84.0,-18.7,82,511,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1668,3641
$GC,848,-1.01,-170.3,137.7,-13.5,143,854,0.00,2.05,0.00,0.000,4,0.000,0.036,2445,3061,3642
$GC,975,-1.01,-170.3,154.3,-13.2,165,982,0.00,2.03,0.00,0.000,6,0.000,0.028,2445,1646,3642
$GC,1323,-1.01,-170.3,198.1,-12.5,226,1329,0.00,2.05,0.00,0.000,4,0.000,0.040,2445,278,3643
$GC,1371,-1.01,-170.3,204.7,-14.4,234,1378,0.00,2.00,0.00,0.000,6,0.000,0.026,2445,1669,3643
$GC,1716,-1.01,-170.3,254.0,-13.9,295,1722,0.00,2.05,0.00,0.000,4,0.000,0.038,2445,3067,3643
$GC,1763,-1.01,-170.3,259.8,-12.8,303,1769,0.00,2.00,0.00,0.000,6,0.000,0.028,2445,1666,3643
$GC,2108,-1.01,-170.3,300.4,-11.7,364,2111,0.00,2.05,0.00,0.000,4,0.000,0.041,2445,282,3643
$GC,2153,-1.01,-170.3,306.5,-12.8,368,2157,0.00,2.00,0.00,0.000,6,0.000,0.027,2445,1682,3643
$GC,2484,-1.01,-170.3,342.6,-11.5,399,2488,0.00,2.10,0.00,0.000,4,0.000,0.042,2440,280,3643
$GC,2514,-1.01,-170.3,346.2,-13.2,401,2521,0.00,2.00,0.00,0.000,6,0.000,0.028,2432,1676,3643
$GC,2838,-1.01,-170.3,383.7,-10.7,432,2842,0.00,2.05,0.00,0.000,4,0.000,0.040,2429,3063,3641
$GC,2884,-1.01,-170.3,388.4,-10.6,436,2888,0.00,2.00,0.00,0.000,6,0.000,0.029,2427,1677,3641
$GC,3216,-1.01,-170.3,422.6,-9.5,467,3220,0.00,2.10,0.00,0.000,4,0.000,0.044,2426,276,3639
$GC,3296,-1.01,-170.3,431.1,-10.4,474,3299,0.00,2.03,0.00,0.000,6,0.000,0.029,2433,1677,3638
$GC,3626,-1.01,-170.3,465.1,-11.0,505,3630,0.00,2.08,0.00,0.000,4,0.000,0.043,2439,3071,3636
$GC,3683,-1.01,-170.3,471.2,-10.8,510,3687,0.00,2.05,0.00,0.000,6,0.000,0.031,2436,1667,3636
$GC,4022,-1.01,-170.3,506.9,-10.2,539,4026,0.00,2.10,0.00,0.000,4,0.000,0.047,2437,279,3632
$GC,4060,-1.01,-170.3,511.2,-11.7,540,4067,0.00,2.08,0.00,0.000,6,0.000,0.031,2444,1677,3632
$GC,4376,-1.01,-170.3,545.5,-10.7,556,4379,0.00,2.15,0.00,0.000,4,0.000,0.048,2439,268,3630
$GC,4409,-1.01,-170.3,549.5,-12.6,557,4417,0.00,2.08,0.00,0.000,6,0.000,0.033,2445,1679,3629
$GC,4733,-1.01,-170.3,583.5,-10.5,573,4737,0.00,2.15,0.00,0.000,4,0.000,0.049,2444,277,3627
$GC,4771,-1.01,-170.3,587.9,-11.1,574,4778,0.00,2.10,0.00,0.000,6,0.000,0.033,2445,1679,3626
$GC,5088,-1.01,-170.3,615.6,-8.3,590,5092,0.00,2.10,0.00,0.000,4,0.000,0.047,2445,3070,3624
$GC,5156,-1.01,-170.3,620.8,-8.1,593,5160,0.00,2.08,0.00,0.000,6,0.000,0.042,2445,1676,3623
$GC,5489,-1.01,-170.3,652.8,-10.3,609,5493,0.00,2.17,0.00,0.000,4,0.000,0.055,2444,268,3621
$GC,5540,-1.01,-170.3,658.2,-10.7,611,5543,0.00,2.10,0.00,0.000,6,0.000,0.034,2436,1689,3621
$GC,5868,-1.01,-170.3,692.0,-10.5,627,5872,0.00,2.20,0.00,0.000,4,0.000,0.054,2436,275,3619
$GC,5901,-1.01,-170.3,696.2,-12.4,628,5905,0.00,2.12,0.00,0.000,6,0.000,0.039,2427,1679,3619
$GC,6223,-1.01,-170.3,734.5,-11.9,644,6226,0.00,2.15,0.00,0.000,4,0.000,0.055,2417,3079,3616
$GC,6284,-1.01,-170.3,742.1,-12.2,646,6291,0.12,2.12,0.00,0.000,6,0.146,0.044,2451,1664,3615
$GC,6600,-1.01,-170.3,771.6,-8.9,662,6603,0.00,2.17,0.00,0.000,4,0.000,0.061,2450,273,3614
$GC,6701,-1.01,-170.3,781.9,-10.7,666,6705,0.00,2.12,0.00,0.000,6,0.000,0.044,2448,1679,3613
$GC,7022,-1.01,-170.3,811.2,-9.5,682,7026,0.00,2.15,0.00,0.000,4,0.000,0.052,2447,3082,3610
$GC,7068,-1.01,-170.3,815.4,-9.3,684,7072,0.00,2.12,0.00,0.000,6,0.000,0.043,2448,1669,3609
$GC,7399,-1.01,-170.3,849.6,-10.6,700,7404,0.00,2.17,0.00,0.000,4,0.000,0.055,2447,270,3608
$GC,7494,-1.01,-170.3,861.2,-11.8,704,7498,0.00,2.15,0.00,0.000,6,0.000,0.042,2447,1682,3607
$GC,7822,-1.01,-170.3,899.1,-11.8,720,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1683,3606
$GC,8131,-1.01,-170.3,936.5,-11.9,735,8134,0.00,2.22,0.00,0.000,4,0.000,0.058,2447,271,3604
$GC,8248,-1.01,-170.3,952.0,-13.0,740,8252,0.00,2.17,0.00,0.000,6,0.000,0.045,2447,1677,3602
$STATE,8572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8572,begin apogee
$GC,8580,-0.29,0.0,990.7,11.8,756,8737,0.73,0.00,147.95,1.493,6,0.111,0.000,2679,1340,2945
$STATE,8737,end apogee,CONTROL_FINISHED_OK
$STATE,8737,begin climb
$GC,8740,1.01,170.3,1001.6,0.0,764,8905,1.20,2.38,154.50,1.463,4,0.063,0.051,3090,2755,2250
$GC,9016,1.01,170.3,986.3,11.0,776,9024,0.00,2.22,0.00,0.000,6,0.000,0.046,3099,1356,2246
$GC,9333,1.01,170.3,953.4,10.5,792,9336,0.00,2.20,0.00,0.000,4,0.000,0.057,3099,2762,2244
$GC,9401,1.01,170.3,946.1,10.7,795,9405,0.00,2.20,0.00,0.000,6,0.000,0.053,3109,1343,2243
$GC,9729,1.01,170.3,910.8,10.7,811,9733,0.00,1.77,0.00,0.000,4,0.000,0.060,3119,204,2242
$GC,9790,1.01,170.3,903.8,10.9,813,9796,0.00,1.75,0.00,0.000,6,0.000,0.041,3118,1365,2241
$GC,10106,1.01,170.3,868.4,11.8,829,10110,0.00,2.12,0.00,0.000,4,0.000,0.051,3118,2749,2241
$GC,10197,1.01,170.3,857.1,12.9,833,10201,0.00,2.15,0.00,0.000,6,0.000,0.044,3128,1340,2239
$GC,10531,1.01,170.3,814.9,12.4,849,10534,0.00,2.20,0.00,0.000,4,0.000,0.051,3127,2757,2239
$GC,10681,1.01,170.3,796.2,12.6,855,10688,0.12,2.17,0.00,0.000,6,0.203,0.045,3111,1340,2238
$GC,10998,1.01,170.3,761.6,11.1,871,11001,0.00,1.80,0.00,0.000,4,0.000,0.058,3117,206,2238
$GC,11030,1.01,170.3,757.2,12.2,872,11034,0.00,1.75,0.00,0.000,6,0.000,0.041,3118,1353,2238
$GC,11353,1.01,170.3,718.5,12.5,888,11357,0.00,2.15,0.00,0.000,4,0.000,0.051,3117,2749,2238
$GC,11398,1.01,170.3,712.6,13.1,890,11402,0.00,2.15,0.00,0.000,6,0.000,0.044,3127,1342,2237
$GC,11730,1.01,170.3,673.6,10.9,906,11734,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2759,2237
$GC,11988,1.01,170.3,648.5,8.3,917,11991,0.00,2.17,0.00,0.000,6,0.000,0.045,3132,1345,2236
$GC,12311,1.01,170.3,619.3,10.1,933,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1346,2236
$GC,12618,1.01,170.3,588.6,9.9,948,12621,0.00,1.77,0.00,0.000,4,0.000,0.058,3141,205,2236
$GC,12668,1.01,170.3,582.8,11.8,950,12672,0.10,1.75,0.00,0.000,6,0.193,0.041,3113,1349,2235
$GC,12995,1.01,170.3,555.3,8.8,966,12998,0.00,2.15,0.00,0.000,4,0.000,0.049,3104,2749,2235
$GC,13022,1.01,170.3,552.7,8.6,967,13026,0.00,2.15,0.00,0.000,6,0.000,0.043,3112,1341,2235
$GC,13349,1.01,170.3,525.9,8.2,983,13352,0.00,1.77,0.00,0.000,4,0.000,0.056,3122,198,2235
$GC,13433,1.01,170.3,518.4,8.0,986,13439,0.00,1.75,0.00,0.000,6,0.000,0.040,3122,1352,2235
$GC,13751,1.04,190.8,494.3,7.3,1005,13771,0.00,0.00,16.62,1.143,6,0.000,0.000,3121,1352,2166
$GC,14092,1.04,190.8,465.4,9.3,1037,14096,0.00,2.17,0.00,0.000,4,0.000,0.051,3122,2756,2165
$GC,14243,1.04,190.8,451.8,9.3,1050,14250,0.00,2.20,0.00,0.000,6,0.000,0.045,3130,1351,2164
$GC,14571,1.04,190.8,423.2,8.7,1081,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1351,2165
$GC,14895,1.04,190.8,391.9,9.7,1112,14899,0.00,2.15,0.00,0.000,4,0.000,0.044,3132,2760,2165
$GC,15087,1.04,190.8,373.4,9.0,1129,15092,0.12,2.15,0.00,0.000,6,0.189,0.041,3117,1340,2165
$GC,15412,1.08,219.6,347.2,7.1,1159,15451,0.00,2.20,28.92,0.971,4,0.000,0.047,3117,2758,2048
$GC,15542,1.08,219.6,336.4,8.2,1170,15546,0.00,2.15,0.00,0.000,6,0.000,0.040,3126,1349,2046
$GC,15874,1.08,219.6,308.3,8.8,1201,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1349,2045
$GC,16203,1.08,219.6,280.3,8.0,1252,16211,0.00,2.12,0.00,0.000,4,0.000,0.042,3127,2756,2045
$GC,16242,1.08,219.6,277.3,8.1,1258,16249,0.00,2.12,0.00,0.000,6,0.000,0.038,3138,1338,2045
$GC,16586,1.08,219.6,250.7,8.2,1319,16592,0.00,2.15,0.00,0.000,4,0.000,0.041,3138,2764,2045
$GC,16746,1.08,219.6,237.4,8.4,1347,16752,0.00,2.12,0.00,0.000,6,0.000,0.038,3148,1345,2046
$GC,17090,1.14,268.5,210.8,6.4,1408,17140,0.00,2.20,41.65,0.897,4,0.000,0.039,3148,2752,1849
$GC,17197,1.14,272.1,202.8,7.9,1426,17209,0.00,2.12,4.57,0.601,6,0.000,0.036,3157,1347,1834
$GC,17547,1.14,272.1,169.8,9.9,1488,17554,0.00,2.12,0.00,0.000,4,0.000,0.038,3157,2766,1833
$GC,17574,1.14,272.1,167.1,10.6,1492,17582,0.00,2.12,0.00,0.000,6,0.000,0.036,3168,1344,1833
$GC,17919,1.18,301.3,139.4,7.1,1553,17951,0.00,2.15,26.15,0.815,4,0.000,0.036,3168,2762,1714
$GC,18127,1.20,322.4,123.2,7.3,1589,18154,0.00,2.12,19.10,0.777,6,0.000,0.035,3177,1341,1628
$GC,18493,1.21,331.0,94.6,7.7,1653,18506,0.00,2.17,8.60,0.669,4,0.000,0.035,3177,2762,1594
$GC,18615,1.28,387.2,86.8,6.2,1674,18672,0.00,2.10,48.17,0.761,6,0.000,0.035,3187,1344,1365
$GC,19013,1.28,387.2,54.2,8.4,1743,19018,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1345,1362
$GC,19356,1.29,392.9,25.5,7.8,1804,19370,0.00,2.15,6.25,0.538,4,0.000,0.033,3187,2764,1343
$GC,19509,1.29,392.9,12.4,9.0,1830,19516,0.00,2.08,0.00,0.000,6,0.000,0.033,3196,1347,1343
$STATE,19643,end climb,SURFACE_DEPTH_REACHED
$STATE,19643,begin surface coast
$FINISH,0.8,1.017054
$STATE,19696,end surface coast,CONTROL_FINISHED_OK
$STATE,19696,begin surface
$SM_CCo,19714,47.33,0.667,0,0,1110,450.13
$SM_GC,1.51,0.00,0.00,47.33,0.000,0.000,0.667,171,1712,1110,-8.16,1.05,450.13
$IRIDIUM_FIX,2444.18,12416.32,081098,040430
$TT8_MAMPS,0.026845
$HUMID,1507
$INTERNAL_PRESSURE,10.0147
$TCM_TEMP,26.20
$XPDR_PINGS,165
$24V_AH,22.8,72.262
$10V_AH,10.7,46.461
$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,19.700,176.550,502.500,47.325,0.000,33.212,47.178,234.328,49.250,0.000,0.000,13.017,3269.862,11665.798,690.553,3840.729,764.238,0.000,2380.198,0.000,3804.459,0.000,54.438,0.000
$DEVICE_MAMPS,228.566,60.593,1493.349,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.625,1289.972,2168.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107378,1863
$CAP_FILE_SIZE,186686,0
$CFSIZE,260165632,208797696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107, 57.4,1
$GPS,140709,154907,2449.432,12421.237,30,1.2,30,-3.7