version: 66.04
glider: 166
mission: 2
dive: 506
start: 8 17 109 23 45 58
data:
$ID,166
$MISSION,2
$DIVE,506
$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,330
$T_MISSION,390
$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,250
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17420.67
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,2
$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
$GPS1,233937,2440.277,12248.531,40,1.0,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.4
$GPS2,234537,2440.489,12248.620,10,1.3,15,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,257.6,74214,-13.9,-10.000
$D_GRID,883
$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,18,-0.93,-243.4,0.0,0.0,0,78,0.00,0.00,-57.50,0.000,2,0.000,0.000,160,2104,2062
$GC,81,-0.93,-243.4,3.2,-4.7,9,146,9.85,2.20,-47.55,0.000,4,0.232,0.048,2521,648,3938
$GC,358,-0.65,-243.4,73.1,-22.5,56,365,0.32,2.05,0.00,0.000,6,0.133,0.031,2609,2052,3940
$GC,707,-0.59,-243.4,126.1,-15.8,117,714,0.00,2.05,0.00,0.000,4,0.000,0.035,2601,658,3941
$GC,766,-0.54,-243.4,135.5,-15.6,127,775,0.10,2.05,0.00,0.000,6,0.121,0.030,2638,2043,3942
$GC,1116,-0.64,-243.4,166.4,-6.6,188,1122,0.00,2.12,0.00,0.000,4,0.000,0.044,2628,3463,3942
$GC,1154,-0.78,-243.4,168.6,-5.9,194,1161,0.15,2.08,0.00,0.000,6,0.037,0.027,2550,2024,3942
$GC,1501,-0.62,-243.4,218.6,-15.5,255,1508,0.20,0.00,0.00,0.000,6,0.124,0.000,2611,2022,3942
$GC,1851,-0.73,-243.4,247.0,-9.8,316,1857,0.00,2.17,0.00,0.000,4,0.000,0.043,2600,3454,3942
$GC,1892,-0.87,-243.4,251.5,-10.5,323,1900,0.17,2.03,0.00,0.000,6,0.051,0.028,2507,2038,3942
$GC,2243,-0.71,-243.4,307.0,-15.0,381,2248,0.22,2.03,0.00,0.000,4,0.123,0.036,2583,676,3941
$GC,2392,-0.79,-243.4,322.2,-9.5,393,2398,0.00,2.00,0.00,0.000,6,0.000,0.031,2581,2042,3940
$GC,2718,-0.89,-243.4,353.0,-9.6,424,2723,0.15,2.05,0.00,0.000,4,0.056,0.038,2502,673,3938
$GC,2780,-0.75,-243.4,362.0,-15.2,429,2787,0.28,2.00,0.00,0.000,6,0.123,0.032,2578,2031,3938
$GC,3107,-0.84,-243.4,391.2,-8.5,460,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2032,3936
$GC,3428,-0.95,-243.4,410.4,-3.8,490,3433,0.17,2.20,0.00,0.000,4,0.052,0.048,2478,3463,3934
$GC,3450,-0.95,-243.4,412.2,-6.6,491,3458,0.12,2.10,0.00,0.000,6,0.133,0.031,2515,2025,3934
$GC,3777,-0.89,-243.4,443.7,-11.1,522,3780,0.00,2.05,0.00,0.000,4,0.000,0.041,2515,663,3931
$GC,3857,-0.83,-243.4,453.5,-12.6,529,3862,0.12,2.05,0.00,0.000,6,0.135,0.037,2552,2030,3931
$GC,4190,-0.86,-243.4,485.9,-9.6,560,4194,0.00,2.08,0.00,0.000,4,0.000,0.041,2552,661,3928
$GC,4252,-0.86,-243.4,492.6,-11.0,565,4258,0.00,2.05,0.00,0.000,6,0.000,0.038,2548,2026,3927
$GC,4584,-0.90,-243.4,525.3,-10.7,585,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3925
$GC,4892,-0.95,-243.4,554.1,-8.0,600,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2026,3924
$GC,5200,-0.99,-243.4,582.0,-10.1,615,5202,0.15,0.00,0.00,0.000,6,0.059,0.000,2471,2026,3921
$GC,5510,-0.85,-243.4,624.6,-14.1,630,5515,0.22,2.10,0.00,0.000,4,0.127,0.045,2545,670,3918
$GC,5578,-0.85,-243.4,633.9,-10.8,633,5582,0.00,2.08,0.00,0.000,6,0.000,0.043,2542,2017,3918
$GC,5913,-0.91,-243.4,661.3,-7.7,649,5917,0.00,2.30,0.00,0.000,4,0.000,0.058,2542,3477,3915
$GC,5959,-1.00,-243.4,664.8,-7.5,651,5964,0.12,2.17,0.00,0.000,6,0.063,0.036,2481,2023,3915
$GC,6284,-0.90,-243.4,704.3,-13.2,667,6288,0.17,2.10,0.00,0.000,4,0.127,0.048,2539,664,3912
$GC,6380,-0.94,-243.4,715.4,-10.9,671,6384,0.00,2.08,0.00,0.000,6,0.000,0.043,2534,2017,3912
$GC,6704,-0.98,-243.4,751.7,-11.7,687,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2017,3910
$GC,7012,-1.04,-243.4,785.2,-10.7,702,7017,0.15,2.12,0.00,0.000,4,0.060,0.050,2460,659,3909
$GC,7057,-0.89,-243.4,792.2,-16.6,704,7061,0.28,2.10,0.00,0.000,6,0.130,0.044,2534,2020,3908
$GC,7381,-0.94,-243.4,828.2,-10.9,720,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2020,3907
$GC,7689,-1.00,-243.4,861.8,-10.6,735,7694,0.12,2.35,0.00,0.000,4,0.065,0.062,2465,3466,3905
$GC,7717,-0.96,-243.4,865.8,-14.5,736,7721,0.17,2.20,0.00,0.000,6,0.130,0.039,2516,2016,3905
$STATE,7865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7865,begin apogee
$GC,7874,-0.23,0.0,884.3,12.2,743,8088,0.68,0.00,207.80,1.391,6,0.101,0.000,2744,1693,2945
$STATE,8089,end apogee,CONTROL_FINISHED_OK
$STATE,8089,begin climb
$GC,8092,0.93,243.4,902.0,0.0,754,8320,1.00,2.38,215.98,1.347,4,0.038,0.058,3142,3095,1951
$GC,8440,0.47,243.4,863.2,21.4,770,8446,0.62,2.17,0.00,0.000,6,0.169,0.042,2977,1686,1945
$GC,8768,0.43,243.4,826.8,10.8,786,8772,0.00,2.25,0.00,0.000,4,0.000,0.058,2977,3100,1942
$GC,8989,0.36,246.0,801.6,9.9,795,8996,0.17,2.12,0.00,0.000,6,0.144,0.043,2938,1714,1940
$GC,9307,0.56,355.3,778.2,7.0,811,9423,0.17,2.33,103.97,1.293,4,0.058,0.057,3021,3095,1495
$GC,9587,0.44,355.3,736.7,17.1,823,9593,0.22,2.12,0.00,0.000,6,0.142,0.044,2967,1721,1491
$GC,9905,0.50,355.3,701.8,10.7,839,9909,0.00,2.20,0.00,0.000,4,0.000,0.057,2968,3108,1489
$GC,10101,0.55,355.3,679.5,10.3,847,10107,0.00,2.10,0.00,0.000,6,0.000,0.043,2976,1732,1489
$GC,10420,0.60,355.3,646.2,10.6,863,10424,0.10,2.17,0.00,0.000,4,0.074,0.056,3029,3105,1488
$GC,10520,0.49,355.3,630.6,15.5,867,10527,0.20,2.05,0.00,0.000,6,0.142,0.043,2983,1764,1487
$GC,10839,0.54,372.1,595.6,9.5,883,10861,0.00,2.15,15.15,1.176,4,0.000,0.055,2983,3109,1426
$GC,10993,0.58,372.1,577.6,11.7,889,10999,0.00,2.03,0.00,0.000,6,0.000,0.042,2990,1790,1425
$GC,11311,0.60,391.1,547.0,9.5,905,11336,0.00,2.12,18.70,1.157,4,0.000,0.057,2990,3094,1350
$GC,11478,0.60,391.1,528.4,10.8,912,11481,0.00,2.00,0.00,0.000,6,0.000,0.042,3000,1797,1349
$GC,11803,0.60,391.1,490.6,11.5,931,11807,0.00,2.08,0.00,0.000,4,0.000,0.056,2999,3109,1348
$GC,11850,0.60,391.1,484.8,11.3,935,11854,0.00,2.00,0.00,0.000,6,0.000,0.041,3008,1805,1348
$GC,12183,0.60,391.1,446.6,11.6,966,12186,0.00,2.05,0.00,0.000,4,0.000,0.055,3009,3106,1348
$GC,12332,0.60,391.1,428.2,10.7,979,12336,0.00,1.98,0.00,0.000,6,0.000,0.041,3018,1813,1347
$GC,12665,0.60,391.1,390.8,12.5,1010,12669,0.00,2.03,0.00,0.000,4,0.000,0.054,3017,3101,1347
$GC,12728,0.64,448.4,384.7,8.4,1015,12789,0.00,1.92,52.90,1.065,6,0.000,0.041,3026,1833,1116
$GC,13108,0.64,448.4,339.3,14.4,1051,13112,0.00,2.00,0.00,0.000,4,0.000,0.052,3026,3106,1114
$GC,13133,0.64,448.4,335.4,15.5,1053,13137,0.00,1.92,0.00,0.000,6,0.000,0.039,3034,1848,1114
$GC,13464,0.64,448.4,288.0,13.0,1091,13470,0.00,1.98,0.00,0.000,4,0.000,0.052,3034,3108,1113
$GC,13525,0.64,448.4,279.8,13.6,1101,13531,0.00,1.90,0.00,0.000,6,0.000,0.038,3043,1854,1113
$GC,13870,0.64,448.4,232.1,13.7,1162,13878,0.00,1.98,0.00,0.000,4,0.000,0.051,3043,3101,1113
$GC,13992,0.64,448.4,215.3,12.5,1183,13998,0.00,1.85,0.00,0.000,6,0.000,0.038,3052,1874,1113
$GC,14339,0.73,488.0,177.8,8.9,1244,14384,0.00,1.98,35.60,0.873,4,0.000,0.048,3054,3103,955
$GC,14497,0.80,488.0,161.3,12.0,1270,14504,0.00,1.88,0.00,0.000,6,0.000,0.037,3062,1883,955
$GC,14844,0.98,552.4,124.6,8.2,1331,14909,0.17,2.53,56.97,0.803,4,0.051,0.046,3174,284,692
$GC,14930,0.83,552.4,110.6,19.2,1344,14938,0.30,2.47,0.00,0.000,6,0.124,0.036,3085,1891,692
$GC,15278,1.18,658.0,76.0,7.1,1405,15337,0.28,1.90,50.90,0.739,4,0.041,0.043,3232,3115,455
$GC,15477,1.08,658.0,44.4,15.1,1438,15485,0.17,1.88,0.00,0.000,6,0.127,0.033,3166,1881,453
$GC,15826,1.26,695.0,8.9,9.0,1499,15832,0.17,0.00,0.00,0.000,6,0.050,0.000,3262,1880,454
$STATE,15864,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,0.8,1.007565
$STATE,15884,end surface coast,CONTROL_FINISHED_OK
$STATE,15884,begin surface
$SM_CCo,15965,0.00,0.000,0,0,451,611.53
$SM_GC,1.70,8.27,0.00,0.00,0.041,0.000,0.000,161,2098,451,-8.27,1.05,611.53
$IRIDIUM_FIX,2432.32,12241.55,111198,212102
$TT8_MAMPS,0.026845
$HUMID,1717
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.90
$XPDR_PINGS,158
$24V_AH,23.1,112.861
$10V_AH,10.6,73.484
$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,25.825,126.200,757.975,0.000,0.000,22.667,32.967,157.620,46.500,0.000,0.000,15.571,2651.667,9002.010,821.651,3158.925,685.571,0.000,2257.648,0.000,3124.070,0.000,47.743,0.000
$DEVICE_MAMPS,231.634,62.127,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.323,1047.957,1763.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88567,1509
$CAP_FILE_SIZE,162856,0
$CFSIZE,260165632,193548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.450, 22.2,1
$GPS,180809,041307,2442.657,12247.573,27,1.7,27,-3.5