version: 66.04
glider: 166
mission: 2
dive: 43
start: 5 28 109 21 2 11
data:
$ID,166
$MISSION,2
$DIVE,43
$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,-6021.9067
$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,52
$R_STBD_OVSHOOT,53
$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
$GPS1,204830,2516.936,12255.163,41,1.2,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.7
$GPS2,210149,2517.351,12255.178,9,1.1,14,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,334.5,42827,-17.1,-11.000
$D_GRID,1276
$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,13,-0.94,-194.7,0.0,0.0,0,74,0.00,0.00,-58.42,0.000,2,0.000,0.000,169,1483,2397
$GC,76,-0.94,-194.7,3.0,-4.4,9,129,9.15,2.20,-36.30,0.000,4,0.242,0.056,2423,2895,3658
$GC,252,-0.16,-194.7,55.1,-38.7,39,260,0.90,2.05,0.00,0.000,6,0.170,0.035,2681,1510,3659
$GC,599,-0.61,-194.7,91.9,-9.0,100,607,0.35,1.95,0.00,0.000,4,0.043,0.046,2522,201,3660
$GC,632,-0.48,-194.7,97.0,-17.4,105,639,0.15,1.92,0.00,0.000,6,0.154,0.029,2581,1509,3660
$GC,976,-0.48,-194.7,143.6,-9.6,166,983,0.00,1.98,0.00,0.000,4,0.000,0.046,2581,210,3661
$GC,1072,-0.48,-194.7,155.2,-13.5,183,1079,0.00,1.88,0.00,0.000,6,0.000,0.030,2580,1497,3661
$GC,1414,-0.61,-194.7,195.9,-11.7,244,1422,0.12,0.00,0.00,0.000,6,0.068,0.000,2519,1499,3661
$GC,1758,-0.51,-194.7,248.4,-13.9,305,1764,0.17,1.92,0.00,0.000,4,0.143,0.045,2574,204,3661
$GC,1850,-0.63,-194.7,258.6,-11.2,321,1857,0.12,1.85,0.00,0.000,6,0.073,0.029,2516,1509,3661
$GC,2190,-0.57,-194.7,306.5,-14.8,378,2194,0.12,1.95,0.00,0.000,4,0.148,0.046,2550,202,3661
$GC,2280,-0.65,-194.7,318.2,-12.3,386,2284,0.00,1.85,0.00,0.000,6,0.000,0.030,2550,1499,3661
$GC,2611,-0.80,-194.7,344.5,-6.9,417,2615,0.17,1.92,0.00,0.000,4,0.059,0.046,2462,205,3661
$GC,2648,-0.57,-194.7,349.4,-14.7,420,2658,0.28,1.85,0.00,0.000,6,0.143,0.031,2552,1475,3660
$GC,2973,-0.74,-194.7,380.8,-10.7,451,2977,0.12,2.10,0.00,0.000,4,0.067,0.043,2470,2901,3658
$GC,3015,-0.74,-194.7,386.6,-13.9,454,3023,0.00,2.10,0.00,0.000,6,0.000,0.035,2472,1484,3658
$GC,3341,-0.67,-194.7,439.5,-14.5,485,3343,0.17,0.00,0.00,0.000,6,0.144,0.000,2522,1484,3656
$GC,3660,-0.83,-194.7,458.9,-6.0,515,3665,0.15,1.90,0.00,0.000,4,0.064,0.051,2449,206,3654
$GC,3821,-0.62,-194.7,482.9,-17.6,529,3829,0.28,1.85,0.00,0.000,6,0.141,0.034,2536,1465,3653
$GC,4152,-0.87,-194.7,514.0,-5.2,552,4157,0.20,2.12,0.00,0.000,4,0.055,0.047,2433,2896,3650
$GC,4240,-0.82,-194.7,520.3,-7.2,556,4245,0.10,2.10,0.00,0.000,6,0.143,0.038,2466,1488,3649
$GC,4567,-0.82,-194.7,552.2,-12.4,572,4571,0.00,1.92,0.00,0.000,4,0.000,0.052,2467,203,3648
$GC,4634,-0.77,-194.7,561.3,-13.2,575,4638,0.00,1.85,0.00,0.000,6,0.000,0.034,2463,1479,3647
$GC,4968,-0.77,-194.7,601.2,-11.7,591,4972,0.00,1.92,0.00,0.000,4,0.000,0.054,2462,205,3644
$GC,5085,-0.69,-194.7,617.0,-13.4,596,5090,0.10,1.85,0.00,0.000,6,0.149,0.036,2510,1460,3643
$GC,5413,-0.79,-194.7,651.6,-10.2,612,5417,0.00,2.15,0.00,0.000,4,0.000,0.051,2510,2896,3641
$GC,5445,-0.99,-194.7,654.9,-9.2,613,5450,0.20,2.12,0.00,0.000,6,0.044,0.041,2398,1477,3640
$GC,5768,-0.67,-194.7,702.0,-15.4,629,5773,0.38,1.92,0.00,0.000,4,0.161,0.055,2510,201,3637
$GC,5935,-0.75,-194.7,717.9,-9.4,636,5943,0.00,1.85,0.00,0.000,6,0.000,0.038,2514,1447,3636
$GC,6251,-0.86,-194.7,738.9,-6.3,652,6255,0.15,2.17,0.00,0.000,4,0.067,0.051,2447,2895,3634
$GC,6312,-0.86,-194.7,743.9,-8.3,655,6316,0.00,2.12,0.00,0.000,6,0.000,0.041,2447,1462,3633
$GC,6645,-0.74,-194.7,780.8,-12.0,671,6649,0.17,1.90,0.00,0.000,4,0.156,0.058,2501,208,3631
$GC,6695,-0.78,-194.7,786.5,-10.2,673,6699,0.00,1.85,0.00,0.000,6,0.000,0.039,2499,1449,3631
$GC,7023,-0.86,-194.7,818.3,-10.4,689,7027,0.10,2.17,0.00,0.000,4,0.084,0.054,2447,2892,3629
$GC,7071,-0.86,-194.7,824.2,-12.1,691,7076,0.00,2.15,0.00,0.000,6,0.000,0.043,2448,1469,3628
$GC,7393,-0.74,-194.7,866.2,-13.6,707,7395,0.17,0.00,0.00,0.000,6,0.153,0.000,2497,1469,3627
$GC,7703,-0.83,-194.7,900.4,-10.5,722,7706,0.00,2.17,0.00,0.000,4,0.000,0.056,2489,2896,3625
$GC,7758,-0.96,-194.7,906.2,-9.6,724,7762,0.17,2.17,0.00,0.000,6,0.062,0.044,2413,1445,3624
$GC,8079,-0.74,-194.7,951.9,-14.3,740,8081,0.30,0.00,0.00,0.000,6,0.159,0.000,2500,1445,3624
$GC,8389,-0.85,-194.7,979.6,-8.3,755,8393,0.12,2.22,0.00,0.000,4,0.077,0.055,2435,2899,3622
$GC,8443,-0.80,-194.7,985.3,-10.0,757,8450,0.15,2.17,0.00,0.000,6,0.153,0.045,2477,1447,3622
$STATE,8510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8510,begin apogee
$GC,8514,-0.20,0.0,991.2,9.2,761,8679,0.60,0.00,161.52,1.479,6,0.130,0.000,2664,1752,2863
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8681,0.94,194.7,994.8,0.0,769,8861,1.05,2.35,171.80,1.427,4,0.055,0.062,3033,3148,2067
$GC,8935,0.42,194.7,955.2,23.8,781,8940,0.62,2.22,0.00,0.000,6,0.181,0.044,2877,1746,2062
$GC,9261,0.42,194.7,913.6,11.4,797,9265,0.00,2.22,0.00,0.000,4,0.000,0.059,2886,336,2060
$GC,9298,0.42,194.7,909.0,11.8,798,9306,0.00,2.17,0.00,0.000,6,0.000,0.042,2885,1732,2060
$GC,9614,0.42,194.7,874.3,11.0,814,9618,0.00,2.20,0.00,0.000,4,0.000,0.057,2885,3157,2059
$GC,9642,0.42,194.7,871.0,11.6,815,9646,0.00,2.15,0.00,0.000,6,0.000,0.043,2897,1736,2058
$GC,9968,0.42,194.7,835.1,11.0,831,9971,0.00,2.15,0.00,0.000,4,0.000,0.058,2910,349,2057
$GC,10000,0.35,194.7,831.3,11.7,832,10005,0.15,2.15,0.00,0.000,6,0.151,0.043,2859,1756,2057
$GC,10321,0.56,265.0,802.9,8.3,848,10384,0.17,0.00,61.00,1.364,6,0.063,0.000,2933,1757,1782
$GC,10691,0.45,265.0,752.8,14.6,866,10695,0.17,2.17,0.00,0.000,4,0.156,0.055,2881,3146,1775
$GC,10752,0.56,265.0,745.2,11.2,869,10756,0.00,2.15,0.00,0.000,6,0.000,0.044,2891,1745,1774
$GC,11084,0.63,265.0,707.1,11.7,885,11088,0.15,2.17,0.00,0.000,4,0.067,0.058,2973,345,1774
$GC,11149,0.43,265.0,697.6,15.2,888,11154,0.30,2.12,0.00,0.000,6,0.152,0.043,2872,1731,1773
$GC,11476,0.79,406.7,675.5,5.6,904,11609,0.30,2.30,127.30,1.285,4,0.051,0.054,3019,349,1203
$GC,11661,0.56,406.7,641.1,22.1,912,11668,0.35,2.15,0.00,0.000,6,0.154,0.044,2923,1716,1199
$GC,11975,0.65,406.7,589.7,15.6,928,11979,0.00,2.17,0.00,0.000,4,0.000,0.057,2932,343,1194
$GC,12024,0.75,406.7,582.0,14.7,930,12029,0.10,2.10,0.00,0.000,6,0.059,0.042,2990,1698,1193
$GC,12352,0.60,406.7,521.3,17.5,946,12354,0.22,0.00,0.00,0.000,6,0.156,0.000,2931,1700,1192
$GC,12665,0.70,406.7,476.9,14.5,968,12669,0.00,2.25,0.00,0.000,4,0.000,0.054,2929,3160,1191
$GC,12744,0.85,406.7,465.0,15.1,975,12749,0.20,2.20,0.00,0.000,6,0.055,0.043,3034,1708,1190
$GC,13068,0.56,406.7,383.2,25.1,1005,13073,0.35,2.10,0.00,0.000,4,0.156,0.054,2936,336,1190
$GC,13095,0.51,406.7,377.4,19.5,1007,13100,0.12,2.08,0.00,0.000,6,0.143,0.041,2903,1725,1189
$GC,13425,0.87,443.5,344.2,9.6,1038,13462,0.28,2.22,30.98,1.029,4,0.048,0.054,3047,345,1055
$GC,13517,0.64,443.5,324.0,23.8,1046,13525,0.32,2.08,0.00,0.000,6,0.149,0.040,2948,1689,1052
$GC,13851,0.80,443.5,278.3,11.7,1092,13858,0.15,2.22,0.00,0.000,4,0.064,0.048,3022,3150,1050
$GC,13886,0.70,443.5,272.8,17.0,1098,13893,0.17,2.22,0.00,0.000,6,0.146,0.047,2964,1701,1051
$GC,14231,0.87,443.5,222.2,14.0,1159,14237,0.17,2.08,0.00,0.000,4,0.056,0.051,3065,340,1050
$GC,14322,0.68,443.5,203.5,21.8,1175,14329,0.35,2.00,0.00,0.000,6,0.139,0.042,2961,1700,1048
$GC,14666,0.92,443.5,164.8,11.0,1236,14673,0.17,2.05,0.00,0.000,4,0.056,0.049,3060,343,1048
$GC,14691,0.92,443.5,161.2,14.7,1240,14697,0.00,1.98,0.00,0.000,6,0.000,0.035,3060,1675,1048
$GC,15034,0.77,443.5,92.4,18.4,1301,15042,0.20,2.20,0.00,0.000,4,0.151,0.043,2994,3151,1048
$GC,15054,0.72,443.5,89.0,16.9,1304,15060,0.00,2.17,0.00,0.000,6,0.000,0.036,2997,1670,1048
$GC,15398,0.98,480.1,47.5,9.6,1365,15437,0.17,2.05,31.88,0.726,4,0.054,0.048,3101,330,904
$GC,15478,0.87,480.1,34.6,18.4,1378,15485,0.28,2.00,0.00,0.000,6,0.143,0.031,3021,1678,903
$STATE,15725,end climb,SURFACE_DEPTH_REACHED
$STATE,15725,begin surface coast
$FINISH,1.2,1.022260
$STATE,15755,end surface coast,CONTROL_FINISHED_OK
$STATE,15755,begin surface
$SM_CCo,15830,0.00,0.000,0,0,900,481.52
$SM_GC,1.85,7.70,0.00,0.00,0.048,0.000,0.000,166,1488,900,-8.02,-0.34,481.52
$IRIDIUM_FIX,2510.35,12255.14,220898,212153
$TT8_MAMPS,0.026845
$HUMID,1448
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.60
$XPDR_PINGS,108
$24V_AH,23.6,11.946
$10V_AH,10.7,7.173
$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,29.450,141.825,584.475,0.000,0.000,81.180,129.384,353.788,35.000,0.000,0.000,14.876,2595.436,9648.286,686.166,2952.319,737.941,0.000,2028.774,0.000,2915.123,0.000,54.417,0.000
$DEVICE_MAMPS,241.605,62.127,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.118,984.003,1654.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82155,1427
$CAP_FILE_SIZE,173272,0
$CFSIZE,260165632,231649280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297, 11.9,1
$GPS,290509,012706,2522.219,12254.247,33,1.0,33,-3.7