version: 66.04
glider: 166
mission: 2
dive: 42
start: 5 28 109 16 6 23
data:
$ID,166
$MISSION,2
$DIVE,42
$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,-6006.4019
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,160006,2517.204,12255.414,32,1.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.6
$GPS2,160601,2517.350,12255.318,11,1.3,11,-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,196.7,12589,-17.1,-11.000
$D_GRID,1415
$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,-194.7,0.0,0.0,0,77,0.00,0.00,-61.25,0.000,2,0.000,0.000,194,1492,2372
$GC,79,-0.94,-194.7,3.1,-5.0,9,132,8.85,2.12,-37.53,0.000,4,0.234,0.054,2423,2905,3657
$GC,370,-0.27,-194.7,95.3,-33.3,59,378,0.77,2.08,0.00,0.000,6,0.164,0.035,2649,1492,3658
$GC,714,-0.62,-194.7,125.5,-3.8,120,721,0.28,0.00,0.00,0.000,6,0.046,0.000,2518,1492,3660
$GC,1058,-0.35,-194.7,178.4,-15.9,181,1065,0.32,1.92,0.00,0.000,4,0.148,0.046,2618,199,3660
$GC,1239,-0.63,-194.7,192.8,-8.0,213,1245,0.17,1.90,0.00,0.000,6,0.042,0.028,2511,1517,3661
$GC,1583,-0.51,-194.7,253.9,-16.7,274,1590,0.17,1.98,0.00,0.000,4,0.146,0.046,2567,198,3661
$GC,1720,-0.61,-194.7,269.5,-8.6,298,1728,0.00,1.85,0.00,0.000,6,0.000,0.029,2567,1477,3661
$GC,2066,-0.80,-194.7,288.6,-6.9,359,2071,0.20,0.00,0.00,0.000,6,0.058,0.000,2472,1478,3661
$GC,2394,-0.60,-194.7,336.5,-15.8,397,2398,0.22,1.90,0.00,0.000,4,0.150,0.048,2542,208,3661
$GC,2462,-0.66,-194.7,344.8,-11.8,403,2465,0.00,1.83,0.00,0.000,6,0.000,0.031,2542,1486,3661
$GC,2791,-0.79,-194.7,380.0,-9.4,434,2796,0.17,2.08,0.00,0.000,4,0.060,0.044,2442,2894,3661
$GC,2834,-0.70,-194.7,385.1,-12.5,437,2841,0.17,2.08,0.00,0.000,6,0.133,0.036,2513,1491,3660
$GC,3159,-0.80,-194.7,408.3,-6.3,468,3163,0.00,2.10,0.00,0.000,4,0.000,0.048,2511,2898,3658
$GC,3197,-0.97,-194.7,410.6,-5.9,471,3204,0.17,2.08,0.00,0.000,6,0.046,0.036,2404,1500,3658
$GC,3522,-0.71,-194.7,455.5,-14.3,502,3524,0.35,0.00,0.00,0.000,6,0.153,0.000,2510,1498,3656
$GC,3841,-0.84,-194.7,486.6,-10.2,532,3845,0.12,2.08,0.00,0.000,4,0.074,0.045,2444,2888,3655
$GC,3935,-0.84,-194.7,499.9,-14.0,540,3947,0.00,2.08,0.00,0.000,6,0.000,0.038,2445,1506,3653
$GC,4251,-0.74,-194.7,544.4,-13.2,556,4255,0.17,1.95,0.00,0.000,4,0.150,0.052,2495,205,3651
$GC,4364,-0.80,-194.7,556.6,-10.3,561,4368,0.00,1.88,0.00,0.000,6,0.000,0.035,2496,1494,3650
$GC,4696,-0.91,-194.7,582.1,-7.1,577,4700,0.15,1.95,0.00,0.000,4,0.067,0.053,2427,206,3648
$GC,4763,-0.68,-194.7,589.9,-13.1,580,4768,0.30,1.88,0.00,0.000,6,0.155,0.037,2516,1490,3648
$GC,5096,-0.87,-194.7,609.9,-5.6,596,5098,0.17,0.00,0.00,0.000,6,0.062,0.000,2437,1493,3645
$GC,5405,-0.77,-194.7,641.4,-10.5,611,5406,0.17,0.00,0.00,0.000,6,0.151,0.000,2488,1493,3643
$GC,5713,-0.85,-194.7,661.5,-5.7,626,5716,0.00,2.12,0.00,0.000,4,0.000,0.053,2501,2906,3640
$GC,5740,-1.00,-194.7,663.1,-5.6,627,5744,0.22,2.10,0.00,0.000,6,0.056,0.042,2398,1491,3640
$GC,6069,-0.71,-194.7,705.2,-13.7,643,6074,0.32,1.95,0.00,0.000,4,0.162,0.056,2498,201,3638
$GC,6130,-0.78,-194.7,712.0,-9.9,646,6134,0.00,1.90,0.00,0.000,6,0.000,0.038,2505,1495,3637
$GC,6462,-0.88,-194.7,740.9,-9.2,662,6464,0.15,0.00,0.00,0.000,6,0.071,0.000,2439,1497,3635
$GC,6771,-0.73,-194.7,782.6,-14.0,677,6773,0.22,0.00,0.00,0.000,6,0.155,0.000,2503,1497,3633
$GC,7081,-0.83,-194.7,814.0,-9.7,692,7084,0.00,2.12,0.00,0.000,4,0.000,0.057,2503,2898,3631
$GC,7107,-0.98,-194.7,816.6,-10.4,693,7112,0.17,2.12,0.00,0.000,6,0.048,0.044,2402,1497,3631
$GC,7434,-0.70,-194.7,866.3,-15.9,709,7439,0.32,1.98,0.00,0.000,4,0.162,0.058,2504,202,3629
$GC,7489,-0.76,-194.7,873.0,-10.8,711,7495,0.00,1.92,0.00,0.000,6,0.000,0.040,2504,1486,3629
$GC,7808,-0.87,-194.7,900.7,-8.5,727,7812,0.12,2.15,0.00,0.000,4,0.077,0.054,2447,2908,3627
$GC,7856,-0.87,-194.7,906.1,-11.4,729,7861,0.00,2.15,0.00,0.000,6,0.000,0.044,2447,1492,3627
$GC,8180,-0.77,-194.7,942.1,-11.0,745,8184,0.15,1.98,0.00,0.000,4,0.157,0.058,2488,197,3625
$GC,8239,-0.77,-194.7,948.3,-9.5,747,8246,0.00,1.95,0.00,0.000,6,0.000,0.041,2481,1493,3625
$GC,8558,-0.77,-194.7,975.4,-8.5,763,8562,0.00,2.12,0.00,0.000,4,0.000,0.057,2476,2898,3624
$GC,8608,-0.87,-194.7,979.9,-8.1,765,8612,0.00,2.12,0.00,0.000,6,0.000,0.045,2475,1500,3624
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8751,-0.20,0.0,991.5,8.3,772,8917,0.62,0.00,162.55,1.481,6,0.133,0.000,2672,1754,2863
$STATE,8917,end apogee,CONTROL_FINISHED_OK
$STATE,8918,begin climb
$GC,8919,0.94,194.7,995.4,0.0,780,9098,1.08,0.00,172.57,1.437,6,0.054,0.000,3048,1754,2068
$GC,9406,0.41,194.7,908.9,21.7,804,9411,0.57,2.20,0.00,0.000,4,0.174,0.057,2873,3142,2062
$GC,9461,0.41,194.7,901.2,12.0,806,9469,0.00,2.15,0.00,0.000,6,0.000,0.044,2882,1745,2060
$GC,9776,0.43,209.3,867.3,10.4,822,9799,0.00,2.25,12.88,1.286,4,0.000,0.058,2892,350,2008
$GC,9865,0.43,209.3,857.2,11.7,826,9870,0.00,2.15,0.00,0.000,6,0.000,0.044,2891,1748,2007
$GC,10197,0.46,234.2,822.4,10.1,842,10229,0.00,0.00,24.98,1.247,6,0.000,0.000,2890,1748,1908
$GC,10526,0.46,234.2,786.9,11.2,858,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1749,1904
$GC,10836,0.46,234.2,751.7,11.4,873,10839,0.00,2.20,0.00,0.000,4,0.000,0.058,2904,343,1902
$GC,10873,0.46,234.2,747.2,11.6,874,10882,0.00,2.15,0.00,0.000,6,0.000,0.043,2904,1738,1902
$GC,11189,0.46,234.2,710.9,11.5,890,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1738,1901
$GC,11498,0.46,234.2,676.8,11.1,905,11502,0.00,2.17,0.00,0.000,4,0.000,0.058,2918,333,1900
$GC,11543,0.46,234.2,671.8,11.2,907,11547,0.00,2.12,0.00,0.000,6,0.000,0.044,2917,1742,1901
$GC,11876,0.47,242.2,636.0,10.7,923,11885,0.00,0.00,7.53,1.113,6,0.000,0.000,2916,1743,1875
$GC,12183,0.47,242.2,601.3,11.3,938,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1742,1873
$GC,12493,0.50,266.8,568.7,10.1,953,12522,0.00,2.28,22.58,1.210,4,0.000,0.057,2916,3154,1774
$GC,12545,0.54,299.1,563.3,9.8,955,12581,0.00,2.22,29.98,1.186,6,0.000,0.043,2928,1730,1642
$GC,12909,0.54,299.1,519.4,13.0,973,12912,0.00,2.17,0.00,0.000,4,0.000,0.057,2938,336,1637
$GC,12985,0.54,299.1,509.2,13.0,976,12990,0.00,2.15,0.00,0.000,6,0.000,0.042,2937,1726,1636
$GC,13314,0.54,299.1,464.5,12.7,1004,13318,0.00,2.15,0.00,0.000,4,0.000,0.055,2949,342,1635
$GC,13341,0.54,299.1,460.9,13.0,1006,13350,0.10,2.15,0.00,0.000,6,0.153,0.041,2917,1742,1635
$GC,13666,0.62,299.1,423.4,11.1,1037,13670,0.00,2.15,0.00,0.000,4,0.000,0.055,2918,3157,1634
$GC,13766,0.69,299.1,411.2,12.3,1046,13771,0.10,2.15,0.00,0.000,6,0.079,0.042,2974,1724,1633
$GC,14090,0.55,299.1,359.5,15.7,1076,14094,0.17,2.10,0.00,0.000,4,0.162,0.052,2929,348,1633
$GC,14155,0.63,299.1,351.2,11.6,1081,14162,0.00,2.10,0.00,0.000,6,0.000,0.041,2929,1733,1633
$GC,14480,0.71,299.1,314.3,12.4,1112,14485,0.10,2.15,0.00,0.000,4,0.080,0.051,2979,3154,1633
$GC,14530,0.60,299.1,306.4,17.0,1116,14534,0.20,2.12,0.00,0.000,6,0.160,0.041,2933,1727,1633
$GC,14870,0.78,366.4,266.7,8.4,1172,14932,0.17,2.25,56.42,0.972,4,0.061,0.051,3028,343,1368
$GC,14995,0.58,366.4,246.7,18.2,1193,15001,0.35,2.12,0.00,0.000,6,0.146,0.042,2930,1733,1364
$GC,15337,0.80,366.4,207.0,13.9,1254,15345,0.17,2.15,0.00,0.000,4,0.137,0.050,3026,343,1361
$GC,15419,0.67,366.4,190.6,21.8,1268,15426,0.25,2.03,0.00,0.000,6,0.145,0.037,2956,1711,1361
$GC,15763,0.95,436.8,143.2,8.3,1329,15829,0.22,2.22,59.58,0.835,4,0.051,0.048,3077,346,1081
$GC,15865,0.72,436.8,127.0,19.7,1345,15872,0.35,2.03,0.00,0.000,6,0.140,0.035,2976,1689,1079
$GC,16209,1.01,436.8,88.2,11.3,1406,16217,0.22,2.08,0.00,0.000,4,0.048,0.048,3084,338,1076
$GC,16245,0.91,436.8,82.7,16.6,1412,16252,0.17,2.00,0.00,0.000,6,0.150,0.033,3035,1681,1076
$GC,16591,1.00,436.8,34.2,13.3,1473,16597,0.00,2.03,0.00,0.000,4,0.000,0.047,3043,343,1076
$GC,16626,1.09,436.8,29.1,12.7,1479,16633,0.08,1.95,0.00,0.000,6,0.058,0.033,3113,1664,1075
$STATE,16768,end climb,SURFACE_DEPTH_REACHED
$STATE,16768,begin surface coast
$FINISH,1.1,1.022276
$STATE,16779,end surface coast,CONTROL_FINISHED_OK
$STATE,16779,begin surface
$SM_CCo,16854,0.00,0.000,0,0,1074,438.84
$SM_GC,1.94,7.90,0.00,0.00,0.051,0.000,0.000,147,1483,1074,-8.01,-0.48,438.84
$IRIDIUM_FIX,2507.97,12257.14,220898,111139
$TT8_MAMPS,0.026845
$HUMID,1449
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.40
$XPDR_PINGS,92
$24V_AH,23.5,11.691
$10V_AH,10.6,7.027
$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,27.525,129.175,549.050,0.000,0.000,24.750,32.360,197.599,31.000,0.000,0.000,11.151,2686.715,10411.919,688.546,2984.777,428.057,0.000,2022.998,0.000,2962.493,0.000,54.410,0.000
$DEVICE_MAMPS,233.935,58.292,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.033,1009.876,1697.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88423,1506
$CAP_FILE_SIZE,167577,0
$CFSIZE,260165632,231743488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.237, 11.4,1
$GPS,280509,204830,2516.936,12255.163,41,1.2,41,-3.7