version: 66.04
glider: 166
mission: 2
dive: 531
start: 8 23 109 6 58 48
data:
$ID,166
$MISSION,2
$DIVE,531
$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,-17871.422
$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,28
$R_STBD_OVSHOOT,55
$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
$GPS1,065030,2500.708,12230.005,38,1.2,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.5
$GPS2,065826,2500.642,12230.334,14,1.7,14,-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,328.2,45985,-13.9,-10.000
$D_GRID,1350
$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,19,-0.93,-243.4,0.0,0.0,0,98,0.00,0.00,-77.03,0.000,2,0.000,0.000,114,2086,2152
$GC,102,-0.93,-243.4,3.1,-5.2,12,168,9.50,2.10,-48.53,0.000,4,0.216,0.058,2507,3450,3935
$GC,189,-0.47,-243.4,18.5,-29.7,25,197,0.55,2.08,0.00,0.000,6,0.133,0.031,2671,2028,3936
$GC,539,-0.54,-243.4,66.1,-11.8,86,545,0.00,2.03,0.00,0.000,4,0.000,0.039,2671,666,3937
$GC,559,-0.64,-243.4,68.5,-11.1,89,567,0.17,2.08,0.00,0.000,6,0.053,0.031,2584,2082,3937
$GC,909,-0.56,-243.4,112.4,-6.7,150,915,0.17,2.10,0.00,0.000,4,0.132,0.044,2641,3460,3938
$GC,970,-0.79,-243.4,117.0,-6.8,160,977,0.22,2.03,0.00,0.000,6,0.045,0.028,2523,2050,3939
$GC,1317,-0.62,-243.4,178.1,-17.1,221,1325,0.28,2.05,0.00,0.000,4,0.135,0.035,2610,666,3940
$GC,1476,-0.76,-243.4,191.5,-4.8,248,1482,0.00,2.08,0.00,0.000,6,0.000,0.033,2610,2073,3939
$GC,1822,-0.88,-243.4,218.3,-6.3,309,1830,0.17,2.15,0.00,0.000,4,0.054,0.046,2503,3469,3938
$GC,1864,-0.78,-243.4,221.4,-9.8,315,1870,0.22,2.03,0.00,0.000,6,0.120,0.029,2572,2072,3938
$GC,2208,-0.78,-243.4,253.2,-11.8,376,2214,0.00,2.10,0.00,0.000,4,0.000,0.040,2572,672,3937
$GC,2285,-0.83,-243.4,264.4,-13.9,389,2293,0.00,2.10,0.00,0.000,6,0.000,0.034,2572,2076,3936
$GC,2634,-0.88,-243.4,292.0,-4.6,450,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2078,3934
$GC,2967,-0.93,-243.4,318.4,-9.4,492,2971,0.15,2.15,0.00,0.000,4,0.059,0.039,2490,667,3933
$GC,3054,-0.75,-243.4,331.0,-16.1,499,3059,0.30,2.12,0.00,0.000,6,0.125,0.036,2580,2075,3932
$GC,3381,-0.85,-243.4,358.5,-6.0,529,3385,0.00,2.12,0.00,0.000,4,0.000,0.039,2580,672,3930
$GC,3410,-0.91,-243.4,360.8,-7.6,531,3417,0.17,2.10,0.00,0.000,6,0.055,0.036,2501,2069,3930
$GC,3738,-0.78,-243.4,403.8,-13.4,562,3742,0.20,2.17,0.00,0.000,4,0.133,0.047,2565,675,3928
$GC,3840,-0.84,-243.4,412.8,-6.8,571,3844,0.00,2.08,0.00,0.000,6,0.000,0.036,2560,2050,3928
$GC,4172,-0.90,-243.4,433.8,-7.9,602,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2051,3927
$GC,4493,-0.96,-243.4,466.9,-9.8,632,4499,0.15,0.00,0.00,0.000,6,0.060,0.000,2481,2051,3924
$GC,4831,-0.83,-243.4,511.0,-11.9,660,4835,0.20,2.17,0.00,0.000,4,0.129,0.049,2547,673,3923
$GC,4962,-0.87,-243.4,521.9,-7.2,665,4970,0.00,2.10,0.00,0.000,6,0.000,0.039,2546,2053,3922
$GC,5281,-0.91,-243.4,548.7,-9.9,681,5284,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,674,3920
$GC,5360,-0.95,-243.4,557.8,-11.2,684,5364,0.00,2.10,0.00,0.000,6,0.000,0.041,2544,2047,3919
$GC,5685,-0.98,-243.4,588.6,-8.7,700,5690,0.12,2.12,0.00,0.000,4,0.067,0.045,2479,676,3917
$GC,5751,-0.86,-243.4,595.7,-11.5,703,5756,0.22,2.10,0.00,0.000,6,0.128,0.041,2539,2047,3917
$GC,6083,-0.89,-243.4,620.5,-7.4,719,6087,0.00,2.25,0.00,0.000,4,0.000,0.058,2537,3463,3915
$GC,6111,-0.93,-243.4,623.1,-8.0,720,6115,0.00,2.10,0.00,0.000,6,0.000,0.035,2537,2063,3915
$GC,6440,-0.97,-243.4,650.4,-8.4,736,6443,0.00,2.17,0.00,0.000,4,0.000,0.048,2537,657,3913
$GC,6564,-0.97,-243.4,662.1,-10.0,741,6568,0.00,2.12,0.00,0.000,6,0.000,0.044,2537,2030,3912
$GC,6888,-1.00,-243.4,696.4,-11.6,757,6893,0.12,2.15,0.00,0.000,4,0.067,0.048,2474,660,3910
$GC,6946,-0.88,-243.4,705.3,-16.2,759,6952,0.22,2.12,0.00,0.000,6,0.129,0.044,2541,2029,3910
$GC,7262,-0.91,-243.4,743.6,-11.6,775,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2029,3909
$GC,7573,-0.95,-243.4,775.7,-9.6,790,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2029,3907
$GC,7883,-0.99,-243.4,802.6,-8.3,805,7885,0.12,0.00,0.00,0.000,6,0.064,0.000,2482,2029,3905
$GC,8190,-0.90,-243.4,838.8,-12.3,820,8192,0.15,0.00,0.00,0.000,6,0.133,0.000,2529,2029,3904
$GC,8502,-0.90,-243.4,867.0,-8.9,835,8506,0.00,2.17,0.00,0.000,4,0.000,0.053,2526,663,3902
$GC,8581,-0.90,-243.4,874.5,-9.3,838,8585,0.00,2.15,0.00,0.000,6,0.000,0.048,2527,2027,3902
$GC,8903,-0.90,-243.4,902.2,-8.8,854,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2027,3900
$GC,9213,-0.90,-243.4,937.8,-12.3,869,9217,0.00,2.17,0.00,0.000,4,0.000,0.054,2528,659,3900
$GC,9275,-0.90,-243.4,945.7,-12.5,871,9281,0.00,2.15,0.00,0.000,6,0.000,0.048,2534,2022,3899
$GC,9593,-0.90,-243.4,977.0,-9.0,887,9597,0.00,2.15,0.00,0.000,4,0.000,0.054,2534,666,3898
$GC,9632,-0.90,-243.4,980.8,-8.1,888,9639,0.00,2.15,0.00,0.000,6,0.000,0.048,2536,2008,3897
$STATE,9739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9739,begin apogee
$GC,9747,-0.23,0.0,990.2,8.6,894,9963,0.65,0.00,209.40,1.478,6,0.103,0.000,2749,1692,2945
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9963,begin climb
$GC,9967,0.93,243.4,1001.6,0.0,905,10205,1.02,0.00,224.12,1.429,6,0.042,0.000,3133,1692,1951
$GC,10511,0.57,243.4,925.4,17.8,931,10516,0.43,2.28,0.00,0.000,4,0.163,0.059,3007,3107,1944
$GC,10769,0.45,243.4,893.6,12.9,942,10776,0.15,2.17,0.00,0.000,6,0.139,0.044,2954,1720,1942
$GC,11089,0.54,274.0,865.7,9.2,958,11133,0.12,2.30,29.85,1.291,4,0.068,0.060,3014,3103,1826
$GC,11388,0.43,274.0,823.6,13.7,971,11393,0.22,2.12,0.00,0.000,6,0.142,0.044,2961,1731,1823
$GC,11714,0.51,294.4,791.6,9.4,987,11745,0.00,2.22,21.73,1.218,4,0.000,0.058,2962,3107,1743
$GC,11989,0.62,343.1,764.8,8.7,999,12047,0.15,2.10,47.70,1.286,6,0.058,0.043,3041,1748,1546
$GC,12370,0.52,343.1,715.3,13.0,1018,12374,0.20,2.17,0.00,0.000,4,0.139,0.058,2977,3103,1541
$GC,12628,0.59,374.0,687.6,9.1,1029,12663,0.00,2.05,28.58,1.271,6,0.000,0.042,2985,1770,1420
$GC,12992,0.65,374.0,650.5,10.8,1047,12996,0.12,2.12,0.00,0.000,4,0.064,0.055,3049,3106,1417
$GC,13104,0.51,374.0,631.2,18.5,1052,13108,0.25,2.03,0.00,0.000,6,0.135,0.042,2988,1784,1417
$GC,13433,0.57,374.0,595.8,10.4,1068,13436,0.00,2.10,0.00,0.000,4,0.000,0.057,2987,3103,1416
$GC,13556,0.62,374.0,582.8,10.5,1073,13560,0.00,2.00,0.00,0.000,6,0.000,0.042,2995,1803,1416
$GC,13880,0.66,374.0,549.4,10.8,1089,13884,0.12,2.08,0.00,0.000,4,0.065,0.055,3060,3103,1415
$GC,14138,0.52,374.0,504.7,17.3,1100,14143,0.28,1.95,0.00,0.000,6,0.137,0.041,2991,1832,1415
$GC,14469,0.62,401.0,471.6,9.3,1129,14503,0.00,2.10,25.50,1.137,4,0.000,0.056,2991,3106,1309
$GC,14642,0.69,401.0,454.3,10.2,1144,14646,0.12,1.95,0.00,0.000,6,0.061,0.041,3063,1836,1308
$GC,14973,0.59,401.0,399.8,16.4,1175,14977,0.17,2.03,0.00,0.000,4,0.140,0.055,3007,3103,1307
$GC,15140,0.63,401.0,379.4,11.3,1189,15146,0.00,1.90,0.00,0.000,6,0.000,0.040,3014,1859,1306
$GC,15469,0.67,401.0,342.4,10.5,1220,15473,0.00,1.98,0.00,0.000,4,0.000,0.054,3014,3108,1307
$GC,15588,0.67,401.0,329.5,10.6,1230,15595,0.00,1.90,0.00,0.000,6,0.000,0.040,3023,1881,1306
$GC,15917,0.68,404.8,296.4,9.9,1264,15930,0.00,1.98,4.57,0.730,4,0.000,0.053,3023,3102,1293
$GC,16151,0.68,404.8,270.6,10.0,1305,16157,0.00,1.83,0.00,0.000,6,0.000,0.038,3032,1901,1294
$GC,16497,0.68,404.8,229.7,10.8,1366,16504,0.00,1.92,0.00,0.000,4,0.000,0.051,3032,3101,1294
$GC,16602,0.68,404.8,216.9,13.8,1384,16608,0.00,1.80,0.00,0.000,6,0.000,0.038,3041,1930,1293
$GC,16948,0.68,404.8,174.2,11.5,1445,16954,0.00,1.88,0.00,0.000,4,0.000,0.050,3040,3105,1293
$GC,17074,0.68,404.8,157.7,13.9,1467,17082,0.00,1.77,0.00,0.000,6,0.000,0.037,3049,1943,1293
$GC,17422,0.68,404.8,118.5,11.3,1528,17429,0.00,1.85,0.00,0.000,4,0.000,0.048,3049,3109,1294
$GC,17635,0.71,435.1,96.9,9.2,1565,17667,0.00,1.73,28.25,0.824,6,0.000,0.035,3053,1973,1171
$GC,18011,1.01,559.4,63.0,6.6,1630,18128,0.20,2.70,107.30,0.777,4,0.048,0.045,3172,274,663
$GC,18157,1.01,559.4,45.6,17.3,1652,18163,0.00,2.70,0.00,0.000,6,0.000,0.036,3171,2024,661
$STATE,18472,end climb,SURFACE_DEPTH_REACHED
$STATE,18472,begin surface coast
$FINISH,1.0,1.003003
$STATE,18496,end surface coast,CONTROL_FINISHED_OK
$STATE,18496,begin surface
$SM_CCo,18577,0.00,0.000,0,0,657,561.25
$SM_GC,1.92,8.05,0.00,0.00,0.038,0.000,0.000,158,2030,657,-8.29,-0.88,561.25
$IRIDIUM_FIX,2448.93,12232.83,171198,010127
$TT8_MAMPS,0.026845
$HUMID,1755
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,22.70
$XPDR_PINGS,203
$24V_AH,22.5,120.471
$10V_AH,10.5,77.621
$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,25.725,138.450,727.000,0.000,0.000,23.795,33.441,232.621,58.750,0.000,0.000,14.954,3035.570,10611.840,839.245,3677.846,868.377,0.000,2479.114,0.000,3645.363,0.000,54.388,0.000
$DEVICE_MAMPS,216.294,59.826,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.607,1170.632,1971.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100915,1712
$CAP_FILE_SIZE,187030,0
$CFSIZE,260165632,191139840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.227, 95.4,1
$GPS,230809,120937,2501.906,12230.153,34,1.0,34,-3.6