version: 66.04
glider: 166
mission: 2
dive: 509
start: 8 18 109 12 57 49
data:
$ID,166
$MISSION,2
$DIVE,509
$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,-17485.186
$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,59
$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
$GPS1,124606,2449.906,12245.252,30,0.9,30,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.8
$GPS2,125726,2450.488,12245.290,14,1.1,14,-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,245.1,61798,-13.9,-10.000
$D_GRID,1196
$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,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,91,0.00,0.00,-72.45,0.000,2,0.000,0.000,160,2096,2085
$GC,96,-0.93,-243.4,3.0,-5.3,11,162,9.45,2.30,-49.10,0.000,4,0.216,0.051,2510,638,3940
$GC,310,-0.60,-243.4,55.3,-21.9,47,318,0.35,2.12,0.00,0.000,6,0.129,0.031,2618,2053,3941
$GC,658,-0.60,-243.4,104.2,-14.1,108,665,0.00,2.12,0.00,0.000,4,0.000,0.044,2605,3463,3943
$GC,690,-0.65,-243.4,108.5,-14.0,113,697,0.00,2.05,0.00,0.000,6,0.000,0.028,2610,2036,3943
$GC,1039,-0.70,-243.4,149.2,-8.5,174,1045,0.00,2.03,0.00,0.000,4,0.000,0.036,2605,656,3943
$GC,1076,-0.74,-243.4,152.3,-8.9,180,1084,0.00,2.08,0.00,0.000,6,0.000,0.030,2602,2086,3943
$GC,1426,-0.83,-243.4,183.6,-8.7,241,1432,0.15,0.00,0.00,0.000,6,0.058,0.000,2519,2087,3942
$GC,1771,-0.66,-243.4,235.0,-16.8,302,1778,0.25,2.12,0.00,0.000,4,0.125,0.036,2601,669,3941
$GC,1849,-0.76,-243.4,243.6,-10.4,315,1855,0.00,2.08,0.00,0.000,6,0.000,0.032,2599,2072,3941
$GC,2195,-0.87,-243.4,275.7,-8.0,376,2203,0.17,2.10,0.00,0.000,4,0.054,0.044,2493,3459,3939
$GC,2217,-0.87,-243.4,277.8,-9.3,379,2223,0.15,2.03,0.00,0.000,6,0.131,0.028,2539,2053,3939
$GC,2558,-0.84,-243.4,320.5,-12.4,426,2561,0.00,2.05,0.00,0.000,4,0.000,0.039,2539,679,3936
$GC,2723,-0.81,-243.4,340.7,-12.8,440,2731,0.00,2.05,0.00,0.000,6,0.000,0.035,2535,2060,3936
$GC,3049,-0.76,-243.4,376.1,-10.5,471,3051,0.12,0.00,0.00,0.000,6,0.133,0.000,2571,2061,3934
$GC,3372,-0.85,-243.4,398.9,-6.7,501,3375,0.00,2.15,0.00,0.000,4,0.000,0.050,2570,3460,3931
$GC,3434,-0.97,-243.4,403.2,-6.1,506,3441,0.15,2.05,0.00,0.000,6,0.040,0.031,2482,2073,3930
$GC,3761,-0.83,-243.4,447.6,-13.5,537,3765,0.20,2.12,0.00,0.000,4,0.131,0.041,2548,671,3928
$GC,3813,-0.86,-243.4,453.6,-10.6,541,3817,0.00,2.10,0.00,0.000,6,0.000,0.037,2544,2066,3927
$GC,4144,-0.86,-243.4,490.8,-11.5,572,4148,0.00,2.12,0.00,0.000,4,0.000,0.043,2545,673,3926
$GC,4250,-0.86,-243.4,503.8,-11.2,580,4257,0.00,2.08,0.00,0.000,6,0.000,0.038,2544,2051,3925
$GC,4566,-0.86,-243.4,535.3,-9.4,596,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2051,3923
$GC,4879,-0.90,-243.4,563.5,-9.1,611,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2051,3920
$GC,5185,-0.94,-243.4,590.3,-8.3,626,5189,0.00,2.12,0.00,0.000,4,0.000,0.046,2544,679,3917
$GC,5214,-0.94,-243.4,593.0,-8.7,627,5218,0.00,2.08,0.00,0.000,6,0.000,0.041,2543,2038,3917
$GC,5543,-0.98,-243.4,619.5,-7.9,643,5548,0.12,2.12,0.00,0.000,4,0.066,0.047,2480,673,3915
$GC,5577,-0.87,-243.4,623.5,-12.2,644,5585,0.20,2.10,0.00,0.000,6,0.133,0.042,2534,2045,3914
$GC,5895,-0.87,-243.4,651.5,-9.0,660,5899,0.00,2.12,0.00,0.000,4,0.000,0.048,2535,670,3911
$GC,5935,-0.87,-243.4,655.6,-10.1,661,5941,0.00,2.12,0.00,0.000,6,0.000,0.043,2533,2050,3911
$GC,6253,-0.90,-243.4,685.3,-10.4,677,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2050,3910
$GC,6562,-0.90,-243.4,713.8,-8.9,692,6566,0.00,2.15,0.00,0.000,4,0.000,0.050,2533,672,3908
$GC,6608,-0.90,-243.4,718.0,-9.2,694,6611,0.00,2.12,0.00,0.000,6,0.000,0.046,2532,2039,3907
$GC,6941,-0.90,-243.4,746.4,-8.9,710,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2039,3905
$GC,7252,-0.94,-243.4,772.5,-8.0,725,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2039,3904
$GC,7560,-0.97,-243.4,797.4,-9.0,740,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2039,3901
$GC,7873,-1.00,-243.4,825.6,-9.1,755,7875,0.10,0.00,0.00,0.000,6,0.077,0.000,2480,2039,3900
$GC,8178,-0.91,-243.4,866.0,-13.9,770,8183,0.15,2.17,0.00,0.000,4,0.135,0.054,2526,672,3898
$GC,8222,-0.91,-243.4,871.8,-12.0,772,8226,0.00,2.12,0.00,0.000,6,0.000,0.048,2520,2033,3898
$GC,8550,-0.91,-243.4,904.1,-9.2,788,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2033,3897
$GC,8859,-0.91,-243.4,935.0,-9.9,803,8862,0.00,2.15,0.00,0.000,4,0.000,0.055,2522,675,3895
$GC,8907,-0.91,-243.4,939.6,-11.0,805,8911,0.00,2.12,0.00,0.000,6,0.000,0.050,2521,2028,3895
$GC,9241,-0.91,-243.4,971.8,-9.7,821,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2029,3894
$STATE,9485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9493,-0.23,0.0,991.0,9.1,833,9714,0.68,0.00,212.70,1.467,6,0.107,0.000,2742,1706,2945
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9719,0.93,243.4,1008.5,0.0,844,9957,1.02,2.42,223.93,1.431,4,0.044,0.060,3134,3096,1950
$GC,10006,0.49,243.4,989.2,18.3,857,10011,0.62,2.20,0.00,0.000,6,0.167,0.044,2978,1700,1947
$GC,10334,0.54,289.1,961.9,8.7,873,10398,0.00,2.33,46.38,1.296,4,0.000,0.058,2977,3107,1764
$GC,10527,0.54,289.1,939.6,14.0,881,10533,0.00,2.20,0.00,0.000,6,0.000,0.044,2985,1694,1761
$GC,10844,0.54,289.1,897.7,11.5,897,10848,0.00,2.25,0.00,0.000,4,0.000,0.059,2985,3105,1760
$GC,11030,0.50,289.1,876.6,10.2,905,11034,0.00,2.15,0.00,0.000,6,0.000,0.044,2994,1713,1760
$GC,11366,0.46,289.1,841.1,10.2,921,11370,0.00,2.22,0.00,0.000,4,0.000,0.059,2995,3106,1759
$GC,11562,0.39,289.1,820.0,10.1,929,11566,0.22,2.10,0.00,0.000,6,0.140,0.044,2942,1745,1758
$GC,11878,0.65,410.8,798.4,6.6,944,12008,0.22,2.28,117.18,1.338,4,0.050,0.058,3049,3102,1269
$GC,12190,0.49,410.8,749.4,18.6,958,12195,0.28,2.08,0.00,0.000,6,0.144,0.044,2981,1768,1264
$GC,12519,0.61,443.7,718.2,9.1,974,12576,0.10,2.17,36.72,1.111,4,0.075,0.057,3034,3106,1136
$GC,12669,0.50,443.7,696.5,15.8,980,12674,0.22,2.08,0.00,0.000,6,0.138,0.044,2981,1777,1135
$GC,12998,0.73,546.4,670.4,7.2,996,13175,0.20,2.20,117.18,1.098,4,0.052,0.058,3079,3105,716
$GC,13334,0.58,546.4,608.1,21.9,1011,13338,0.28,2.05,0.00,0.000,6,0.141,0.044,3009,1786,715
$GC,13650,0.66,546.4,571.9,10.0,1026,13654,0.00,2.10,0.00,0.000,4,0.000,0.056,3009,3109,714
$GC,13701,0.77,546.4,566.8,10.1,1028,13705,0.15,2.00,0.00,0.000,6,0.058,0.043,3088,1805,714
$GC,14029,0.62,546.4,504.1,19.6,1044,14034,0.20,2.08,0.00,0.000,4,0.143,0.056,3024,3107,714
$GC,14136,0.68,546.4,488.0,14.0,1052,14140,0.00,1.98,0.00,0.000,6,0.000,0.043,3030,1821,714
$GC,14471,0.68,546.4,435.4,15.7,1083,14475,0.00,2.05,0.00,0.000,4,0.000,0.057,3030,3112,713
$GC,14529,0.71,546.4,425.9,16.1,1088,14532,0.00,1.95,0.00,0.000,6,0.000,0.041,3038,1837,713
$GC,14863,0.71,546.4,376.1,14.3,1119,14867,0.00,2.00,0.00,0.000,4,0.000,0.054,3038,3108,713
$GC,14920,0.71,546.4,367.2,13.7,1124,14924,0.00,1.92,0.00,0.000,6,0.000,0.041,3045,1846,713
$GC,15255,0.71,546.4,315.9,15.8,1155,15259,0.00,2.00,0.00,0.000,4,0.000,0.054,3044,3113,713
$GC,15306,0.71,546.4,306.8,15.7,1159,15312,0.00,1.92,0.00,0.000,6,0.000,0.040,3052,1849,713
$GC,15648,0.71,546.4,258.8,14.3,1216,15655,0.00,2.00,0.00,0.000,4,0.000,0.054,3051,3103,713
$GC,15707,0.71,546.4,249.5,15.3,1226,15713,0.00,1.92,0.00,0.000,6,0.000,0.039,3059,1854,713
$GC,16051,0.71,546.4,194.2,15.5,1287,16058,0.00,2.00,0.00,0.000,4,0.000,0.052,3060,3110,713
$GC,16071,0.71,546.4,191.2,14.9,1290,16077,0.00,1.90,0.00,0.000,6,0.000,0.038,3069,1872,713
$GC,16417,0.71,546.4,146.1,14.7,1351,16423,0.00,2.50,0.00,0.000,4,0.000,0.051,3082,274,713
$GC,16442,0.75,546.4,142.4,15.5,1355,16449,0.00,2.47,0.00,0.000,6,0.000,0.039,3082,1894,713
$GC,16789,0.79,546.4,86.6,14.6,1416,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1894,713
$GC,17136,1.22,728.1,56.5,5.0,1477,17200,0.30,1.92,57.12,0.772,4,0.040,0.045,3236,3115,455
$GC,17226,1.05,728.1,43.4,18.1,1491,17232,0.22,1.92,0.00,0.000,6,0.131,0.035,3161,1870,453
$GC,17572,1.29,783.4,10.3,8.5,1552,17581,0.17,2.47,0.00,0.000,4,0.050,0.046,3268,274,453
$STATE,17626,end climb,SURFACE_DEPTH_REACHED
$STATE,17626,begin surface coast
$FINISH,1.1,1.020591
$STATE,17637,end surface coast,CONTROL_FINISHED_OK
$STATE,17637,begin surface
$SM_CCo,17720,0.00,0.000,0,0,450,612.02
$SM_GC,1.83,8.30,0.00,0.00,0.041,0.000,0.000,152,2077,450,-8.28,0.45,612.02
$IRIDIUM_FIX,2441.81,12414.36,121198,121204
$TT8_MAMPS,0.026845
$HUMID,1744
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,23.80
$XPDR_PINGS,154
$24V_AH,22.7,113.746
$10V_AH,10.5,73.947
$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,24.775,136.425,811.200,0.000,0.000,47.413,89.024,286.347,46.500,0.000,0.000,14.431,2756.788,10441.775,927.892,3306.312,949.167,0.000,2459.732,0.000,3269.230,0.000,54.397,0.000
$DEVICE_MAMPS,216.294,59.826,1466.504,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.101,1078.542,1818.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91644,1563
$CAP_FILE_SIZE,175818,0
$CFSIZE,260165632,193273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$CURRENT,0.431, 10.8,1
$GPS,180809,175425,2452.606,12243.429,39,1.2,39,-3.5