version: 66.04
glider: 166
mission: 2
dive: 526
start: 8 22 109 5 30 42
data:
$ID,166
$MISSION,2
$DIVE,526
$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,-17797.564
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,052224,2458.824,12232.526,24,1.0,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.9
$GPS2,053020,2458.627,12232.821,12,1.1,12,-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,314.6,50564,-13.9,-10.000
$D_GRID,1439
$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,-81.68,0.000,2,0.000,0.000,141,2086,2238
$GC,107,-0.93,-243.4,3.4,-6.3,13,172,9.50,2.20,-44.92,0.000,4,0.219,0.058,2503,3459,3940
$GC,227,-0.52,-243.4,27.8,-25.9,32,234,0.50,2.08,0.00,0.000,6,0.144,0.029,2646,2025,3941
$GC,576,-0.52,-243.4,76.1,-10.4,93,582,0.00,2.20,0.00,0.000,4,0.000,0.045,2642,3468,3942
$GC,636,-0.62,-243.4,81.6,-8.4,103,642,0.00,2.03,0.00,0.000,6,0.000,0.028,2642,2057,3942
$GC,984,-0.77,-243.4,108.7,-6.8,164,991,0.17,2.17,0.00,0.000,4,0.050,0.043,2533,3466,3944
$GC,1011,-0.77,-243.4,110.8,-7.8,168,1018,0.15,2.03,0.00,0.000,6,0.128,0.027,2576,2038,3944
$GC,1358,-0.72,-243.4,144.3,-13.1,229,1365,0.00,2.03,0.00,0.000,4,0.000,0.036,2576,659,3945
$GC,1467,-0.72,-243.4,159.7,-13.8,248,1473,0.00,2.12,0.00,0.000,6,0.000,0.032,2574,2074,3945
$GC,1813,-0.72,-243.4,196.7,-10.7,309,1819,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,678,3945
$GC,1877,-0.72,-243.4,204.3,-12.0,320,1883,0.00,2.08,0.00,0.000,6,0.000,0.031,2574,2086,3945
$GC,2225,-0.76,-243.4,240.5,-8.9,381,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2086,3944
$GC,2570,-0.82,-243.4,272.1,-9.3,442,2577,0.00,2.10,0.00,0.000,4,0.000,0.038,2574,684,3943
$GC,2608,-0.86,-243.4,275.9,-10.1,448,2615,0.00,2.08,0.00,0.000,6,0.000,0.034,2577,2086,3943
$GC,2950,-0.93,-243.4,306.5,-8.9,502,2955,0.15,2.12,0.00,0.000,4,0.060,0.037,2497,682,3941
$GC,3076,-0.77,-243.4,323.9,-15.1,512,3085,0.25,2.08,0.00,0.000,6,0.127,0.035,2569,2072,3940
$GC,3403,-0.84,-243.4,359.2,-12.2,543,3407,0.00,2.15,0.00,0.000,4,0.000,0.051,2563,3465,3939
$GC,3452,-0.93,-243.4,364.7,-11.8,547,3456,0.12,2.03,0.00,0.000,6,0.061,0.030,2497,2069,3938
$GC,3782,-0.78,-243.4,414.4,-13.9,578,3787,0.20,2.12,0.00,0.000,4,0.129,0.039,2562,667,3936
$GC,3905,-0.83,-243.4,426.4,-9.2,588,3909,0.00,2.12,0.00,0.000,6,0.000,0.039,2557,2057,3935
$GC,4242,-0.88,-243.4,460.4,-10.3,619,4246,0.00,2.10,0.00,0.000,4,0.000,0.041,2558,681,3934
$GC,4289,-0.93,-243.4,465.9,-10.5,623,4293,0.00,2.10,0.00,0.000,6,0.000,0.037,2552,2068,3934
$GC,4631,-0.96,-243.4,502.4,-10.9,654,4635,0.12,2.12,0.00,0.000,4,0.065,0.041,2486,675,3931
$GC,4678,-0.81,-243.4,509.2,-15.8,656,4682,0.25,2.10,0.00,0.000,6,0.127,0.039,2561,2051,3931
$GC,5005,-0.87,-243.4,546.4,-10.5,672,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2051,3928
$GC,5317,-0.93,-243.4,573.5,-7.9,687,5318,0.12,0.00,0.00,0.000,6,0.064,0.000,2498,2051,3927
$GC,5623,-0.84,-243.4,606.4,-10.8,702,5628,0.17,2.12,0.00,0.000,4,0.130,0.043,2554,681,3926
$GC,5685,-0.91,-243.4,611.7,-7.9,704,5692,0.00,2.08,0.00,0.000,6,0.000,0.041,2557,2041,3925
$GC,6002,-0.96,-243.4,633.4,-6.4,720,6007,0.15,2.28,0.00,0.000,4,0.061,0.057,2488,3468,3924
$GC,6030,-0.89,-243.4,636.0,-9.9,721,6035,0.15,2.12,0.00,0.000,6,0.135,0.034,2529,2044,3923
$GC,6359,-0.85,-243.4,670.3,-10.9,737,6363,0.00,2.12,0.00,0.000,4,0.000,0.047,2525,663,3921
$GC,6473,-0.80,-243.4,684.7,-13.1,742,6478,0.12,2.12,0.00,0.000,6,0.134,0.044,2562,2031,3921
$GC,6806,-0.86,-243.4,718.8,-9.5,758,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2032,3918
$GC,7110,-0.91,-243.4,746.1,-8.4,773,7112,0.12,0.00,0.00,0.000,6,0.064,0.000,2503,2032,3917
$GC,7420,-0.81,-243.4,784.9,-13.6,788,7422,0.20,0.00,0.00,0.000,6,0.129,0.000,2562,2032,3916
$GC,7729,-0.86,-243.4,816.3,-9.8,803,7733,0.00,2.17,0.00,0.000,4,0.000,0.057,2561,666,3914
$GC,7757,-0.90,-243.4,819.7,-11.2,804,7761,0.00,2.15,0.00,0.000,6,0.000,0.046,2559,2038,3913
$GC,8087,-0.94,-243.4,850.6,-9.1,820,8089,0.12,0.00,0.00,0.000,6,0.067,0.000,2497,2038,3912
$GC,8395,-0.83,-243.4,888.6,-12.4,835,8397,0.17,0.00,0.00,0.000,6,0.133,0.000,2548,2038,3911
$GC,8704,-0.83,-243.4,915.8,-8.7,850,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2038,3910
$GC,9013,-0.83,-243.4,944.6,-9.6,865,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2038,3909
$GC,9321,-0.83,-243.4,971.1,-8.0,880,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2038,3907
$STATE,9586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9586,begin apogee
$GC,9596,-0.23,0.0,990.9,7.3,893,9811,0.60,0.00,211.75,1.480,6,0.103,0.000,2745,1699,2945
$STATE,9811,end apogee,CONTROL_FINISHED_OK
$STATE,9811,begin climb
$GC,9815,0.93,243.4,1000.2,0.0,904,10056,1.05,2.47,224.25,1.428,4,0.045,0.057,3139,296,1949
$GC,10068,0.57,243.4,975.4,20.6,915,10073,0.50,2.30,0.00,0.000,6,0.163,0.044,3006,1695,1947
$GC,10384,0.49,243.4,935.8,11.6,930,10388,0.00,2.25,0.00,0.000,4,0.000,0.058,3007,3104,1943
$GC,10643,0.38,243.4,904.1,11.9,941,10648,0.25,2.15,0.00,0.000,6,0.143,0.042,2945,1713,1941
$GC,10961,0.56,340.0,880.1,7.3,956,11068,0.17,2.38,90.68,1.365,4,0.060,0.058,3028,3098,1557
$GC,11325,0.44,340.0,829.5,15.2,972,11329,0.28,2.10,0.00,0.000,6,0.140,0.041,2960,1737,1553
$GC,11649,0.58,378.1,800.0,8.9,988,11705,0.15,2.28,39.28,1.227,4,0.061,0.058,3037,3102,1403
$GC,11938,0.45,378.1,754.3,16.3,1001,11943,0.30,2.08,0.00,0.000,6,0.140,0.041,2962,1759,1401
$GC,12269,0.70,487.2,727.0,7.0,1017,12425,0.20,2.28,114.95,1.197,4,0.051,0.058,3065,3103,957
$GC,12617,0.55,487.2,659.4,20.2,1032,12624,0.28,2.05,0.00,0.000,6,0.140,0.042,2996,1771,954
$GC,12934,0.65,495.0,623.3,9.8,1048,12949,0.10,2.20,7.60,1.058,4,0.073,0.057,3051,3110,926
$GC,13034,0.54,495.0,607.9,16.5,1052,13039,0.22,2.05,0.00,0.000,6,0.140,0.041,2996,1779,926
$GC,13357,0.64,495.0,572.5,11.6,1068,13360,0.00,2.10,0.00,0.000,4,0.000,0.056,2996,3102,925
$GC,13464,0.74,495.0,559.3,12.2,1072,13471,0.12,2.03,0.00,0.000,6,0.044,0.041,3075,1796,926
$GC,13783,0.61,495.0,496.1,20.2,1088,13788,0.20,2.10,0.00,0.000,4,0.140,0.055,3017,3111,926
$GC,13947,0.66,495.0,469.9,14.8,1102,13951,0.00,1.98,0.00,0.000,6,0.000,0.040,3024,1820,925
$GC,14283,0.66,495.0,420.7,15.2,1133,14287,0.00,2.03,0.00,0.000,4,0.000,0.055,3024,3101,924
$GC,14363,0.70,495.0,407.9,14.2,1140,14366,0.00,1.95,0.00,0.000,6,0.000,0.039,3033,1824,924
$GC,14698,0.70,495.0,359.2,15.3,1171,14702,0.00,2.03,0.00,0.000,4,0.000,0.053,3033,3105,924
$GC,14823,0.70,495.0,343.1,11.2,1182,14826,0.00,1.92,0.00,0.000,6,0.000,0.038,3041,1842,924
$GC,15151,0.70,495.0,295.8,15.0,1214,15158,0.00,2.03,0.00,0.000,4,0.000,0.051,3041,3127,924
$GC,15320,0.70,495.0,271.7,13.8,1243,15326,0.00,1.92,0.00,0.000,6,0.000,0.038,3050,1866,925
$GC,15666,0.70,495.0,222.8,14.6,1304,15672,0.00,2.00,0.00,0.000,4,0.000,0.054,3050,3107,925
$GC,15840,0.70,495.0,196.7,15.2,1334,15848,0.00,1.85,0.00,0.000,6,0.000,0.037,3059,1901,924
$GC,16188,0.70,495.0,146.7,12.4,1395,16195,0.00,1.90,0.00,0.000,4,0.000,0.049,3059,3100,925
$GC,16275,0.70,495.0,135.0,13.5,1410,16282,0.00,1.80,0.00,0.000,6,0.000,0.035,3067,1919,924
$GC,16624,0.77,526.5,96.6,9.1,1471,16656,0.00,0.00,29.42,0.822,6,0.000,0.000,3067,1919,797
$GC,16999,0.89,526.5,60.6,12.8,1536,17006,0.12,2.55,0.00,0.000,4,0.060,0.046,3152,271,796
$GC,17020,0.97,526.5,57.7,13.2,1539,17026,0.00,2.55,0.00,0.000,6,0.000,0.037,3151,1948,796
$GC,17367,0.97,526.5,10.0,13.0,1600,17373,0.00,2.58,0.00,0.000,4,0.000,0.043,3160,274,796
$STATE,17428,end climb,SURFACE_DEPTH_REACHED
$STATE,17428,begin surface coast
$FINISH,1.0,1.021897
$STATE,17456,end surface coast,CONTROL_FINISHED_OK
$STATE,17456,begin surface
$SM_CCo,17540,0.00,0.000,0,0,795,527.40
$SM_GC,1.90,8.02,0.00,0.00,0.038,0.000,0.000,153,2084,795,-8.28,0.65,527.40
$IRIDIUM_FIX,2448.93,12232.83,161198,000056
$TT8_MAMPS,0.026845
$HUMID,1769
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,22.50
$XPDR_PINGS,172
$24V_AH,22.4,118.926
$10V_AH,10.5,76.791
$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,25.350,128.600,717.925,0.000,0.000,25.565,30.920,237.532,51.000,0.000,0.000,12.479,2864.471,10065.482,821.294,3423.609,821.911,0.000,2366.844,0.000,3388.312,0.000,56.839,0.000
$DEVICE_MAMPS,218.595,58.292,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.799,1134.499,1912.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94714,1616
$CAP_FILE_SIZE,174125,0
$CFSIZE,260165632,191631360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.304,107.9,1
$GPS,220809,102406,2458.968,12232.882,26,0.9,26,-3.6