version: 66.04
glider: 166
mission: 2
dive: 76
start: 6 3 109 11 19 53
data:
$ID,166
$MISSION,2
$DIVE,76
$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,300
$T_MISSION,360
$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,200
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6682.7251
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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,1
$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
$GPS1,111300,2525.877,12317.957,38,1.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.8
$GPS2,111931,2525.832,12318.050,17,1.3,17,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,318.5,29323,-17.1,-11.000
$D_GRID,1185
$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,14,-0.94,-194.7,0.0,0.0,0,100,0.00,0.00,-83.55,0.000,2,0.000,0.000,169,1482,2294
$GC,102,-0.94,-194.7,3.0,-4.8,13,160,8.98,2.17,-40.72,0.000,4,0.235,0.055,2421,2894,3657
$GC,217,-0.19,-194.7,30.4,-33.4,32,225,0.88,2.05,0.00,0.000,6,0.161,0.034,2676,1502,3658
$GC,564,-0.43,-194.7,70.6,-8.4,93,571,0.20,1.92,0.00,0.000,4,0.053,0.042,2575,202,3660
$GC,595,-0.35,-194.7,74.6,-13.7,98,602,0.10,1.92,0.00,0.000,6,0.147,0.028,2622,1518,3660
$GC,940,-0.46,-194.7,118.4,-9.3,159,947,0.00,2.03,0.00,0.000,4,0.000,0.040,2622,2902,3660
$GC,1061,-0.74,-194.7,127.9,-7.8,180,1068,0.28,2.03,0.00,0.000,6,0.036,0.031,2470,1523,3661
$GC,1406,-0.33,-194.7,201.4,-19.1,241,1413,0.50,1.95,0.00,0.000,4,0.151,0.043,2625,203,3661
$GC,1475,-0.62,-194.7,208.8,-7.1,253,1482,0.25,1.88,0.00,0.000,6,0.048,0.028,2513,1527,3662
$GC,1818,-0.45,-194.7,257.2,-15.0,314,1824,0.22,0.00,0.00,0.000,6,0.141,0.000,2585,1528,3662
$GC,2161,-0.69,-194.7,286.0,-7.4,375,2168,0.17,0.00,0.00,0.000,6,0.058,0.000,2494,1528,3664
$GC,2498,-0.53,-194.7,328.8,-11.9,416,2502,0.22,1.98,0.00,0.000,4,0.140,0.045,2566,208,3663
$GC,2593,-0.68,-194.7,337.3,-8.2,424,2599,0.00,1.88,0.00,0.000,6,0.000,0.029,2545,1497,3663
$GC,2918,-0.91,-194.7,362.6,-7.7,455,2920,0.28,0.00,0.00,0.000,6,0.048,0.000,2422,1499,3661
$GC,3236,-0.61,-194.7,415.8,-18.1,485,3238,0.38,0.00,0.00,0.000,6,0.146,0.000,2536,1498,3660
$GC,3556,-0.86,-194.7,442.4,-7.2,515,3560,0.17,1.95,0.00,0.000,4,0.059,0.049,2446,205,3658
$GC,3646,-0.68,-194.7,454.3,-14.6,523,3650,0.25,1.88,0.00,0.000,6,0.141,0.033,2517,1501,3657
$GC,3975,-0.87,-194.7,480.6,-7.5,554,3980,0.17,2.08,0.00,0.000,4,0.059,0.051,2433,2896,3655
$GC,4029,-0.87,-194.7,486.3,-11.0,558,4036,0.00,2.05,0.00,0.000,6,0.000,0.041,2434,1522,3654
$GC,4349,-0.73,-194.7,527.8,-13.7,579,4353,0.20,1.98,0.00,0.000,4,0.142,0.051,2498,205,3652
$GC,4416,-0.82,-194.7,535.5,-10.5,582,4420,0.00,1.90,0.00,0.000,6,0.000,0.035,2494,1511,3652
$GC,4748,-0.94,-194.7,567.7,-9.9,598,4753,0.17,2.08,0.00,0.000,4,0.061,0.049,2412,2897,3649
$GC,4813,-0.85,-194.7,576.6,-13.7,601,4818,0.15,2.05,0.00,0.000,6,0.136,0.038,2463,1524,3648
$GC,5141,-0.85,-194.7,613.7,-10.5,617,5144,0.00,2.00,0.00,0.000,4,0.000,0.054,2463,198,3646
$GC,5246,-0.85,-194.7,625.8,-11.3,621,5253,0.00,1.98,0.00,0.000,6,0.000,0.036,2463,1524,3644
$GC,5562,-0.85,-194.7,658.6,-11.0,637,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1524,3642
$GC,5871,-0.85,-194.7,692.2,-10.7,652,5875,0.00,2.03,0.00,0.000,4,0.000,0.056,2463,198,3639
$GC,5984,-0.85,-194.7,705.2,-12.2,657,5987,0.00,1.95,0.00,0.000,6,0.000,0.038,2463,1520,3639
$GC,6316,-0.85,-194.7,738.2,-9.5,673,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1522,3636
$GC,6625,-0.89,-194.7,765.2,-8.6,688,6629,0.00,2.10,0.00,0.000,4,0.000,0.055,2464,2904,3634
$GC,6693,-1.03,-194.7,770.3,-7.4,691,6698,0.17,2.05,0.00,0.000,6,0.058,0.041,2386,1523,3634
$GC,7026,-0.78,-194.7,815.9,-14.5,707,7030,0.30,2.03,0.00,0.000,4,0.154,0.057,2482,194,3632
$GC,7173,-0.83,-194.7,831.0,-10.3,713,7179,0.00,1.95,0.00,0.000,6,0.000,0.040,2481,1514,3631
$GC,7488,-0.94,-194.7,859.2,-8.8,729,7490,0.12,0.00,0.00,0.000,6,0.074,0.000,2422,1516,3629
$GC,7797,-0.83,-194.7,895.2,-11.6,744,7799,0.17,0.00,0.00,0.000,6,0.151,0.000,2473,1517,3627
$GC,8107,-0.92,-194.7,918.4,-7.2,759,8110,0.00,2.10,0.00,0.000,4,0.000,0.057,2470,2895,3625
$GC,8162,-1.08,-194.7,922.8,-7.9,761,8167,0.22,2.08,0.00,0.000,6,0.055,0.044,2372,1506,3625
$GC,8484,-0.79,-194.7,967.4,-14.2,777,8488,0.32,2.00,0.00,0.000,4,0.160,0.058,2477,199,3624
$GC,8573,-0.79,-194.7,976.2,-9.0,781,8577,0.00,1.92,0.00,0.000,6,0.000,0.041,2470,1496,3624
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8763,-0.20,0.0,990.6,7.7,790,8929,0.62,0.00,162.55,1.480,6,0.123,0.000,2671,1759,2863
$STATE,8929,end apogee,CONTROL_FINISHED_OK
$STATE,8929,begin climb
$GC,8931,0.94,194.7,994.6,0.0,798,9111,1.02,2.40,173.30,1.427,4,0.040,0.057,3069,345,2068
$GC,9128,0.29,194.7,970.4,24.6,808,9134,0.88,2.28,0.00,0.000,6,0.177,0.041,2839,1739,2065
$GC,9449,0.49,253.4,935.5,8.8,824,9507,0.17,2.33,51.80,1.380,4,0.061,0.057,2934,339,1829
$GC,9530,0.34,253.4,924.5,15.6,827,9535,0.30,2.22,0.00,0.000,6,0.146,0.042,2852,1742,1826
$GC,9858,0.52,274.8,887.2,10.2,843,9883,0.17,2.33,19.50,1.322,4,0.060,0.057,2928,3162,1741
$GC,9928,0.40,274.8,876.7,16.3,846,9932,0.25,2.17,0.00,0.000,6,0.150,0.043,2871,1744,1739
$GC,10259,0.51,274.8,834.1,13.5,862,10263,0.10,2.20,0.00,0.000,4,0.077,0.056,2932,336,1737
$GC,10290,0.41,274.8,829.0,16.8,863,10299,0.17,2.17,0.00,0.000,6,0.139,0.043,2876,1745,1736
$GC,10607,0.51,274.8,789.9,11.6,879,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1747,1735
$GC,10915,0.59,274.8,754.4,11.6,894,10920,0.15,2.20,0.00,0.000,4,0.065,0.056,2953,332,1735
$GC,10941,0.49,274.8,750.5,15.0,895,10946,0.15,2.17,0.00,0.000,6,0.147,0.044,2905,1751,1735
$GC,11262,0.49,274.8,710.0,12.5,911,11266,0.00,2.15,0.00,0.000,4,0.000,0.056,2904,3154,1734
$GC,11339,0.49,274.8,699.7,12.8,914,11344,0.00,2.15,0.00,0.000,6,0.000,0.044,2913,1745,1733
$GC,11660,0.49,274.8,659.3,11.8,930,11664,0.00,2.15,0.00,0.000,4,0.000,0.056,2923,347,1733
$GC,11686,0.44,274.8,655.9,12.5,931,11691,0.12,2.15,0.00,0.000,6,0.140,0.043,2883,1757,1733
$GC,12015,0.57,314.5,624.9,9.5,947,12054,0.12,0.00,34.60,1.248,6,0.071,0.000,2940,1757,1580
$GC,12363,0.47,314.5,574.9,14.4,964,12365,0.17,0.00,0.00,0.000,6,0.150,0.000,2893,1758,1575
$GC,12671,0.57,314.5,540.2,11.4,979,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1758,1574
$GC,12980,0.67,314.5,503.2,11.7,994,12985,0.17,2.20,0.00,0.000,4,0.061,0.055,2981,339,1574
$GC,13001,0.62,314.5,500.1,14.0,995,13006,0.12,2.15,0.00,0.000,6,0.153,0.041,2941,1750,1573
$GC,13326,0.54,314.5,449.7,15.5,1025,13330,0.00,2.15,0.00,0.000,4,0.000,0.053,2950,348,1573
$GC,13349,0.46,314.5,446.2,16.4,1027,13353,0.22,2.10,0.00,0.000,6,0.141,0.041,2886,1751,1573
$GC,13673,0.72,379.6,414.7,8.5,1057,13740,0.20,2.33,56.05,1.091,4,0.056,0.052,2995,343,1313
$GC,13767,0.50,379.6,399.4,18.8,1065,13774,0.30,2.20,0.00,0.000,6,0.142,0.040,2893,1744,1311
$GC,14093,0.79,430.7,364.9,9.1,1096,14143,0.25,2.25,44.75,1.030,4,0.051,0.052,3025,343,1107
$GC,14179,0.51,430.7,347.4,24.4,1103,14184,0.43,2.15,0.00,0.000,6,0.145,0.040,2903,1727,1104
$GC,14504,0.78,447.3,307.2,10.4,1133,14527,0.22,2.17,15.50,0.939,4,0.049,0.051,3028,345,1038
$GC,14577,0.54,447.3,293.3,22.1,1142,14584,0.40,2.08,0.00,0.000,6,0.143,0.038,2915,1717,1036
$GC,14922,0.93,499.6,253.5,9.0,1203,14979,0.28,2.22,46.12,0.924,4,0.046,0.055,3064,352,824
$GC,15042,0.66,499.6,226.7,23.8,1223,15049,0.40,2.03,0.00,0.000,6,0.141,0.037,2948,1686,822
$GC,15387,0.94,518.3,182.5,10.3,1284,15413,0.20,0.00,17.00,0.828,6,0.051,0.000,3054,1687,748
$GC,15752,0.88,518.3,107.3,17.7,1348,15758,0.00,2.05,0.00,0.000,4,0.000,0.048,3054,343,746
$GC,15782,0.84,518.3,101.8,17.3,1353,15789,0.17,2.00,0.00,0.000,6,0.135,0.034,3003,1689,746
$GC,16127,1.12,539.7,62.6,10.2,1414,16153,0.22,2.08,19.30,0.723,4,0.048,0.046,3130,339,661
$GC,16206,0.90,539.7,47.1,23.0,1427,16214,0.28,2.00,0.00,0.000,6,0.136,0.031,3029,1682,659
$GC,16553,1.12,539.7,4.9,13.1,1488,16559,0.20,0.00,0.00,0.000,6,0.051,0.000,3135,1684,659
$STATE,16563,end climb,SURFACE_DEPTH_REACHED
$STATE,16563,begin surface coast
$FINISH,0.8,1.022183
$STATE,16587,end surface coast,CONTROL_FINISHED_OK
$STATE,16587,begin surface
$SM_CCo,16663,0.00,0.000,0,0,658,540.64
$SM_GC,1.50,7.93,0.00,0.00,0.042,0.000,0.000,165,1489,658,-8.03,-0.31,540.64
$IRIDIUM_FIX,2515.12,12316.93,280898,060619
$TT8_MAMPS,0.027612
$HUMID,1460
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.80
$XPDR_PINGS,102
$24V_AH,23.4,19.023
$10V_AH,10.7,11.617
$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,31.325,125.800,640.475,0.000,0.000,25.459,37.016,212.517,33.500,0.000,0.000,17.267,2663.230,10157.979,768.932,2994.706,457.722,0.000,2121.683,0.000,2952.422,0.000,54.405,0.000
$DEVICE_MAMPS,234.702,58.292,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.404,1008.984,1698.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85216,1494
$CAP_FILE_SIZE,170668,0
$CFSIZE,260165632,228896768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.192, 79.8,1
$GPS,030609,155837,2528.080,12317.703,29,1.4,29,-3.8