version: 66.04
glider: 166
mission: 2
dive: 518
start: 8 20 109 11 30 18
data:
$ID,166
$MISSION,2
$DIVE,518
$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,-17654.859
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,112136,2456.505,12237.527,33,1.2,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.7
$GPS2,112958,2456.975,12237.896,11,2.4,30,-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,250.3,47158,-13.9,-10.000
$D_GRID,1444
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,95,0.00,0.00,-72.90,0.000,2,0.000,0.000,123,2078,2059
$GC,99,-0.93,-243.4,3.2,-5.8,11,165,9.75,2.22,-50.17,0.000,4,0.228,0.057,2498,3475,3940
$GC,203,-0.52,-243.4,24.5,-28.7,27,210,0.50,2.12,0.00,0.000,6,0.138,0.031,2645,2026,3941
$GC,550,-0.62,-243.4,60.7,-4.6,88,557,0.00,2.03,0.00,0.000,4,0.000,0.039,2644,666,3943
$GC,623,-0.73,-243.4,65.0,-5.8,100,630,0.17,2.08,0.00,0.000,6,0.051,0.033,2556,2078,3943
$GC,969,-0.63,-243.4,119.1,-14.3,161,975,0.17,2.12,0.00,0.000,4,0.131,0.036,2613,660,3944
$GC,1007,-0.68,-243.4,124.3,-12.7,167,1013,0.00,2.05,0.00,0.000,6,0.000,0.032,2612,2059,3944
$GC,1354,-0.79,-243.4,155.5,-5.8,228,1362,0.15,2.08,0.00,0.000,4,0.058,0.037,2531,669,3945
$GC,1437,-0.68,-243.4,164.5,-11.4,242,1444,0.22,2.03,0.00,0.000,6,0.125,0.033,2598,2048,3945
$GC,1784,-0.78,-243.4,191.3,-10.3,303,1790,0.00,2.10,0.00,0.000,4,0.000,0.038,2598,673,3944
$GC,1832,-0.88,-243.4,196.4,-10.4,311,1839,0.15,2.08,0.00,0.000,6,0.041,0.033,2509,2053,3944
$GC,2180,-0.73,-243.4,253.6,-16.3,372,2189,0.20,2.17,0.00,0.000,4,0.133,0.045,2566,3474,3943
$GC,2248,-0.81,-243.4,261.9,-10.2,383,2254,0.00,2.10,0.00,0.000,6,0.000,0.030,2566,2038,3943
$GC,2594,-0.81,-243.4,298.5,-10.0,444,2601,0.00,2.05,0.00,0.000,4,0.000,0.039,2566,661,3941
$GC,2644,-0.85,-243.4,303.9,-9.9,449,2647,0.00,2.08,0.00,0.000,6,0.000,0.035,2562,2047,3941
$GC,2975,-0.89,-243.4,335.5,-8.8,480,2979,0.00,2.10,0.00,0.000,4,0.000,0.041,2563,662,3938
$GC,3059,-0.89,-243.4,344.3,-10.8,487,3065,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,2043,3937
$GC,3386,-0.92,-243.4,380.2,-11.2,518,3391,0.12,2.10,0.00,0.000,4,0.065,0.041,2492,664,3936
$GC,3467,-0.78,-243.4,393.1,-16.5,525,3472,0.25,2.08,0.00,0.000,6,0.127,0.038,2567,2033,3935
$GC,3795,-0.85,-243.4,422.0,-7.4,555,3799,0.00,2.22,0.00,0.000,4,0.000,0.054,2561,3462,3933
$GC,3857,-0.95,-243.4,427.0,-7.6,560,3865,0.15,2.10,0.00,0.000,6,0.056,0.033,2487,2029,3933
$GC,4183,-0.83,-243.4,471.5,-14.3,591,4187,0.20,2.08,0.00,0.000,4,0.127,0.045,2551,674,3931
$GC,4222,-0.87,-243.4,476.1,-10.2,594,4228,0.00,2.05,0.00,0.000,6,0.000,0.040,2550,2033,3930
$GC,4552,-0.93,-243.4,504.7,-10.2,623,4556,0.00,2.25,0.00,0.000,4,0.000,0.056,2548,3465,3928
$GC,4576,-1.00,-243.4,507.6,-10.0,624,4581,0.15,2.15,0.00,0.000,6,0.058,0.035,2474,2023,3928
$GC,4906,-0.88,-243.4,557.7,-14.7,640,4910,0.17,2.10,0.00,0.000,4,0.130,0.047,2533,663,3926
$GC,5064,-0.88,-243.4,576.5,-10.4,647,5068,0.00,2.08,0.00,0.000,6,0.000,0.042,2532,2017,3925
$GC,5392,-0.88,-243.4,606.0,-8.9,663,5396,0.00,2.30,0.00,0.000,4,0.000,0.060,2534,3463,3923
$GC,5422,-0.92,-243.4,608.6,-8.7,664,5425,0.00,2.17,0.00,0.000,6,0.000,0.036,2533,2015,3923
$GC,5744,-0.92,-243.4,637.8,-9.2,680,5747,0.00,2.10,0.00,0.000,4,0.000,0.050,2534,660,3920
$GC,5783,-0.92,-243.4,641.8,-9.9,681,5789,0.00,2.10,0.00,0.000,6,0.000,0.044,2535,2019,3919
$GC,6102,-0.92,-243.4,667.4,-6.8,697,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2019,3918
$GC,6409,-0.92,-243.4,696.3,-8.5,712,6413,0.00,2.33,0.00,0.000,4,0.000,0.061,2540,3472,3916
$GC,6451,-0.96,-243.4,700.0,-9.5,714,6456,0.00,2.22,0.00,0.000,6,0.000,0.039,2540,2012,3915
$GC,6784,-0.96,-243.4,733.3,-10.0,730,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2012,3913
$GC,7094,-0.96,-243.4,765.8,-11.3,745,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2012,3911
$GC,7404,-0.96,-243.4,800.1,-10.6,760,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2012,3910
$GC,7713,-0.99,-243.4,835.3,-11.1,775,7717,0.12,2.15,0.00,0.000,4,0.069,0.054,2479,660,3908
$GC,7748,-0.87,-243.4,840.1,-15.4,776,7756,0.20,2.10,0.00,0.000,6,0.133,0.048,2540,2012,3908
$GC,8065,-0.87,-243.4,874.4,-10.0,792,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2013,3906
$GC,8374,-0.87,-243.4,905.1,-9.6,807,8378,0.00,2.15,0.00,0.000,4,0.000,0.055,2533,659,3905
$GC,8421,-0.87,-243.4,910.0,-10.3,809,8425,0.00,2.12,0.00,0.000,6,0.000,0.048,2541,2009,3905
$GC,8757,-0.87,-243.4,941.5,-9.0,825,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2010,3904
$GC,9063,-0.87,-243.4,967.8,-8.0,840,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2010,3903
$STATE,9370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9370,begin apogee
$GC,9379,-0.23,0.0,990.7,7.1,855,9594,0.62,0.00,212.18,1.472,6,0.105,0.000,2744,1688,2945
$STATE,9595,end apogee,CONTROL_FINISHED_OK
$STATE,9595,begin climb
$GC,9598,0.93,243.4,999.0,0.0,866,9832,1.08,2.47,226.10,1.420,4,0.044,0.060,3132,3099,1951
$GC,9917,0.55,243.4,956.0,24.8,881,9922,0.50,2.20,0.00,0.000,6,0.158,0.044,3002,1692,1945
$GC,10235,0.49,243.4,908.2,15.1,896,10239,0.00,2.28,0.00,0.000,4,0.000,0.059,3002,3110,1943
$GC,10418,0.41,243.4,879.6,15.1,904,10423,0.20,2.17,0.00,0.000,6,0.142,0.044,2956,1699,1941
$GC,10739,0.47,243.4,842.3,10.9,920,10743,0.00,2.25,0.00,0.000,4,0.000,0.059,2955,3106,1941
$GC,10842,0.50,243.4,830.8,11.5,924,10850,0.00,2.12,0.00,0.000,6,0.000,0.044,2962,1728,1940
$GC,11159,0.56,255.6,798.4,9.7,940,11175,0.12,2.20,10.57,1.237,4,0.067,0.059,3026,3099,1903
$GC,11304,0.44,255.6,778.1,14.2,945,11311,0.28,2.12,0.00,0.000,6,0.141,0.044,2958,1726,1901
$GC,11622,0.49,255.6,746.5,10.7,961,11626,0.00,2.20,0.00,0.000,4,0.000,0.058,2958,3105,1901
$GC,11716,0.53,255.6,737.3,10.1,965,11720,0.00,2.12,0.00,0.000,6,0.000,0.044,2966,1730,1900
$GC,12050,0.64,315.4,708.5,8.3,981,12121,0.17,2.33,58.00,1.271,4,0.058,0.057,3061,3100,1658
$GC,12296,0.47,315.4,672.4,15.7,992,12300,0.35,2.08,0.00,0.000,6,0.142,0.044,2971,1759,1655
$GC,12623,0.63,388.6,645.4,8.0,1008,12697,0.15,2.25,67.62,1.256,4,0.061,0.059,3048,3092,1360
$GC,12913,0.52,388.6,603.0,15.4,1021,12918,0.25,2.03,0.00,0.000,6,0.137,0.042,2987,1785,1356
$GC,13246,0.67,443.6,572.5,8.5,1037,13302,0.15,2.17,50.97,1.202,4,0.060,0.058,3063,3101,1136
$GC,13551,0.55,443.6,520.0,19.1,1050,13558,0.25,2.03,0.00,0.000,6,0.133,0.043,3001,1788,1133
$GC,13875,0.65,443.6,475.6,13.3,1074,13879,0.00,2.08,0.00,0.000,4,0.000,0.055,3001,3111,1131
$GC,13967,0.73,443.6,463.4,13.2,1082,13971,0.15,2.00,0.00,0.000,6,0.058,0.042,3082,1808,1131
$GC,14298,0.62,443.6,405.0,16.0,1113,14303,0.17,2.08,0.00,0.000,4,0.140,0.055,3026,3109,1130
$GC,14410,0.62,443.6,391.7,10.3,1122,14417,0.00,2.00,0.00,0.000,6,0.000,0.042,3033,1826,1130
$GC,14739,0.62,443.6,354.8,11.9,1153,14743,0.00,2.03,0.00,0.000,4,0.000,0.055,3033,3104,1130
$GC,14826,0.62,443.6,344.0,12.1,1160,14833,0.00,1.98,0.00,0.000,6,0.000,0.041,3042,1837,1130
$GC,15154,0.62,443.6,300.5,13.9,1191,15158,0.00,2.00,0.00,0.000,4,0.000,0.052,3042,3109,1130
$GC,15372,0.62,443.6,266.9,14.9,1228,15379,0.00,1.92,0.00,0.000,6,0.000,0.039,3051,1862,1130
$GC,15718,0.62,443.6,218.9,11.1,1289,15724,0.00,1.95,0.00,0.000,4,0.000,0.052,3051,3104,1130
$GC,15886,0.62,443.6,198.9,11.9,1318,15893,0.10,1.90,0.00,0.000,6,0.127,0.038,3025,1869,1130
$GC,16234,0.86,539.8,167.8,7.3,1379,16325,0.17,2.05,84.20,0.874,4,0.054,0.050,3127,3103,744
$GC,16385,0.71,539.8,142.2,19.1,1403,16392,0.25,1.90,0.00,0.000,6,0.127,0.036,3055,1875,744
$GC,16736,0.84,539.8,101.8,11.4,1464,16744,0.00,1.95,0.00,0.000,4,0.000,0.047,3055,3111,743
$GC,16842,1.01,551.7,90.8,9.7,1482,16862,0.20,1.85,11.75,0.744,6,0.034,0.035,3165,1896,694
$GC,17208,0.90,551.7,28.4,15.7,1545,17214,0.17,2.50,0.00,0.000,4,0.130,0.046,3117,272,694
$GC,17303,1.22,661.8,19.9,7.0,1561,17362,0.25,2.45,51.60,0.727,6,0.042,0.035,3242,1912,455
$STATE,17412,end climb,SURFACE_DEPTH_REACHED
$STATE,17412,begin surface coast
$FINISH,1.2,1.020557
$STATE,17435,end surface coast,CONTROL_FINISHED_OK
$STATE,17435,begin surface
$SM_CCo,17517,0.00,0.000,0,0,452,611.53
$SM_GC,1.87,8.30,0.00,0.00,0.039,0.000,0.000,159,2099,452,-8.29,1.07,611.53
$IRIDIUM_FIX,2446.56,12234.83,141198,060614
$TT8_MAMPS,0.027612
$HUMID,1738
$INTERNAL_PRESSURE,9.78035
$TCM_TEMP,22.60
$XPDR_PINGS,174
$24V_AH,22.4,116.516
$10V_AH,10.5,75.431
$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,26.600,144.800,773.000,0.000,0.000,23.192,34.408,236.004,51.500,0.000,0.000,31.380,2800.090,10116.548,873.852,3359.663,846.571,0.000,2381.684,0.000,3310.031,0.000,54.396,0.000
$DEVICE_MAMPS,227.799,61.360,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.656,1109.214,1869.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91591,1583
$CAP_FILE_SIZE,176991,0
$CFSIZE,260165632,192417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182, 48.6,1
$GPS,200809,162330,2456.219,12236.538,37,2.0,37,-3.6