version: 66.04
glider: 166
mission: 2
dive: 514
start: 8 19 109 14 55 22
data:
$ID,166
$MISSION,2
$DIVE,514
$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,-17578.207
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,144354,2458.130,12238.666,24,1.1,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.0
$GPS2,145501,2458.360,12238.994,12,1.1,12,-3.6
$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,233.4,48761,-13.9,-10.000
$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,16,-0.93,-243.4,0.0,0.0,0,102,0.00,0.00,-83.03,0.000,2,0.000,0.000,167,2097,2242
$GC,106,-0.93,-243.4,3.1,-4.8,13,178,9.27,2.30,-53.00,0.000,4,0.211,0.053,2503,648,3940
$GC,237,-0.63,-243.4,25.1,-21.3,34,246,0.38,2.10,0.00,0.000,6,0.130,0.037,2613,2047,3941
$GC,587,-0.68,-243.4,59.3,-7.6,95,594,0.00,2.17,0.00,0.000,4,0.000,0.048,2605,3470,3942
$GC,669,-0.78,-243.4,64.7,-6.0,109,676,0.10,2.10,0.00,0.000,6,0.069,0.031,2550,2023,3942
$GC,1018,-0.67,-243.4,108.6,-15.7,170,1026,0.17,2.22,0.00,0.000,4,0.130,0.046,2602,3463,3942
$GC,1079,-0.81,-243.4,115.7,-9.5,180,1086,0.12,2.03,0.00,0.000,6,0.062,0.030,2536,2061,3942
$GC,1426,-0.68,-243.4,170.5,-15.0,241,1433,0.17,2.10,0.00,0.000,4,0.130,0.038,2592,682,3942
$GC,1466,-0.72,-243.4,174.4,-9.2,247,1473,0.00,2.08,0.00,0.000,6,0.000,0.035,2591,2080,3942
$GC,1812,-0.80,-243.4,199.5,-9.3,308,1819,0.00,2.12,0.00,0.000,4,0.000,0.048,2590,3469,3941
$GC,1849,-0.91,-243.4,203.0,-9.3,314,1857,0.15,2.08,0.00,0.000,6,0.041,0.031,2502,2066,3941
$GC,2199,-0.73,-243.4,263.5,-17.2,375,2205,0.22,0.00,0.00,0.000,6,0.133,0.000,2576,2064,3939
$GC,2544,-0.79,-243.4,285.8,-4.1,436,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2064,3938
$GC,2889,-0.87,-243.4,307.8,-8.3,489,2893,0.00,2.17,0.00,0.000,4,0.000,0.051,2567,3459,3937
$GC,2936,-0.95,-243.4,311.6,-8.4,493,2941,0.15,2.03,0.00,0.000,6,0.057,0.032,2494,2077,3937
$GC,3269,-0.79,-243.4,359.3,-15.6,524,3273,0.20,2.15,0.00,0.000,4,0.131,0.041,2559,675,3935
$GC,3377,-0.79,-243.4,370.3,-8.5,533,3380,0.00,2.10,0.00,0.000,6,0.000,0.037,2558,2069,3934
$GC,3708,-0.83,-243.4,396.6,-8.6,564,3712,0.00,2.17,0.00,0.000,4,0.000,0.052,2551,3472,3933
$GC,3783,-0.90,-243.4,403.7,-9.4,570,3790,0.00,2.05,0.00,0.000,6,0.000,0.034,2550,2078,3933
$GC,4112,-0.90,-243.4,440.1,-11.1,601,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2077,3930
$GC,4440,-0.93,-243.4,474.5,-10.0,632,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2076,3928
$GC,4780,-0.98,-243.4,502.0,-7.6,663,4782,0.12,0.00,0.00,0.000,6,0.065,0.000,2480,2076,3927
$GC,5085,-0.86,-243.4,540.8,-12.3,678,5089,0.17,2.20,0.00,0.000,4,0.131,0.046,2539,663,3925
$GC,5119,-0.86,-243.4,544.3,-9.6,679,5125,0.00,2.17,0.00,0.000,6,0.000,0.042,2538,2078,3925
$GC,5436,-0.86,-243.4,569.8,-8.0,695,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2078,3923
$GC,5744,-0.86,-243.4,599.1,-10.3,710,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2078,3922
$GC,6055,-0.86,-243.4,630.3,-10.6,725,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2078,3919
$GC,6363,-0.90,-243.4,662.7,-10.4,740,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2078,3918
$GC,6674,-0.93,-243.4,691.3,-9.2,755,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2078,3916
$GC,6983,-0.96,-243.4,720.4,-8.9,770,6985,0.10,0.00,0.00,0.000,6,0.076,0.000,2491,2078,3914
$GC,7291,-0.87,-243.4,759.6,-12.7,785,7296,0.12,2.22,0.00,0.000,4,0.137,0.052,2532,674,3912
$GC,7332,-0.87,-243.4,764.3,-11.3,786,7339,0.00,2.20,0.00,0.000,6,0.000,0.048,2529,2082,3912
$GC,7648,-0.87,-243.4,799.1,-11.6,802,7651,0.00,2.22,0.00,0.000,4,0.000,0.053,2527,676,3910
$GC,7698,-0.83,-243.4,805.9,-13.1,804,7703,0.00,2.20,0.00,0.000,6,0.000,0.049,2526,2073,3910
$GC,8027,-0.83,-243.4,843.3,-11.1,820,8030,0.00,2.22,0.00,0.000,4,0.000,0.054,2526,674,3909
$GC,8066,-0.80,-243.4,848.0,-11.4,821,8073,0.12,2.22,0.00,0.000,6,0.137,0.050,2560,2086,3909
$GC,8385,-0.86,-243.4,873.8,-8.1,837,8389,0.00,2.25,0.00,0.000,4,0.000,0.066,2552,3472,3908
$GC,8421,-0.94,-243.4,877.1,-8.4,838,8425,0.12,2.12,0.00,0.000,6,0.064,0.041,2496,2085,3907
$GC,8738,-0.85,-243.4,917.0,-12.7,853,8742,0.17,2.28,0.00,0.000,4,0.133,0.054,2553,654,3906
$GC,8849,-0.90,-243.4,928.2,-9.4,858,8853,0.00,2.25,0.00,0.000,6,0.000,0.050,2552,2074,3906
$GC,9176,-0.95,-243.4,958.0,-8.8,874,9178,0.12,0.00,0.00,0.000,6,0.067,0.000,2491,2074,3905
$STATE,9441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9441,begin apogee
$GC,9450,-0.23,0.0,990.7,11.9,887,9668,0.80,0.00,214.48,1.481,6,0.118,0.000,2739,1687,2945
$STATE,9669,end apogee,CONTROL_FINISHED_OK
$STATE,9669,begin climb
$GC,9673,0.93,243.4,1000.9,0.0,898,9920,1.10,2.53,230.00,1.417,4,0.043,0.059,3136,3098,1951
$GC,10033,0.51,243.4,955.9,22.0,915,10039,0.57,2.22,0.00,0.000,6,0.163,0.046,2988,1689,1945
$GC,10361,0.48,253.8,921.9,9.7,931,10375,0.00,2.30,9.62,1.223,4,0.000,0.061,2988,3106,1910
$GC,10499,0.43,255.6,907.7,10.0,937,10504,0.15,2.20,0.00,0.000,6,0.150,0.046,2957,1696,1908
$GC,10829,0.55,319.3,880.1,8.2,953,10905,0.12,2.38,64.30,1.352,4,0.071,0.059,3015,3100,1642
$GC,10979,0.47,319.3,860.7,14.5,960,10984,0.20,2.20,0.00,0.000,6,0.143,0.045,2971,1705,1639
$GC,11307,0.52,319.3,825.5,10.8,976,11311,0.00,2.25,0.00,0.000,4,0.000,0.060,2970,3108,1637
$GC,11426,0.56,319.3,811.6,11.2,981,11429,0.00,2.15,0.00,0.000,6,0.000,0.045,2978,1719,1636
$GC,11749,0.60,326.1,778.5,9.8,997,11761,0.10,2.28,6.40,1.096,4,0.076,0.059,3033,3104,1615
$GC,11908,0.49,326.1,754.8,14.3,1004,11913,0.22,2.12,0.00,0.000,6,0.143,0.046,2981,1732,1614
$GC,12231,0.58,368.6,725.7,8.8,1020,12305,0.00,2.30,49.08,1.145,4,0.000,0.058,2980,3104,1442
$GC,12481,0.66,398.8,701.8,9.2,1031,12524,0.15,2.08,31.52,1.213,6,0.060,0.044,3057,1764,1319
$GC,12848,0.54,398.8,638.9,18.4,1049,12853,0.20,2.15,0.00,0.000,4,0.144,0.057,2995,3108,1316
$GC,12905,0.58,398.8,629.9,13.4,1051,12911,0.00,2.08,0.00,0.000,6,0.000,0.044,3002,1773,1315
$GC,13222,0.58,398.8,588.6,12.0,1067,13225,0.00,2.10,0.00,0.000,4,0.000,0.058,3002,3103,1314
$GC,13339,0.58,398.8,574.3,11.2,1072,13343,0.00,2.05,0.00,0.000,6,0.000,0.045,3011,1772,1314
$GC,13668,0.58,398.8,540.8,10.1,1088,13671,0.00,2.12,0.00,0.000,4,0.000,0.058,3011,3105,1314
$GC,13814,0.58,398.8,523.6,11.6,1094,13817,0.00,2.03,0.00,0.000,6,0.000,0.044,3021,1787,1314
$GC,14140,0.58,398.8,483.3,14.0,1116,14144,0.00,2.10,0.00,0.000,4,0.000,0.058,3020,3109,1314
$GC,14254,0.58,398.8,466.1,16.4,1126,14258,0.00,2.00,0.00,0.000,6,0.000,0.044,3030,1817,1314
$GC,14590,0.54,398.8,413.5,15.6,1157,14595,0.12,2.05,0.00,0.000,4,0.144,0.056,2995,3106,1314
$GC,14614,0.54,398.8,409.3,14.3,1159,14618,0.00,1.98,0.00,0.000,6,0.000,0.042,3002,1823,1314
$GC,14948,0.67,447.5,372.9,8.7,1190,15027,0.10,2.15,52.72,0.961,4,0.076,0.056,3058,3111,1120
$GC,15088,0.60,447.5,353.6,14.7,1202,15092,0.20,2.00,0.00,0.000,6,0.137,0.042,3011,1822,1120
$GC,15421,0.78,531.8,325.9,7.7,1233,15505,0.17,0.00,77.03,1.024,6,0.057,0.000,3096,1821,777
$GC,15841,0.67,531.8,253.8,18.4,1294,15848,0.17,2.05,0.00,0.000,4,0.138,0.054,3039,3110,775
$GC,15962,0.74,531.8,235.8,12.9,1315,15968,0.00,1.95,0.00,0.000,6,0.000,0.041,3049,1835,775
$GC,16308,0.74,531.8,184.5,13.5,1376,16316,0.00,2.42,0.00,0.000,4,0.000,0.053,3062,285,774
$GC,16351,0.83,531.8,178.9,12.7,1383,16357,0.00,2.40,0.00,0.000,6,0.000,0.041,3062,1854,773
$GC,16697,0.83,531.8,134.9,11.0,1444,16705,0.00,1.98,0.00,0.000,4,0.000,0.051,3062,3110,773
$GC,16831,0.89,531.8,120.0,10.6,1467,16838,0.08,1.95,0.00,0.000,6,0.054,0.038,3131,1841,773
$GC,17177,0.77,531.8,61.4,16.1,1528,17185,0.17,1.98,0.00,0.000,4,0.139,0.047,3073,3110,773
$GC,17243,0.83,531.8,52.3,11.8,1539,17250,0.00,1.92,0.00,0.000,6,0.000,0.036,3077,1853,773
$GC,17590,1.19,644.3,8.4,6.9,1600,17639,0.30,0.00,45.33,0.744,2,0.041,0.000,3229,1854,564
$STATE,17639,end climb,SURFACE_DEPTH_REACHED
$STATE,17639,begin surface coast
$FINISH,1.2,0.998626
$STATE,17662,end surface coast,CONTROL_FINISHED_OK
$STATE,17662,begin surface
$SM_CCo,17743,0.00,0.000,0,0,562,584.55
$SM_GC,2.05,8.25,0.00,0.00,0.042,0.000,0.000,158,2082,562,-8.27,0.57,584.55
$IRIDIUM_FIX,2448.93,12238.12,131198,141441
$TT8_MAMPS,0.027612
$HUMID,1762
$INTERNAL_PRESSURE,9.70222
$TCM_TEMP,21.60
$XPDR_PINGS,200
$24V_AH,22.2,115.263
$10V_AH,10.5,74.785
$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,25.225,129.925,780.475,0.000,0.000,46.250,72.255,299.544,58.000,0.000,0.000,12.074,2832.299,10366.789,906.366,3347.003,935.000,0.000,2430.206,0.000,3307.306,0.000,54.391,0.000
$DEVICE_MAMPS,210.925,65.962,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.635,1112.062,1876.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94814,1611
$CAP_FILE_SIZE,177607,0
$CFSIZE,260165632,192786432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$CURRENT,0.163, 66.2,1
$GPS,190809,195224,2456.520,12238.349,41,1.0,41,-3.6