version: 66.04
glider: 166
mission: 2
dive: 11
start: 5 23 109 16 20 16
data:
$ID,166
$MISSION,2
$DIVE,11
$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,396
$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,175
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5511.521
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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,1
$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
$GPS1,161407,2517.433,12235.896,39,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.2
$GPS2,161955,2517.700,12236.024,9,1.1,14,-3.6
$SPEED_LIMITS,0.173,0.279
$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,284.2,22866,-16.8,-10.000
$D_GRID,647
$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,13,-0.86,-170.3,0.0,0.0,0,73,0.00,0.00,-57.97,0.000,2,0.000,0.000,166,1482,2447
$GC,75,-0.86,-170.3,3.5,-5.6,9,122,9.45,2.12,-29.38,0.000,4,0.252,0.052,2422,2895,3559
$GC,235,-0.17,-170.3,49.3,-30.5,36,243,0.82,2.08,0.00,0.000,6,0.181,0.035,2652,1494,3559
$GC,580,-0.50,-170.3,84.6,-7.4,97,587,0.25,1.92,0.00,0.000,4,0.048,0.044,2533,197,3562
$GC,654,-0.24,-170.3,97.5,-18.3,110,661,0.28,1.92,0.00,0.000,6,0.145,0.031,2633,1507,3562
$GC,1000,-0.58,-170.3,122.2,-4.8,171,1008,0.28,1.95,0.00,0.000,4,0.047,0.044,2501,197,3563
$GC,1261,-0.24,-170.3,166.9,-20.3,217,1268,0.38,1.90,0.00,0.000,6,0.147,0.030,2631,1503,3564
$GC,1608,-0.67,-170.3,186.4,-7.8,278,1614,0.35,1.92,0.00,0.000,4,0.051,0.044,2483,204,3564
$GC,1632,-0.77,-170.3,189.2,-10.5,282,1638,0.00,1.88,0.00,0.000,6,0.000,0.029,2481,1500,3564
$GC,1975,-0.58,-170.3,241.2,-10.7,343,1982,0.17,1.92,0.00,0.000,4,0.166,0.045,2535,205,3564
$GC,2055,-0.58,-170.3,248.5,-8.7,357,2061,0.00,1.85,0.00,0.000,6,0.000,0.031,2534,1501,3564
$GC,2398,-0.62,-170.3,281.2,-10.5,418,2404,0.00,1.95,0.00,0.000,4,0.000,0.048,2534,211,3564
$GC,2443,-0.62,-170.3,285.7,-10.5,426,2449,0.00,1.88,0.00,0.000,6,0.000,0.031,2533,1502,3564
$GC,2775,-0.69,-170.3,320.4,-10.3,469,2777,0.12,0.00,0.00,0.000,6,0.074,0.000,2470,1503,3563
$GC,3095,-0.54,-170.3,354.4,-9.8,499,3100,0.20,1.92,0.00,0.000,4,0.156,0.049,2536,207,3561
$GC,3303,-0.61,-170.3,373.2,-9.4,517,3309,0.00,1.88,0.00,0.000,6,0.000,0.035,2531,1508,3560
$GC,3631,-0.74,-170.3,400.0,-8.1,548,3637,0.15,0.00,0.00,0.000,6,0.067,0.000,2461,1509,3558
$GC,3955,-0.61,-170.3,439.6,-10.5,579,3960,0.17,1.95,0.00,0.000,4,0.156,0.054,2515,205,3556
$GC,4071,-0.61,-170.3,451.5,-9.7,589,4078,0.00,1.90,0.00,0.000,6,0.000,0.035,2503,1499,3556
$GC,4397,-0.70,-170.3,478.7,-8.7,620,4401,0.00,1.95,0.00,0.000,4,0.000,0.052,2505,202,3554
$GC,4446,-0.74,-170.3,483.5,-10.0,624,4454,0.00,1.90,0.00,0.000,6,0.000,0.035,2499,1497,3553
$GC,4778,-0.83,-170.3,511.8,-8.7,650,4783,0.15,2.10,0.00,0.000,4,0.070,0.048,2429,2909,3550
$GC,4817,-0.73,-170.3,516.1,-11.5,652,4822,0.17,2.08,0.00,0.000,6,0.153,0.040,2479,1495,3551
$GC,5145,-0.73,-170.3,550.8,-10.7,668,5148,0.00,1.92,0.00,0.000,4,0.000,0.054,2479,209,3549
$GC,5234,-0.73,-170.3,560.9,-10.6,672,5238,0.00,1.88,0.00,0.000,6,0.000,0.037,2481,1502,3548
$GC,5566,-0.73,-170.3,594.3,-10.4,688,5569,0.00,1.98,0.00,0.000,4,0.000,0.055,2480,201,3546
$GC,5603,-0.73,-170.3,598.9,-11.9,689,5610,0.00,1.92,0.00,0.000,6,0.000,0.037,2493,1501,3546
$GC,5919,-0.73,-170.3,634.4,-11.2,705,5923,0.00,2.10,0.00,0.000,4,0.000,0.052,2498,2908,3543
$GC,5957,-0.82,-170.3,638.5,-10.9,706,5965,0.10,2.10,0.00,0.000,6,0.061,0.041,2442,1508,3543
$STATE,6023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6023,begin apogee
$GC,6027,-0.19,0.0,647.4,13.4,710,6168,0.68,0.00,137.32,1.213,6,0.150,0.000,2646,1785,2863
$STATE,6168,end apogee,CONTROL_FINISHED_OK
$STATE,6168,begin climb
$GC,6170,0.86,170.3,654.3,0.0,717,6321,1.02,2.35,142.55,1.166,4,0.094,0.054,2983,3180,2167
$GC,6416,0.55,170.3,629.4,16.0,728,6421,0.35,2.15,0.00,0.000,6,0.178,0.041,2895,1797,2163
$GC,6742,0.55,170.3,595.7,10.7,744,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1797,2161
$GC,7052,0.55,173.8,565.1,9.9,759,7055,0.00,2.17,0.00,0.000,4,0.000,0.056,2902,385,2159
$GC,7150,0.55,173.8,554.3,10.8,763,7156,0.00,2.12,0.00,0.000,6,0.000,0.040,2901,1780,2159
$GC,7472,0.60,215.5,524.7,8.4,779,7516,0.00,2.22,37.03,1.137,4,0.000,0.054,2909,386,1983
$GC,7576,0.60,215.5,514.9,10.0,783,7585,0.00,2.17,0.00,0.000,6,0.000,0.041,2908,1782,1980
$GC,7898,0.62,228.4,482.6,9.5,807,7913,0.00,2.20,11.12,1.038,4,0.000,0.055,2918,385,1931
$GC,7935,0.62,228.4,478.8,10.1,810,7943,0.00,2.17,0.00,0.000,6,0.000,0.041,2918,1797,1929
$GC,8261,0.62,228.4,444.1,10.8,841,8264,0.00,2.20,0.00,0.000,4,0.000,0.054,2931,376,1927
$GC,8441,0.57,228.4,420.4,13.1,857,8446,0.12,2.12,0.00,0.000,6,0.167,0.041,2901,1797,1926
$GC,8765,0.70,272.3,389.0,8.3,887,8810,0.12,2.28,36.88,1.056,4,0.074,0.054,2964,387,1751
$GC,8871,0.60,272.3,375.3,15.0,896,8879,0.17,2.17,0.00,0.000,6,0.157,0.040,2912,1793,1747
$GC,9196,0.72,293.1,341.5,9.2,927,9221,0.00,2.22,18.15,0.991,4,0.000,0.054,2920,379,1667
$GC,9270,0.82,302.1,334.5,9.6,933,9289,0.12,2.17,9.25,0.900,6,0.056,0.039,2990,1790,1630
$GC,9613,0.66,302.1,274.2,15.3,977,9619,0.20,2.17,0.00,0.000,4,0.166,0.051,2941,382,1627
$GC,9637,0.58,302.1,271.1,13.7,981,9643,0.15,2.12,0.00,0.000,6,0.150,0.039,2902,1802,1626
$GC,9980,0.80,316.2,242.9,9.4,1042,10001,0.17,2.25,12.77,0.894,4,0.061,0.053,2998,357,1573
$GC,10041,0.64,316.2,234.1,16.7,1052,10048,0.28,2.15,0.00,0.000,6,0.160,0.038,2922,1796,1571
$GC,10386,0.78,316.2,194.1,10.3,1113,10393,0.12,2.17,0.00,0.000,4,0.073,0.057,2987,377,1570
$GC,10474,0.70,316.2,181.2,16.8,1128,10480,0.17,2.10,0.00,0.000,6,0.163,0.038,2942,1800,1570
$GC,10817,0.79,316.2,133.5,10.7,1189,10824,0.00,2.15,0.00,0.000,4,0.000,0.051,2951,379,1570
$GC,10863,0.90,335.2,128.9,9.3,1197,10886,0.15,2.08,16.83,0.822,6,0.066,0.036,3024,1803,1495
$GC,11224,0.78,335.2,75.5,13.6,1260,11231,0.17,2.15,0.00,0.000,4,0.156,0.048,2977,380,1491
$GC,11474,0.95,335.7,50.3,10.0,1304,11481,0.15,2.08,0.00,0.000,6,0.061,0.036,3047,1800,1491
$GC,11818,0.95,335.7,9.4,10.5,1365,11825,0.00,2.05,0.00,0.000,4,0.000,0.044,3045,3188,1491
$GC,11877,0.83,335.7,3.2,11.3,1375,11885,0.22,2.05,0.00,0.000,6,0.151,0.035,2986,1783,1489
$STATE,11891,end climb,SURFACE_DEPTH_REACHED
$STATE,11891,begin surface coast
$FINISH,1.1,1.021697
$STATE,11918,end surface coast,CONTROL_FINISHED_OK
$STATE,11918,begin surface
$SM_CCo,11932,79.45,0.601,9,0,1130,425.10
$SM_GC,1.90,0.00,0.00,79.45,0.000,0.000,0.601,167,1490,1130,-7.96,-0.37,425.10
$IRIDIUM_FIX,2505.59,12237.96,170898,121254
$TT8_MAMPS,0.027612
$HUMID,1451
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,23.20
$XPDR_PINGS,117
$ALTIM_BOTTOM_PING,625.0,89.4
$24V_AH,24.0,5.814
$10V_AH,10.7,2.798
$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,25.100,107.950,421.900,79.450,0.000,24.071,36.141,188.197,34.000,0.000,0.000,14.783,2418.669,6203.271,677.508,2717.933,380.611,0.000,1864.830,0.000,2695.866,0.000,34.037,0.000
$DEVICE_MAMPS,252.343,56.758,1212.627,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,941.687,998.617,1682.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78948,1382
$CAP_FILE_SIZE,138892,0
$CFSIZE,260165632,234278912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,9,0
$CURRENT,0.202, 63.2,1
$GPS,230509,194219,2518.691,12235.482,16,1.9,33,-3.6