version: 66.04
glider: 166
mission: 2
dive: 512
start: 8 19 109 4 31 56
data:
$ID,166
$MISSION,2
$DIVE,512
$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,-17548.914
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,042307,2457.773,12241.451,30,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-71.8
$GPS2,043132,2458.146,12241.486,13,1.1,13,-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,232.3,52961,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,76,0.00,0.00,-57.42,0.000,2,0.000,0.000,169,2113,2262
$GC,80,-0.93,-243.4,3.2,-5.2,9,146,9.45,2.33,-48.92,0.000,4,0.219,0.053,2512,641,3938
$GC,176,-0.52,-243.4,17.8,-23.5,24,184,0.43,2.15,0.00,0.000,6,0.130,0.037,2648,2038,3940
$GC,524,-0.62,-243.4,46.7,-5.5,85,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2039,3941
$GC,870,-0.78,-243.4,72.9,-9.2,146,878,0.17,2.10,0.00,0.000,4,0.050,0.038,2551,642,3942
$GC,896,-0.78,-243.4,76.3,-12.5,150,904,0.00,2.15,0.00,0.000,6,0.000,0.034,2544,2066,3942
$GC,1244,-0.65,-243.4,127.9,-12.9,211,1250,0.17,0.00,0.00,0.000,6,0.138,0.000,2602,2066,3942
$GC,1593,-0.72,-243.4,155.9,-9.0,272,1600,0.00,2.15,0.00,0.000,4,0.000,0.048,2589,3470,3942
$GC,1631,-0.83,-243.4,159.5,-9.0,278,1640,0.12,2.08,0.00,0.000,6,0.062,0.031,2527,2042,3943
$GC,1979,-0.70,-243.4,210.1,-15.2,339,1986,0.17,2.08,0.00,0.000,4,0.131,0.038,2587,663,3941
$GC,2038,-0.76,-243.4,217.3,-10.9,349,2044,0.00,2.10,0.00,0.000,6,0.000,0.035,2582,2069,3941
$GC,2384,-0.83,-243.4,242.7,-5.3,410,2391,0.00,2.17,0.00,0.000,4,0.000,0.049,2583,3459,3940
$GC,2441,-0.94,-243.4,245.2,-4.8,419,2448,0.20,2.03,0.00,0.000,6,0.050,0.031,2492,2071,3940
$GC,2787,-0.75,-243.4,294.6,-16.0,480,2794,0.25,2.17,0.00,0.000,4,0.129,0.049,2565,3460,3940
$GC,2836,-0.80,-243.4,299.9,-8.8,488,2844,0.00,2.03,0.00,0.000,6,0.000,0.031,2566,2069,3939
$GC,3166,-0.85,-243.4,318.6,-3.3,519,3169,0.00,2.12,0.00,0.000,4,0.000,0.041,2565,659,3938
$GC,3206,-0.88,-243.4,320.0,-2.9,522,3213,0.00,2.12,0.00,0.000,6,0.000,0.037,2563,2074,3938
$GC,3532,-0.88,-243.4,339.7,-8.3,553,3536,0.00,2.15,0.00,0.000,4,0.000,0.042,2563,663,3936
$GC,3566,-0.88,-243.4,343.3,-10.8,556,3570,0.00,2.12,0.00,0.000,6,0.000,0.038,2562,2067,3936
$GC,3899,-0.92,-243.4,376.8,-9.3,587,3904,0.12,2.17,0.00,0.000,4,0.064,0.051,2494,3460,3934
$GC,3977,-0.81,-243.4,386.3,-11.6,593,3984,0.20,2.08,0.00,0.000,6,0.120,0.033,2557,2056,3934
$GC,4303,-0.85,-243.4,411.9,-9.3,624,4307,0.00,2.22,0.00,0.000,4,0.000,0.054,2551,3462,3933
$GC,4343,-0.91,-243.4,415.9,-10.3,627,4349,0.00,2.08,0.00,0.000,6,0.000,0.034,2552,2061,3933
$GC,4668,-0.91,-243.4,455.5,-12.5,658,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2061,3931
$GC,4990,-0.91,-243.4,488.0,-8.4,688,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2061,3928
$GC,5323,-0.95,-243.4,515.1,-7.1,711,5327,0.10,2.17,0.00,0.000,4,0.074,0.046,2495,663,3927
$GC,5396,-0.82,-243.4,523.0,-12.5,714,5400,0.20,2.15,0.00,0.000,6,0.130,0.044,2556,2060,3927
$GC,5726,-0.87,-243.4,541.0,-4.9,730,5730,0.00,2.22,0.00,0.000,4,0.000,0.059,2560,3463,3925
$GC,5752,-0.93,-243.4,542.2,-4.3,731,5756,0.12,2.10,0.00,0.000,6,0.063,0.035,2497,2061,3925
$GC,6090,-0.83,-243.4,575.5,-10.4,747,6094,0.17,2.17,0.00,0.000,4,0.130,0.048,2556,659,3923
$GC,6168,-0.87,-243.4,582.4,-7.2,750,6177,0.00,2.15,0.00,0.000,6,0.000,0.044,2550,2059,3923
$GC,6485,-0.90,-243.4,607.5,-8.7,766,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2059,3922
$GC,6797,-0.94,-243.4,636.5,-10.0,781,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2060,3920
$GC,7104,-0.98,-243.4,666.0,-9.5,796,7106,0.12,0.00,0.00,0.000,6,0.067,0.000,2483,2060,3919
$GC,7415,-0.86,-243.4,709.7,-14.2,811,7419,0.20,2.22,0.00,0.000,4,0.131,0.051,2551,665,3916
$GC,7465,-0.89,-243.4,716.3,-11.5,813,7469,0.00,2.17,0.00,0.000,6,0.000,0.047,2548,2063,3916
$GC,7788,-0.93,-243.4,750.3,-10.5,829,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2063,3915
$GC,8097,-0.96,-243.4,781.4,-9.8,844,8099,0.12,0.00,0.00,0.000,6,0.067,0.000,2487,2063,3913
$GC,8406,-0.85,-243.4,824.3,-14.6,859,8408,0.20,0.00,0.00,0.000,6,0.133,0.000,2547,2063,3911
$GC,8715,-0.89,-243.4,857.5,-10.3,874,8719,0.00,2.28,0.00,0.000,4,0.000,0.067,2547,3462,3911
$GC,8750,-0.97,-243.4,861.0,-9.7,875,8756,0.12,2.15,0.00,0.000,6,0.065,0.040,2492,2054,3910
$GC,9070,-0.87,-243.4,902.3,-12.9,891,9072,0.15,0.00,0.00,0.000,6,0.136,0.000,2536,2054,3909
$GC,9375,-0.87,-243.4,933.8,-9.8,906,9379,0.00,2.20,0.00,0.000,4,0.000,0.056,2536,662,3908
$GC,9414,-0.87,-243.4,937.9,-10.7,907,9420,0.00,2.20,0.00,0.000,6,0.000,0.049,2535,2063,3908
$GC,9733,-0.87,-243.4,967.3,-9.0,923,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2063,3907
$STATE,9975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9976,begin apogee
$GC,9983,-0.23,0.0,990.7,9.0,935,10201,0.65,0.00,213.65,1.473,6,0.104,0.000,2746,1691,2945
$STATE,10201,end apogee,CONTROL_FINISHED_OK
$STATE,10201,begin climb
$GC,10205,0.93,243.4,1004.9,0.0,946,10444,1.02,2.50,227.62,1.427,4,0.044,0.059,3129,3100,1951
$GC,10524,0.53,243.4,974.9,19.6,960,10531,0.52,2.22,0.00,0.000,6,0.164,0.045,2996,1691,1946
$GC,10841,0.53,280.2,944.4,9.0,976,10896,0.00,2.38,38.00,1.258,4,0.000,0.058,2996,3105,1802
$GC,11050,0.47,280.2,923.5,10.6,985,11055,0.12,2.17,0.00,0.000,6,0.153,0.045,2972,1707,1798
$GC,11368,0.62,373.0,899.9,7.4,1000,11528,0.15,2.33,105.85,1.203,4,0.064,0.059,3041,3102,1423
$GC,11710,0.50,373.0,854.7,14.8,1015,11716,0.25,2.15,0.00,0.000,6,0.141,0.045,2981,1722,1421
$GC,12029,0.64,435.7,827.7,8.3,1031,12095,0.15,2.30,60.35,1.360,4,0.062,0.059,3052,3108,1168
$GC,12186,0.53,435.7,803.8,16.1,1038,12191,0.25,2.17,0.00,0.000,6,0.142,0.044,2993,1720,1166
$GC,12509,0.59,435.7,765.4,12.7,1054,12512,0.00,2.20,0.00,0.000,4,0.000,0.058,2993,3103,1164
$GC,12587,0.66,435.7,754.1,13.9,1057,12592,0.10,2.12,0.00,0.000,6,0.072,0.045,3052,1729,1164
$GC,12904,0.56,435.7,688.7,20.8,1072,12908,0.17,2.20,0.00,0.000,4,0.143,0.057,2997,3108,1164
$GC,12983,0.63,435.7,674.7,15.5,1075,12989,0.00,2.10,0.00,0.000,6,0.000,0.045,3005,1741,1163
$GC,13301,0.66,435.7,625.4,13.9,1091,13305,0.00,2.15,0.00,0.000,4,0.000,0.057,3005,3103,1163
$GC,13426,0.71,435.7,610.4,10.2,1096,13430,0.10,2.05,0.00,0.000,6,0.072,0.044,3067,1772,1163
$GC,13749,0.58,435.7,567.4,12.3,1112,13754,0.17,2.12,0.00,0.000,4,0.144,0.055,3011,3105,1163
$GC,13790,0.64,478.8,563.2,8.8,1114,13835,0.00,2.05,40.70,1.218,6,0.000,0.044,3018,1778,992
$GC,14148,0.67,478.8,529.3,11.0,1131,14152,0.00,2.12,0.00,0.000,4,0.000,0.057,3018,3111,989
$GC,14171,0.70,478.8,526.0,12.0,1132,14175,0.00,2.05,0.00,0.000,6,0.000,0.044,3028,1785,989
$GC,14499,0.70,478.8,475.1,16.5,1154,14502,0.00,2.10,0.00,0.000,4,0.000,0.057,3028,3109,988
$GC,14534,0.70,478.8,468.6,19.3,1157,14538,0.00,2.03,0.00,0.000,6,0.000,0.043,3036,1789,988
$GC,14868,0.70,478.8,418.5,12.2,1188,14872,0.00,2.08,0.00,0.000,4,0.000,0.054,3036,3104,988
$GC,14926,0.70,478.8,411.2,12.1,1193,14929,0.00,2.03,0.00,0.000,6,0.000,0.043,3046,1786,988
$GC,15259,0.70,478.8,375.6,10.4,1224,15263,0.00,2.08,0.00,0.000,4,0.000,0.054,3046,3103,988
$GC,15328,0.70,478.8,368.0,10.8,1230,15332,0.00,2.00,0.00,0.000,6,0.000,0.042,3055,1795,988
$GC,15663,0.70,478.8,329.7,12.7,1261,15667,0.00,2.08,0.00,0.000,4,0.000,0.054,3055,3110,988
$GC,15704,0.66,478.8,323.5,14.6,1264,15710,0.00,2.03,0.00,0.000,6,0.000,0.041,3064,1780,988
$GC,16039,0.62,478.8,269.5,14.8,1312,16046,0.17,2.10,0.00,0.000,4,0.137,0.052,3007,3105,988
$GC,16107,0.83,529.8,262.5,8.6,1323,16158,0.20,1.98,46.12,0.980,6,0.051,0.040,3113,1813,785
$GC,16500,0.70,529.8,190.4,17.8,1391,16507,0.20,2.05,0.00,0.000,4,0.136,0.051,3049,3115,783
$GC,16586,0.79,529.8,179.6,12.4,1406,16594,0.00,2.00,0.00,0.000,6,0.000,0.039,3055,1825,783
$GC,16935,0.84,529.8,132.0,12.8,1467,16942,0.10,2.00,0.00,0.000,4,0.072,0.048,3116,3110,783
$GC,16990,0.75,529.8,122.3,18.4,1476,16997,0.17,1.95,0.00,0.000,6,0.127,0.038,3065,1849,783
$GC,17337,0.79,529.8,84.9,12.4,1537,17343,0.00,2.42,0.00,0.000,4,0.000,0.049,3073,281,783
$GC,17407,0.90,529.8,73.7,16.5,1549,17416,0.10,2.38,0.00,0.000,6,0.071,0.038,3137,1853,782
$GC,17756,0.95,569.5,31.5,8.9,1610,17795,0.00,2.00,35.08,0.768,4,0.000,0.046,3137,3109,623
$GC,17923,0.95,569.5,11.9,12.0,1638,17931,0.00,1.92,0.00,0.000,6,0.000,0.035,3142,1851,623
$STATE,17991,end climb,SURFACE_DEPTH_REACHED
$STATE,17991,begin surface coast
$FINISH,1.2,1.006686
$STATE,18017,end surface coast,CONTROL_FINISHED_OK
$STATE,18017,begin surface
$SM_CCo,18098,0.00,0.000,0,0,620,570.32
$SM_GC,1.96,8.07,0.00,0.00,0.043,0.000,0.000,158,2093,620,-8.29,0.90,570.32
$IRIDIUM_FIX,2446.56,12248.68,121198,232339
$TT8_MAMPS,0.026845
$HUMID,1775
$INTERNAL_PRESSURE,9.74129
$TCM_TEMP,21.80
$XPDR_PINGS,195
$24V_AH,22.3,114.643
$10V_AH,10.5,74.453
$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,25.525,146.300,767.375,0.000,0.000,25.372,35.419,251.442,56.750,0.000,0.000,13.981,2913.483,10564.384,882.103,3375.161,846.038,0.000,2422.811,0.000,3333.662,0.000,54.378,0.000
$DEVICE_MAMPS,218.595,66.729,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.867,1151.426,1944.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94706,1654
$CAP_FILE_SIZE,183019,0
$CFSIZE,260165632,192970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$CURRENT,0.285, 15.0,1
$GPS,190809,093454,2458.429,12239.949,23,0.9,41,-3.6