version: 66.04
glider: 166
mission: 2
dive: 527
start: 8 22 109 10 35 35
data:
$ID,166
$MISSION,2
$DIVE,527
$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,-17813.082
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,102406,2458.968,12232.882,26,0.9,26,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.3
$GPS2,103514,2459.168,12233.199,14,1.0,14,-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,302.6,49769,-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,15,begin dive
$GC,18,-0.93,-243.4,0.0,0.0,0,89,0.00,0.00,-67.85,0.000,2,0.000,0.000,144,2084,2277
$GC,93,-0.93,-243.4,3.4,-6.3,11,152,9.68,2.22,-44.42,0.000,4,0.226,0.059,2500,3463,3940
$GC,174,-0.46,-243.4,16.3,-22.0,23,181,0.57,2.10,0.00,0.000,6,0.134,0.029,2670,2028,3941
$GC,521,-0.62,-243.4,50.8,-7.3,84,528,0.15,2.03,0.00,0.000,4,0.056,0.036,2587,665,3942
$GC,602,-0.54,-243.4,61.2,-12.5,98,609,0.20,2.10,0.00,0.000,6,0.130,0.034,2645,2084,3942
$GC,950,-0.71,-243.4,90.8,-5.8,159,957,0.15,2.17,0.00,0.000,4,0.054,0.035,2558,638,3943
$GC,993,-0.65,-243.4,95.3,-12.3,166,1000,0.17,2.12,0.00,0.000,6,0.126,0.032,2610,2076,3943
$GC,1341,-0.76,-243.4,127.8,-6.2,227,1348,0.00,2.10,0.00,0.000,4,0.000,0.036,2609,666,3944
$GC,1435,-0.87,-243.4,134.0,-7.3,243,1442,0.20,2.05,0.00,0.000,6,0.051,0.032,2516,2063,3944
$GC,1781,-0.73,-243.4,185.5,-13.1,304,1788,0.20,2.15,0.00,0.000,4,0.129,0.046,2580,3463,3944
$GC,1897,-0.84,-243.4,194.5,-7.0,324,1903,0.00,2.03,0.00,0.000,6,0.000,0.028,2581,2048,3944
$GC,2243,-0.92,-243.4,222.5,-8.2,385,2250,0.17,0.00,0.00,0.000,6,0.053,0.000,2486,2046,3943
$GC,2592,-0.72,-243.4,279.4,-18.2,446,2598,0.30,0.00,0.00,0.000,6,0.130,0.000,2582,2045,3942
$GC,2931,-0.83,-243.4,308.9,-6.9,496,2935,0.00,2.05,0.00,0.000,4,0.000,0.039,2583,687,3939
$GC,3005,-0.93,-243.4,315.4,-9.2,502,3012,0.17,2.05,0.00,0.000,6,0.053,0.036,2498,2059,3939
$GC,3331,-0.77,-243.4,360.7,-13.0,533,3335,0.22,2.10,0.00,0.000,4,0.131,0.039,2569,686,3937
$GC,3360,-0.77,-243.4,363.7,-8.5,535,3364,0.00,2.10,0.00,0.000,6,0.000,0.037,2564,2074,3937
$GC,3692,-0.82,-243.4,394.4,-10.0,566,3696,0.00,2.12,0.00,0.000,4,0.000,0.041,2564,688,3934
$GC,3761,-0.87,-243.4,401.6,-10.1,572,3765,0.00,2.10,0.00,0.000,6,0.000,0.039,2562,2074,3934
$GC,4093,-0.93,-243.4,433.8,-8.4,603,4095,0.12,0.00,0.00,0.000,6,0.064,0.000,2494,2075,3932
$GC,4414,-0.81,-243.4,475.2,-13.7,633,4419,0.17,2.15,0.00,0.000,4,0.130,0.043,2555,687,3929
$GC,4576,-0.87,-243.4,492.5,-10.9,646,4583,0.00,2.10,0.00,0.000,6,0.000,0.040,2551,2070,3929
$GC,4895,-0.93,-243.4,528.9,-11.3,665,4899,0.00,2.20,0.00,0.000,4,0.000,0.056,2552,3464,3928
$GC,4965,-1.03,-243.4,536.5,-10.6,668,4970,0.17,2.05,0.00,0.000,6,0.054,0.033,2470,2080,3927
$GC,5295,-0.88,-243.4,586.7,-15.1,684,5299,0.17,2.17,0.00,0.000,4,0.133,0.045,2529,672,3925
$GC,5485,-0.88,-243.4,607.1,-9.0,692,5489,0.00,2.12,0.00,0.000,6,0.000,0.042,2529,2051,3924
$GC,5809,-0.88,-243.4,637.7,-9.9,708,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2051,3923
$GC,6118,-0.88,-243.4,666.7,-9.3,723,6122,0.00,2.17,0.00,0.000,4,0.000,0.050,2529,664,3920
$GC,6211,-0.88,-243.4,675.1,-9.1,727,6215,0.00,2.15,0.00,0.000,6,0.000,0.046,2530,2044,3919
$GC,6545,-0.88,-243.4,708.4,-11.8,743,6548,0.00,2.15,0.00,0.000,4,0.000,0.050,2530,675,3918
$GC,6584,-0.88,-243.4,713.7,-12.7,744,6590,0.00,2.12,0.00,0.000,6,0.000,0.045,2534,2045,3917
$GC,6900,-0.88,-243.4,749.0,-10.2,760,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2045,3916
$GC,7214,-0.88,-243.4,776.5,-9.1,775,7217,0.00,2.17,0.00,0.000,4,0.000,0.051,2533,664,3914
$GC,7249,-0.88,-243.4,780.5,-10.1,776,7252,0.00,2.15,0.00,0.000,6,0.000,0.046,2540,2042,3913
$GC,7571,-0.88,-243.4,811.7,-9.6,792,7575,0.00,2.30,0.00,0.000,4,0.000,0.063,2541,3468,3912
$GC,7617,-0.93,-243.4,815.9,-8.7,794,7622,0.00,2.15,0.00,0.000,6,0.000,0.039,2541,2057,3911
$GC,7946,-0.93,-243.4,844.3,-8.4,810,7949,0.00,2.20,0.00,0.000,4,0.000,0.053,2540,654,3910
$GC,7970,-0.93,-243.4,846.4,-8.4,811,7974,0.00,2.20,0.00,0.000,6,0.000,0.049,2542,2050,3910
$GC,8306,-0.93,-243.4,875.3,-9.4,827,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2050,3909
$GC,8613,-0.93,-243.4,899.8,-7.8,842,8617,0.00,2.20,0.00,0.000,4,0.000,0.053,2542,662,3908
$GC,8658,-0.93,-243.4,904.1,-9.0,844,8662,0.00,2.20,0.00,0.000,6,0.000,0.050,2542,2053,3908
$GC,8993,-0.93,-243.4,930.9,-8.1,860,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2053,3906
$GC,9301,-0.93,-243.4,954.9,-7.6,875,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2053,3905
$GC,9611,-0.93,-243.4,976.9,-6.8,890,9614,0.00,2.22,0.00,0.000,4,0.000,0.054,2542,660,3904
$GC,9646,-0.93,-243.4,979.4,-7.6,891,9649,0.00,2.20,0.00,0.000,6,0.000,0.050,2542,2044,3904
$STATE,9821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9821,begin apogee
$GC,9829,-0.23,0.0,991.2,6.6,900,10045,0.62,0.00,212.15,1.479,6,0.104,0.000,2744,1689,2945
$STATE,10046,end apogee,CONTROL_FINISHED_OK
$STATE,10046,begin climb
$GC,10049,0.93,243.4,997.1,0.0,911,10285,1.05,2.55,227.75,1.424,4,0.047,0.060,3124,3095,1951
$GC,10379,0.55,243.4,952.6,21.4,926,10385,0.50,2.20,0.00,0.000,6,0.160,0.044,2996,1698,1946
$GC,10698,0.50,243.4,915.3,10.8,941,10702,0.00,2.28,0.00,0.000,4,0.000,0.061,2996,3109,1944
$GC,10883,0.41,243.4,894.4,11.2,949,10888,0.17,2.17,0.00,0.000,6,0.144,0.044,2957,1706,1942
$GC,11201,0.62,378.4,872.4,6.3,964,11352,0.17,2.42,129.18,1.348,4,0.060,0.060,3045,3103,1401
$GC,11572,0.48,378.4,824.7,11.6,980,11577,0.28,2.15,0.00,0.000,6,0.147,0.044,2978,1717,1397
$GC,11889,0.76,541.3,801.0,5.5,995,12055,0.22,2.40,153.23,1.332,4,0.050,0.059,3085,3100,737
$GC,12224,0.57,541.3,743.4,20.5,1010,12229,0.30,2.10,0.00,0.000,6,0.144,0.044,3008,1749,735
$GC,12547,0.69,585.0,711.2,8.8,1026,12603,0.00,2.28,43.85,1.227,4,0.000,0.059,3007,3108,559
$GC,12763,0.82,604.2,692.1,9.5,1035,12791,0.20,2.08,19.15,1.217,6,0.052,0.044,3107,1772,481
$GC,13102,0.61,604.2,615.0,22.9,1052,13107,0.28,2.15,0.00,0.000,4,0.143,0.059,3022,3109,479
$GC,13300,0.70,604.2,591.7,10.7,1061,13304,0.00,2.03,0.00,0.000,6,0.000,0.043,3029,1801,478
$GC,13635,0.74,604.2,545.8,13.8,1077,13639,0.00,2.08,0.00,0.000,4,0.000,0.058,3029,3103,477
$GC,13721,0.82,604.2,534.0,13.1,1080,13728,0.12,2.00,0.00,0.000,6,0.065,0.043,3099,1826,477
$GC,14045,0.67,604.2,463.6,20.5,1103,14049,0.20,2.05,0.00,0.000,4,0.141,0.057,3036,3103,477
$GC,14177,0.76,604.2,445.1,11.5,1114,14185,0.00,1.95,0.00,0.000,6,0.000,0.043,3043,1854,476
$GC,14506,0.80,610.4,409.5,9.8,1145,14516,0.10,0.00,7.22,0.940,6,0.077,0.000,3098,1854,456
$GC,14831,0.67,610.4,346.0,20.9,1176,14835,0.17,2.00,0.00,0.000,4,0.139,0.054,3042,3110,456
$GC,14993,0.79,610.4,325.1,12.5,1190,14997,0.00,1.90,0.00,0.000,6,0.000,0.040,3048,1869,456
$GC,15328,0.86,610.4,279.9,13.5,1233,15336,0.15,1.98,0.00,0.000,4,0.061,0.051,3132,3114,455
$GC,15423,0.71,610.4,259.4,24.8,1249,15431,0.32,1.88,0.00,0.000,6,0.134,0.038,3047,1885,455
$GC,15772,0.85,636.9,217.3,9.3,1310,15779,0.15,0.00,0.17,0.110,6,0.058,0.000,3133,1885,455
$GC,16119,0.70,636.9,141.8,24.0,1371,16128,0.28,1.95,0.12,0.116,4,0.136,0.049,3044,3117,455
$GC,16251,0.89,636.9,124.9,11.0,1393,16259,0.12,1.88,0.00,0.000,6,0.038,0.037,3153,1888,455
$GC,16602,0.83,636.9,62.6,20.4,1454,16610,0.17,2.53,0.38,0.095,4,0.128,0.048,3102,283,455
$GC,16636,0.93,636.9,56.8,17.2,1459,16642,0.00,2.47,0.00,0.000,6,0.000,0.037,3103,1915,455
$GC,16980,1.30,742.2,21.0,7.1,1520,16988,0.32,1.85,0.15,0.107,4,0.039,0.044,3265,3122,455
$STATE,17076,end climb,SURFACE_DEPTH_REACHED
$STATE,17076,begin surface coast
$FINISH,1.1,1.021850
$STATE,17093,end surface coast,CONTROL_FINISHED_OK
$STATE,17093,begin surface
$SM_CCo,17175,0.00,0.000,0,0,455,610.80
$SM_GC,1.77,8.38,0.00,0.00,0.042,0.000,0.000,151,2039,455,-8.28,-0.62,610.80
$IRIDIUM_FIX,2446.56,12201.83,161198,101048
$TT8_MAMPS,0.026845
$HUMID,1775
$INTERNAL_PRESSURE,9.77058
$TCM_TEMP,22.60
$XPDR_PINGS,172
$24V_AH,22.1,119.263
$10V_AH,10.5,76.951
$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,27.150,132.500,793.350,0.000,0.000,48.897,64.688,301.659,51.000,0.000,0.000,14.889,2764.755,9912.999,861.678,3332.498,949.960,0.000,2365.168,0.000,3292.267,0.000,54.389,0.000
$DEVICE_MAMPS,226.265,62.894,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.224,1069.012,1801.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91598,1539
$CAP_FILE_SIZE,175361,0
$CFSIZE,260165632,191541248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.173, 97.9,1
$GPS,220809,152306,2459.428,12231.960,38,1.1,38,-3.6