version: 66.04
glider: 166
mission: 2
dive: 511
start: 8 18 109 23 11 21
data:
$ID,166
$MISSION,2
$DIVE,511
$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,-17534.305
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,225001,2454.653,12242.013,40,1.3,40,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.5
$GPS2,231101,2456.228,12242.567,15,1.2,32,-3.6
$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,235.9,55109,-13.9,-10.000
$D_GRID,1398
$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,-243.4,0.0,0.0,0,92,0.00,0.00,-73.12,0.000,2,0.000,0.000,168,2047,2114
$GC,96,-0.93,-243.4,3.1,-5.5,11,160,9.38,2.28,-45.45,0.000,4,0.216,0.055,2494,3478,3939
$GC,207,-0.48,-243.4,29.7,-29.0,29,215,0.50,2.12,0.00,0.000,6,0.143,0.028,2660,2035,3940
$GC,556,-0.59,-243.4,69.7,-8.8,90,562,0.00,2.03,0.00,0.000,4,0.000,0.037,2650,657,3941
$GC,600,-0.69,-243.4,73.9,-10.0,97,608,0.17,2.08,0.00,0.000,6,0.053,0.030,2567,2091,3941
$GC,950,-0.58,-243.4,120.2,-8.5,158,956,0.20,0.00,0.00,0.000,6,0.128,0.000,2630,2091,3941
$GC,1296,-0.71,-243.4,140.3,-7.2,219,1303,0.12,2.15,0.00,0.000,4,0.061,0.035,2552,679,3940
$GC,1358,-0.64,-243.4,147.2,-12.5,229,1366,0.22,2.03,0.00,0.000,6,0.123,0.031,2618,2067,3940
$GC,1708,-0.77,-243.4,175.4,-7.8,290,1714,0.12,0.00,0.00,0.000,6,0.061,0.000,2544,2067,3938
$GC,2055,-0.68,-243.4,212.5,-8.1,351,2061,0.17,2.12,0.00,0.000,4,0.127,0.044,2601,3457,3935
$GC,2091,-0.78,-243.4,214.8,-4.8,357,2099,0.00,2.05,0.00,0.000,6,0.000,0.028,2601,2044,3936
$GC,2441,-0.90,-243.4,227.8,-4.5,418,2447,0.17,0.00,0.00,0.000,6,0.051,0.000,2500,2043,3933
$GC,2787,-0.73,-243.4,265.4,-10.7,479,2793,0.25,2.22,0.00,0.000,4,0.128,0.047,2573,3459,3931
$GC,2824,-0.78,-243.4,268.1,-6.0,485,2832,0.00,2.05,0.00,0.000,6,0.000,0.030,2574,2059,3930
$GC,3173,-0.85,-243.4,293.7,-9.4,546,3179,0.00,2.10,0.00,0.000,4,0.000,0.041,2573,660,3928
$GC,3239,-0.91,-243.4,300.6,-11.4,557,3246,0.15,2.08,0.00,0.000,6,0.060,0.035,2499,2052,3927
$GC,3564,-0.78,-243.4,352.0,-16.4,588,3566,0.22,0.00,0.00,0.000,6,0.128,0.000,2568,2052,3925
$GC,3887,-0.85,-243.4,381.8,-7.3,618,3890,0.00,2.12,0.00,0.000,4,0.000,0.042,2567,660,3923
$GC,3967,-0.92,-243.4,388.4,-8.2,625,3971,0.12,2.08,0.00,0.000,6,0.064,0.037,2501,2046,3921
$GC,4297,-0.82,-243.4,430.7,-14.3,656,4302,0.17,2.10,0.00,0.000,4,0.130,0.042,2554,670,3919
$GC,4348,-0.86,-243.4,437.2,-11.1,660,4355,0.00,2.08,0.00,0.000,6,0.000,0.038,2552,2050,3918
$GC,4674,-0.90,-243.4,474.6,-12.2,691,4682,0.00,2.20,0.00,0.000,4,0.000,0.054,2554,3460,3915
$GC,4728,-0.98,-243.4,481.3,-12.3,695,4734,0.15,2.10,0.00,0.000,6,0.058,0.034,2480,2042,3915
$GC,5062,-0.86,-243.4,530.2,-13.9,717,5066,0.17,2.12,0.00,0.000,4,0.134,0.045,2538,657,3912
$GC,5229,-0.86,-243.4,547.4,-8.8,724,5236,0.00,2.10,0.00,0.000,6,0.000,0.041,2538,2040,3911
$GC,5547,-0.86,-243.4,575.9,-9.5,740,5551,0.00,2.25,0.00,0.000,4,0.000,0.059,2536,3470,3909
$GC,5595,-0.92,-243.4,580.5,-8.9,742,5599,0.00,2.15,0.00,0.000,6,0.000,0.036,2538,2038,3908
$GC,5929,-0.92,-243.4,611.1,-9.6,758,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2038,3906
$GC,6240,-0.92,-243.4,637.3,-8.5,773,6244,0.00,2.28,0.00,0.000,4,0.000,0.060,2537,3460,3903
$GC,6302,-0.98,-243.4,643.1,-9.7,775,6308,0.00,2.15,0.00,0.000,6,0.000,0.038,2538,2032,3903
$GC,6621,-0.98,-243.4,672.0,-10.3,791,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2032,3901
$GC,6929,-1.01,-243.4,703.9,-10.8,806,6933,0.12,2.15,0.00,0.000,4,0.067,0.051,2475,657,3899
$GC,7014,-0.88,-243.4,716.8,-16.9,810,7019,0.22,2.15,0.00,0.000,6,0.134,0.046,2534,2039,3898
$GC,7344,-0.88,-243.4,757.4,-12.2,826,7348,0.00,2.28,0.00,0.000,4,0.000,0.062,2526,3464,3896
$GC,7389,-0.91,-243.4,763.2,-12.4,828,7393,0.00,2.15,0.00,0.000,6,0.000,0.039,2528,2047,3896
$GC,7718,-0.91,-243.4,801.3,-11.3,844,7722,0.00,2.30,0.00,0.000,4,0.000,0.064,2526,3465,3894
$GC,7751,-0.94,-243.4,805.3,-11.1,845,7759,0.00,2.17,0.00,0.000,6,0.000,0.039,2530,2032,3894
$GC,8069,-0.94,-243.4,838.4,-10.4,861,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2032,3893
$GC,8377,-0.94,-243.4,871.1,-10.2,876,8381,0.00,2.35,0.00,0.000,4,0.000,0.064,2527,3469,3891
$GC,8419,-0.99,-243.4,875.1,-9.7,878,8423,0.00,2.17,0.00,0.000,6,0.000,0.041,2528,2046,3891
$GC,8753,-0.99,-243.4,908.2,-9.7,894,8757,0.00,2.17,0.00,0.000,4,0.000,0.054,2530,660,3889
$GC,8793,-0.99,-243.4,912.3,-10.1,895,8799,0.00,2.17,0.00,0.000,6,0.000,0.048,2529,2048,3889
$GC,9110,-0.99,-243.4,939.7,-8.3,911,9114,0.00,2.30,0.00,0.000,4,0.000,0.064,2528,3471,3887
$GC,9166,-1.03,-243.4,944.2,-7.7,913,9171,0.12,2.17,0.00,0.000,6,0.068,0.041,2473,2044,3887
$GC,9484,-0.91,-243.4,978.8,-10.9,928,9489,0.17,2.20,0.00,0.000,4,0.136,0.053,2532,656,3886
$GC,9550,-0.91,-243.4,984.7,-7.8,931,9554,0.00,2.20,0.00,0.000,6,0.000,0.048,2532,2053,3886
$STATE,9622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9622,begin apogee
$GC,9630,-0.23,0.0,990.2,7.5,935,9845,0.65,0.00,208.82,1.472,6,0.107,0.000,2743,1693,2945
$STATE,9846,end apogee,CONTROL_FINISHED_OK
$STATE,9846,begin climb
$GC,9849,0.93,243.4,1000.6,0.0,946,10081,1.02,0.00,223.52,1.420,6,0.047,0.000,3123,1693,1949
$GC,10391,0.57,243.4,918.5,20.4,972,10396,0.38,2.28,0.00,0.000,4,0.163,0.059,3014,3106,1942
$GC,10650,0.44,243.4,878.8,15.3,983,10656,0.22,2.15,0.00,0.000,6,0.147,0.045,2960,1714,1940
$GC,10967,0.47,243.4,843.6,10.9,999,10971,0.00,2.22,0.00,0.000,4,0.000,0.058,2961,3112,1940
$GC,11193,0.47,243.4,817.9,10.5,1009,11197,0.00,2.15,0.00,0.000,6,0.000,0.044,2969,1718,1939
$GC,11526,0.47,243.4,781.9,10.6,1025,11530,0.00,2.22,0.00,0.000,4,0.000,0.058,2969,3112,1938
$GC,11722,0.49,251.9,762.8,9.8,1033,11734,0.00,2.10,6.50,1.094,6,0.000,0.044,2980,1744,1918
$GC,12044,0.50,266.9,731.5,9.6,1049,12073,0.00,2.25,17.90,1.152,4,0.000,0.057,2980,3108,1856
$GC,12215,0.50,266.9,713.6,11.6,1056,12221,0.00,2.08,0.00,0.000,6,0.000,0.043,2989,1756,1853
$GC,12531,0.50,266.9,680.2,10.4,1072,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1756,1853
$GC,12842,0.51,268.7,648.7,9.9,1087,12845,0.00,2.15,0.00,0.000,4,0.000,0.058,2988,3103,1853
$GC,13020,0.48,268.7,630.2,10.6,1094,13027,0.00,2.05,0.00,0.000,6,0.000,0.044,2998,1770,1852
$GC,13336,0.49,278.2,598.3,9.7,1110,13360,0.00,2.12,11.75,1.088,4,0.000,0.057,2998,3105,1812
$GC,13487,0.45,278.2,583.0,10.8,1116,13492,0.15,2.05,0.00,0.000,6,0.144,0.044,2968,1777,1811
$GC,13810,0.56,310.9,556.3,9.1,1132,13853,0.00,2.47,33.47,1.144,4,0.000,0.058,2978,288,1676
$GC,13880,0.66,310.9,549.5,10.2,1135,13885,0.15,2.38,0.00,0.000,6,0.059,0.044,3051,1798,1675
$GC,14208,0.54,310.9,501.2,14.2,1151,14213,0.20,2.08,0.00,0.000,4,0.140,0.055,2987,3108,1673
$GC,14328,0.60,358.2,489.1,8.7,1161,14384,0.00,2.03,45.72,1.111,6,0.000,0.042,2995,1792,1484
$GC,14704,0.74,422.9,460.3,8.2,1196,14772,0.17,2.17,59.40,1.113,4,0.054,0.055,3077,3096,1220
$GC,14837,0.60,422.9,438.9,18.9,1207,14843,0.28,2.03,0.00,0.000,6,0.140,0.042,3009,1790,1218
$GC,15163,0.67,422.9,394.8,12.6,1238,15166,0.00,2.08,0.00,0.000,4,0.000,0.054,3008,3107,1215
$GC,15303,0.75,422.9,378.3,11.0,1250,15311,0.10,2.00,0.00,0.000,6,0.049,0.041,3077,1823,1215
$GC,15629,0.63,422.9,330.7,13.7,1281,15634,0.20,2.42,0.00,0.000,4,0.139,0.053,3023,292,1214
$GC,15651,0.63,422.9,327.6,13.1,1282,15659,0.00,2.38,0.00,0.000,6,0.000,0.042,3024,1836,1213
$GC,15981,0.67,422.9,293.1,10.4,1318,15988,0.00,2.00,0.00,0.000,4,0.000,0.053,3024,3104,1213
$GC,16113,0.72,422.9,277.4,12.9,1341,16119,0.00,1.92,0.00,0.000,6,0.000,0.039,3033,1836,1213
$GC,16459,0.72,422.9,233.3,11.3,1402,16466,0.00,2.03,0.00,0.000,4,0.000,0.050,3034,3130,1213
$GC,16537,0.72,422.9,223.6,12.2,1415,16543,0.00,1.95,0.00,0.000,6,0.000,0.039,3043,1847,1213
$GC,16882,0.72,422.9,180.6,10.7,1476,16888,0.00,2.45,0.00,0.000,4,0.000,0.052,3054,280,1213
$GC,16919,0.78,422.9,176.3,10.4,1482,16927,0.00,2.40,0.00,0.000,6,0.000,0.039,3053,1848,1213
$GC,17265,0.78,422.9,131.8,11.2,1543,17272,0.00,1.98,0.00,0.000,4,0.000,0.049,3054,3106,1213
$GC,17393,0.78,422.9,116.5,11.8,1565,17399,0.00,1.92,0.00,0.000,6,0.000,0.038,3058,1851,1213
$GC,17739,0.78,424.6,78.9,10.0,1626,17747,0.00,1.98,0.00,0.000,4,0.000,0.048,3059,3104,1213
$GC,17778,0.78,424.6,74.8,12.2,1632,17784,0.00,1.90,0.00,0.000,6,0.000,0.035,3065,1860,1213
$GC,18125,0.88,451.1,36.0,9.3,1693,18158,0.10,2.47,25.02,0.757,4,0.073,0.047,3147,275,1106
$GC,18218,0.81,451.1,25.4,12.3,1708,18225,0.25,2.42,0.00,0.000,6,0.123,0.036,3075,1873,1105
$STATE,18528,end climb,SURFACE_DEPTH_REACHED
$STATE,18528,begin surface coast
$FINISH,1.1,1.003468
$STATE,18593,end surface coast,CONTROL_FINISHED_OK
$STATE,18593,begin surface
$SM_CCo,18613,20.40,0.701,0,0,1008,475.15
$SM_GC,1.75,0.00,0.00,20.40,0.000,0.000,0.701,148,2112,1008,-8.35,1.47,475.15
$IRIDIUM_FIX,2448.93,12231.55,121198,232358
$TT8_MAMPS,0.026845
$HUMID,1771
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,22.50
$XPDR_PINGS,189
$24V_AH,22.7,114.332
$10V_AH,10.5,74.286
$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,24.625,156.100,632.125,20.400,0.000,120.237,375.375,308.164,55.250,0.000,0.000,32.812,3130.859,10825.320,834.212,3721.638,1364.839,0.000,2464.348,0.000,3657.426,0.000,54.397,0.000
$DEVICE_MAMPS,216.294,64.428,1471.873,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.386,1239.678,2094.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104232,1774
$CAP_FILE_SIZE,195159,0
$CFSIZE,260165632,193052672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.388, 13.8,1
$GPS,190809,042307,2457.773,12241.451,30,1.1,30,-3.6