version: 66.04
glider: 166
mission: 2
dive: 39
start: 5 28 109 1 54 23
data:
$ID,166
$MISSION,2
$DIVE,39
$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,300
$T_MISSION,360
$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,200
$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,425
$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,-5965.9497
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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
$GPS1,014500,2516.009,12255.749,37,1.6,37,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.6
$GPS2,015401,2516.121,12255.706,10,1.7,16,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,199.4,10234,-17.1,-11.000
$D_GRID,1430
$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,14,-0.94,-194.7,0.0,0.0,0,80,0.00,0.00,-63.65,0.000,2,0.000,0.000,169,1498,2459
$GC,82,-0.94,-194.7,3.2,-5.3,10,134,8.90,2.00,-34.33,0.000,4,0.232,0.060,2429,202,3659
$GC,388,-0.18,-194.7,111.6,-32.5,63,395,0.80,1.92,0.00,0.000,6,0.168,0.030,2674,1508,3660
$GC,731,-0.65,-194.7,138.6,-5.3,124,740,0.38,1.95,0.00,0.000,4,0.042,0.044,2505,201,3660
$GC,763,-0.51,-194.7,142.3,-13.3,129,770,0.17,1.90,0.00,0.000,6,0.150,0.029,2572,1504,3660
$GC,1109,-0.58,-194.7,186.8,-11.8,190,1115,0.00,1.98,0.00,0.000,4,0.000,0.045,2571,204,3661
$GC,1266,-0.66,-194.7,205.8,-11.1,218,1274,0.10,1.88,0.00,0.000,6,0.058,0.029,2512,1497,3661
$GC,1610,-0.58,-194.7,256.8,-13.3,279,1617,0.12,1.95,0.00,0.000,4,0.151,0.046,2547,194,3661
$GC,1667,-0.58,-194.7,264.2,-12.5,289,1673,0.00,1.83,0.00,0.000,6,0.000,0.030,2546,1469,3661
$GC,2009,-0.67,-194.7,302.1,-8.9,348,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1470,3661
$GC,2328,-0.78,-194.7,324.1,-6.5,378,2330,0.17,0.00,0.00,0.000,6,0.059,0.000,2464,1471,3661
$GC,2645,-0.61,-194.7,366.8,-13.7,408,2650,0.22,2.10,0.00,0.000,4,0.149,0.044,2533,2889,3661
$GC,2677,-0.75,-194.7,370.4,-9.5,410,2685,0.10,2.12,0.00,0.000,6,0.050,0.035,2472,1456,3661
$GC,3003,-0.63,-194.7,413.2,-12.1,441,3005,0.25,0.00,0.00,0.000,6,0.140,0.000,2532,1456,3660
$GC,3322,-0.82,-194.7,435.3,-6.1,471,3323,0.17,0.00,0.00,0.000,6,0.059,0.000,2452,1455,3658
$GC,3640,-0.70,-194.7,470.4,-11.7,501,3645,0.20,2.15,0.00,0.000,4,0.146,0.048,2510,2887,3655
$GC,3713,-0.94,-194.7,476.3,-6.7,507,3718,0.20,2.10,0.00,0.000,6,0.054,0.044,2416,1461,3654
$GC,4033,-0.73,-194.7,523.5,-15.2,530,4037,0.25,1.88,0.00,0.000,4,0.150,0.051,2497,206,3653
$GC,4103,-0.80,-194.7,532.0,-11.4,533,4108,0.00,1.83,0.00,0.000,6,0.000,0.034,2496,1452,3653
$GC,4432,-0.91,-194.7,562.8,-9.5,549,4436,0.15,2.15,0.00,0.000,4,0.066,0.048,2427,2896,3650
$GC,4474,-0.83,-194.7,568.0,-12.3,551,4479,0.10,2.12,0.00,0.000,6,0.146,0.038,2461,1468,3650
$GC,4801,-0.83,-194.7,606.0,-11.7,567,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1468,3647
$GC,5110,-0.83,-194.7,639.4,-10.2,582,5114,0.00,2.15,0.00,0.000,4,0.000,0.052,2463,2894,3644
$GC,5216,-0.90,-194.7,649.4,-9.0,586,5223,0.00,2.12,0.00,0.000,6,0.000,0.041,2465,1477,3643
$GC,5531,-0.90,-194.7,680.4,-9.8,602,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1477,3642
$GC,5841,-0.90,-194.7,711.5,-10.4,617,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1477,3639
$GC,6149,-0.90,-194.7,743.1,-10.1,632,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1477,3637
$GC,6459,-0.90,-194.7,771.4,-8.4,647,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1477,3635
$GC,6768,-0.90,-194.7,798.7,-9.1,662,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1476,3632
$GC,7079,-0.90,-194.7,826.9,-9.1,677,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1477,3631
$GC,7387,-0.90,-194.7,855.7,-8.9,692,7390,0.00,2.17,0.00,0.000,4,0.000,0.057,2472,2899,3629
$GC,7425,-1.00,-194.7,858.8,-7.2,693,7432,0.12,2.17,0.00,0.000,6,0.056,0.044,2396,1468,3628
$GC,7741,-0.73,-194.7,898.4,-12.1,709,7746,0.32,1.92,0.00,0.000,4,0.163,0.058,2498,202,3627
$GC,7815,-0.80,-194.7,904.8,-7.2,712,7819,0.00,1.85,0.00,0.000,6,0.000,0.041,2488,1459,3627
$GC,8135,-0.87,-194.7,924.8,-6.2,728,8140,0.00,2.17,0.00,0.000,4,0.000,0.056,2479,2896,3625
$GC,8173,-1.02,-194.7,927.1,-5.6,729,8180,0.20,2.15,0.00,0.000,6,0.058,0.044,2394,1454,3624
$GC,8489,-0.78,-194.7,963.3,-12.3,745,8493,0.28,1.90,0.00,0.000,4,0.163,0.058,2482,196,3624
$GC,8588,-0.78,-194.7,972.6,-8.9,749,8592,0.00,1.90,0.00,0.000,6,0.000,0.041,2465,1458,3623
$STATE,8804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8804,begin apogee
$GC,8808,-0.20,0.0,990.2,8.3,760,8974,0.65,0.00,162.25,1.483,6,0.130,0.000,2670,1754,2863
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8976,0.94,194.7,994.7,0.0,768,9156,1.05,2.40,173.18,1.440,4,0.051,0.058,3061,344,2068
$GC,9194,0.34,194.7,967.1,22.5,779,9200,0.77,2.28,0.00,0.000,6,0.177,0.043,2844,1742,2065
$GC,9522,0.57,247.0,935.0,9.0,795,9575,0.20,2.35,46.08,1.384,4,0.060,0.058,2946,355,1856
$GC,9658,0.44,247.0,914.7,16.4,801,9663,0.22,2.17,0.00,0.000,6,0.156,0.042,2886,1740,1852
$GC,9985,0.51,247.0,876.1,11.6,817,9989,0.00,2.20,0.00,0.000,4,0.000,0.058,2894,349,1849
$GC,10012,0.56,247.0,872.7,12.0,818,10016,0.00,2.15,0.00,0.000,6,0.000,0.044,2892,1736,1848
$GC,10338,0.56,248.3,835.8,11.0,834,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1736,1847
$GC,10649,0.57,257.5,802.3,10.7,849,10663,0.00,2.20,9.32,1.232,4,0.000,0.059,2904,348,1813
$GC,10747,0.57,257.5,791.0,11.7,853,10752,0.00,2.12,0.00,0.000,6,0.000,0.044,2903,1721,1812
$GC,11069,0.57,257.5,754.9,11.4,869,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1721,1811
$GC,11377,0.57,257.5,719.6,11.7,884,11381,0.00,2.15,0.00,0.000,4,0.000,0.058,2914,341,1810
$GC,11414,0.57,257.5,714.6,13.9,885,11422,0.00,2.10,0.00,0.000,6,0.000,0.044,2913,1711,1810
$GC,11731,0.57,257.5,675.0,12.7,901,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1711,1810
$GC,12040,0.57,257.5,634.6,12.9,916,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1712,1809
$GC,12349,0.57,257.5,597.6,11.6,931,12353,0.00,2.20,0.00,0.000,4,0.000,0.056,2913,3149,1809
$GC,12375,0.57,257.5,594.1,13.2,932,12380,0.00,2.17,0.00,0.000,6,0.000,0.043,2922,1723,1808
$GC,12702,0.57,257.5,552.5,12.9,948,12706,0.00,2.10,0.00,0.000,4,0.000,0.057,2935,346,1808
$GC,12734,0.51,257.5,548.1,13.3,949,12740,0.08,2.08,0.00,0.000,6,0.153,0.042,2910,1713,1808
$GC,13057,0.55,289.7,514.3,9.8,965,13091,0.00,2.30,28.58,1.179,4,0.000,0.056,2909,3148,1681
$GC,13182,0.67,328.9,501.7,9.5,970,13223,0.10,2.17,35.70,1.149,6,0.079,0.044,2963,1724,1522
$GC,13537,0.54,328.9,459.0,13.3,1003,13542,0.17,2.15,0.00,0.000,4,0.159,0.054,2927,345,1514
$GC,13565,0.54,328.9,455.5,12.7,1005,13569,0.00,2.10,0.00,0.000,6,0.000,0.042,2926,1731,1513
$GC,13894,0.60,328.9,416.4,13.5,1036,13898,0.00,2.20,0.00,0.000,4,0.000,0.054,2928,3160,1513
$GC,13955,0.66,328.9,407.8,14.3,1041,13961,0.00,2.17,0.00,0.000,6,0.000,0.042,2938,1723,1511
$GC,14279,0.66,328.9,362.1,14.0,1072,14283,0.00,2.12,0.00,0.000,4,0.000,0.054,2951,342,1511
$GC,14346,0.66,328.9,352.6,13.5,1078,14350,0.00,2.08,0.00,0.000,6,0.000,0.041,2951,1729,1511
$GC,14676,0.66,328.9,308.7,13.9,1109,14680,0.00,2.17,0.00,0.000,4,0.000,0.051,2952,3160,1511
$GC,14698,0.66,328.9,305.6,14.1,1111,14702,0.00,2.17,0.00,0.000,6,0.000,0.041,2961,1705,1512
$GC,15038,0.66,328.9,256.2,14.4,1168,15045,0.00,2.10,0.00,0.000,4,0.000,0.052,2972,321,1511
$GC,15078,0.66,328.9,249.7,15.6,1175,15084,0.00,2.05,0.00,0.000,6,0.000,0.039,2972,1712,1511
$GC,15421,0.66,328.9,194.3,17.1,1236,15429,0.00,2.10,0.00,0.000,4,0.000,0.054,2983,332,1511
$GC,15502,0.66,328.9,181.0,15.0,1250,15508,0.00,2.03,0.00,0.000,6,0.000,0.037,2983,1713,1511
$GC,15845,0.75,398.1,139.6,8.4,1311,15908,0.00,0.00,57.22,0.838,6,0.000,0.000,2983,1714,1240
$GC,16248,0.89,398.1,95.6,14.1,1381,16255,0.12,2.10,0.00,0.000,4,0.065,0.048,3046,342,1236
$GC,16452,0.83,398.1,58.2,15.8,1417,16459,0.15,2.00,0.00,0.000,6,0.142,0.035,3004,1686,1234
$GC,16799,0.99,412.0,25.4,10.5,1478,16819,0.15,2.20,12.62,0.667,4,0.061,0.041,3077,3153,1183
$GC,16893,0.90,412.0,10.3,16.1,1494,16900,0.20,2.17,0.00,0.000,6,0.155,0.035,3031,1680,1183
$STATE,16950,end climb,SURFACE_DEPTH_REACHED
$STATE,16951,begin surface coast
$FINISH,1.0,1.020554
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,16998,10.65,0.624,0,0,1129,425.10
$SM_GC,2.85,0.00,0.00,10.65,0.000,0.000,0.624,174,1476,1129,-8.06,-0.68,425.10
$IRIDIUM_FIX,2505.59,12257.14,220898,010116
$TT8_MAMPS,0.026845
$HUMID,1480
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.50
$XPDR_PINGS,103
$24V_AH,23.5,11.016
$10V_AH,10.7,6.599
$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,24.700,122.150,524.950,10.650,0.000,50.073,67.040,256.264,33.750,0.000,0.000,16.254,2672.178,10697.368,655.124,2977.035,543.240,0.000,1970.099,0.000,2949.939,0.000,54.418,0.000
$DEVICE_MAMPS,231.634,59.826,1483.378,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.170,1021.922,1718.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88480,1510
$CAP_FILE_SIZE,164747,0
$CFSIZE,260165632,232009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279, 18.0,1
$GPS,280509,063907,2516.088,12255.787,41,1.1,41,-3.7