version: 66.04
glider: 166
mission: 2
dive: 513
start: 8 19 109 9 43 26
data:
$ID,166
$MISSION,2
$DIVE,513
$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,-17565.504
$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,39
$R_STBD_OVSHOOT,61
$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
$GPS1,093454,2458.429,12239.949,23,0.9,41,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.8
$GPS2,094302,2458.551,12239.949,15,0.9,15,-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,231.7,50341,-13.9,-10.000
$D_GRID,1396
$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,-243.4,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,161,2093,2145
$GC,93,-0.93,-243.4,3.1,-4.9,11,166,9.48,2.10,-56.17,0.000,4,0.222,0.061,2490,3448,3939
$GC,344,-0.60,-243.4,56.1,-15.4,53,351,0.43,2.05,0.00,0.000,6,0.132,0.031,2622,2041,3940
$GC,692,-0.69,-243.4,79.8,-9.6,114,698,0.00,2.05,0.00,0.000,4,0.000,0.040,2616,660,3941
$GC,746,-0.76,-243.4,85.2,-9.9,123,753,0.12,2.05,0.00,0.000,6,0.063,0.034,2546,2053,3942
$GC,1094,-0.65,-243.4,130.2,-13.5,184,1102,0.17,0.00,0.00,0.000,6,0.128,0.000,2603,2054,3942
$GC,1442,-0.74,-243.4,166.9,-7.7,245,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2054,3942
$GC,1788,-0.84,-243.4,189.0,-8.1,306,1795,0.15,2.15,0.00,0.000,4,0.058,0.046,2508,3459,3941
$GC,1815,-0.84,-243.4,192.1,-10.9,310,1822,0.12,2.05,0.00,0.000,6,0.132,0.031,2546,2046,3941
$GC,2163,-0.78,-243.4,243.4,-14.6,371,2169,0.00,2.20,0.00,0.000,4,0.000,0.050,2543,3456,3940
$GC,2199,-0.78,-243.4,248.5,-13.4,377,2205,0.00,2.05,0.00,0.000,6,0.000,0.031,2544,2055,3940
$GC,2545,-0.78,-243.4,281.1,-5.8,438,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2054,3939
$GC,2887,-0.78,-243.4,304.8,-10.6,495,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2054,3937
$GC,3209,-0.78,-243.4,350.2,-16.0,525,3213,0.00,2.10,0.00,0.000,4,0.000,0.042,2543,669,3936
$GC,3279,-0.78,-243.4,361.7,-16.6,531,3283,0.00,2.12,0.00,0.000,6,0.000,0.040,2543,2064,3936
$GC,3610,-0.78,-243.4,402.6,-10.5,562,3614,0.00,2.20,0.00,0.000,4,0.000,0.054,2543,3474,3934
$GC,3669,-0.84,-243.4,408.0,-8.5,567,3673,0.00,2.08,0.00,0.000,6,0.000,0.034,2542,2070,3934
$GC,4000,-0.84,-243.4,436.6,-8.8,598,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2070,3933
$GC,4322,-0.84,-243.4,464.3,-9.5,628,4326,0.00,2.20,0.00,0.000,4,0.000,0.055,2536,3463,3930
$GC,4345,-0.84,-243.4,467.1,-10.2,630,4349,0.00,2.08,0.00,0.000,6,0.000,0.035,2535,2070,3930
$GC,4676,-0.84,-243.4,504.8,-11.0,659,4679,0.00,2.15,0.00,0.000,4,0.000,0.046,2535,667,3928
$GC,4789,-0.84,-243.4,517.6,-9.8,664,4793,0.00,2.15,0.00,0.000,6,0.000,0.043,2535,2064,3927
$GC,5122,-0.84,-243.4,545.2,-8.1,680,5125,0.00,2.17,0.00,0.000,4,0.000,0.047,2535,663,3926
$GC,5169,-0.84,-243.4,549.4,-9.6,682,5174,0.00,2.17,0.00,0.000,6,0.000,0.043,2538,2072,3926
$GC,5502,-0.84,-243.4,579.1,-9.2,698,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2073,3923
$GC,5813,-0.84,-243.4,609.4,-9.8,713,5817,0.00,2.20,0.00,0.000,4,0.000,0.049,2540,664,3922
$GC,5881,-0.84,-243.4,616.6,-10.4,716,5885,0.00,2.17,0.00,0.000,6,0.000,0.044,2543,2065,3922
$GC,6214,-0.84,-243.4,647.0,-8.6,732,6218,0.00,2.25,0.00,0.000,4,0.000,0.062,2553,3466,3919
$GC,6242,-0.89,-243.4,649.0,-8.7,733,6246,0.00,2.12,0.00,0.000,6,0.000,0.038,2552,2066,3919
$GC,6577,-0.92,-243.4,680.9,-10.5,749,6581,0.00,2.25,0.00,0.000,4,0.000,0.063,2553,3460,3917
$GC,6617,-0.98,-243.4,685.5,-11.2,750,6624,0.15,2.10,0.00,0.000,6,0.061,0.038,2487,2066,3917
$GC,6935,-0.84,-243.4,733.1,-15.4,766,6940,0.17,2.20,0.00,0.000,4,0.134,0.051,2543,664,3916
$GC,7041,-0.84,-243.4,747.2,-11.8,770,7047,0.00,2.17,0.00,0.000,6,0.000,0.048,2541,2063,3915
$GC,7358,-0.84,-243.4,781.8,-9.7,786,7362,0.00,2.28,0.00,0.000,4,0.000,0.065,2541,3468,3913
$GC,7405,-0.88,-243.4,786.0,-8.8,788,7409,0.00,2.15,0.00,0.000,6,0.000,0.040,2541,2065,3913
$GC,7737,-0.88,-243.4,821.0,-10.9,804,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2065,3912
$GC,8048,-0.88,-243.4,856.7,-12.0,819,8052,0.00,2.22,0.00,0.000,4,0.000,0.054,2541,652,3910
$GC,8155,-0.88,-243.4,871.3,-13.1,823,8161,0.00,2.22,0.00,0.000,6,0.000,0.049,2541,2065,3910
$GC,8472,-0.88,-243.4,908.0,-10.7,839,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2065,3909
$GC,8781,-0.88,-243.4,937.5,-8.8,854,8785,0.00,2.28,0.00,0.000,4,0.000,0.066,2541,3462,3909
$GC,8815,-0.92,-243.4,940.5,-8.5,855,8821,0.00,2.15,0.00,0.000,6,0.000,0.041,2541,2056,3908
$GC,9133,-0.92,-243.4,969.1,-9.3,871,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2056,3907
$STATE,9354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9354,begin apogee
$GC,9362,-0.23,0.0,990.6,9.3,882,9581,0.62,0.00,214.85,1.480,6,0.104,0.000,2743,1693,2945
$STATE,9581,end apogee,CONTROL_FINISHED_OK
$STATE,9581,begin climb
$GC,9585,0.93,243.4,1002.4,0.0,893,9845,1.08,2.50,233.70,1.401,4,0.043,0.059,3130,3100,1950
$GC,9922,0.52,243.4,965.3,23.2,909,9928,0.55,2.22,0.00,0.000,6,0.161,0.045,2987,1699,1945
$GC,10247,0.49,243.4,923.5,12.4,925,10251,0.00,2.25,0.00,0.000,4,0.000,0.058,2987,3103,1943
$GC,10451,0.43,243.4,896.9,13.5,934,10456,0.15,2.17,0.00,0.000,6,0.152,0.045,2956,1703,1942
$GC,10780,0.48,243.4,863.5,10.2,950,10783,0.00,2.25,0.00,0.000,4,0.000,0.060,2956,3106,1941
$GC,10895,0.48,243.4,851.0,10.4,955,10899,0.00,2.15,0.00,0.000,6,0.000,0.044,2963,1719,1941
$GC,11230,0.50,266.3,817.7,9.4,971,11264,0.00,2.30,22.40,1.238,4,0.000,0.058,2964,3105,1859
$GC,11375,0.53,286.0,803.9,9.5,977,11409,0.00,2.15,21.80,1.212,6,0.000,0.044,2972,1720,1779
$GC,11722,0.61,323.7,772.3,9.0,994,11786,0.12,2.25,42.45,1.178,4,0.067,0.058,3037,3099,1624
$GC,11928,0.48,323.7,742.5,15.6,1003,11933,0.25,2.10,0.00,0.000,6,0.144,0.045,2978,1751,1621
$GC,12251,0.56,351.5,710.3,9.2,1019,12294,0.00,2.25,28.45,1.216,4,0.000,0.059,2978,3106,1512
$GC,12381,0.63,386.1,698.2,9.0,1024,12435,0.08,2.12,37.62,1.165,6,0.056,0.044,3037,1761,1370
$GC,12764,0.55,386.1,647.3,13.5,1043,12769,0.15,2.15,0.00,0.000,4,0.142,0.055,2997,3106,1367
$GC,12949,0.59,386.1,627.7,10.1,1051,12952,0.00,2.05,0.00,0.000,6,0.000,0.044,3004,1777,1366
$GC,13272,0.59,386.1,594.3,10.8,1067,13276,0.00,2.12,0.00,0.000,4,0.000,0.058,3004,3111,1366
$GC,13323,0.59,386.1,588.3,11.5,1069,13326,0.00,2.05,0.00,0.000,6,0.000,0.044,3013,1777,1366
$GC,13652,0.59,386.1,549.7,12.8,1085,13655,0.00,2.12,0.00,0.000,4,0.000,0.058,3013,3111,1365
$GC,13803,0.59,386.1,528.2,13.7,1091,13809,0.00,2.03,0.00,0.000,6,0.000,0.044,3022,1795,1365
$GC,14123,0.59,386.1,485.5,12.9,1112,14127,0.00,2.40,0.00,0.000,4,0.000,0.058,3033,285,1365
$GC,14145,0.59,386.1,482.2,13.5,1113,14152,0.00,2.40,0.00,0.000,6,0.000,0.045,3033,1823,1364
$GC,14473,0.54,386.1,439.3,11.8,1144,14477,0.15,2.03,0.00,0.000,4,0.135,0.055,2987,3105,1364
$GC,14653,0.70,436.0,424.2,8.6,1160,14710,0.15,1.98,46.42,1.118,6,0.058,0.042,3065,1826,1166
$GC,15029,0.60,436.0,361.6,16.2,1195,15033,0.17,2.05,0.00,0.000,4,0.138,0.053,3014,3112,1163
$GC,15064,0.60,436.0,356.9,11.9,1198,15068,0.00,1.98,0.00,0.000,6,0.000,0.041,3020,1831,1163
$GC,15399,0.64,436.0,320.3,12.7,1229,15405,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1831,1163
$GC,15734,0.69,436.0,272.7,14.5,1276,15740,0.00,2.05,0.00,0.000,4,0.000,0.052,3017,3102,1162
$GC,15839,0.74,436.0,257.8,13.5,1294,15845,0.00,1.98,0.00,0.000,6,0.000,0.040,3029,1836,1163
$GC,16187,0.78,436.0,215.9,10.9,1355,16194,0.12,1.98,0.00,0.000,4,0.067,0.049,3093,3106,1163
$GC,16235,0.64,436.0,208.5,17.5,1363,16242,0.28,1.92,0.00,0.000,6,0.136,0.040,3026,1835,1163
$GC,16583,0.94,617.7,182.2,5.0,1424,16748,0.22,2.10,154.12,0.881,4,0.051,0.050,3146,3103,455
$GC,16810,0.77,617.7,135.5,25.0,1460,16817,0.22,1.95,0.00,0.000,6,0.131,0.038,3069,1857,452
$GC,17158,0.85,617.7,92.4,13.0,1521,17165,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1857,451
$GC,17506,0.97,617.7,48.3,11.3,1582,17512,0.17,1.92,0.00,0.000,4,0.053,0.045,3161,3112,451
$GC,17658,0.94,617.7,22.9,15.0,1608,17664,0.08,1.92,0.00,0.000,6,0.125,0.036,3121,1853,451
$STATE,17833,end climb,SURFACE_DEPTH_REACHED
$STATE,17833,begin surface coast
$FINISH,1.2,1.019699
$STATE,17868,end surface coast,CONTROL_FINISHED_OK
$STATE,17868,begin surface
$SM_CCo,17948,0.00,0.000,0,0,449,612.27
$SM_GC,1.97,7.85,0.00,0.00,0.039,0.000,0.000,143,2097,449,-8.28,1.02,612.27
$IRIDIUM_FIX,2446.56,12222.99,131198,040457
$TT8_MAMPS,0.026845
$HUMID,1756
$INTERNAL_PRESSURE,9.71199
$TCM_TEMP,21.90
$XPDR_PINGS,195
$24V_AH,22.2,114.951
$10V_AH,10.5,74.620
$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,23.225,137.675,801.825,0.000,0.000,23.345,31.165,240.386,56.750,0.000,0.000,15.960,2868.874,10321.634,925.125,3457.583,843.487,0.000,2492.345,0.000,3429.480,0.000,61.306,0.000
$DEVICE_MAMPS,221.663,65.962,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.268,1145.209,1928.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94683,1645
$CAP_FILE_SIZE,175672,0
$CFSIZE,260165632,192884736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,11,0
$CURRENT,0.235, 19.9,1
$GPS,190809,144354,2458.130,12238.666,24,1.1,42,-3.6