version: 66.04
glider: 166
mission: 2
dive: 510
start: 8 18 109 18 2 35
data:
$ID,166
$MISSION,2
$DIVE,510
$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,-17500.863
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,175425,2452.606,12243.429,39,1.2,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.9
$GPS2,180214,2453.045,12243.411,14,1.2,14,-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,241.5,57540,-13.9,-10.000
$D_GRID,946
$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,-243.4,0.0,0.0,0,91,0.00,0.00,-70.43,0.000,2,0.000,0.000,164,2078,2027
$GC,95,-0.93,-243.4,3.2,-4.8,11,159,9.60,0.00,-52.08,0.000,6,0.222,0.000,2503,2077,3939
$GC,500,-0.62,-243.4,98.4,-21.0,81,508,0.35,2.17,0.00,0.000,4,0.140,0.037,2612,630,3942
$GC,623,-0.66,-243.4,112.4,-8.0,102,630,0.00,2.12,0.00,0.000,6,0.000,0.031,2605,2081,3943
$GC,972,-0.75,-243.4,140.9,-7.8,163,978,0.00,2.15,0.00,0.000,4,0.000,0.037,2606,638,3944
$GC,1033,-0.82,-243.4,146.0,-8.9,173,1041,0.15,2.10,0.00,0.000,6,0.058,0.031,2527,2070,3943
$GC,1379,-0.67,-243.4,201.1,-15.9,234,1385,0.20,0.00,0.00,0.000,6,0.129,0.000,2594,2070,3943
$GC,1726,-0.76,-243.4,238.2,-9.9,295,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2071,3941
$GC,2070,-0.86,-243.4,268.1,-7.5,356,2077,0.12,2.17,0.00,0.000,4,0.064,0.038,2519,632,3940
$GC,2125,-0.76,-243.4,273.8,-11.9,365,2133,0.17,2.10,0.00,0.000,6,0.130,0.034,2572,2045,3940
$GC,2474,-0.82,-243.4,298.7,-7.3,426,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2045,3937
$GC,2803,-0.89,-243.4,323.4,-7.7,458,2808,0.12,2.15,0.00,0.000,4,0.062,0.040,2503,635,3936
$GC,2850,-0.78,-243.4,329.1,-13.1,461,2858,0.25,2.12,0.00,0.000,6,0.126,0.036,2570,2052,3935
$GC,3176,-0.85,-243.4,355.4,-7.7,492,3179,0.00,2.15,0.00,0.000,4,0.000,0.041,2570,638,3934
$GC,3235,-0.92,-243.4,360.5,-9.1,497,3240,0.15,2.12,0.00,0.000,6,0.058,0.037,2495,2053,3933
$GC,3561,-0.78,-243.4,412.2,-17.2,527,3563,0.25,0.00,0.00,0.000,6,0.130,0.000,2571,2053,3930
$GC,3884,-0.87,-243.4,444.2,-9.3,557,3887,0.00,2.17,0.00,0.000,4,0.000,0.044,2570,639,3928
$GC,3930,-0.96,-243.4,449.3,-10.3,561,3935,0.17,2.12,0.00,0.000,6,0.054,0.039,2486,2038,3927
$GC,4256,-0.83,-243.4,493.3,-13.3,591,4261,0.20,2.25,0.00,0.000,4,0.137,0.053,2544,3468,3925
$GC,4285,-0.83,-243.4,496.5,-10.5,593,4289,0.00,2.17,0.00,0.000,6,0.000,0.035,2545,2009,3925
$GC,4621,-0.87,-243.4,526.3,-9.2,611,4625,0.00,2.30,0.00,0.000,4,0.000,0.055,2536,3465,3923
$GC,4679,-0.94,-243.4,532.6,-10.9,613,4687,0.00,2.15,0.00,0.000,6,0.000,0.035,2537,2021,3923
$GC,4996,-0.94,-243.4,568.6,-11.1,629,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2020,3920
$GC,5306,-0.97,-243.4,595.4,-7.5,644,5310,0.00,2.30,0.00,0.000,4,0.000,0.058,2533,3460,3918
$GC,5331,-1.01,-243.4,597.3,-7.7,645,5336,0.12,2.12,0.00,0.000,6,0.064,0.036,2475,2044,3918
$GC,5662,-0.89,-243.4,635.6,-12.8,661,5666,0.17,2.15,0.00,0.000,4,0.133,0.048,2534,660,3916
$GC,5747,-0.89,-243.4,644.8,-9.6,665,5751,0.00,2.15,0.00,0.000,6,0.000,0.044,2533,2048,3915
$GC,6081,-0.89,-243.4,674.8,-9.2,681,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2048,3912
$GC,6390,-0.89,-243.4,705.5,-10.2,696,6394,0.00,2.28,0.00,0.000,4,0.000,0.062,2533,3466,3911
$GC,6419,-0.94,-243.4,708.8,-10.5,697,6423,0.00,2.15,0.00,0.000,6,0.000,0.038,2534,2046,3910
$GC,6743,-0.98,-243.4,743.8,-11.5,713,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2046,3909
$GC,7050,-1.01,-243.4,784.6,-13.6,728,7052,0.12,0.00,0.00,0.000,6,0.067,0.000,2473,2046,3907
$GC,7360,-0.89,-243.4,835.9,-15.7,743,7364,0.17,2.17,0.00,0.000,4,0.136,0.052,2531,662,3905
$GC,7399,-0.89,-243.4,841.3,-12.7,744,7406,0.00,2.15,0.00,0.000,6,0.000,0.048,2525,2043,3905
$GC,7716,-0.89,-243.4,873.8,-9.7,760,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2044,3904
$GC,8025,-0.89,-243.4,897.4,-6.8,775,8029,0.00,2.33,0.00,0.000,4,0.000,0.066,2522,3478,3903
$GC,8061,-0.93,-243.4,899.7,-6.3,776,8067,0.00,2.17,0.00,0.000,6,0.000,0.041,2523,2047,3903
$GC,8377,-0.93,-243.4,917.8,-6.2,792,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2047,3901
$GC,8688,-0.93,-243.4,933.3,-4.8,807,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2047,3900
$STATE,8889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8889,begin apogee
$GC,8897,-0.23,0.0,946.6,6.7,817,9113,0.68,0.00,210.65,1.450,6,0.107,0.000,2743,1698,2945
$STATE,9114,end apogee,CONTROL_FINISHED_OK
$STATE,9114,begin climb
$GC,9117,0.93,243.4,959.8,0.0,828,9358,1.05,2.47,224.82,1.389,4,0.048,0.060,3136,3103,1951
$GC,9428,0.48,243.4,930.8,22.6,842,9433,0.62,2.22,0.00,0.000,6,0.168,0.045,2975,1696,1945
$GC,9757,0.48,243.4,896.6,10.4,858,9761,0.00,2.25,0.00,0.000,4,0.000,0.057,2975,3106,1943
$GC,9950,0.43,243.4,866.7,14.9,866,9954,0.00,2.17,0.00,0.000,6,0.000,0.045,2983,1704,1940
$GC,10269,0.40,243.4,826.3,13.4,881,10273,0.12,2.25,0.00,0.000,4,0.147,0.059,2949,3112,1940
$GC,10397,0.40,243.4,809.5,14.2,886,10404,0.00,2.17,0.00,0.000,6,0.000,0.044,2957,1717,1939
$GC,10715,0.44,243.4,770.7,11.8,902,10719,0.00,2.22,0.00,0.000,4,0.000,0.058,2957,3108,1939
$GC,10807,0.44,243.4,759.7,11.5,906,10811,0.00,2.12,0.00,0.000,6,0.000,0.043,2966,1733,1938
$GC,11140,0.44,243.4,723.9,10.4,922,11143,0.00,2.20,0.00,0.000,4,0.000,0.060,2966,3106,1938
$GC,11260,0.44,243.4,711.0,11.2,927,11264,0.00,2.10,0.00,0.000,6,0.000,0.044,2975,1745,1937
$GC,11587,0.50,291.8,680.3,8.7,943,11644,0.00,2.30,44.97,1.244,4,0.000,0.058,2975,3109,1755
$GC,11803,0.51,300.9,660.5,9.8,952,11819,0.00,2.08,9.73,1.137,6,0.000,0.043,2984,1769,1718
$GC,12143,0.51,300.9,625.0,11.0,969,12147,0.00,2.12,0.00,0.000,4,0.000,0.058,2984,3108,1716
$GC,12238,0.51,300.9,613.7,11.7,973,12242,0.00,2.05,0.00,0.000,6,0.000,0.044,2993,1777,1715
$GC,12567,0.55,338.0,580.8,9.0,989,12614,0.00,2.17,37.08,1.169,4,0.000,0.058,2994,3107,1565
$GC,12750,0.64,409.0,564.5,8.0,997,12829,0.00,2.03,68.35,1.169,6,0.000,0.043,3003,1796,1276
$GC,13159,0.74,489.0,533.1,7.8,1017,13244,0.15,2.22,73.80,1.163,4,0.061,0.058,3075,3103,951
$GC,13306,0.58,489.0,512.2,14.9,1023,13313,0.28,2.05,0.00,0.000,6,0.144,0.043,3007,1790,949
$GC,13631,0.68,502.2,482.0,9.6,1048,13649,0.00,2.12,12.95,1.060,4,0.000,0.055,3007,3115,896
$GC,13746,0.78,502.2,469.3,10.5,1057,13754,0.15,2.03,0.00,0.000,6,0.059,0.042,3086,1802,896
$GC,14072,0.61,502.2,401.7,21.8,1088,14077,0.20,2.08,0.00,0.000,4,0.142,0.055,3022,3112,895
$GC,14146,0.64,502.2,389.2,13.2,1094,14150,0.00,1.98,0.00,0.000,6,0.000,0.041,3029,1824,895
$GC,14482,0.67,526.9,357.6,9.3,1125,14508,0.00,0.00,23.90,1.029,6,0.000,0.000,3028,1823,796
$GC,14827,0.72,526.9,316.9,12.9,1158,14831,0.00,2.03,0.00,0.000,4,0.000,0.054,3027,3106,795
$GC,14889,0.79,526.9,308.6,12.1,1163,14896,0.12,1.95,0.00,0.000,6,0.064,0.041,3099,1829,794
$GC,15233,0.64,526.9,244.4,18.4,1219,15239,0.22,2.03,0.00,0.000,4,0.137,0.051,3026,3112,794
$GC,15339,0.78,565.8,232.3,8.9,1237,15381,0.10,1.95,35.65,0.937,6,0.071,0.040,3089,1832,638
$GC,15722,0.71,565.8,168.1,20.0,1304,15730,0.15,2.00,0.00,0.000,4,0.135,0.049,3045,3114,636
$GC,15777,0.79,565.8,158.3,17.0,1313,15783,0.00,1.95,0.00,0.000,6,0.000,0.038,3053,1849,636
$GC,16126,0.89,565.8,108.8,10.6,1374,16133,0.15,2.45,0.00,0.000,4,0.055,0.050,3152,274,636
$GC,16181,0.83,565.8,100.8,16.4,1383,16188,0.22,2.42,0.00,0.000,6,0.127,0.038,3086,1869,636
$GC,16529,0.94,565.8,61.4,11.1,1444,16537,0.10,1.90,0.00,0.000,4,0.070,0.047,3150,3116,636
$GC,16639,0.94,565.8,45.1,13.7,1463,16646,0.10,1.92,0.00,0.000,6,0.117,0.035,3123,1852,636
$GC,16986,1.24,650.0,15.4,7.7,1524,17033,0.22,2.03,40.30,0.723,4,0.044,0.044,3246,3115,455
$STATE,17067,end climb,SURFACE_DEPTH_REACHED
$STATE,17067,begin surface coast
$FINISH,1.1,1.019019
$STATE,17087,end surface coast,CONTROL_FINISHED_OK
$STATE,17087,begin surface
$SM_CCo,17168,0.00,0.000,0,0,451,611.78
$SM_GC,1.86,8.32,0.00,0.00,0.041,0.000,0.000,162,2046,451,-8.27,-0.42,611.78
$IRIDIUM_FIX,2444.18,12250.68,121198,131357
$TT8_MAMPS,0.027612
$HUMID,1765
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,22.70
$XPDR_PINGS,164
$24V_AH,22.6,114.047
$10V_AH,10.5,74.102
$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,25.325,128.750,782.200,0.000,0.000,23.004,31.437,232.121,48.500,0.000,0.000,15.049,2718.228,10041.775,856.720,3221.210,777.977,0.000,2325.410,0.000,3178.323,0.000,51.049,0.000
$DEVICE_MAMPS,222.430,65.962,1449.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.823,1041.525,1759.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91690,1540
$CAP_FILE_SIZE,169437,0
$CFSIZE,260165632,193187840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.415, 13.4,1
$GPS,180809,225001,2454.653,12242.013,40,1.3,40,-3.6