version: 66.04
glider: 166
mission: 2
dive: 530
start: 8 23 109 1 50 15
data:
$ID,166
$MISSION,2
$DIVE,530
$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,-17855.84
$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,56
$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
$GPS1,014137,2500.758,12230.898,43,1.1,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.9
$GPS2,014950,2500.868,12231.142,15,1.1,15,-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,317.0,45858,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,97,0.00,0.00,-78.43,0.000,2,0.000,0.000,116,2110,2168
$GC,101,-0.93,-243.4,3.1,-4.6,12,165,9.73,2.17,-49.15,0.000,4,0.227,0.059,2506,3451,3940
$GC,220,-0.54,-243.4,27.7,-29.2,31,228,0.47,2.08,0.00,0.000,6,0.134,0.031,2646,2035,3941
$GC,570,-0.54,-243.4,82.2,-11.7,92,576,0.00,2.05,0.00,0.000,4,0.000,0.038,2646,657,3942
$GC,737,-0.69,-243.4,99.2,-11.5,121,744,0.12,2.05,0.00,0.000,6,0.059,0.031,2569,2059,3942
$GC,1084,-0.65,-243.4,143.0,-10.2,182,1091,0.15,2.08,0.00,0.000,4,0.126,0.035,2614,667,3944
$GC,1209,-0.77,-243.4,154.3,-8.8,203,1216,0.12,2.05,0.00,0.000,6,0.064,0.032,2545,2060,3945
$GC,1559,-0.72,-243.4,190.2,-8.9,264,1566,0.15,2.10,0.00,0.000,4,0.126,0.037,2589,664,3945
$GC,1630,-0.80,-243.4,195.5,-7.6,276,1636,0.00,2.03,0.00,0.000,6,0.000,0.033,2588,2038,3944
$GC,1977,-0.90,-243.4,225.6,-11.2,337,1983,0.17,2.08,0.00,0.000,4,0.056,0.038,2490,669,3943
$GC,2008,-0.79,-243.4,230.1,-15.7,342,2016,0.25,2.05,0.00,0.000,6,0.123,0.035,2566,2044,3944
$GC,2359,-0.82,-243.4,275.2,-13.4,403,2365,0.00,2.10,0.00,0.000,4,0.000,0.040,2566,657,3942
$GC,2395,-0.82,-243.4,280.8,-14.3,409,2401,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,2030,3941
$GC,2729,-0.82,-243.4,323.7,-11.9,452,2732,0.00,2.08,0.00,0.000,4,0.000,0.040,2561,664,3939
$GC,2823,-0.82,-243.4,335.3,-12.5,460,2830,0.00,2.03,0.00,0.000,6,0.000,0.036,2560,2019,3939
$GC,3150,-0.82,-243.4,367.8,-9.8,491,3154,0.00,2.05,0.00,0.000,4,0.000,0.041,2560,673,3937
$GC,3200,-0.82,-243.4,373.5,-11.1,495,3206,0.00,2.03,0.00,0.000,6,0.000,0.037,2560,2019,3937
$GC,3527,-0.86,-243.4,401.5,-4.7,526,3531,0.00,2.25,0.00,0.000,4,0.000,0.051,2552,3471,3935
$GC,3573,-0.93,-243.4,403.1,-3.0,530,3577,0.00,2.15,0.00,0.000,6,0.000,0.032,2552,2018,3935
$GC,3909,-0.93,-243.4,408.8,-3.2,561,3912,0.00,2.05,0.00,0.000,4,0.000,0.043,2552,666,3933
$GC,3959,-0.93,-243.4,411.3,-4.9,565,3966,0.00,2.05,0.00,0.000,6,0.000,0.038,2549,2018,3933
$GC,4287,-0.93,-243.4,434.1,-10.4,596,4291,0.00,2.08,0.00,0.000,4,0.000,0.044,2549,669,3931
$GC,4324,-0.93,-243.4,438.9,-13.0,599,4328,0.00,2.05,0.00,0.000,6,0.000,0.039,2548,2014,3930
$GC,4655,-0.96,-243.4,488.2,-16.3,630,4660,0.12,2.30,0.00,0.000,4,0.066,0.054,2475,3472,3928
$GC,4712,-0.88,-243.4,499.1,-20.0,634,4725,0.20,2.17,0.00,0.000,6,0.123,0.035,2537,2011,3928
$GC,5028,-0.88,-243.4,549.0,-14.9,650,5032,0.00,2.08,0.00,0.000,4,0.000,0.046,2536,661,3927
$GC,5175,-0.88,-243.4,570.1,-13.3,656,5178,0.00,2.05,0.00,0.000,6,0.000,0.041,2536,2001,3926
$GC,5497,-0.88,-243.4,597.8,-6.1,672,5500,0.00,2.10,0.00,0.000,4,0.000,0.048,2537,654,3924
$GC,5553,-0.88,-243.4,600.6,-4.4,674,5557,0.00,2.05,0.00,0.000,6,0.000,0.041,2537,1991,3924
$GC,5876,-0.88,-243.4,610.2,-3.3,690,5879,0.00,2.08,0.00,0.000,4,0.000,0.048,2537,663,3922
$GC,5945,-0.88,-243.4,613.6,-5.0,693,5949,0.00,2.05,0.00,0.000,6,0.000,0.043,2537,1990,3922
$GC,6280,-0.88,-243.4,636.2,-8.0,709,6284,0.00,2.35,0.00,0.000,4,0.000,0.060,2537,3459,3920
$GC,6370,-0.94,-243.4,644.3,-8.6,713,6374,0.00,2.20,0.00,0.000,6,0.000,0.036,2535,1996,3919
$GC,6698,-0.94,-243.4,684.3,-14.3,729,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1996,3917
$GC,7008,-0.97,-243.4,733.9,-15.4,744,7012,0.00,2.38,0.00,0.000,4,0.000,0.061,2540,3457,3915
$GC,7049,-1.05,-243.4,739.9,-13.9,745,7056,0.17,2.20,0.00,0.000,6,0.058,0.037,2458,2002,3915
$GC,7367,-0.91,-243.4,791.5,-14.6,761,7372,0.20,2.12,0.00,0.000,4,0.133,0.051,2522,658,3914
$GC,7511,-0.91,-243.4,806.4,-9.2,767,7514,0.00,2.08,0.00,0.000,6,0.000,0.045,2517,1993,3913
$GC,7840,-0.91,-243.4,835.4,-9.7,783,7843,0.00,2.10,0.00,0.000,4,0.000,0.052,2515,669,3911
$GC,7874,-0.91,-243.4,839.2,-10.9,784,7878,0.00,2.05,0.00,0.000,6,0.000,0.047,2520,1980,3911
$GC,8197,-0.91,-243.4,875.8,-11.1,800,8200,0.00,2.08,0.00,0.000,4,0.000,0.053,2517,669,3910
$GC,8243,-0.88,-243.4,880.9,-11.9,802,8247,0.00,2.08,0.00,0.000,6,0.000,0.048,2522,1985,3909
$GC,8578,-0.88,-243.4,912.5,-9.3,818,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1985,3908
$GC,8886,-0.88,-243.4,942.7,-9.4,833,8890,0.00,2.10,0.00,0.000,4,0.000,0.055,2523,667,3907
$GC,8920,-0.83,-243.4,946.1,-10.8,834,8924,0.00,2.08,0.00,0.000,6,0.000,0.051,2524,1974,3906
$GC,9243,-0.83,-243.4,979.9,-11.3,850,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1975,3905
$STATE,9342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9343,begin apogee
$GC,9350,-0.23,0.0,991.5,11.6,855,9566,0.68,0.00,211.70,1.480,6,0.104,0.000,2744,1698,2945
$STATE,9567,end apogee,CONTROL_FINISHED_OK
$STATE,9567,begin climb
$GC,9571,0.93,243.4,1008.1,0.0,866,9805,1.05,0.00,225.57,1.433,6,0.047,0.000,3128,1698,1951
$GC,10115,0.57,243.4,941.3,19.4,891,10120,0.40,2.25,0.00,0.000,4,0.162,0.059,3010,3100,1943
$GC,10357,0.46,243.4,905.9,14.2,902,10362,0.17,2.17,0.00,0.000,6,0.145,0.044,2971,1698,1941
$GC,10686,0.46,243.4,872.8,10.7,918,10690,0.00,2.25,0.00,0.000,4,0.000,0.060,2971,3100,1941
$GC,10869,0.46,243.4,851.5,11.6,926,10873,0.00,2.17,0.00,0.000,6,0.000,0.044,2979,1704,1940
$GC,11203,0.48,255.7,818.2,9.7,942,11218,0.00,2.25,10.68,1.259,4,0.000,0.059,2979,3099,1902
$GC,11455,0.49,264.3,792.7,9.8,952,11470,0.00,2.12,9.48,1.215,6,0.000,0.044,2988,1722,1867
$GC,11801,0.54,308.5,762.2,8.8,969,11848,0.00,2.30,41.83,1.335,4,0.000,0.058,2988,3092,1687
$GC,12103,0.55,311.2,731.8,9.9,982,12106,0.00,2.08,0.00,0.000,6,0.000,0.043,2998,1752,1681
$GC,12424,0.55,311.2,699.7,10.5,998,12428,0.00,2.15,0.00,0.000,4,0.000,0.058,2998,3097,1681
$GC,12650,0.50,311.2,671.2,12.0,1008,12654,0.00,2.05,0.00,0.000,6,0.000,0.042,3007,1761,1680
$GC,12984,0.50,312.4,631.4,10.0,1024,12993,0.00,2.17,3.95,0.808,4,0.000,0.058,3007,3096,1671
$GC,13242,0.55,384.0,608.5,8.0,1035,13321,0.00,2.03,68.93,1.214,6,0.000,0.043,3016,1787,1379
$GC,13644,0.59,418.8,576.5,9.0,1055,13690,0.00,2.17,34.35,1.136,4,0.000,0.057,3016,3094,1237
$GC,13944,0.59,418.8,542.8,12.3,1068,13947,0.00,1.95,0.00,0.000,6,0.000,0.041,3025,1823,1235
$GC,14266,0.59,418.8,499.5,14.2,1084,14270,0.00,2.03,0.00,0.000,4,0.000,0.056,3025,3098,1233
$GC,14528,0.59,418.8,454.4,18.8,1107,14532,0.00,1.92,0.00,0.000,6,0.000,0.041,3034,1844,1233
$GC,14862,0.59,418.8,402.2,11.7,1138,14865,0.00,2.00,0.00,0.000,4,0.000,0.055,3034,3104,1232
$GC,15040,0.69,502.5,386.3,7.7,1153,15135,0.00,1.90,79.75,1.026,6,0.000,0.040,3043,1858,896
$GC,15454,0.69,502.5,342.9,11.0,1192,15457,0.00,1.98,0.00,0.000,4,0.000,0.053,3043,3107,894
$GC,15696,0.69,502.5,312.2,12.1,1213,15702,0.00,1.85,0.00,0.000,6,0.000,0.038,3052,1891,894
$GC,16036,0.69,502.5,261.0,17.0,1265,16042,0.00,1.90,0.00,0.000,4,0.000,0.052,3052,3098,893
$GC,16166,0.69,502.5,238.1,17.4,1288,16172,0.00,1.83,0.00,0.000,6,0.000,0.038,3060,1913,893
$GC,16511,0.84,617.9,200.3,6.8,1349,16613,0.00,1.98,95.85,0.901,4,0.000,0.050,3060,3099,455
$GC,16769,0.90,617.9,174.5,14.4,1392,16776,0.10,1.77,0.00,0.000,6,0.045,0.038,3138,1948,454
$GC,17118,0.90,617.9,100.7,22.9,1453,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1947,453
$GC,17463,0.99,617.9,47.8,11.7,1514,17471,0.00,1.80,0.00,0.000,4,0.000,0.045,3138,3100,452
$GC,17709,1.20,660.9,23.7,8.8,1557,17716,0.15,1.75,0.00,0.000,6,0.038,0.035,3229,1942,452
$STATE,17838,end climb,SURFACE_DEPTH_REACHED
$STATE,17838,begin surface coast
$FINISH,1.0,1.018849
$STATE,17857,end surface coast,CONTROL_FINISHED_OK
$STATE,17857,begin surface
$SM_CCo,17938,0.00,0.000,0,0,450,612.02
$SM_GC,1.75,8.20,0.00,0.00,0.038,0.000,0.000,156,2086,450,-8.27,0.71,612.02
$IRIDIUM_FIX,2451.31,12336.13,161198,202040
$TT8_MAMPS,0.026845
$HUMID,1769
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,23.00
$XPDR_PINGS,201
$24V_AH,22.3,120.186
$10V_AH,10.5,77.448
$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,22.625,141.775,782.075,0.000,0.000,24.870,32.180,240.320,58.250,0.000,0.000,15.843,2833.218,10319.326,836.206,3583.906,840.405,0.000,2466.595,0.000,3528.095,0.000,54.395,0.000
$DEVICE_MAMPS,227.032,61.360,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.550,1075.268,1814.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94678,1583
$CAP_FILE_SIZE,176385,0
$CFSIZE,260165632,191246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.181,121.1,1
$GPS,230809,065030,2500.708,12230.005,38,1.2,38,-3.6