version: 66.04
glider: 166
mission: 2
dive: 46
start: 5 29 109 10 19 52
data:
$ID,166
$MISSION,2
$DIVE,46
$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,-6073.9873
$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,33
$R_STBD_OVSHOOT,55
$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
$GPS1,101336,2529.832,12252.348,31,1.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,101931,2529.858,12252.453,11,1.3,16,-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,331.0,19223,-17.1,-11.000
$D_GRID,1041
$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,-63.67,0.000,2,0.000,0.000,167,1503,2404
$GC,82,-0.94,-194.7,3.0,-3.8,10,134,9.18,2.10,-36.92,0.000,4,0.244,0.054,2421,2908,3658
$GC,163,-0.13,-194.7,19.7,-33.5,23,171,0.95,2.10,0.00,0.000,6,0.177,0.034,2689,1486,3659
$GC,511,-0.50,-194.7,55.4,-9.3,84,517,0.28,0.00,0.00,0.000,6,0.044,0.000,2559,1486,3660
$GC,855,-0.27,-194.7,123.6,-16.9,145,862,0.28,1.90,0.00,0.000,4,0.145,0.044,2644,202,3661
$GC,923,-0.52,-194.7,131.9,-9.8,157,930,0.15,1.88,0.00,0.000,6,0.044,0.028,2545,1503,3661
$GC,1269,-0.29,-194.7,196.5,-17.7,218,1276,0.28,1.92,0.00,0.000,4,0.146,0.044,2631,208,3662
$GC,1310,-0.44,-194.7,201.7,-9.7,225,1317,0.12,1.80,0.00,0.000,6,0.068,0.028,2570,1485,3661
$GC,1653,-0.44,-194.7,248.4,-14.8,286,1660,0.00,1.92,0.00,0.000,4,0.000,0.046,2570,213,3663
$GC,1683,-0.44,-194.7,252.7,-15.5,291,1690,0.00,1.83,0.00,0.000,6,0.000,0.029,2570,1469,3663
$GC,2028,-0.56,-194.7,291.5,-10.2,352,2034,0.00,1.90,0.00,0.000,4,0.000,0.048,2570,216,3663
$GC,2057,-0.69,-194.7,294.5,-10.0,357,2064,0.15,1.77,0.00,0.000,6,0.065,0.028,2499,1477,3663
$GC,2385,-0.59,-194.7,336.5,-12.2,392,2387,0.17,0.00,0.00,0.000,6,0.146,0.000,2550,1479,3663
$GC,2704,-0.75,-194.7,366.5,-6.9,422,2708,0.15,1.90,0.00,0.000,4,0.064,0.047,2478,207,3663
$GC,2738,-0.60,-194.7,369.0,-8.3,425,2742,0.22,1.77,0.00,0.000,6,0.146,0.030,2544,1459,3663
$GC,3068,-0.73,-194.7,401.2,-8.4,456,3069,0.12,0.00,0.00,0.000,6,0.070,0.000,2477,1462,3663
$GC,3386,-0.62,-194.7,444.3,-13.9,486,3390,0.17,1.88,0.00,0.000,4,0.148,0.050,2533,211,3661
$GC,3532,-0.72,-194.7,460.9,-10.1,499,3536,0.00,1.77,0.00,0.000,6,0.000,0.032,2531,1452,3660
$GC,3862,-0.88,-194.7,485.9,-8.0,530,3864,0.20,0.00,0.00,0.000,6,0.057,0.000,2435,1453,3657
$GC,4174,-0.68,-194.7,527.7,-12.3,550,4179,0.25,2.15,0.00,0.000,4,0.147,0.047,2509,2898,3655
$GC,4281,-0.90,-194.7,535.3,-6.4,555,4286,0.17,2.12,0.00,0.000,6,0.058,0.038,2425,1456,3654
$GC,4608,-0.72,-194.7,575.7,-12.8,571,4612,0.25,1.88,0.00,0.000,4,0.146,0.051,2504,202,3652
$GC,4663,-0.81,-194.7,581.4,-9.1,573,4667,0.00,1.85,0.00,0.000,6,0.000,0.034,2497,1458,3651
$GC,4984,-0.92,-194.7,609.6,-10.1,589,4989,0.15,2.15,0.00,0.000,4,0.067,0.048,2426,2902,3649
$GC,5138,-0.86,-194.7,630.8,-15.1,596,5143,0.12,2.12,0.00,0.000,6,0.153,0.040,2460,1464,3648
$GC,5463,-0.86,-194.7,673.1,-11.8,612,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1464,3646
$GC,5775,-0.86,-194.7,705.1,-10.5,627,5779,0.00,2.15,0.00,0.000,4,0.000,0.051,2467,2893,3643
$GC,5807,-0.92,-194.7,708.7,-10.3,628,5812,0.00,2.12,0.00,0.000,6,0.000,0.042,2468,1479,3643
$GC,6129,-0.92,-194.7,739.6,-10.1,644,6133,0.00,2.15,0.00,0.000,4,0.000,0.051,2478,2902,3640
$GC,6151,-0.92,-194.7,742.1,-11.7,645,6155,0.00,2.10,0.00,0.000,6,0.000,0.042,2475,1480,3640
$GC,6482,-0.92,-194.7,774.7,-9.4,661,6487,0.00,2.15,0.00,0.000,4,0.000,0.053,2477,2900,3638
$GC,6520,-0.92,-194.7,778.2,-8.9,662,6527,0.00,2.12,0.00,0.000,6,0.000,0.041,2477,1491,3637
$GC,6835,-0.92,-194.7,809.0,-9.1,678,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1491,3635
$GC,7145,-0.92,-194.7,837.4,-8.9,693,7148,0.00,1.95,0.00,0.000,4,0.000,0.058,2477,205,3633
$GC,7194,-0.86,-194.7,842.6,-10.3,695,7199,0.00,1.90,0.00,0.000,6,0.000,0.040,2473,1474,3633
$GC,7522,-0.86,-194.7,875.3,-10.1,711,7525,0.00,1.95,0.00,0.000,4,0.000,0.059,2473,201,3631
$GC,7554,-0.80,-194.7,879.0,-11.0,712,7558,0.00,1.92,0.00,0.000,6,0.000,0.039,2472,1482,3631
$GC,7876,-0.80,-194.7,910.6,-10.3,728,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1482,3629
$GC,8186,-0.80,-194.7,942.1,-10.7,743,8190,0.00,2.15,0.00,0.000,4,0.000,0.056,2472,2901,3628
$GC,8218,-0.86,-194.7,946.2,-12.0,744,8223,0.00,2.15,0.00,0.000,6,0.000,0.044,2470,1482,3627
$GC,8540,-0.86,-194.7,980.6,-9.9,760,8544,0.00,1.95,0.00,0.000,4,0.000,0.062,2469,204,3626
$STATE,8621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8621,begin apogee
$GC,8627,-0.20,0.0,990.3,13.2,763,8794,0.60,0.00,162.43,1.484,6,0.137,0.000,2663,1754,2863
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8796,0.94,194.7,999.2,0.0,772,8978,1.05,2.38,171.45,1.436,4,0.060,0.057,3029,3147,2068
$GC,8993,0.44,194.7,980.4,16.5,781,8999,0.55,2.28,0.00,0.000,6,0.173,0.044,2881,1749,2065
$GC,9321,0.51,249.5,947.3,8.9,797,9377,0.00,2.38,48.38,1.393,4,0.000,0.058,2890,344,1845
$GC,9439,0.56,249.6,935.0,11.0,802,9443,0.00,2.22,0.00,0.000,6,0.000,0.042,2889,1744,1842
$GC,9759,0.56,249.6,897.8,11.6,818,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1744,1837
$GC,10069,0.58,265.3,863.7,10.4,833,10090,0.12,0.00,14.57,1.316,6,0.074,0.000,2943,1745,1780
$GC,10399,0.45,265.3,813.6,16.0,849,10403,0.20,2.20,0.00,0.000,4,0.157,0.056,2891,342,1776
$GC,10464,0.52,265.3,804.4,13.5,852,10469,0.00,2.15,0.00,0.000,6,0.000,0.043,2891,1738,1776
$GC,10791,0.57,265.3,762.7,13.1,868,10795,0.10,2.17,0.00,0.000,4,0.081,0.057,2955,343,1775
$GC,10829,0.44,265.3,756.5,17.8,870,10834,0.25,2.12,0.00,0.000,6,0.154,0.043,2884,1747,1775
$GC,11155,0.56,265.3,713.2,12.1,886,11157,0.12,0.00,0.00,0.000,6,0.073,0.000,2939,1748,1774
$GC,11465,0.45,265.3,663.5,16.1,901,11470,0.20,2.15,0.00,0.000,4,0.153,0.055,2875,3150,1774
$GC,11504,0.57,265.3,657.6,13.4,903,11509,0.10,2.15,0.00,0.000,6,0.080,0.044,2936,1726,1773
$GC,11830,0.50,265.3,605.3,15.9,919,11834,0.12,2.12,0.00,0.000,4,0.160,0.056,2911,340,1773
$GC,11872,0.55,265.3,598.8,13.5,921,11877,0.00,2.10,0.00,0.000,6,0.000,0.042,2912,1720,1773
$GC,12200,0.55,265.3,557.0,12.5,937,12203,0.00,2.20,0.00,0.000,4,0.000,0.055,2912,3160,1773
$GC,12232,0.55,265.3,552.6,12.8,938,12236,0.00,2.20,0.00,0.000,6,0.000,0.043,2925,1714,1773
$GC,12553,0.55,265.3,508.2,13.6,954,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1714,1773
$GC,12870,0.55,265.3,463.5,13.2,981,12874,0.00,2.10,0.00,0.000,4,0.000,0.057,2936,339,1773
$GC,12908,0.55,265.3,458.3,12.9,984,12916,0.00,2.10,0.00,0.000,6,0.000,0.043,2936,1723,1773
$GC,13235,0.56,276.8,421.4,10.6,1015,13250,0.00,2.20,10.18,1.055,4,0.000,0.054,2936,3154,1734
$GC,13290,0.56,277.7,414.8,11.0,1020,13294,0.00,2.17,0.00,0.000,6,0.000,0.042,2948,1714,1732
$GC,13619,0.56,277.7,366.0,16.6,1051,13623,0.00,2.10,0.00,0.000,4,0.000,0.055,2959,340,1731
$GC,13770,0.50,277.7,341.5,14.7,1064,13778,0.17,2.08,0.00,0.000,6,0.143,0.041,2903,1711,1731
$GC,14095,0.78,361.1,316.8,7.8,1095,14174,0.25,2.35,72.45,1.019,4,0.051,0.051,3015,3141,1389
$GC,14203,0.60,361.1,298.6,19.4,1105,14209,0.32,2.25,0.00,0.000,6,0.153,0.041,2935,1687,1386
$GC,14545,0.76,361.1,255.8,12.4,1166,14552,0.15,0.00,0.00,0.000,6,0.063,0.000,3008,1687,1381
$GC,14889,0.68,361.1,201.1,14.4,1227,14895,0.17,2.08,0.00,0.000,4,0.151,0.051,2963,333,1379
$GC,14951,0.85,361.1,192.9,11.7,1238,14959,0.15,2.03,0.00,0.000,6,0.064,0.037,3041,1705,1378
$GC,15298,0.69,361.1,128.9,17.3,1299,15305,0.25,2.17,0.00,0.000,4,0.148,0.044,2963,3151,1378
$GC,15383,0.86,361.1,117.2,12.0,1314,15390,0.12,2.17,0.00,0.000,6,0.064,0.038,3042,1686,1378
$GC,15729,0.80,361.1,66.3,11.8,1375,15737,0.15,2.03,0.00,0.000,4,0.149,0.048,3007,339,1378
$GC,15863,1.07,470.0,56.5,6.9,1398,15970,0.15,1.98,91.65,0.729,6,0.031,0.033,3109,1684,945
$STATE,16142,end climb,SURFACE_DEPTH_REACHED
$STATE,16142,begin surface coast
$FINISH,1.1,1.012645
$STATE,16157,end surface coast,CONTROL_FINISHED_OK
$STATE,16157,begin surface
$SM_CCo,16232,0.00,0.000,0,0,938,472.20
$SM_GC,2.00,7.97,0.00,0.00,0.044,0.000,0.000,163,1476,938,-8.02,-0.68,472.20
$IRIDIUM_FIX,2517.50,12252.43,230898,060625
$TT8_MAMPS,0.026845
$HUMID,1463
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.10
$XPDR_PINGS,82
$24V_AH,23.6,12.613
$10V_AH,10.7,7.594
$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,26.675,128.800,571.100,0.000,0.000,26.478,39.806,185.937,28.500,0.000,0.000,17.474,2580.849,10014.002,667.440,2898.736,419.257,0.000,1991.507,0.000,2865.845,0.000,54.410,0.000
$DEVICE_MAMPS,243.906,62.127,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,985.821,967.315,1626.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85305,1448
$CAP_FILE_SIZE,162283,0
$CFSIZE,260165632,231399424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.209,342.1,1
$GPS,290509,145136,2533.893,12250.298,40,1.0,40,-3.7