version: 66.04
glider: 166
mission: 2
dive: 508
start: 8 18 109 8 5 16
data:
$ID,166
$MISSION,2
$DIVE,508
$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,-17470.125
$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,37
$R_STBD_OVSHOOT,62
$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
$GPS1,075736,2446.102,12246.847,38,1.1,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.2
$GPS2,080455,2446.472,12246.930,11,1.2,16,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,250.5,66858,-13.9,-10.000
$D_GRID,967
$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,15,-0.93,-243.4,0.0,0.0,0,81,0.00,0.00,-63.35,0.000,2,0.000,0.000,144,2099,2127
$GC,86,-0.93,-243.4,3.3,-6.9,10,150,9.52,2.10,-46.15,0.000,4,0.219,0.056,2501,3442,3940
$GC,281,-0.56,-243.4,53.8,-27.8,43,289,0.35,2.08,0.00,0.000,6,0.131,0.028,2639,2028,3941
$GC,629,-0.56,-243.4,96.6,-9.8,104,636,0.00,2.03,0.00,0.000,4,0.000,0.036,2637,645,3942
$GC,679,-0.60,-243.4,102.1,-10.9,112,687,0.00,2.05,0.00,0.000,6,0.000,0.030,2626,2060,3942
$GC,1028,-0.65,-243.4,142.0,-11.5,173,1034,0.00,2.05,0.00,0.000,4,0.000,0.035,2627,666,3943
$GC,1087,-0.71,-243.4,149.1,-11.6,183,1094,0.00,2.05,0.00,0.000,6,0.000,0.031,2619,2051,3943
$GC,1435,-0.80,-243.4,181.4,-7.8,244,1443,0.15,2.05,0.00,0.000,4,0.055,0.035,2542,660,3943
$GC,1484,-0.65,-243.4,187.6,-14.0,252,1492,0.22,2.03,0.00,0.000,6,0.132,0.031,2605,2054,3943
$GC,1833,-0.73,-243.4,218.3,-8.9,313,1839,0.00,2.12,0.00,0.000,4,0.000,0.044,2599,3463,3942
$GC,1859,-0.82,-243.4,220.7,-8.9,317,1866,0.12,2.03,0.00,0.000,6,0.061,0.028,2532,2043,3942
$GC,2205,-0.71,-243.4,270.7,-13.8,378,2212,0.17,2.03,0.00,0.000,4,0.128,0.036,2590,667,3941
$GC,2325,-0.77,-243.4,280.6,-7.6,398,2331,0.00,2.03,0.00,0.000,6,0.000,0.032,2588,2057,3941
$GC,2671,-0.86,-243.4,301.7,-6.3,457,2679,0.12,0.00,0.00,0.000,6,0.062,0.000,2516,2057,3939
$GC,2999,-0.77,-243.4,343.0,-12.8,488,3007,0.20,0.00,0.00,0.000,6,0.124,0.000,2577,2057,3937
$GC,3330,-0.84,-243.4,368.6,-8.5,519,3333,0.00,2.10,0.00,0.000,4,0.000,0.040,2577,670,3935
$GC,3370,-0.93,-243.4,372.6,-8.6,522,3376,0.15,2.03,0.00,0.000,6,0.060,0.033,2496,2043,3935
$GC,3698,-0.79,-243.4,412.8,-9.3,553,3703,0.20,2.08,0.00,0.000,4,0.123,0.041,2563,688,3933
$GC,3776,-0.84,-243.4,422.2,-10.5,559,3783,0.00,2.00,0.00,0.000,6,0.000,0.037,2562,2021,3932
$GC,4102,-0.91,-243.4,457.2,-12.0,590,4104,0.12,0.00,0.00,0.000,6,0.064,0.000,2491,2021,3929
$GC,4422,-0.79,-243.4,506.3,-15.2,618,4426,0.20,2.08,0.00,0.000,4,0.126,0.044,2559,688,3927
$GC,4485,-0.85,-243.4,513.7,-9.7,620,4493,0.00,2.03,0.00,0.000,6,0.000,0.038,2559,2033,3926
$GC,4801,-0.91,-243.4,541.1,-8.4,636,4805,0.00,2.22,0.00,0.000,4,0.000,0.053,2553,3465,3924
$GC,4837,-1.00,-243.4,544.0,-8.1,637,4842,0.15,2.10,0.00,0.000,6,0.057,0.034,2480,2043,3924
$GC,5157,-0.86,-243.4,588.9,-15.0,652,5162,0.17,2.12,0.00,0.000,4,0.133,0.046,2539,657,3922
$GC,5237,-0.86,-243.4,597.8,-9.6,655,5243,0.00,2.08,0.00,0.000,6,0.000,0.041,2536,2022,3921
$GC,5553,-0.86,-243.4,620.2,-6.4,671,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2022,3919
$GC,5862,-0.86,-243.4,640.1,-6.2,686,5866,0.00,2.10,0.00,0.000,4,0.000,0.048,2536,669,3916
$GC,5959,-0.86,-243.4,647.2,-7.0,690,5963,0.00,2.08,0.00,0.000,6,0.000,0.043,2533,2021,3915
$GC,6286,-0.86,-243.4,673.6,-8.6,706,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2021,3913
$GC,6598,-0.89,-243.4,704.0,-11.0,721,6602,0.00,2.12,0.00,0.000,4,0.000,0.051,2534,659,3911
$GC,6676,-0.89,-243.4,714.0,-12.5,724,6680,0.00,2.10,0.00,0.000,6,0.000,0.044,2533,2020,3910
$GC,6998,-0.89,-243.4,749.4,-10.8,740,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2020,3909
$GC,7310,-0.92,-243.4,775.4,-6.5,755,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2020,3906
$GC,7617,-0.95,-243.4,798.4,-8.6,770,7621,0.00,2.30,0.00,0.000,4,0.000,0.062,2530,3460,3905
$GC,7651,-1.02,-243.4,801.3,-8.7,771,7657,0.12,2.17,0.00,0.000,6,0.064,0.039,2473,2024,3904
$GC,7970,-0.90,-243.4,840.9,-13.2,787,7975,0.17,2.15,0.00,0.000,4,0.131,0.053,2531,656,3903
$GC,8032,-0.90,-243.4,848.4,-10.6,790,8036,0.00,2.12,0.00,0.000,6,0.000,0.046,2531,2017,3903
$GC,8367,-0.93,-243.4,883.5,-11.3,806,8371,0.00,2.33,0.00,0.000,4,0.000,0.063,2531,3465,3901
$GC,8412,-1.02,-243.4,888.6,-10.8,808,8417,0.12,2.20,0.00,0.000,6,0.065,0.039,2473,2012,3901
$GC,8741,-0.91,-243.4,933.3,-13.6,824,8746,0.17,2.12,0.00,0.000,4,0.130,0.053,2533,663,3899
$GC,8868,-0.95,-243.4,946.3,-9.9,829,8874,0.00,2.12,0.00,0.000,6,0.000,0.048,2532,2023,3898
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9108,-0.23,0.0,968.5,8.7,841,9322,0.65,0.00,209.52,1.451,6,0.104,0.000,2746,1695,2945
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9323,begin climb
$GC,9327,0.93,243.4,981.6,0.0,852,9555,1.00,0.00,220.10,1.404,6,0.041,0.000,3135,1694,1952
$GC,9854,0.51,243.4,903.0,21.3,877,9859,0.50,2.28,0.00,0.000,4,0.167,0.059,2990,3109,1944
$GC,10002,0.42,243.4,882.8,11.7,883,10009,0.17,2.15,0.00,0.000,6,0.149,0.044,2953,1716,1942
$GC,10321,0.51,322.8,857.3,7.8,899,10408,0.00,2.35,74.88,1.328,4,0.000,0.056,2954,3102,1628
$GC,10545,0.72,443.4,840.9,6.7,909,10674,0.25,2.15,116.07,1.314,6,0.049,0.044,3069,1722,1137
$GC,10981,0.53,443.4,760.0,20.5,930,10986,0.25,2.22,0.00,0.000,4,0.144,0.057,2992,3112,1132
$GC,11211,0.57,443.4,729.5,12.7,940,11215,0.00,2.10,0.00,0.000,6,0.000,0.044,3001,1737,1132
$GC,11532,0.57,443.4,687.6,13.9,956,11536,0.00,2.17,0.00,0.000,4,0.000,0.057,3000,3111,1130
$GC,11657,0.57,443.4,670.0,13.8,961,11660,0.00,2.05,0.00,0.000,6,0.000,0.042,3010,1774,1130
$GC,11979,0.57,443.4,628.5,11.9,977,11982,0.00,2.10,0.00,0.000,4,0.000,0.058,3010,3103,1131
$GC,12029,0.57,443.4,621.4,13.8,979,12033,0.00,2.00,0.00,0.000,6,0.000,0.042,3019,1790,1130
$GC,12358,0.53,443.4,572.9,14.4,995,12362,0.00,2.10,0.00,0.000,4,0.000,0.057,3019,3109,1130
$GC,12495,0.49,443.4,549.9,17.6,1001,12499,0.17,2.00,0.00,0.000,6,0.136,0.042,2979,1808,1130
$GC,12830,0.74,534.0,518.6,7.5,1017,12920,0.20,2.15,84.22,1.161,4,0.051,0.055,3080,3110,766
$GC,12983,0.60,534.0,492.5,18.2,1025,12990,0.28,2.03,0.00,0.000,6,0.142,0.040,3011,1808,766
$GC,13309,0.68,534.0,454.2,12.3,1056,13312,0.00,2.05,0.00,0.000,4,0.000,0.054,3010,3107,763
$GC,13393,0.79,534.0,443.6,11.6,1063,13400,0.17,1.95,0.00,0.000,6,0.055,0.040,3100,1825,763
$GC,13719,0.62,534.0,374.8,19.6,1094,13723,0.25,2.03,0.00,0.000,4,0.144,0.054,3017,3104,763
$GC,13805,0.73,553.7,363.5,9.5,1101,13829,0.00,1.95,18.60,1.018,6,0.000,0.040,3023,1816,687
$GC,14146,0.91,639.1,338.7,7.6,1133,14205,0.20,2.12,52.78,1.011,4,0.049,0.054,3127,3104,455
$GC,14315,0.73,639.1,301.5,24.2,1148,14319,0.28,1.92,0.00,0.000,6,0.141,0.039,3056,1856,452
$GC,14661,0.77,639.1,252.3,10.7,1208,14667,0.00,1.98,0.00,0.000,4,0.000,0.052,3056,3100,451
$GC,14696,0.77,639.1,247.9,11.8,1214,14705,0.00,1.90,0.00,0.000,6,0.000,0.039,3062,1866,451
$GC,15047,0.81,639.1,205.3,11.0,1275,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1866,451
$GC,15392,0.87,639.1,168.4,10.4,1336,15399,0.10,1.92,0.00,0.000,4,0.071,0.048,3128,3113,451
$GC,15446,0.75,639.1,160.0,17.3,1345,15453,0.22,1.90,0.00,0.000,6,0.129,0.037,3066,1866,451
$GC,15792,0.89,639.1,116.7,12.5,1406,15801,0.12,2.45,0.00,0.000,4,0.061,0.048,3152,289,451
$GC,15830,0.89,639.1,109.8,19.3,1412,15838,0.17,2.42,0.00,0.000,6,0.122,0.037,3099,1894,450
$GC,16178,1.27,818.4,65.6,5.0,1473,16185,0.32,1.85,0.00,0.000,4,0.038,0.044,3257,3111,451
$GC,16310,1.13,818.4,44.5,16.9,1495,16317,0.22,1.88,0.00,0.000,6,0.131,0.035,3181,1868,451
$GC,16656,1.24,820.5,3.4,9.9,1556,16662,0.10,0.00,0.00,0.000,6,0.069,0.000,3248,1867,451
$STATE,16666,end climb,SURFACE_DEPTH_REACHED
$STATE,16666,begin surface coast
$FINISH,0.9,1.007959
$STATE,16701,end surface coast,CONTROL_FINISHED_OK
$STATE,16701,begin surface
$SM_CCo,16781,0.00,0.000,0,0,450,612.02
$SM_GC,1.73,8.30,0.00,0.00,0.043,0.000,0.000,166,2095,450,-8.28,0.96,612.02
$IRIDIUM_FIX,2432.32,12246.82,121198,040454
$TT8_MAMPS,0.026845
$HUMID,1747
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.00
$XPDR_PINGS,180
$24V_AH,23.0,113.419
$10V_AH,10.5,73.785
$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,26.425,130.350,776.175,0.000,0.000,24.853,33.602,207.338,52.750,0.000,0.000,16.421,2772.112,9513.574,852.566,3290.326,776.574,0.000,2347.121,0.000,3256.069,0.000,52.736,0.000
$DEVICE_MAMPS,219.362,62.894,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.302,1084.792,1825.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91571,1564
$CAP_FILE_SIZE,172441,0
$CFSIZE,260165632,193363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.577, 10.2,1
$GPS,180809,124606,2449.906,12245.252,30,0.9,30,-3.5