version: 66.04
glider: 166
mission: 2
dive: 520
start: 8 20 109 21 51 32
data:
$ID,166
$MISSION,2
$DIVE,520
$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,-17705.191
$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
$GPS1,214136,2455.382,12236.222,38,1.1,38,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.2
$GPS2,215113,2455.481,12236.266,15,1.1,32,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,305.1,57825,-13.9,-10.000
$D_GRID,1473
$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,12,begin dive
$GC,17,-0.93,-243.4,0.0,0.0,0,100,0.00,0.00,-80.30,0.000,2,0.000,0.000,138,2110,2195
$GC,104,-0.93,-243.4,3.0,-4.7,11,174,9.50,2.15,-51.55,0.000,4,0.219,0.060,2504,3450,3940
$GC,285,-0.54,-243.4,43.3,-24.7,41,292,0.47,2.08,0.00,0.000,6,0.131,0.031,2641,2030,3941
$GC,633,-0.70,-243.4,76.6,-9.2,102,641,0.15,2.03,0.00,0.000,4,0.058,0.038,2561,667,3943
$GC,834,-0.64,-243.4,104.3,-13.3,137,841,0.20,2.03,0.00,0.000,6,0.123,0.033,2612,2045,3943
$GC,1183,-0.75,-243.4,132.5,-8.3,198,1190,0.12,2.08,0.00,0.000,4,0.061,0.037,2544,661,3943
$GC,1209,-0.75,-243.4,135.8,-11.4,202,1218,0.08,2.05,0.00,0.000,6,0.138,0.033,2569,2025,3943
$GC,1560,-0.75,-243.4,183.5,-13.2,263,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2026,3943
$GC,1906,-0.79,-243.4,221.1,-10.3,324,1913,0.00,2.05,0.00,0.000,4,0.000,0.038,2569,664,3942
$GC,2011,-0.83,-243.4,231.4,-9.4,342,2019,0.00,2.05,0.00,0.000,6,0.000,0.034,2564,2020,3942
$GC,2360,-0.83,-243.4,265.5,-10.8,403,2366,0.00,2.22,0.00,0.000,4,0.000,0.048,2560,3468,3940
$GC,2454,-0.90,-243.4,275.5,-10.5,419,2460,0.00,2.12,0.00,0.000,6,0.000,0.031,2561,2020,3940
$GC,2792,-0.93,-243.4,319.4,-12.6,467,2797,0.12,2.28,0.00,0.000,4,0.063,0.049,2491,3472,3938
$GC,2821,-0.86,-243.4,323.6,-14.6,469,2826,0.17,2.12,0.00,0.000,6,0.127,0.031,2542,2029,3938
$GC,3148,-0.86,-243.4,363.5,-11.0,499,3151,0.00,2.05,0.00,0.000,4,0.000,0.043,2543,672,3936
$GC,3351,-0.86,-243.4,384.9,-10.0,517,3355,0.00,2.05,0.00,0.000,6,0.000,0.037,2543,2030,3935
$GC,3685,-0.86,-243.4,415.6,-10.1,548,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2030,3933
$GC,4015,-0.89,-243.4,445.5,-8.5,579,4018,0.00,2.10,0.00,0.000,4,0.000,0.044,2543,660,3931
$GC,4078,-0.89,-243.4,451.5,-9.8,584,4084,0.00,2.08,0.00,0.000,6,0.000,0.039,2537,2033,3930
$GC,4404,-0.89,-243.4,483.9,-8.9,615,4408,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,673,3928
$GC,4479,-0.89,-243.4,491.0,-9.8,621,4485,0.00,2.08,0.00,0.000,6,0.000,0.041,2537,2030,3927
$GC,4808,-0.89,-243.4,522.9,-9.4,642,4812,0.00,2.28,0.00,0.000,4,0.000,0.058,2537,3465,3926
$GC,4861,-0.93,-243.4,528.1,-9.6,644,4865,0.00,2.15,0.00,0.000,6,0.000,0.035,2535,2025,3925
$GC,5183,-0.93,-243.4,558.2,-8.9,660,5187,0.00,2.30,0.00,0.000,4,0.000,0.059,2538,3462,3924
$GC,5224,-0.98,-243.4,561.6,-8.3,662,5227,0.00,2.17,0.00,0.000,6,0.000,0.035,2537,2016,3923
$GC,5558,-0.98,-243.4,592.7,-10.1,678,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2016,3921
$GC,5866,-0.98,-243.4,623.4,-9.6,693,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2015,3919
$GC,6177,-0.98,-243.4,650.1,-8.0,708,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2016,3917
$GC,6486,-0.98,-243.4,676.1,-9.0,723,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2016,3916
$GC,6794,-1.01,-243.4,703.9,-9.1,738,6796,0.12,0.00,0.00,0.000,6,0.068,0.000,2475,2015,3913
$GC,7106,-0.88,-243.4,745.4,-13.2,753,7111,0.17,2.15,0.00,0.000,4,0.134,0.052,2536,661,3912
$GC,7229,-0.88,-243.4,758.3,-10.1,758,7236,0.00,2.12,0.00,0.000,6,0.000,0.048,2538,2023,3911
$GC,7546,-0.88,-243.4,788.4,-9.3,774,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2023,3910
$GC,7854,-0.88,-243.4,819.1,-10.5,789,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2023,3909
$GC,8164,-0.88,-243.4,851.8,-10.8,804,8168,0.00,2.15,0.00,0.000,4,0.000,0.054,2540,669,3907
$GC,8205,-0.88,-243.4,856.2,-11.5,805,8211,0.00,2.15,0.00,0.000,6,0.000,0.049,2539,2035,3907
$GC,8522,-0.88,-243.4,889.2,-10.4,821,8525,0.00,2.17,0.00,0.000,4,0.000,0.054,2538,666,3906
$GC,8578,-0.88,-243.4,895.5,-10.6,823,8582,0.00,2.15,0.00,0.000,6,0.000,0.049,2539,2032,3906
$GC,8902,-0.88,-243.4,928.6,-10.1,839,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2032,3905
$GC,9209,-0.88,-243.4,959.9,-9.7,854,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2032,3904
$GC,9521,-0.88,-243.4,989.1,-9.2,869,9524,0.00,2.17,0.00,0.000,4,0.000,0.055,2541,669,3903
$STATE,9529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9529,begin apogee
$GC,9539,-0.23,0.0,990.5,9.1,869,9755,0.60,0.00,212.60,1.482,6,0.105,0.000,2740,1710,2945
$STATE,9756,end apogee,CONTROL_FINISHED_OK
$STATE,9756,begin climb
$GC,9759,0.93,243.4,1002.9,0.0,880,10005,1.10,2.42,228.48,1.423,4,0.042,0.059,3140,3097,1949
$GC,10107,0.53,243.4,962.0,21.8,895,10112,0.55,2.20,0.00,0.000,6,0.160,0.045,2996,1699,1945
$GC,10425,0.49,243.4,928.0,10.2,910,10428,0.00,2.25,0.00,0.000,4,0.000,0.060,2996,3103,1943
$GC,10601,0.41,243.4,908.9,11.8,917,10608,0.17,2.17,0.00,0.000,6,0.143,0.045,2957,1698,1942
$GC,10920,0.58,340.8,884.9,7.3,933,11027,0.15,2.40,92.03,1.369,4,0.064,0.060,3030,3101,1554
$GC,11208,0.48,340.8,847.2,14.2,946,11213,0.22,2.15,0.00,0.000,6,0.141,0.044,2977,1713,1551
$GC,11545,0.58,365.7,816.3,9.3,962,11589,0.00,2.25,27.35,1.165,4,0.000,0.058,2977,3101,1453
$GC,11776,0.63,365.7,791.8,10.5,972,11781,0.12,2.10,0.00,0.000,6,0.064,0.045,3047,1741,1452
$GC,12099,0.53,365.7,742.5,15.8,988,12103,0.20,2.17,0.00,0.000,4,0.138,0.058,2986,3100,1451
$GC,12178,0.53,365.7,732.2,11.5,991,12184,0.00,2.08,0.00,0.000,6,0.000,0.044,2993,1759,1450
$GC,12495,0.53,365.7,696.7,10.6,1007,12498,0.00,2.15,0.00,0.000,4,0.000,0.059,2994,3103,1450
$GC,12635,0.53,365.7,680.9,10.7,1013,12639,0.00,2.05,0.00,0.000,6,0.000,0.044,3003,1780,1450
$GC,12964,0.53,365.7,645.7,10.2,1029,12968,0.00,2.12,0.00,0.000,4,0.000,0.059,3003,3110,1449
$GC,13087,0.53,365.7,631.2,11.4,1034,13091,0.00,2.03,0.00,0.000,6,0.000,0.043,3012,1798,1449
$GC,13410,0.53,365.7,591.8,12.4,1050,13414,0.00,2.10,0.00,0.000,4,0.000,0.058,3012,3109,1449
$GC,13550,0.53,365.7,572.8,13.2,1056,13555,0.12,2.00,0.00,0.000,6,0.141,0.044,2989,1814,1449
$GC,13879,0.58,365.7,535.4,10.8,1072,13883,0.00,2.05,0.00,0.000,4,0.000,0.056,2989,3105,1449
$GC,14033,0.63,365.7,517.4,12.4,1078,14041,0.00,2.00,0.00,0.000,6,0.000,0.042,2996,1829,1449
$GC,14356,0.68,365.7,480.8,11.7,1101,14360,0.12,2.05,0.00,0.000,4,0.066,0.055,3061,3111,1449
$GC,14505,0.57,365.7,456.0,16.4,1114,14510,0.25,1.98,0.00,0.000,6,0.137,0.042,2999,1835,1449
$GC,14837,0.66,398.3,422.2,9.1,1145,14872,0.10,2.12,30.58,1.109,4,0.075,0.056,3054,3106,1321
$GC,14988,0.58,398.3,399.7,15.8,1158,14993,0.20,1.92,0.00,0.000,6,0.136,0.042,3007,1863,1319
$GC,15320,0.65,398.3,364.2,10.3,1189,15324,0.00,2.50,0.00,0.000,4,0.000,0.053,3016,281,1317
$GC,15354,0.73,398.5,360.6,10.0,1191,15360,0.12,2.45,0.00,0.000,6,0.064,0.043,3082,1859,1317
$GC,15679,0.60,398.5,306.9,16.3,1222,15683,0.20,1.98,0.00,0.000,4,0.138,0.054,3017,3111,1317
$GC,15787,0.64,398.5,294.2,10.3,1236,15794,0.00,1.92,0.00,0.000,6,0.000,0.040,3022,1869,1316
$GC,16135,0.68,398.5,257.7,11.7,1297,16141,0.00,1.95,0.00,0.000,4,0.000,0.052,3023,3106,1317
$GC,16183,0.68,398.5,251.4,13.5,1305,16189,0.00,1.90,0.00,0.000,6,0.000,0.039,3027,1861,1317
$GC,16528,0.68,398.5,207.5,12.4,1366,16535,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1861,1317
$GC,16875,0.72,398.5,171.3,11.2,1427,16882,0.00,1.98,0.00,0.000,4,0.000,0.050,3029,3103,1317
$GC,16986,0.76,398.5,160.2,10.5,1446,16993,0.00,1.90,0.00,0.000,6,0.000,0.038,3038,1866,1316
$GC,17333,0.76,398.5,121.1,11.9,1507,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1866,1317
$GC,17678,0.81,398.5,85.3,10.8,1568,17685,0.12,1.92,0.00,0.000,4,0.065,0.047,3117,3109,1317
$GC,17749,0.68,398.5,74.4,16.0,1580,17756,0.22,1.90,0.00,0.000,6,0.128,0.035,3038,1863,1317
$GC,18095,1.10,558.8,47.5,5.6,1641,18242,0.32,2.03,137.93,0.758,4,0.037,0.044,3195,3109,665
$GC,18257,0.98,558.8,23.9,15.5,1666,18265,0.15,1.90,0.00,0.000,6,0.124,0.033,3136,1872,665
$STATE,18445,end climb,SURFACE_DEPTH_REACHED
$STATE,18445,begin surface coast
$FINISH,1.1,1.000932
$STATE,18479,end surface coast,CONTROL_FINISHED_OK
$STATE,18479,begin surface
$SM_CCo,18560,0.00,0.000,0,0,662,560.27
$SM_GC,1.96,7.95,0.00,0.00,0.038,0.000,0.000,160,2103,662,-8.27,1.19,560.27
$IRIDIUM_FIX,2446.56,12234.83,141198,161630
$TT8_MAMPS,0.026845
$HUMID,1725
$INTERNAL_PRESSURE,9.78035
$TCM_TEMP,22.30
$XPDR_PINGS,175
$24V_AH,22.2,117.122
$10V_AH,10.5,75.776
$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,24.150,134.750,728.950,0.000,0.000,24.625,36.475,299.889,51.750,0.000,0.000,32.923,2976.947,10777.277,829.622,3616.731,911.040,0.000,2442.376,0.000,3559.086,0.000,54.374,0.000
$DEVICE_MAMPS,219.362,59.826,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.737,1188.287,2002.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98080,1705
$CAP_FILE_SIZE,180735,0
$CFSIZE,260165632,192217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.230, 77.1,1
$GPS,210809,030206,2456.921,12235.346,34,0.9,34,-3.6