version: 66.04
glider: 166
mission: 2
dive: 532
start: 8 23 109 12 21 42
data:
$ID,166
$MISSION,2
$DIVE,532
$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,-17883.377
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,120937,2501.906,12230.153,34,1.0,34,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.1
$GPS2,122120,2502.046,12230.457,11,1.9,11,-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,309.9,43479,-13.9,-10.000
$D_GRID,1263
$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,-243.4,0.0,0.0,0,93,0.00,0.00,-73.62,0.000,2,0.000,0.000,151,2030,2297
$GC,97,-0.93,-243.4,3.3,-5.0,12,155,9.50,2.25,-42.80,0.000,4,0.219,0.056,2502,3483,3938
$GC,250,-0.50,-243.4,39.9,-30.6,37,257,0.55,2.12,0.00,0.000,6,0.140,0.030,2658,2025,3939
$GC,598,-0.65,-243.4,81.3,-7.8,98,606,0.15,2.03,0.00,0.000,4,0.055,0.037,2576,665,3941
$GC,800,-0.65,-243.4,107.1,-13.3,133,807,0.12,2.08,0.00,0.000,6,0.134,0.033,2609,2074,3941
$GC,1148,-0.73,-243.4,139.0,-8.4,194,1155,0.00,2.10,0.00,0.000,4,0.000,0.046,2603,3460,3942
$GC,1181,-0.83,-243.4,141.5,-7.6,199,1188,0.15,2.05,0.00,0.000,6,0.056,0.028,2526,2035,3941
$GC,1531,-0.69,-243.4,196.3,-15.8,260,1538,0.20,2.03,0.00,0.000,4,0.130,0.037,2593,678,3941
$GC,1679,-0.76,-243.4,211.8,-9.0,285,1685,0.00,2.05,0.00,0.000,6,0.000,0.032,2590,2061,3941
$GC,2024,-0.84,-243.4,239.7,-7.7,346,2032,0.12,0.00,0.00,0.000,6,0.064,0.000,2518,2062,3939
$GC,2370,-0.75,-243.4,286.0,-13.8,407,2376,0.17,0.00,0.00,0.000,6,0.127,0.000,2576,2062,3937
$GC,2709,-0.82,-243.4,317.7,-6.5,450,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2062,3936
$GC,3031,-0.90,-243.4,342.7,-9.9,480,3037,0.15,0.00,0.00,0.000,6,0.059,0.000,2496,2062,3934
$GC,3357,-0.76,-243.4,390.1,-12.6,511,3362,0.22,2.15,0.00,0.000,4,0.127,0.041,2570,678,3932
$GC,3522,-0.83,-243.4,402.7,-7.0,525,3526,0.00,2.08,0.00,0.000,6,0.000,0.036,2565,2047,3931
$GC,3854,-0.89,-243.4,429.6,-9.0,556,3858,0.00,2.10,0.00,0.000,4,0.000,0.043,2566,685,3928
$GC,3901,-0.96,-243.4,433.6,-8.0,560,3905,0.15,2.10,0.00,0.000,6,0.058,0.044,2494,2051,3928
$GC,4235,-0.84,-243.4,482.2,-15.4,591,4240,0.17,2.12,0.00,0.000,4,0.133,0.042,2551,684,3927
$GC,4313,-0.89,-243.4,492.4,-11.0,597,4319,0.00,2.08,0.00,0.000,6,0.000,0.039,2551,2043,3926
$GC,4644,-0.93,-243.4,522.6,-8.5,617,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2043,3924
$GC,4953,-0.98,-243.4,550.4,-10.0,632,4958,0.12,2.25,0.00,0.000,4,0.065,0.054,2477,3466,3923
$GC,5003,-0.87,-243.4,557.7,-15.3,634,5008,0.20,2.10,0.00,0.000,6,0.123,0.035,2538,2061,3921
$GC,5326,-0.87,-243.4,598.3,-11.8,650,5330,0.00,2.15,0.00,0.000,4,0.000,0.048,2537,668,3919
$GC,5427,-0.87,-243.4,609.9,-11.3,654,5430,0.00,2.12,0.00,0.000,6,0.000,0.042,2538,2045,3918
$GC,5751,-0.87,-243.4,640.0,-9.4,670,5755,0.00,2.15,0.00,0.000,4,0.000,0.048,2540,665,3917
$GC,5875,-0.87,-243.4,651.9,-9.2,675,5879,0.00,2.12,0.00,0.000,6,0.000,0.044,2544,2037,3916
$GC,6198,-0.87,-243.4,680.3,-8.6,691,6202,0.00,2.15,0.00,0.000,4,0.000,0.050,2541,670,3914
$GC,6246,-0.87,-243.4,685.0,-10.2,693,6250,0.00,2.12,0.00,0.000,6,0.000,0.045,2551,2035,3914
$GC,6580,-0.90,-243.4,719.7,-10.7,709,6583,0.00,2.15,0.00,0.000,4,0.000,0.051,2546,670,3911
$GC,6619,-0.90,-243.4,724.4,-11.4,710,6626,0.00,2.10,0.00,0.000,6,0.000,0.044,2553,2029,3911
$GC,6936,-0.93,-243.4,757.9,-11.0,726,6938,0.10,0.00,0.00,0.000,6,0.077,0.000,2501,2029,3910
$GC,7247,-0.84,-243.4,802.8,-14.4,741,7249,0.17,0.00,0.00,0.000,6,0.131,0.000,2553,2029,3908
$GC,7554,-0.84,-243.4,835.7,-10.8,756,7558,0.00,2.15,0.00,0.000,4,0.000,0.051,2552,672,3906
$GC,7600,-0.84,-243.4,841.2,-12.3,758,7604,0.00,2.15,0.00,0.000,6,0.000,0.048,2553,2030,3906
$GC,7936,-0.87,-243.4,871.9,-8.0,774,7939,0.00,2.15,0.00,0.000,4,0.000,0.053,2552,673,3905
$GC,7988,-0.87,-243.4,876.1,-7.4,776,7991,0.00,2.12,0.00,0.000,6,0.000,0.048,2553,2023,3905
$GC,8317,-0.91,-243.4,900.4,-7.7,792,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2023,3903
$GC,8627,-0.91,-243.4,925.4,-8.5,807,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2023,3902
$GC,8934,-0.95,-243.4,954.1,-9.2,822,8936,0.12,0.00,0.00,0.000,6,0.069,0.000,2494,2023,3901
$STATE,9219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9219,begin apogee
$GC,9227,-0.23,0.0,992.0,13.2,836,9443,0.80,0.00,211.07,1.483,6,0.116,0.000,2745,1701,2945
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9449,0.93,243.4,1005.7,0.0,847,9685,1.05,2.55,225.38,1.430,4,0.044,0.060,3129,3106,1951
$GC,9871,0.54,243.4,948.9,20.1,866,9876,0.50,2.20,0.00,0.000,6,0.161,0.044,2999,1700,1944
$GC,10193,0.49,243.4,913.9,10.3,882,10197,0.00,2.28,0.00,0.000,4,0.000,0.060,2999,3108,1943
$GC,10452,0.39,243.4,885.7,11.2,893,10456,0.22,2.17,0.00,0.000,6,0.139,0.044,2945,1707,1941
$GC,10770,0.74,465.8,868.0,3.9,908,10986,0.28,2.47,206.38,1.374,4,0.051,0.058,3081,278,1046
$GC,11090,0.69,465.8,821.8,15.0,922,11094,0.15,2.33,0.00,0.000,6,0.140,0.048,3041,1738,1043
$GC,11407,0.66,465.8,770.0,17.2,937,11410,0.00,2.20,0.00,0.000,4,0.000,0.061,3041,3112,1041
$GC,11643,0.57,465.8,726.9,20.8,947,11647,0.15,2.08,0.00,0.000,6,0.140,0.041,3007,1750,1041
$GC,11966,0.63,465.8,684.3,13.3,963,11969,0.00,2.17,0.00,0.000,4,0.000,0.058,3006,3109,1040
$GC,12113,0.67,465.8,664.7,12.4,969,12117,0.00,2.05,0.00,0.000,6,0.000,0.041,3014,1777,1040
$GC,12437,0.71,465.8,622.3,12.4,985,12441,0.10,2.15,0.00,0.000,4,0.073,0.058,3067,3110,1040
$GC,12621,0.59,465.8,589.2,18.1,993,12626,0.22,2.03,0.00,0.000,6,0.141,0.042,3014,1796,1040
$GC,12938,0.64,465.8,552.3,10.6,1008,12942,0.00,2.10,0.00,0.000,4,0.000,0.058,3014,3103,1040
$GC,13105,0.68,465.8,535.4,10.4,1015,13108,0.00,1.98,0.00,0.000,6,0.000,0.042,3021,1822,1040
$GC,13434,0.72,465.8,502.5,10.3,1031,13437,0.00,2.05,0.00,0.000,4,0.000,0.057,3021,3111,1039
$GC,13575,0.75,465.8,485.9,11.3,1042,13583,0.00,1.98,0.00,0.000,6,0.000,0.041,3030,1846,1039
$GC,13904,0.75,465.8,446.0,13.1,1073,13907,0.00,2.03,0.00,0.000,4,0.000,0.056,3030,3112,1039
$GC,14023,0.75,465.8,431.3,12.3,1083,14029,0.00,1.92,0.00,0.000,6,0.000,0.041,3039,1856,1039
$GC,14352,0.75,465.8,393.6,11.8,1114,14356,0.00,2.00,0.00,0.000,4,0.000,0.055,3039,3112,1039
$GC,14489,0.75,465.8,374.6,14.0,1126,14493,0.00,1.90,0.00,0.000,6,0.000,0.039,3048,1886,1039
$GC,14825,0.75,465.8,320.9,16.5,1157,14828,0.00,1.95,0.00,0.000,4,0.000,0.054,3048,3114,1039
$GC,15036,0.75,465.8,284.4,14.8,1183,15042,0.00,1.85,0.00,0.000,6,0.000,0.038,3057,1903,1039
$GC,15382,0.75,465.8,234.5,11.9,1244,15388,0.00,1.92,0.00,0.000,4,0.000,0.051,3057,3103,1039
$GC,15604,0.75,465.8,205.6,12.6,1283,15610,0.00,1.80,0.00,0.000,6,0.000,0.038,3066,1919,1038
$GC,15951,0.75,465.8,159.7,12.0,1344,15958,0.00,1.90,0.00,0.000,4,0.000,0.049,3066,3107,1039
$GC,16101,0.75,465.8,139.6,15.4,1370,16108,0.00,1.77,0.00,0.000,6,0.000,0.036,3074,1947,1039
$GC,16448,0.81,465.8,92.7,11.8,1431,16454,0.00,1.85,0.00,0.000,4,0.000,0.049,3074,3108,1039
$GC,16591,0.87,465.8,75.2,11.4,1456,16597,0.00,1.75,0.00,0.000,6,0.000,0.035,3076,1959,1039
$GC,16937,1.18,598.8,45.0,6.3,1517,17060,0.30,2.65,114.22,0.747,4,0.041,0.045,3235,278,503
$GC,17085,1.05,598.8,20.1,20.9,1539,17092,0.28,2.65,0.00,0.000,6,0.123,0.036,3154,2002,501
$STATE,17227,end climb,SURFACE_DEPTH_REACHED
$STATE,17227,begin surface coast
$FINISH,1.0,1.008229
$STATE,17274,end surface coast,CONTROL_FINISHED_OK
$STATE,17274,begin surface
$SM_CCo,17356,0.00,0.000,0,0,499,600.25
$SM_GC,1.81,7.97,0.00,0.00,0.038,0.000,0.000,148,2081,499,-8.27,0.57,600.25
$IRIDIUM_FIX,2453.69,12228.82,171198,121228
$TT8_MAMPS,0.026845
$HUMID,1732
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,23.10
$XPDR_PINGS,185
$24V_AH,22.3,120.784
$10V_AH,10.5,77.783
$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,24.425,122.625,757.050,0.000,0.000,51.241,63.534,333.097,54.250,0.000,0.000,11.326,2780.774,10094.327,790.760,3399.169,971.071,0.000,2322.361,0.000,3359.090,0.000,54.381,0.000
$DEVICE_MAMPS,218.595,88.205,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.950,1083.551,1827.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91625,1572
$CAP_FILE_SIZE,172590,0
$CFSIZE,260165632,191057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 78.2,1
$GPS,230809,171206,2502.855,12228.750,30,1.3,30,-3.6