version: 66.04
glider: 166
mission: 2
dive: 507
start: 8 18 109 4 21 39
data:
$ID,166
$MISSION,2
$DIVE,507
$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,-17453.076
$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,41
$R_STBD_OVSHOOT,67
$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
$GPS1,041307,2442.657,12247.573,27,1.7,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.0
$GPS2,042119,2442.890,12247.668,14,2.0,31,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,255.1,70722,-13.9,-10.000
$D_GRID,711
$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,-243.4,0.0,0.0,0,96,0.00,0.00,-74.35,0.000,2,0.000,0.000,164,2099,2137
$GC,100,-0.93,-243.4,3.0,-5.2,11,164,9.45,2.08,-47.65,0.000,4,0.218,0.054,2499,3444,3938
$GC,258,-0.50,-243.4,42.7,-28.2,37,266,0.52,2.05,0.00,0.000,6,0.143,0.028,2658,2026,3939
$GC,608,-0.54,-243.4,92.3,-8.1,98,614,0.00,2.17,0.00,0.000,4,0.000,0.042,2641,3453,3939
$GC,629,-0.61,-243.4,93.9,-7.3,101,637,0.00,2.00,0.00,0.000,6,0.000,0.027,2651,2075,3940
$GC,977,-0.68,-243.4,123.7,-9.3,162,984,0.15,2.08,0.00,0.000,4,0.057,0.035,2573,664,3941
$GC,1054,-0.52,-243.4,135.0,-16.1,175,1061,0.28,2.03,0.00,0.000,6,0.128,0.030,2649,2058,3941
$GC,1403,-0.61,-243.4,166.0,-7.5,236,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2058,3941
$GC,1750,-0.75,-243.4,187.3,-6.7,297,1758,0.15,2.05,0.00,0.000,4,0.054,0.035,2556,667,3940
$GC,1794,-0.64,-243.4,192.3,-13.0,304,1801,0.20,2.05,0.00,0.000,6,0.133,0.031,2608,2076,3940
$GC,2140,-0.73,-243.4,229.2,-11.3,365,2147,0.00,2.10,0.00,0.000,4,0.000,0.044,2600,3470,3939
$GC,2190,-0.86,-243.4,234.7,-11.8,373,2198,0.17,2.00,0.00,0.000,6,0.051,0.028,2513,2065,3939
$GC,2537,-0.69,-243.4,292.0,-15.0,434,2544,0.22,2.05,0.00,0.000,4,0.130,0.036,2589,681,3938
$GC,2643,-0.76,-243.4,301.3,-6.6,451,2647,0.00,2.05,0.00,0.000,6,0.000,0.031,2584,2072,3937
$GC,2978,-0.85,-243.4,319.8,-6.3,482,2985,0.12,0.00,0.00,0.000,6,0.064,0.000,2511,2072,3935
$GC,3304,-0.73,-243.4,358.9,-12.4,513,3309,0.20,2.10,0.00,0.000,4,0.126,0.038,2578,688,3933
$GC,3384,-0.81,-243.4,366.3,-8.2,519,3390,0.00,2.03,0.00,0.000,6,0.000,0.034,2575,2052,3933
$GC,3714,-0.90,-243.4,398.4,-10.2,550,3718,0.12,2.08,0.00,0.000,4,0.064,0.039,2503,688,3930
$GC,3810,-0.78,-243.4,413.3,-14.9,558,3817,0.22,2.03,0.00,0.000,6,0.123,0.038,2571,2034,3929
$GC,4137,-0.85,-243.4,442.9,-7.9,589,4140,0.00,2.05,0.00,0.000,4,0.000,0.041,2572,686,3927
$GC,4189,-0.92,-243.4,448.6,-11.4,593,4197,0.15,2.03,0.00,0.000,6,0.057,0.038,2498,2033,3926
$GC,4514,-0.80,-243.4,495.9,-14.7,624,4519,0.17,2.08,0.00,0.000,4,0.133,0.042,2557,680,3924
$GC,4543,-0.80,-243.4,499.3,-11.3,626,4547,0.00,2.03,0.00,0.000,6,0.000,0.038,2555,2024,3923
$GC,4867,-0.86,-243.4,527.4,-9.7,642,4871,0.00,2.25,0.00,0.000,4,0.000,0.054,2547,3468,3921
$GC,4902,-0.95,-243.4,530.9,-9.5,643,4906,0.00,2.10,0.00,0.000,6,0.000,0.033,2547,2041,3921
$GC,5225,-1.01,-243.4,558.1,-6.6,659,5227,0.15,0.00,0.00,0.000,6,0.056,0.000,2471,2041,3918
$GC,5533,-0.86,-243.4,598.9,-13.7,674,5538,0.22,2.12,0.00,0.000,4,0.132,0.047,2542,660,3915
$GC,5624,-0.86,-243.4,608.6,-10.2,678,5628,0.00,2.08,0.00,0.000,6,0.000,0.041,2542,2022,3915
$GC,5952,-0.91,-243.4,638.5,-9.3,694,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2021,3912
$GC,6261,-0.96,-243.4,667.2,-9.1,709,6265,0.00,2.10,0.00,0.000,4,0.000,0.049,2541,671,3910
$GC,6364,-1.01,-243.4,677.6,-10.0,713,6368,0.15,2.05,0.00,0.000,6,0.062,0.044,2471,2006,3909
$STATE,6599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6599,begin apogee
$GC,6607,-0.23,0.0,711.1,14.3,725,6812,0.85,0.00,201.38,1.253,6,0.118,0.000,2744,1692,2945
$STATE,6813,end apogee,CONTROL_FINISHED_OK
$STATE,6813,begin climb
$GC,6817,0.93,243.4,725.1,0.0,735,7036,1.00,2.35,208.00,1.213,4,0.044,0.055,3140,293,1951
$GC,7111,0.56,243.4,700.8,17.7,748,7116,0.50,2.17,0.00,0.000,6,0.160,0.041,2997,1695,1946
$GC,7433,0.49,243.4,664.8,11.7,764,7437,0.00,2.20,0.00,0.000,4,0.000,0.054,2998,3103,1943
$GC,7529,0.39,243.4,653.3,12.7,768,7534,0.20,2.15,0.00,0.000,6,0.143,0.041,2950,1697,1941
$GC,7858,0.56,339.8,627.5,7.3,784,7958,0.15,2.33,86.97,1.167,4,0.062,0.054,3025,3094,1559
$GC,8066,0.45,339.8,602.7,11.7,793,8071,0.25,2.15,0.00,0.000,6,0.140,0.042,2965,1702,1555
$GC,8383,0.70,473.0,582.4,6.3,808,8512,0.20,2.28,120.78,1.156,4,0.052,0.054,3065,3099,1015
$GC,8671,0.55,473.0,533.1,21.2,821,8675,0.28,2.12,0.00,0.000,6,0.146,0.041,2997,1722,1013
$GC,8992,0.63,473.0,488.5,13.3,840,8996,0.00,2.15,0.00,0.000,4,0.000,0.053,2996,3099,1011
$GC,9107,0.72,473.0,473.6,12.3,850,9112,0.12,2.08,0.00,0.000,6,0.063,0.041,3068,1729,1011
$GC,9440,0.60,473.0,413.3,18.0,881,9444,0.17,2.15,0.00,0.000,4,0.143,0.052,3011,3099,1010
$GC,9509,0.60,473.0,403.0,13.6,886,9515,0.00,2.05,0.00,0.000,6,0.000,0.040,3019,1749,1010
$GC,9839,0.63,473.0,363.5,13.0,917,9843,0.00,2.10,0.00,0.000,4,0.000,0.052,3019,3098,1009
$GC,9897,0.63,473.0,354.6,14.3,922,9901,0.00,2.00,0.00,0.000,6,0.000,0.040,3028,1771,1009
$GC,10232,0.63,473.0,307.2,12.6,953,10236,0.00,2.08,0.00,0.000,4,0.000,0.050,3028,3108,1009
$GC,10336,0.66,473.0,293.0,14.9,966,10342,0.00,2.05,0.00,0.000,6,0.000,0.039,3038,1775,1009
$GC,10682,0.72,487.0,246.7,9.6,1027,10701,0.00,2.12,12.32,0.883,4,0.000,0.050,3038,3120,959
$GC,10748,0.75,487.0,239.7,10.7,1038,10754,0.00,2.05,0.00,0.000,6,0.000,0.038,3047,1787,959
$GC,11096,0.79,487.0,199.1,11.8,1099,11103,0.00,2.03,0.00,0.000,4,0.000,0.048,3048,3106,959
$GC,11213,0.82,487.0,185.9,11.8,1119,11220,0.00,2.00,0.00,0.000,6,0.000,0.037,3056,1800,959
$GC,11562,0.90,501.5,148.8,9.6,1180,11582,0.15,2.42,14.65,0.800,4,0.058,0.048,3158,282,900
$GC,11614,0.77,501.5,141.0,17.9,1188,11621,0.30,2.35,0.00,0.000,6,0.126,0.036,3067,1809,899
$GC,11961,0.87,501.5,98.8,10.9,1249,11967,0.00,2.00,0.00,0.000,4,0.000,0.044,3069,3106,899
$GC,12032,1.06,552.6,92.0,8.6,1261,12084,0.17,1.98,45.65,0.767,6,0.035,0.035,3178,1804,692
$GC,12425,1.06,552.6,36.3,12.2,1329,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1804,691
$STATE,12761,end climb,SURFACE_DEPTH_REACHED
$STATE,12761,begin surface coast
$FINISH,0.8,1.004328
$STATE,12796,end surface coast,CONTROL_FINISHED_OK
$STATE,12797,begin surface
$SM_CCo,12877,0.00,0.000,0,0,691,552.91
$SM_GC,1.66,7.97,0.00,0.00,0.038,0.000,0.000,154,2099,691,-8.27,1.07,552.91
$IRIDIUM_FIX,2429.95,12250.10,111198,232337
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.70
$XPDR_PINGS,153
$24V_AH,23.3,113.108
$10V_AH,10.6,73.627
$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,25.000,106.025,689.750,0.000,0.000,25.430,43.973,225.266,43.500,0.000,0.000,31.777,2420.184,6587.113,753.302,2867.085,722.402,0.000,2031.233,0.000,2821.811,0.000,36.058,0.000
$DEVICE_MAMPS,217.828,55.224,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,945.995,1026.079,1730.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78887,1395
$CAP_FILE_SIZE,142956,0
$CFSIZE,260165632,193486848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.654, 15.8,1
$GPS,180809,075736,2446.102,12246.847,38,1.1,43,-3.5