version: 66.04
glider: 166
mission: 2
dive: 528
start: 8 22 109 15 34 58
data:
$ID,166
$MISSION,2
$DIVE,528
$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,-17824.863
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,152306,2459.428,12231.960,38,1.1,38,-3.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.4
$GPS2,153437,2459.409,12232.215,11,1.1,11,-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,320.0,48907,-13.9,-10.000
$D_GRID,1435
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.93,-243.4,0.0,0.0,0,101,0.00,0.00,-80.18,0.000,2,0.000,0.000,147,2040,2194
$GC,105,-0.93,-243.4,3.1,-5.1,12,176,9.75,2.33,-50.70,0.000,4,0.229,0.058,2501,3478,3940
$GC,266,-0.52,-243.4,40.0,-28.8,38,275,0.50,2.10,0.00,0.000,6,0.136,0.030,2646,2040,3941
$GC,614,-0.56,-243.4,88.1,-10.4,99,621,0.00,2.05,0.00,0.000,4,0.000,0.038,2642,657,3942
$GC,752,-0.66,-243.4,100.8,-7.9,123,759,0.12,2.10,0.00,0.000,6,0.061,0.032,2574,2087,3942
$GC,1100,-0.58,-243.4,140.4,-14.8,184,1107,0.17,2.10,0.00,0.000,4,0.126,0.044,2627,3466,3942
$GC,1121,-0.58,-243.4,142.6,-11.5,187,1127,0.00,2.08,0.00,0.000,6,0.000,0.029,2627,2033,3943
$GC,1469,-0.73,-243.4,160.7,-6.9,248,1475,0.12,2.03,0.00,0.000,4,0.061,0.037,2550,673,3943
$GC,1491,-0.81,-243.4,162.5,-8.1,251,1498,0.00,2.05,0.00,0.000,6,0.000,0.032,2547,2068,3943
$GC,1837,-0.72,-243.4,213.5,-13.6,312,1844,0.15,2.10,0.00,0.000,4,0.135,0.037,2592,673,3942
$GC,1876,-0.76,-243.4,217.5,-9.8,318,1884,0.00,2.05,0.00,0.000,6,0.000,0.033,2589,2059,3942
$GC,2225,-0.85,-243.4,240.8,-5.4,379,2231,0.12,2.10,0.00,0.000,4,0.064,0.038,2519,669,3941
$GC,2300,-0.76,-243.4,248.7,-11.2,392,2307,0.20,2.08,0.00,0.000,6,0.127,0.035,2576,2070,3941
$GC,2648,-0.83,-243.4,278.8,-10.4,453,2654,0.00,2.15,0.00,0.000,4,0.000,0.050,2573,3464,3939
$GC,2689,-0.93,-243.4,283.2,-10.2,460,2696,0.12,2.08,0.00,0.000,6,0.042,0.031,2496,2062,3939
$GC,3027,-0.76,-243.4,347.3,-20.2,500,3032,0.22,2.20,0.00,0.000,4,0.130,0.048,2560,3465,3937
$GC,3061,-0.76,-243.4,352.9,-14.6,502,3069,0.00,2.03,0.00,0.000,6,0.000,0.031,2560,2073,3937
$GC,3389,-0.80,-243.4,383.9,-6.9,533,3393,0.00,2.12,0.00,0.000,4,0.000,0.041,2560,670,3935
$GC,3463,-0.83,-243.4,389.3,-7.2,539,3470,0.00,2.10,0.00,0.000,6,0.000,0.036,2559,2068,3935
$GC,3792,-0.89,-243.4,415.4,-9.1,570,3796,0.00,2.12,0.00,0.000,4,0.000,0.042,2559,672,3933
$GC,3885,-0.93,-243.4,424.0,-9.6,578,3889,0.12,2.12,0.00,0.000,6,0.064,0.044,2495,2062,3933
$GC,4216,-0.80,-243.4,467.6,-12.6,609,4218,0.22,0.00,0.00,0.000,6,0.128,0.000,2563,2062,3930
$GC,4539,-0.88,-243.4,491.3,-7.0,639,4543,0.00,2.15,0.00,0.000,4,0.000,0.045,2563,670,3928
$GC,4613,-0.96,-243.4,497.7,-8.0,645,4619,0.15,2.10,0.00,0.000,6,0.058,0.040,2490,2048,3928
$GC,4931,-0.84,-243.4,538.5,-13.5,662,4936,0.17,2.15,0.00,0.000,4,0.135,0.044,2547,664,3927
$GC,5027,-0.89,-243.4,549.0,-10.0,666,5031,0.00,2.12,0.00,0.000,6,0.000,0.041,2547,2051,3925
$GC,5350,-0.95,-243.4,582.8,-11.0,682,5353,0.00,2.25,0.00,0.000,4,0.000,0.058,2547,3472,3924
$GC,5378,-1.03,-243.4,586.1,-11.1,683,5383,0.17,2.12,0.00,0.000,6,0.054,0.035,2465,2050,3923
$GC,5705,-0.87,-243.4,639.0,-17.0,699,5709,0.20,2.15,0.00,0.000,4,0.132,0.048,2532,667,3922
$GC,5794,-0.87,-243.4,651.5,-11.6,703,5797,0.00,2.10,0.00,0.000,6,0.000,0.044,2533,2029,3921
$GC,6122,-0.87,-243.4,686.3,-10.0,719,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2029,3919
$GC,6432,-0.87,-243.4,714.7,-8.8,734,6436,0.00,2.15,0.00,0.000,4,0.000,0.050,2533,660,3917
$GC,6478,-0.87,-243.4,719.2,-10.0,736,6482,0.00,2.12,0.00,0.000,6,0.000,0.046,2535,2022,3916
$GC,6811,-0.87,-243.4,753.3,-10.8,752,6815,0.00,2.33,0.00,0.000,4,0.000,0.060,2537,3472,3914
$GC,6857,-0.94,-243.4,758.3,-9.9,754,6861,0.00,2.17,0.00,0.000,6,0.000,0.038,2535,2036,3914
$GC,7185,-0.98,-243.4,792.8,-11.7,770,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2035,3911
$GC,7497,-1.03,-243.4,826.8,-10.4,785,7501,0.15,2.17,0.00,0.000,4,0.061,0.052,2466,656,3910
$GC,7588,-0.86,-243.4,841.6,-17.8,789,7593,0.25,2.17,0.00,0.000,6,0.131,0.048,2543,2035,3910
$GC,7918,-0.86,-243.4,879.4,-10.4,805,7922,0.00,2.17,0.00,0.000,4,0.000,0.053,2537,663,3908
$GC,7952,-0.86,-243.4,883.5,-10.9,806,7956,0.00,2.15,0.00,0.000,6,0.000,0.048,2537,2033,3908
$GC,8274,-0.86,-243.4,915.7,-9.6,822,8277,0.00,2.20,0.00,0.000,4,0.000,0.053,2536,651,3906
$GC,8307,-0.86,-243.4,919.2,-10.4,823,8311,0.00,2.15,0.00,0.000,6,0.000,0.048,2541,2021,3906
$GC,8632,-0.86,-243.4,947.1,-8.4,839,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2021,3905
$GC,8938,-0.86,-243.4,973.0,-8.5,854,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2022,3904
$STATE,9141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9141,begin apogee
$GC,9150,-0.23,0.0,990.9,8.9,864,9366,0.62,0.00,210.60,1.473,6,0.104,0.000,2743,1691,2945
$STATE,9366,end apogee,CONTROL_FINISHED_OK
$STATE,9367,begin climb
$GC,9370,0.93,243.4,1002.2,0.0,875,9600,1.05,0.00,223.27,1.424,6,0.048,0.000,3126,1691,1951
$GC,9910,0.59,243.4,928.4,18.0,901,9915,0.38,2.28,0.00,0.000,4,0.164,0.059,3015,3100,1943
$GC,10170,0.45,243.4,895.8,13.3,912,10177,0.20,2.12,0.00,0.000,6,0.146,0.044,2969,1722,1941
$GC,10487,0.57,338.2,870.2,7.4,928,10595,0.10,2.30,90.80,1.330,4,0.079,0.058,3018,3106,1566
$GC,10777,0.48,338.2,838.4,11.1,941,10781,0.17,2.15,0.00,0.000,6,0.143,0.044,2980,1726,1561
$GC,11111,0.61,411.0,810.4,8.0,957,11185,0.12,2.30,68.25,1.345,4,0.066,0.059,3046,3108,1268
$GC,11306,0.48,411.0,782.9,16.7,966,11311,0.28,2.12,0.00,0.000,6,0.140,0.043,2978,1743,1266
$GC,11637,0.63,445.6,750.2,9.0,982,11681,0.15,2.28,32.58,1.295,4,0.060,0.058,3054,3105,1128
$GC,11912,0.49,445.6,702.5,17.7,994,11917,0.30,2.05,0.00,0.000,6,0.138,0.044,2977,1776,1126
$GC,12241,0.63,446.9,669.0,10.0,1010,12245,0.12,2.12,0.00,0.000,4,0.063,0.056,3044,3111,1124
$GC,12383,0.52,446.9,645.7,18.8,1016,12388,0.22,2.03,0.00,0.000,6,0.138,0.042,2990,1794,1124
$GC,12701,0.62,446.9,608.9,11.4,1031,12705,0.00,2.10,0.00,0.000,4,0.000,0.057,2990,3112,1125
$GC,12764,0.69,446.9,600.5,13.7,1033,12770,0.12,2.03,0.00,0.000,6,0.063,0.041,3059,1795,1124
$GC,13082,0.58,446.9,537.6,20.2,1049,13086,0.17,2.10,0.00,0.000,4,0.143,0.055,3011,3108,1124
$GC,13262,0.58,446.9,511.0,13.8,1057,13265,0.00,2.00,0.00,0.000,6,0.000,0.041,3017,1808,1124
$GC,13595,0.58,446.9,469.2,12.5,1084,13599,0.00,2.05,0.00,0.000,4,0.000,0.055,3018,3102,1122
$GC,13698,0.58,446.9,455.2,12.4,1093,13702,0.00,1.95,0.00,0.000,6,0.000,0.041,3027,1833,1123
$GC,14033,0.58,446.9,412.7,14.0,1124,14037,0.00,2.03,0.00,0.000,4,0.000,0.054,3027,3109,1122
$GC,14196,0.58,446.9,387.2,15.4,1138,14202,0.00,1.95,0.00,0.000,6,0.000,0.041,3036,1856,1122
$GC,14525,0.58,446.9,339.9,13.6,1169,14529,0.00,1.98,0.00,0.000,4,0.000,0.054,3036,3103,1122
$GC,14639,0.58,446.9,323.3,13.8,1179,14643,0.12,1.90,0.00,0.000,6,0.136,0.039,3011,1860,1122
$GC,14972,0.70,461.4,289.6,9.6,1219,14991,0.00,2.03,14.77,0.955,4,0.000,0.051,3011,3106,1064
$GC,15116,0.80,472.6,275.8,9.7,1243,15135,0.17,1.85,12.12,0.915,6,0.052,0.039,3104,1883,1016
$GC,15478,0.63,472.6,203.2,20.0,1306,15484,0.25,1.92,0.00,0.000,4,0.138,0.051,3023,3109,1017
$GC,15672,0.71,472.6,172.7,18.3,1340,15678,0.00,1.85,0.00,0.000,6,0.000,0.038,3029,1910,1017
$GC,16017,0.81,484.7,142.4,9.7,1401,16038,0.15,1.88,12.15,0.817,4,0.056,0.049,3110,3110,968
$GC,16064,0.67,484.7,134.8,19.3,1408,16071,0.20,1.83,0.00,0.000,6,0.135,0.036,3040,1913,968
$GC,16414,0.86,484.7,89.7,10.2,1469,16420,0.17,0.00,0.00,0.000,6,0.048,0.000,3142,1913,968
$GC,16759,0.80,484.7,39.9,11.8,1530,16766,0.17,1.90,0.00,0.000,4,0.130,0.044,3082,3114,968
$GC,17022,1.16,616.7,23.8,6.3,1576,17137,0.22,1.80,108.65,0.735,6,0.031,0.035,3224,1925,455
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17158,begin surface coast
$FINISH,1.1,0.997503
$STATE,17175,end surface coast,CONTROL_FINISHED_OK
$STATE,17175,begin surface
$SM_CCo,17255,0.00,0.000,0,0,451,611.78
$SM_GC,1.84,8.27,0.00,0.00,0.041,0.000,0.000,151,2100,451,-8.27,1.10,611.78
$IRIDIUM_FIX,2451.31,12232.83,161198,151545
$TT8_MAMPS,0.027612
$HUMID,1738
$INTERNAL_PRESSURE,9.78035
$TCM_TEMP,22.50
$XPDR_PINGS,195
$24V_AH,22.5,119.574
$10V_AH,10.5,77.117
$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,26.725,138.650,773.200,0.000,0.000,50.863,59.772,332.349,56.750,0.000,0.000,11.152,2837.064,9845.140,859.047,3392.305,992.324,0.000,2395.083,0.000,3361.801,0.000,54.388,0.000
$DEVICE_MAMPS,228.566,59.826,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.962,1120.497,1887.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94622,1600
$CAP_FILE_SIZE,179378,0
$CFSIZE,260165632,191442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.241,123.3,1
$GPS,220809,202336,2459.435,12231.433,25,1.8,25,-3.6