version: 66.04
glider: 166
mission: 2
dive: 525
start: 8 22 109 0 39 57
data:
$ID,166
$MISSION,2
$DIVE,525
$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,-17784.459
$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,29
$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
$GPS1,003054,2458.688,12233.188,25,1.4,42,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.0
$GPS2,003932,2459.019,12233.457,16,1.4,16,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,302.2,50153,-13.9,-10.000
$D_GRID,1439
$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,-83.88,0.000,2,0.000,0.000,116,2105,2294
$GC,106,-0.93,-243.4,3.4,-6.0,13,165,9.43,2.10,-42.30,0.000,4,0.216,0.061,2507,3454,3939
$GC,204,-0.50,-243.4,26.0,-34.9,28,211,0.50,2.10,0.00,0.000,6,0.137,0.031,2653,2019,3940
$GC,550,-0.62,-243.4,62.6,-7.8,89,556,0.00,2.03,0.00,0.000,4,0.000,0.038,2653,653,3942
$GC,616,-0.77,-243.4,69.0,-10.5,100,623,0.22,2.08,0.00,0.000,6,0.045,0.032,2540,2068,3942
$GC,963,-0.63,-243.4,127.7,-15.5,161,970,0.22,2.10,0.00,0.000,4,0.131,0.037,2612,667,3942
$GC,1091,-0.73,-243.4,141.3,-12.2,183,1098,0.00,2.08,0.00,0.000,6,0.000,0.034,2611,2072,3943
$GC,1442,-0.85,-243.4,171.2,-8.2,244,1449,0.17,2.12,0.00,0.000,4,0.051,0.038,2511,661,3943
$GC,1507,-0.69,-243.4,180.8,-16.6,255,1515,0.30,2.08,0.00,0.000,6,0.128,0.033,2595,2068,3943
$GC,1858,-0.79,-243.4,213.0,-9.4,316,1864,0.00,2.10,0.00,0.000,4,0.000,0.038,2594,666,3942
$GC,1926,-0.89,-243.4,219.1,-9.0,327,1933,0.17,2.05,0.00,0.000,6,0.053,0.033,2504,2048,3942
$GC,2273,-0.73,-243.4,273.4,-13.2,388,2280,0.22,2.10,0.00,0.000,4,0.133,0.038,2577,658,3941
$GC,2358,-0.80,-243.4,280.8,-8.0,402,2364,0.00,2.03,0.00,0.000,6,0.000,0.035,2574,2026,3941
$GC,2705,-0.87,-243.4,309.9,-9.5,454,2708,0.00,2.22,0.00,0.000,4,0.000,0.051,2573,3460,3939
$GC,2740,-0.97,-243.4,313.3,-9.1,457,2745,0.20,2.12,0.00,0.000,6,0.051,0.031,2476,2015,3938
$GC,3066,-0.76,-243.4,369.3,-15.7,487,3071,0.30,2.05,0.00,0.000,4,0.130,0.041,2572,670,3936
$GC,3119,-0.84,-243.4,374.7,-7.9,491,3124,0.00,2.05,0.00,0.000,6,0.000,0.036,2573,2027,3936
$GC,3450,-0.92,-243.4,399.2,-7.0,522,3452,0.15,0.00,0.00,0.000,6,0.057,0.000,2492,2028,3934
$GC,3769,-0.80,-243.4,435.7,-12.1,552,3773,0.20,2.25,0.00,0.000,4,0.128,0.051,2549,3462,3933
$GC,3810,-0.87,-243.4,439.4,-7.7,555,3813,0.00,2.12,0.00,0.000,6,0.000,0.032,2549,2033,3933
$GC,4141,-0.92,-243.4,469.3,-10.7,586,4145,0.00,2.10,0.00,0.000,4,0.000,0.046,2548,664,3930
$GC,4203,-0.96,-243.4,476.0,-11.2,591,4211,0.10,2.08,0.00,0.000,6,0.074,0.040,2493,2027,3929
$GC,4529,-0.85,-243.4,523.8,-15.6,615,4531,0.17,0.00,0.00,0.000,6,0.132,0.000,2544,2027,3927
$GC,4834,-0.90,-243.4,552.6,-8.1,630,4838,0.00,2.12,0.00,0.000,4,0.000,0.047,2545,657,3925
$GC,4881,-0.94,-243.4,556.5,-8.3,632,4885,0.00,2.10,0.00,0.000,6,0.000,0.042,2544,2020,3926
$GC,5217,-0.98,-243.4,583.6,-8.5,648,5221,0.12,2.30,0.00,0.000,4,0.066,0.057,2481,3465,3923
$GC,5261,-0.88,-243.4,588.8,-11.8,650,5266,0.20,2.17,0.00,0.000,6,0.125,0.036,2541,2019,3923
$GC,5587,-0.91,-243.4,615.8,-7.7,666,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2019,3921
$GC,5893,-0.94,-243.4,637.0,-6.8,681,5897,0.00,2.33,0.00,0.000,4,0.000,0.060,2542,3463,3919
$GC,5927,-1.01,-243.4,639.8,-8.8,682,5934,0.12,2.15,0.00,0.000,6,0.063,0.037,2479,2033,3919
$GC,6244,-0.89,-243.4,686.3,-16.1,698,6249,0.17,2.15,0.00,0.000,4,0.132,0.050,2537,663,3917
$GC,6398,-0.89,-243.4,706.2,-13.0,704,6405,0.00,2.15,0.00,0.000,6,0.000,0.047,2540,2021,3916
$GC,6716,-0.89,-243.4,741.0,-10.4,720,6720,0.00,2.33,0.00,0.000,4,0.000,0.062,2544,3463,3914
$GC,6744,-0.94,-243.4,744.2,-10.9,721,6748,0.00,2.20,0.00,0.000,6,0.000,0.038,2540,2019,3914
$GC,7062,-0.94,-243.4,778.9,-11.6,736,7065,0.00,2.15,0.00,0.000,4,0.000,0.052,2540,650,3912
$GC,7140,-0.94,-243.4,789.0,-12.9,739,7144,0.00,2.17,0.00,0.000,6,0.000,0.048,2549,2036,3911
$GC,7463,-0.97,-243.4,827.6,-11.9,755,7467,0.15,2.20,0.00,0.000,4,0.063,0.052,2479,654,3911
$GC,7505,-0.82,-243.4,833.7,-16.3,757,7509,0.28,2.17,0.00,0.000,6,0.127,0.047,2556,2032,3910
$GC,7835,-0.86,-243.4,868.7,-9.8,773,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2032,3908
$GC,8143,-0.91,-243.4,896.6,-8.6,788,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2032,3907
$GC,8451,-0.95,-243.4,921.7,-8.5,803,8453,0.12,0.00,0.00,0.000,6,0.067,0.000,2499,2033,3906
$GC,8761,-0.85,-243.4,959.7,-12.8,818,8766,0.15,2.20,0.00,0.000,4,0.140,0.054,2540,665,3905
$GC,8803,-0.85,-243.4,964.5,-10.4,820,8806,0.00,2.15,0.00,0.000,6,0.000,0.050,2541,2021,3904
$STATE,9050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9050,begin apogee
$GC,9058,-0.23,0.0,991.7,11.2,832,9275,0.62,0.00,212.32,1.483,6,0.104,0.000,2742,1697,2945
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9275,begin climb
$GC,9280,0.93,243.4,1009.3,0.0,843,9518,1.05,2.53,227.27,1.439,4,0.044,0.061,3129,3096,1950
$GC,9605,0.55,243.4,981.2,19.4,858,9610,0.50,2.20,0.00,0.000,6,0.163,0.044,3001,1693,1945
$GC,9933,0.49,243.4,942.8,12.3,874,9937,0.00,2.28,0.00,0.000,4,0.000,0.060,3002,3105,1944
$GC,10193,0.40,243.4,905.0,16.5,885,10198,0.22,2.12,0.00,0.000,6,0.140,0.042,2947,1724,1941
$GC,10510,0.49,255.3,870.4,9.7,900,10525,0.00,2.22,10.50,1.266,4,0.000,0.058,2947,3108,1904
$GC,10764,0.66,352.8,848.6,7.3,910,10869,0.22,2.10,93.78,1.355,6,0.051,0.041,3057,1745,1505
$GC,11194,0.52,352.8,783.0,16.1,931,11199,0.20,2.17,0.00,0.000,4,0.143,0.057,2993,3112,1500
$GC,11452,0.52,352.8,746.5,13.6,942,11458,0.00,2.05,0.00,0.000,6,0.000,0.041,3000,1772,1498
$GC,11769,0.52,352.8,702.8,14.6,958,11773,0.00,2.12,0.00,0.000,4,0.000,0.058,3000,3103,1497
$GC,11842,0.52,352.8,691.2,15.1,961,11846,0.00,2.05,0.00,0.000,6,0.000,0.041,3010,1770,1497
$GC,12170,0.52,352.8,644.9,14.0,977,12174,0.00,2.12,0.00,0.000,4,0.000,0.057,3010,3106,1497
$GC,12389,0.48,352.8,615.0,13.1,986,12397,0.12,2.03,0.00,0.000,6,0.132,0.041,2979,1811,1497
$GC,12709,0.56,363.1,584.0,9.7,1002,12723,0.00,2.10,9.00,1.108,4,0.000,0.056,2979,3102,1464
$GC,12839,0.72,439.7,572.6,7.9,1007,12925,0.17,1.98,74.40,1.186,6,0.055,0.040,3066,1808,1152
$GC,13235,0.61,439.7,511.0,16.9,1026,13239,0.17,2.08,0.00,0.000,4,0.143,0.054,3017,3111,1148
$GC,13383,0.61,439.7,492.2,11.4,1035,13386,0.00,1.95,0.00,0.000,6,0.000,0.039,3024,1837,1147
$GC,13717,0.61,439.7,456.0,10.4,1066,13721,0.00,2.00,0.00,0.000,4,0.000,0.054,3024,3106,1146
$GC,13837,0.61,439.7,441.6,12.4,1076,13843,0.00,1.95,0.00,0.000,6,0.000,0.039,3033,1848,1146
$GC,14168,0.61,439.7,395.1,14.6,1107,14171,0.00,2.00,0.00,0.000,4,0.000,0.054,3033,3112,1146
$GC,14247,0.61,439.7,382.5,14.2,1114,14250,0.00,1.92,0.00,0.000,6,0.000,0.038,3042,1850,1147
$GC,14582,0.56,439.7,336.1,13.6,1145,14586,0.15,2.00,0.00,0.000,4,0.135,0.052,2999,3111,1147
$GC,14737,0.76,504.6,321.0,8.2,1158,14802,0.12,1.90,57.90,1.014,6,0.045,0.038,3080,1873,887
$GC,15136,0.65,504.6,248.2,19.1,1217,15143,0.17,1.95,0.00,0.000,4,0.141,0.051,3024,3108,885
$GC,15174,0.65,504.6,241.3,15.5,1223,15181,0.00,1.88,0.00,0.000,6,0.000,0.037,3032,1872,884
$GC,15522,0.69,504.6,204.5,12.6,1284,15529,0.00,1.95,0.00,0.000,4,0.000,0.051,3032,3102,884
$GC,15571,0.76,504.6,197.5,14.2,1292,15577,0.00,1.85,0.00,0.000,6,0.000,0.036,3040,1891,884
$GC,15920,0.82,504.6,153.6,11.9,1353,15926,0.12,0.00,0.00,0.000,6,0.067,0.000,3108,1890,884
$GC,16267,0.76,504.6,94.9,19.5,1414,16274,0.17,2.50,0.00,0.000,4,0.128,0.047,3062,280,884
$GC,16339,1.12,611.0,87.8,7.1,1426,16442,0.32,2.47,92.18,0.808,6,0.038,0.037,3218,1912,456
$STATE,16768,end climb,SURFACE_DEPTH_REACHED
$STATE,16768,begin surface coast
$FINISH,1.0,1.009238
$STATE,16785,end surface coast,CONTROL_FINISHED_OK
$STATE,16785,begin surface
$SM_CCo,16867,0.00,0.000,0,0,451,611.78
$SM_GC,1.93,8.15,0.00,0.00,0.038,0.000,0.000,155,2085,451,-8.28,0.68,611.78
$IRIDIUM_FIX,2446.56,12231.55,151198,191921
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,9.77058
$TCM_TEMP,22.30
$XPDR_PINGS,175
$24V_AH,22.2,118.630
$10V_AH,10.5,76.627
$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,26.225,136.200,777.350,0.000,0.000,26.166,32.335,252.397,51.750,0.000,0.000,16.788,2690.568,9713.385,844.053,3260.367,854.532,0.000,2331.594,0.000,3220.467,0.000,54.382,0.000
$DEVICE_MAMPS,216.294,62.127,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.007,1030.723,1736.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88437,1503
$CAP_FILE_SIZE,173425,0
$CFSIZE,260165632,191729664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.224,110.5,1
$GPS,220809,052224,2458.824,12232.526,24,1.0,42,-3.6