version: 66.04
glider: 166
mission: 2
dive: 515
start: 8 19 109 20 0 53
data:
$ID,166
$MISSION,2
$DIVE,515
$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,-17593.797
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,195224,2456.520,12238.349,41,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.0
$GPS2,200031,2456.423,12238.443,9,1.0,14,-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,266.3,48200,-13.9,-10.000
$D_GRID,1422
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.93,-243.4,0.0,0.0,0,94,0.00,0.00,-74.40,0.000,2,0.000,0.000,154,2083,2135
$GC,98,-0.93,-243.4,3.0,-4.1,11,176,9.48,2.15,-58.95,0.000,4,0.222,0.061,2504,3457,3939
$GC,250,-0.68,-243.4,24.8,-21.2,35,257,0.32,2.10,0.00,0.000,6,0.127,0.033,2601,2029,3940
$GC,599,-0.68,-243.4,73.9,-12.8,96,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2027,3941
$GC,944,-0.74,-243.4,115.6,-11.8,157,951,0.00,2.25,0.00,0.000,4,0.000,0.049,2596,3451,3942
$GC,992,-0.87,-243.4,120.8,-10.7,165,1000,0.12,2.08,0.00,0.000,6,0.041,0.031,2521,2052,3942
$GC,1338,-0.71,-243.4,173.1,-13.2,226,1346,0.20,2.20,0.00,0.000,4,0.133,0.048,2583,3457,3942
$GC,1424,-0.82,-243.4,180.2,-7.0,240,1430,0.00,2.03,0.00,0.000,6,0.000,0.031,2584,2067,3942
$GC,1771,-0.89,-243.4,210.0,-8.9,301,1777,0.15,2.12,0.00,0.000,4,0.057,0.040,2505,660,3942
$GC,1824,-0.75,-243.4,217.3,-14.8,310,1832,0.25,2.12,0.00,0.000,6,0.126,0.037,2582,2082,3942
$GC,2173,-0.83,-243.4,250.3,-10.1,371,2179,0.00,2.15,0.00,0.000,4,0.000,0.041,2580,668,3941
$GC,2221,-0.89,-243.4,255.5,-11.4,379,2228,0.12,2.12,0.00,0.000,6,0.063,0.037,2512,2083,3941
$GC,2567,-0.75,-243.4,304.8,-13.4,437,2572,0.17,2.15,0.00,0.000,4,0.134,0.051,2564,3467,3940
$GC,2619,-0.81,-243.4,311.4,-10.9,441,2625,0.00,2.05,0.00,0.000,6,0.000,0.032,2562,2075,3940
$GC,2947,-0.85,-243.4,343.0,-9.9,472,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2075,3938
$GC,3278,-0.90,-243.4,376.1,-10.2,503,3281,0.00,2.15,0.00,0.000,4,0.000,0.044,2563,664,3937
$GC,3339,-0.94,-243.4,382.5,-9.5,508,3346,0.15,2.15,0.00,0.000,6,0.060,0.040,2490,2084,3937
$GC,3666,-0.78,-243.4,422.3,-12.8,539,3670,0.22,2.20,0.00,0.000,4,0.132,0.044,2564,664,3936
$GC,3699,-0.78,-243.4,425.8,-8.3,541,3705,0.00,2.17,0.00,0.000,6,0.000,0.041,2567,2089,3936
$GC,4029,-0.86,-243.4,449.2,-8.4,572,4037,0.00,2.20,0.00,0.000,4,0.000,0.047,2567,665,3934
$GC,4071,-0.93,-243.4,453.7,-10.1,575,4078,0.15,2.17,0.00,0.000,6,0.059,0.041,2497,2088,3934
$GC,4397,-0.83,-243.4,497.8,-13.9,606,4399,0.17,0.00,0.00,0.000,6,0.132,0.000,2550,2088,3933
$GC,4706,-0.88,-243.4,530.3,-10.3,622,4710,0.00,2.17,0.00,0.000,4,0.000,0.059,2545,3460,3930
$GC,4763,-0.94,-243.4,536.5,-11.0,624,4767,0.00,2.08,0.00,0.000,6,0.000,0.036,2546,2075,3930
$GC,5086,-0.94,-243.4,571.2,-10.5,640,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2075,3928
$GC,5397,-0.94,-243.4,602.7,-9.5,655,5401,0.00,2.25,0.00,0.000,4,0.000,0.062,2547,3465,3927
$GC,5427,-0.99,-243.4,605.6,-9.0,656,5431,0.12,2.08,0.00,0.000,6,0.064,0.038,2488,2085,3926
$GC,5754,-0.86,-243.4,644.5,-11.4,672,5759,0.17,2.22,0.00,0.000,4,0.133,0.050,2546,668,3924
$GC,5839,-0.86,-243.4,651.4,-7.9,676,5843,0.00,2.20,0.00,0.000,6,0.000,0.047,2546,2077,3924
$GC,6173,-0.86,-243.4,672.5,-6.4,692,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2077,3922
$GC,6482,-0.89,-243.4,696.4,-8.3,707,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2077,3920
$GC,6791,-0.89,-243.4,721.5,-8.1,722,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2078,3919
$GC,7100,-0.89,-243.4,747.9,-8.9,737,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2078,3917
$GC,7408,-0.89,-243.4,774.6,-8.5,752,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2078,3916
$GC,7723,-0.92,-243.4,800.6,-8.4,767,7726,0.00,2.25,0.00,0.000,4,0.000,0.055,2548,665,3914
$GC,7758,-0.92,-243.4,804.1,-9.3,768,7762,0.00,2.22,0.00,0.000,6,0.000,0.050,2551,2079,3914
$GC,8076,-0.96,-243.4,833.7,-10.3,783,8077,0.12,0.00,0.00,0.000,6,0.068,0.000,2491,2079,3913
$GC,8385,-0.85,-243.4,879.7,-15.1,798,8390,0.17,2.28,0.00,0.000,4,0.133,0.054,2548,662,3911
$GC,8497,-0.85,-243.4,892.6,-10.7,803,8501,0.00,2.22,0.00,0.000,6,0.000,0.050,2544,2072,3911
$GC,8821,-0.85,-243.4,922.5,-8.3,819,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2072,3910
$GC,9129,-0.85,-243.4,950.8,-9.5,834,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2072,3909
$GC,9438,-0.85,-243.4,973.4,-7.0,849,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2072,3909
$STATE,9702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9702,begin apogee
$GC,9711,-0.23,0.0,991.0,7.0,862,9930,0.62,0.00,215.30,1.485,6,0.104,0.000,2747,1703,2945
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9934,0.93,243.4,1000.9,0.0,873,10197,1.08,2.50,235.10,1.405,4,0.044,0.060,3129,3094,1951
$GC,10329,0.53,243.4,952.1,23.4,891,10334,0.52,2.20,0.00,0.000,6,0.163,0.046,2993,1685,1945
$GC,10648,0.48,243.4,914.1,10.3,906,10652,0.00,2.28,0.00,0.000,4,0.000,0.060,2993,3102,1943
$GC,10836,0.43,261.3,895.6,9.5,914,10867,0.15,2.15,18.45,1.206,6,0.150,0.045,2961,1717,1879
$GC,11189,0.66,415.7,873.8,5.7,931,11355,0.17,2.38,149.12,1.369,4,0.060,0.058,3049,3094,1249
$GC,11457,0.54,415.7,836.2,15.6,943,11462,0.22,2.15,0.00,0.000,6,0.142,0.045,2996,1724,1246
$GC,11779,0.58,415.7,803.2,10.4,959,11783,0.00,2.20,0.00,0.000,4,0.000,0.059,2996,3103,1243
$GC,11882,0.62,419.0,792.2,9.9,963,11886,0.00,2.12,0.00,0.000,6,0.000,0.045,3004,1729,1243
$GC,12204,0.62,419.0,758.2,10.6,979,12208,0.00,2.20,0.00,0.000,4,0.000,0.059,3004,3108,1243
$GC,12328,0.62,419.0,743.8,11.4,984,12332,0.00,2.10,0.00,0.000,6,0.000,0.045,3014,1750,1243
$GC,12650,0.62,419.0,704.2,13.0,1000,12654,0.00,2.17,0.00,0.000,4,0.000,0.058,3013,3112,1241
$GC,12723,0.62,419.0,693.8,13.3,1003,12727,0.00,2.08,0.00,0.000,6,0.000,0.044,3023,1764,1241
$GC,13054,0.59,419.0,648.8,14.5,1019,13057,0.00,2.15,0.00,0.000,4,0.000,0.058,3023,3112,1241
$GC,13123,0.59,419.0,637.5,15.0,1022,13127,0.00,2.08,0.00,0.000,6,0.000,0.043,3032,1768,1241
$GC,13457,0.53,419.0,583.8,16.4,1038,13461,0.15,2.15,0.00,0.000,4,0.141,0.056,2989,3112,1241
$GC,13583,0.61,419.0,566.8,13.3,1043,13589,0.00,2.03,0.00,0.000,6,0.000,0.044,2997,1796,1241
$GC,13900,0.66,419.0,527.1,12.8,1059,13904,0.10,2.10,0.00,0.000,4,0.076,0.056,3051,3112,1241
$GC,13997,0.53,419.0,511.4,16.3,1063,14002,0.25,2.00,0.00,0.000,6,0.136,0.041,2989,1812,1241
$GC,14325,0.60,419.0,479.0,11.7,1089,14329,0.00,2.05,0.00,0.000,4,0.000,0.058,2989,3101,1241
$GC,14433,0.67,419.0,465.1,13.5,1098,14440,0.12,2.00,0.00,0.000,6,0.064,0.043,3059,1828,1241
$GC,14761,0.58,419.0,407.1,15.0,1129,14765,0.17,2.05,0.00,0.000,4,0.139,0.055,3003,3106,1241
$GC,14790,0.58,419.0,402.9,12.6,1131,14796,0.00,2.00,0.00,0.000,6,0.000,0.043,3010,1815,1241
$GC,15120,0.86,592.4,379.9,5.2,1162,15291,0.20,2.58,161.18,1.071,4,0.054,0.056,3131,296,528
$GC,15312,0.73,592.4,350.7,16.0,1179,15318,0.25,2.45,0.00,0.000,6,0.134,0.044,3060,1822,527
$GC,15638,0.73,592.4,310.3,15.9,1210,15642,0.00,2.03,0.00,0.000,4,0.000,0.054,3060,3110,524
$GC,15740,0.78,592.4,294.2,14.6,1222,15747,0.00,2.00,0.00,0.000,6,0.000,0.041,3067,1830,523
$GC,16086,0.78,592.4,244.4,12.6,1283,16092,0.00,2.45,0.00,0.000,4,0.000,0.054,3079,277,523
$GC,16139,0.89,592.4,238.2,11.2,1292,16147,0.00,2.40,0.00,0.000,6,0.000,0.042,3079,1836,523
$GC,16487,0.89,592.4,188.3,15.5,1353,16493,0.00,2.00,0.00,0.000,4,0.000,0.051,3079,3104,522
$GC,16557,0.94,592.4,176.9,15.4,1365,16564,0.08,1.98,0.00,0.000,6,0.056,0.039,3144,1830,523
$GC,16904,0.80,592.4,94.0,22.9,1426,16911,0.20,2.00,0.00,0.000,4,0.137,0.048,3078,3114,523
$GC,16976,0.92,592.4,83.3,10.1,1438,16982,0.00,1.98,0.00,0.000,6,0.000,0.037,3084,1831,522
$GC,17322,1.14,652.3,50.8,8.3,1499,17344,0.25,2.47,16.40,0.753,4,0.043,0.048,3222,285,455
$GC,17382,1.02,652.3,40.0,23.4,1508,17390,0.25,2.38,0.00,0.000,6,0.130,0.037,3149,1844,455
$STATE,17645,end climb,SURFACE_DEPTH_REACHED
$STATE,17645,begin surface coast
$FINISH,1.1,1.009462
$STATE,17678,end surface coast,CONTROL_FINISHED_OK
$STATE,17678,begin surface
$SM_CCo,17759,0.00,0.000,0,0,452,611.29
$SM_GC,1.86,7.95,0.00,0.00,0.039,0.000,0.000,137,2102,452,-8.29,1.16,611.29
$IRIDIUM_FIX,2451.31,12238.12,131198,141448
$TT8_MAMPS,0.027612
$HUMID,1758
$INTERNAL_PRESSURE,9.76082
$TCM_TEMP,22.20
$XPDR_PINGS,174
$24V_AH,22.0,115.584
$10V_AH,10.5,74.942
$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,24.875,135.275,795.550,0.000,0.000,24.677,31.341,244.861,51.500,0.000,0.000,14.960,2752.125,10535.681,890.786,3232.668,814.733,0.000,2376.495,0.000,3192.536,0.000,54.374,0.000
$DEVICE_MAMPS,222.430,62.127,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.093,1054.464,1778.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91726,1560
$CAP_FILE_SIZE,171332,0
$CFSIZE,260165632,192708608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.258, 56.7,1
$GPS,200809,005806,2456.799,12237.309,36,1.0,36,-3.6