version: 66.04
glider: 166
mission: 2
dive: 519
start: 8 20 109 16 32 0
data:
$ID,166
$MISSION,2
$DIVE,519
$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,-17671.641
$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,35
$R_STBD_OVSHOOT,60
$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
$GPS1,162330,2456.219,12236.538,37,2.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.2
$GPS2,163138,2456.551,12236.843,16,1.9,16,-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,256.6,45506,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,88,0.00,0.00,-66.50,0.000,2,0.000,0.000,136,2099,1921
$GC,92,-0.93,-243.4,3.0,-5.0,10,163,9.55,2.28,-53.42,0.000,4,0.222,0.051,2505,639,3939
$GC,295,-0.57,-243.4,47.6,-23.1,44,303,0.45,2.08,0.00,0.000,6,0.127,0.033,2633,2047,3941
$GC,644,-0.66,-243.4,91.9,-9.2,105,650,0.00,2.17,0.00,0.000,4,0.000,0.046,2626,3456,3943
$GC,700,-0.80,-243.4,97.0,-9.3,114,707,0.17,2.03,0.00,0.000,6,0.050,0.028,2537,2045,3943
$GC,1045,-0.63,-243.4,146.0,-13.9,175,1053,0.22,2.20,0.00,0.000,4,0.128,0.044,2609,3468,3944
$GC,1101,-0.76,-243.4,150.9,-5.9,184,1108,0.00,2.03,0.00,0.000,6,0.000,0.029,2609,2063,3944
$GC,1451,-0.88,-243.4,173.0,-7.4,245,1458,0.17,2.08,0.00,0.000,4,0.052,0.036,2512,671,3943
$GC,1488,-0.75,-243.4,177.5,-13.8,251,1496,0.25,2.08,0.00,0.000,6,0.126,0.033,2580,2080,3943
$GC,1836,-0.80,-243.4,213.2,-10.2,312,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2080,3942
$GC,2183,-0.88,-243.4,248.9,-8.6,373,2189,0.12,2.15,0.00,0.000,4,0.062,0.038,2513,664,3941
$GC,2254,-0.77,-243.4,257.1,-12.6,385,2261,0.22,2.12,0.00,0.000,6,0.123,0.035,2575,2082,3941
$GC,2601,-0.83,-243.4,278.4,-5.5,446,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3938
$GC,2946,-0.91,-243.4,295.8,-6.1,507,2953,0.15,0.00,0.00,0.000,6,0.058,0.000,2498,2083,3937
$GC,3276,-0.78,-243.4,340.0,-14.7,541,3280,0.20,2.17,0.00,0.000,4,0.126,0.041,2564,663,3935
$GC,3514,-0.85,-243.4,366.1,-11.7,562,3518,0.00,2.15,0.00,0.000,6,0.000,0.038,2564,2079,3934
$GC,3846,-0.91,-243.4,399.6,-9.7,593,3851,0.12,2.15,0.00,0.000,4,0.064,0.042,2495,678,3930
$GC,3917,-0.79,-243.4,409.5,-15.9,599,3922,0.25,2.12,0.00,0.000,6,0.123,0.040,2570,2072,3930
$GC,4243,-0.87,-243.4,437.6,-6.6,629,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2072,3928
$GC,4565,-0.96,-243.4,460.8,-7.6,659,4572,0.17,0.00,0.00,0.000,6,0.053,0.000,2475,2074,3925
$GC,4904,-0.80,-243.4,514.9,-16.0,687,4908,0.25,2.17,0.00,0.000,4,0.127,0.045,2557,682,3923
$GC,4945,-0.86,-243.4,519.8,-9.4,689,4948,0.00,2.15,0.00,0.000,6,0.000,0.041,2554,2080,3923
$GC,5282,-0.90,-243.4,551.2,-8.8,705,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2080,3921
$GC,5590,-0.96,-243.4,575.7,-7.7,720,5594,0.12,2.20,0.00,0.000,4,0.066,0.057,2496,3465,3919
$GC,5618,-0.90,-243.4,578.6,-10.2,721,5622,0.15,2.08,0.00,0.000,6,0.134,0.036,2533,2081,3919
$GC,5935,-0.90,-243.4,609.9,-10.4,736,5939,0.00,2.20,0.00,0.000,4,0.000,0.048,2530,657,3917
$GC,5963,-0.90,-243.4,613.2,-11.6,737,5967,0.00,2.17,0.00,0.000,6,0.000,0.044,2536,2068,3917
$GC,6291,-0.90,-243.4,648.0,-10.2,753,6295,0.00,2.20,0.00,0.000,4,0.000,0.049,2531,658,3915
$GC,6354,-0.90,-243.4,654.3,-10.3,755,6361,0.00,2.17,0.00,0.000,6,0.000,0.045,2537,2060,3915
$GC,6670,-0.90,-243.4,682.7,-8.8,771,6674,0.00,2.25,0.00,0.000,4,0.000,0.061,2539,3466,3912
$GC,6718,-0.93,-243.4,685.8,-6.1,773,6721,0.00,2.12,0.00,0.000,6,0.000,0.038,2538,2065,3912
$GC,7052,-0.93,-243.4,709.5,-7.0,789,7056,0.00,2.20,0.00,0.000,4,0.000,0.051,2537,655,3910
$GC,7103,-0.93,-243.4,713.5,-7.2,791,7107,0.00,2.20,0.00,0.000,6,0.000,0.045,2542,2071,3910
$GC,7431,-0.93,-243.4,733.8,-6.3,807,7435,0.00,2.22,0.00,0.000,4,0.000,0.051,2539,653,3908
$GC,7489,-0.93,-243.4,738.1,-7.6,809,7493,0.00,2.20,0.00,0.000,6,0.000,0.046,2542,2065,3908
$GC,7806,-0.93,-243.4,764.2,-9.2,824,7809,0.00,2.22,0.00,0.000,4,0.000,0.051,2541,656,3906
$GC,7839,-0.93,-243.4,767.8,-10.9,825,7843,0.00,2.20,0.00,0.000,6,0.000,0.046,2542,2065,3906
$GC,8162,-0.93,-243.4,803.2,-11.3,841,8166,0.00,2.22,0.00,0.000,4,0.000,0.052,2541,656,3905
$GC,8232,-0.93,-243.4,811.3,-11.9,844,8236,0.00,2.20,0.00,0.000,6,0.000,0.048,2542,2054,3905
$GC,8566,-0.93,-243.4,846.9,-10.6,860,8570,0.00,2.20,0.00,0.000,4,0.000,0.053,2542,661,3904
$GC,8640,-0.93,-243.4,855.3,-12.3,863,8644,0.00,2.20,0.00,0.000,6,0.000,0.049,2543,2056,3903
$GC,8963,-0.93,-243.4,888.4,-10.4,879,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2056,3902
$GC,9271,-0.93,-243.4,923.3,-11.7,894,9275,0.00,2.22,0.00,0.000,4,0.000,0.054,2542,656,3901
$GC,9350,-0.93,-243.4,934.4,-13.9,897,9354,0.00,2.20,0.00,0.000,6,0.000,0.050,2542,2049,3900
$GC,9666,-0.93,-243.4,971.9,-12.2,912,9670,0.00,2.33,0.00,0.000,4,0.000,0.067,2540,3475,3899
$GC,9696,-0.98,-243.4,975.8,-13.0,913,9701,0.10,2.20,0.00,0.000,6,0.075,0.041,2494,2040,3899
$STATE,9784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9784,begin apogee
$GC,9792,-0.23,0.0,990.2,16.7,917,10007,0.80,0.00,211.50,1.489,6,0.116,0.000,2745,1687,2945
$STATE,10007,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10011,0.93,243.4,1012.0,0.0,928,10249,1.05,0.00,227.30,1.442,6,0.044,0.000,3129,1687,1951
$GC,10555,0.59,243.4,950.5,18.1,954,10560,0.38,2.30,0.00,0.000,4,0.161,0.061,3017,3106,1944
$GC,10775,0.47,243.4,925.3,11.4,964,10780,0.20,2.17,0.00,0.000,6,0.144,0.045,2970,1715,1942
$GC,11104,0.63,376.0,903.8,6.3,980,11241,0.15,2.38,125.28,1.386,4,0.065,0.058,3042,3104,1412
$GC,11386,0.52,376.0,868.0,13.9,992,11394,0.22,2.17,0.00,0.000,6,0.144,0.045,2989,1707,1407
$GC,11704,0.60,410.9,840.4,9.0,1008,11742,0.00,2.35,33.35,1.351,4,0.000,0.060,2989,3103,1268
$GC,11894,0.67,430.1,821.9,9.5,1015,11927,0.12,2.12,21.60,1.203,6,0.066,0.044,3057,1733,1190
$GC,12256,0.56,430.1,764.3,15.9,1033,12261,0.20,2.20,0.00,0.000,4,0.141,0.059,2994,3104,1187
$GC,12470,0.63,440.9,742.0,9.7,1042,12490,0.00,2.08,11.05,1.212,6,0.000,0.045,3002,1764,1147
$GC,12805,0.67,442.0,710.1,10.0,1058,12808,0.00,2.15,0.00,0.000,4,0.000,0.058,3001,3112,1146
$GC,12920,0.71,442.0,696.9,11.6,1063,12924,0.10,2.05,0.00,0.000,6,0.073,0.044,3062,1786,1146
$GC,13255,0.59,442.0,643.7,16.1,1079,13259,0.17,2.12,0.00,0.000,4,0.143,0.058,3007,3111,1146
$GC,13398,0.59,442.0,626.6,11.5,1085,13402,0.00,2.00,0.00,0.000,6,0.000,0.042,3015,1809,1146
$GC,13721,0.59,442.0,590.5,11.3,1101,13724,0.00,2.05,0.00,0.000,4,0.000,0.058,3015,3108,1146
$GC,13859,0.59,442.0,573.6,12.8,1107,13863,0.00,1.98,0.00,0.000,6,0.000,0.043,3024,1830,1146
$GC,14193,0.59,442.0,528.8,13.2,1123,14196,0.00,2.03,0.00,0.000,4,0.000,0.057,3024,3102,1145
$GC,14388,0.59,442.0,503.3,13.0,1131,14394,0.00,1.92,0.00,0.000,6,0.000,0.042,3032,1849,1146
$GC,14715,0.59,442.0,461.5,14.4,1160,14718,0.00,2.00,0.00,0.000,4,0.000,0.057,3032,3108,1145
$GC,14799,0.59,442.0,447.8,15.3,1167,14805,0.00,1.92,0.00,0.000,6,0.000,0.043,3041,1858,1146
$GC,15128,0.56,442.0,399.9,14.7,1198,15132,0.15,2.00,0.00,0.000,4,0.140,0.054,2998,3110,1145
$GC,15279,0.65,442.0,383.0,10.1,1211,15282,0.00,1.88,0.00,0.000,6,0.000,0.041,3004,1885,1145
$GC,15613,0.83,516.5,352.8,7.9,1242,15692,0.20,2.00,69.75,1.055,4,0.054,0.055,3111,3107,839
$GC,15710,0.65,516.5,335.6,20.9,1250,15717,0.25,1.90,0.00,0.000,6,0.137,0.041,3028,1909,838
$GC,16037,0.76,548.8,299.5,9.1,1281,16074,0.12,0.00,30.25,0.988,6,0.068,0.000,3092,1908,706
$GC,16417,0.65,548.8,239.1,16.8,1347,16423,0.17,1.90,0.00,0.000,4,0.140,0.051,3030,3111,704
$GC,16583,0.78,548.8,218.8,10.1,1376,16592,0.00,1.88,0.00,0.000,6,0.000,0.039,3036,1901,704
$GC,16933,0.89,548.8,177.9,10.1,1437,16939,0.17,1.88,0.00,0.000,4,0.051,0.049,3139,3106,704
$GC,16987,0.71,548.8,167.8,24.5,1446,16994,0.28,1.83,0.00,0.000,6,0.133,0.038,3046,1914,704
$GC,17334,0.81,548.8,129.0,10.1,1507,17341,0.12,2.55,0.00,0.000,4,0.065,0.049,3128,282,704
$GC,17373,0.78,548.8,124.0,15.3,1513,17380,0.20,2.53,0.00,0.000,6,0.131,0.039,3070,1932,704
$GC,17723,0.85,548.8,74.2,12.1,1574,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1932,704
$GC,18066,1.17,664.1,46.1,6.8,1635,18132,0.30,2.65,54.35,0.769,4,0.039,0.046,3223,289,455
$GC,18159,1.00,664.1,29.1,21.3,1649,18166,0.28,2.50,0.00,0.000,6,0.128,0.036,3142,1922,454
$STATE,18383,end climb,SURFACE_DEPTH_REACHED
$STATE,18383,begin surface coast
$FINISH,1.0,1.001654
$STATE,18417,end surface coast,CONTROL_FINISHED_OK
$STATE,18418,begin surface
$SM_CCo,18499,0.00,0.000,0,0,451,611.78
$SM_GC,1.92,7.95,0.00,0.00,0.037,0.000,0.000,153,2109,451,-8.29,1.36,611.78
$IRIDIUM_FIX,2446.56,12236.83,141198,111125
$TT8_MAMPS,0.027612
$HUMID,1750
$INTERNAL_PRESSURE,9.75105
$TCM_TEMP,22.10
$XPDR_PINGS,188
$24V_AH,22.2,116.832
$10V_AH,10.5,75.603
$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,26.300,146.775,784.425,0.000,0.000,33.164,43.243,226.141,55.000,0.000,0.000,16.154,3005.678,10602.772,870.576,3625.634,862.176,0.000,2507.302,0.000,3581.364,0.000,54.388,0.000
$DEVICE_MAMPS,221.663,66.729,1488.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.904,1166.584,1965.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97863,1695
$CAP_FILE_SIZE,186628,0
$CFSIZE,260165632,192307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.208, 77.2,1
$GPS,200809,214136,2455.382,12236.222,38,1.1,38,-3.5