version: 66.04
glider: 166
mission: 2
dive: 524
start: 8 21 109 19 7 52
data:
$ID,166
$MISSION,2
$DIVE,524
$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,-17767.041
$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,65
$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
$GPS1,185436,2457.366,12232.784,28,1.0,28,-3.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.7
$GPS2,190731,2457.173,12232.980,10,1.6,15,-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,327.6,53237,-13.9,-10.000
$D_GRID,1463
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-81.95,0.000,2,0.000,0.000,110,2113,2266
$GC,107,-0.93,-243.4,3.3,-6.2,12,166,9.55,2.15,-43.80,0.000,4,0.219,0.060,2503,3450,3940
$GC,230,-0.57,-243.4,29.7,-24.6,32,237,0.38,2.10,0.00,0.000,6,0.130,0.031,2637,2042,3941
$GC,578,-0.68,-243.4,58.6,-8.7,93,585,0.12,2.05,0.00,0.000,4,0.064,0.034,2565,651,3942
$GC,673,-0.55,-243.4,71.2,-15.2,109,680,0.28,2.05,0.00,0.000,6,0.128,0.032,2644,2049,3942
$GC,1020,-0.73,-243.4,95.1,-6.9,170,1028,0.17,2.15,0.00,0.000,4,0.051,0.044,2543,3463,3942
$GC,1049,-0.77,-243.4,97.9,-9.5,174,1057,0.00,2.08,0.00,0.000,6,0.000,0.028,2543,2056,3942
$GC,1400,-0.64,-243.4,141.2,-12.5,235,1406,0.20,0.00,0.00,0.000,6,0.131,0.000,2609,2054,3942
$GC,1749,-0.76,-243.4,160.1,-5.3,296,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2054,3941
$GC,2095,-0.89,-243.4,174.3,-3.6,357,2102,0.17,2.10,0.00,0.000,4,0.054,0.038,2509,679,3940
$GC,2121,-0.89,-243.4,176.2,-6.8,361,2128,0.10,2.08,0.00,0.000,6,0.150,0.034,2530,2082,3939
$GC,2468,-0.80,-243.4,222.4,-11.8,422,2476,0.12,2.12,0.00,0.000,4,0.136,0.038,2568,670,3938
$GC,2564,-0.85,-243.4,232.0,-9.6,438,2571,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,2068,3937
$GC,2912,-0.88,-243.4,268.8,-11.1,499,2918,0.00,2.12,0.00,0.000,4,0.000,0.040,2561,666,3936
$GC,2949,-0.88,-243.4,272.9,-10.9,505,2955,0.00,2.08,0.00,0.000,6,0.000,0.036,2559,2050,3936
$GC,3294,-0.92,-243.4,311.1,-11.5,558,3298,0.10,2.10,0.00,0.000,4,0.073,0.040,2501,672,3934
$GC,3324,-0.84,-243.4,315.2,-15.1,560,3331,0.20,2.08,0.00,0.000,6,0.127,0.036,2552,2059,3934
$GC,3652,-0.84,-243.4,349.7,-9.1,591,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2059,3932
$GC,3981,-0.84,-243.4,386.3,-10.7,622,3985,0.00,2.12,0.00,0.000,4,0.000,0.043,2552,670,3929
$GC,4016,-0.84,-243.4,390.6,-11.6,625,4020,0.00,2.10,0.00,0.000,6,0.000,0.038,2548,2053,3929
$GC,4351,-0.84,-243.4,421.5,-8.6,656,4355,0.00,2.20,0.00,0.000,4,0.000,0.054,2548,3459,3928
$GC,4397,-0.90,-243.4,425.7,-8.4,660,4401,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,2057,3927
$GC,4729,-0.90,-243.4,454.3,-9.4,691,4732,0.00,2.12,0.00,0.000,4,0.000,0.043,2548,657,3925
$GC,4820,-0.90,-243.4,463.0,-9.7,699,4824,0.00,2.12,0.00,0.000,6,0.000,0.038,2545,2053,3925
$GC,5152,-0.90,-243.4,492.0,-7.9,730,5155,0.00,2.22,0.00,0.000,4,0.000,0.056,2545,3465,3923
$GC,5202,-0.98,-243.4,495.8,-7.3,734,5211,0.12,2.10,0.00,0.000,6,0.063,0.035,2482,2044,3922
$GC,5520,-0.85,-243.4,533.1,-10.7,752,5524,0.17,2.10,0.00,0.000,4,0.131,0.045,2541,670,3920
$GC,5567,-0.85,-243.4,537.2,-8.0,754,5571,0.00,2.12,0.00,0.000,6,0.000,0.041,2538,2054,3920
$GC,5900,-0.85,-243.4,562.9,-8.2,770,5904,0.00,2.15,0.00,0.000,4,0.000,0.048,2538,669,3919
$GC,5940,-0.85,-243.4,566.7,-9.6,771,5946,0.00,2.12,0.00,0.000,6,0.000,0.042,2536,2051,3918
$GC,6260,-0.85,-243.4,597.5,-9.7,787,6263,0.00,2.15,0.00,0.000,4,0.000,0.048,2538,669,3917
$GC,6299,-0.85,-243.4,601.9,-10.4,788,6305,0.00,2.12,0.00,0.000,6,0.000,0.043,2536,2051,3916
$GC,6616,-0.85,-243.4,631.2,-9.3,804,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2051,3914
$GC,6925,-0.85,-243.4,663.0,-10.2,819,6929,0.00,2.28,0.00,0.000,4,0.000,0.061,2542,3471,3912
$GC,6954,-0.88,-243.4,666.0,-10.7,820,6957,0.00,2.15,0.00,0.000,6,0.000,0.038,2540,2048,3912
$GC,7283,-0.91,-243.4,693.0,-7.1,836,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2048,3910
$GC,7592,-0.94,-243.4,715.3,-7.2,851,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2048,3909
$GC,7900,-0.98,-243.4,739.2,-8.1,866,7902,0.10,0.00,0.00,0.000,6,0.075,0.000,2489,2048,3908
$GC,8213,-0.87,-243.4,775.5,-11.5,881,8215,0.15,0.00,0.00,0.000,6,0.133,0.000,2538,2048,3906
$GC,8518,-0.87,-243.4,799.1,-7.6,896,8522,0.00,2.20,0.00,0.000,4,0.000,0.054,2533,654,3905
$GC,8598,-0.87,-243.4,805.4,-8.4,899,8601,0.00,2.20,0.00,0.000,6,0.000,0.048,2536,2053,3904
$GC,8921,-0.87,-243.4,832.5,-8.6,915,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2053,3903
$GC,9229,-0.87,-243.4,858.5,-8.4,930,9232,0.00,2.20,0.00,0.000,4,0.000,0.053,2537,666,3902
$GC,9281,-0.87,-243.4,863.1,-9.0,932,9285,0.00,2.20,0.00,0.000,6,0.000,0.051,2539,2053,3901
$GC,9608,-0.87,-243.4,890.8,-8.3,948,9612,0.00,2.20,0.00,0.000,4,0.000,0.053,2538,665,3900
$GC,9637,-0.87,-243.4,893.5,-9.7,949,9640,0.00,2.17,0.00,0.000,6,0.000,0.050,2540,2042,3900
$GC,9966,-0.87,-243.4,922.3,-9.6,965,9970,0.00,2.20,0.00,0.000,4,0.000,0.054,2538,658,3899
$GC,10005,-0.87,-243.4,926.6,-10.2,966,10013,0.00,2.17,0.00,0.000,6,0.000,0.048,2541,2040,3899
$GC,10323,-0.87,-243.4,957.3,-9.9,982,10327,0.00,2.17,0.00,0.000,4,0.000,0.054,2540,666,3898
$GC,10379,-0.87,-243.4,963.3,-10.6,984,10383,0.00,2.17,0.00,0.000,6,0.000,0.049,2541,2038,3897
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10698,begin apogee
$GC,10706,-0.23,0.0,991.8,9.4,1000,10922,0.65,0.00,211.02,1.483,6,0.109,0.000,2749,1699,2945
$STATE,10924,end apogee,CONTROL_FINISHED_OK
$STATE,10924,begin climb
$GC,10927,0.93,243.4,1005.1,0.0,1011,11161,1.02,2.53,225.75,1.435,4,0.044,0.060,3126,3097,1951
$GC,11270,0.55,243.4,966.4,20.7,1026,11278,0.50,2.20,0.00,0.000,6,0.166,0.045,2998,1693,1945
$GC,11587,0.53,263.6,934.3,9.4,1042,11619,0.00,2.35,20.50,1.227,4,0.000,0.060,2998,3106,1869
$GC,11731,0.46,263.6,919.8,10.4,1048,11736,0.15,2.17,0.00,0.000,6,0.145,0.044,2967,1703,1867
$GC,12053,0.59,344.2,895.1,7.8,1064,12139,0.12,2.40,75.70,1.398,4,0.071,0.059,3027,3104,1541
$GC,12263,0.49,344.2,868.3,13.8,1073,12268,0.22,2.15,0.00,0.000,6,0.141,0.044,2975,1720,1537
$GC,12580,0.57,359.2,838.4,9.6,1088,12602,0.00,2.28,14.48,1.289,4,0.000,0.060,2975,3104,1480
$GC,12712,0.62,359.2,824.5,11.1,1093,12719,0.10,2.12,0.00,0.000,6,0.074,0.044,3036,1735,1479
$GC,13029,0.52,359.2,776.6,15.4,1109,13034,0.17,2.20,0.00,0.000,4,0.141,0.058,2986,3108,1478
$GC,13164,0.52,359.2,759.0,11.9,1115,13168,0.00,2.10,0.00,0.000,6,0.000,0.044,2994,1745,1477
$GC,13493,0.52,359.2,723.0,10.8,1131,13496,0.00,2.17,0.00,0.000,4,0.000,0.058,2994,3108,1477
$GC,13630,0.52,359.2,706.8,11.1,1137,13634,0.00,2.08,0.00,0.000,6,0.000,0.044,3003,1772,1477
$GC,13964,0.52,359.2,670.5,10.7,1153,13967,0.00,2.12,0.00,0.000,4,0.000,0.058,3003,3102,1476
$GC,14111,0.52,359.2,653.4,11.5,1159,14114,0.00,2.03,0.00,0.000,6,0.000,0.044,3013,1792,1476
$GC,14433,0.52,359.2,613.0,12.4,1175,14437,0.00,2.10,0.00,0.000,4,0.000,0.058,3013,3111,1476
$GC,14637,0.47,359.2,585.8,13.6,1184,14641,0.17,2.03,0.00,0.000,6,0.137,0.043,2974,1805,1477
$GC,14970,0.60,380.3,553.7,9.4,1200,14996,0.12,2.12,20.30,1.193,4,0.067,0.058,3039,3097,1394
$GC,15128,0.51,380.3,529.2,16.2,1207,15132,0.22,1.98,0.00,0.000,6,0.139,0.040,2985,1811,1392
$GC,15455,0.61,380.3,491.6,10.2,1226,15459,0.00,2.05,0.00,0.000,4,0.000,0.056,2985,3106,1391
$GC,15592,0.68,380.3,477.4,10.0,1238,15596,0.12,1.98,0.00,0.000,6,0.064,0.042,3054,1824,1391
$GC,15923,0.58,380.3,431.5,13.3,1269,15928,0.17,2.05,0.00,0.000,4,0.145,0.055,2999,3107,1391
$GC,15995,0.70,441.8,425.0,8.3,1275,16063,0.12,1.95,56.97,1.111,6,0.064,0.042,3067,1844,1142
$GC,16383,0.59,441.8,375.0,15.1,1311,16387,0.20,2.03,0.00,0.000,4,0.144,0.055,3005,3109,1139
$GC,16596,0.67,441.8,353.9,10.4,1330,16600,0.00,1.88,0.00,0.000,6,0.000,0.041,3012,1883,1139
$GC,16932,0.74,441.8,317.4,13.1,1361,16936,0.12,1.92,0.00,0.000,4,0.065,0.053,3075,3106,1138
$GC,17016,0.62,441.8,300.1,19.2,1368,17022,0.20,1.88,0.00,0.000,6,0.133,0.040,3021,1896,1138
$GC,17366,0.69,452.0,250.9,9.7,1429,17380,0.00,1.98,9.50,0.886,4,0.000,0.053,3020,3109,1102
$GC,17430,0.77,458.9,244.4,9.8,1439,17443,0.12,1.83,8.10,0.841,6,0.064,0.039,3093,1901,1074
$GC,17785,0.65,458.9,188.1,17.4,1501,17791,0.20,1.90,0.00,0.000,4,0.144,0.051,3027,3107,1074
$GC,17816,0.65,458.9,182.4,15.3,1506,17823,0.00,1.85,0.00,0.000,6,0.000,0.038,3034,1904,1074
$GC,18164,0.74,458.9,149.6,11.6,1567,18171,0.00,2.55,0.00,0.000,4,0.000,0.050,3045,274,1074
$GC,18201,0.86,458.9,145.9,11.3,1573,18208,0.15,2.53,0.00,0.000,6,0.058,0.038,3128,1930,1072
$GC,18550,0.72,458.9,76.0,18.5,1634,18558,0.22,1.83,0.00,0.000,4,0.133,0.048,3055,3112,1072
$GC,18595,0.79,458.9,69.7,11.4,1641,18601,0.00,1.88,0.00,0.000,6,0.000,0.036,3061,1882,1072
$GC,18941,1.31,719.8,46.3,2.8,1702,19083,0.45,2.60,131.07,0.763,4,0.036,0.047,3274,281,455
$GC,19114,1.09,719.8,14.4,21.9,1729,19121,0.35,2.50,0.00,0.000,6,0.139,0.037,3172,1901,453
$STATE,19193,end climb,SURFACE_DEPTH_REACHED
$STATE,19193,begin surface coast
$FINISH,1.1,1.012340
$STATE,19221,end surface coast,CONTROL_FINISHED_OK
$STATE,19221,begin surface
$SM_CCo,19301,0.00,0.000,0,0,450,612.02
$SM_GC,1.77,7.97,0.00,0.00,0.032,0.000,0.000,157,2104,450,-8.28,1.22,612.02
$IRIDIUM_FIX,2448.93,12234.83,151198,191941
$TT8_MAMPS,0.027612
$HUMID,1761
$INTERNAL_PRESSURE,9.76082
$TCM_TEMP,22.00
$XPDR_PINGS,189
$24V_AH,22.3,118.321
$10V_AH,10.5,76.471
$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,25.850,162.575,773.400,0.000,0.000,59.051,77.086,375.905,55.250,0.000,0.000,15.756,3100.096,11307.487,856.615,3698.217,1089.064,0.000,2538.781,0.000,3645.111,0.000,54.386,0.000
$DEVICE_MAMPS,219.362,61.360,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1194.865,1225.966,2070.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101094,1747
$CAP_FILE_SIZE,198529,0
$CFSIZE,260165632,191795200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257, 99.4,1
$GPS,220809,003054,2458.688,12233.188,25,1.4,42,-3.6