version: 66.04
glider: 166
mission: 2
dive: 523
start: 8 21 109 13 43 9
data:
$ID,166
$MISSION,2
$DIVE,523
$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,-17750.658
$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,31
$R_STBD_OVSHOOT,53
$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
$GPS1,133401,2457.278,12233.840,39,1.2,39,-3.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.0
$GPS2,134249,2457.304,12234.025,10,1.2,15,-3.6
$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,318.5,53469,-13.9,-10.000
$D_GRID,1443
$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,16,-0.93,-243.4,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,2,0.000,0.000,121,2088,2118
$GC,89,-0.93,-243.4,3.1,-5.2,10,161,9.52,2.15,-51.25,0.000,4,0.219,0.058,2507,3448,3939
$GC,182,-0.49,-243.4,18.4,-29.0,24,191,0.52,2.08,0.00,0.000,6,0.152,0.030,2656,2019,3940
$GC,530,-0.57,-243.4,59.5,-11.3,85,536,0.00,2.03,0.00,0.000,4,0.000,0.038,2655,653,3941
$GC,602,-0.67,-243.4,67.0,-11.1,97,609,0.15,2.03,0.00,0.000,6,0.057,0.032,2579,2034,3941
$GC,948,-0.63,-243.4,113.1,-11.9,158,955,0.12,2.05,0.00,0.000,4,0.131,0.036,2616,666,3942
$GC,985,-0.71,-243.4,117.0,-10.5,164,993,0.00,2.03,0.00,0.000,6,0.000,0.031,2616,2049,3942
$GC,1335,-0.84,-243.4,147.5,-7.7,225,1341,0.17,2.15,0.00,0.000,4,0.053,0.044,2516,3463,3943
$GC,1390,-0.72,-243.4,154.8,-15.9,234,1397,0.22,2.08,0.00,0.000,6,0.123,0.029,2584,2024,3943
$GC,1739,-0.77,-243.4,189.5,-10.8,295,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2023,3943
$GC,2085,-0.83,-243.4,226.6,-9.5,356,2092,0.00,2.03,0.00,0.000,4,0.000,0.039,2584,664,3942
$GC,2214,-0.89,-243.4,238.3,-8.7,378,2222,0.15,2.03,0.00,0.000,6,0.058,0.034,2509,2035,3941
$GC,2561,-0.71,-243.4,294.2,-16.0,439,2568,0.25,2.08,0.00,0.000,4,0.128,0.038,2590,667,3940
$GC,2613,-0.79,-243.4,300.8,-10.5,447,2619,0.00,2.03,0.00,0.000,6,0.000,0.035,2589,2028,3940
$GC,2943,-0.90,-243.4,331.5,-8.8,478,2947,0.17,2.05,0.00,0.000,4,0.054,0.039,2490,679,3938
$GC,3037,-0.74,-243.4,345.7,-15.6,486,3044,0.30,2.03,0.00,0.000,6,0.124,0.036,2582,2030,3938
$GC,3364,-0.84,-243.4,368.9,-5.5,517,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2031,3937
$GC,3686,-0.94,-243.4,387.2,-4.9,547,3691,0.17,2.22,0.00,0.000,4,0.051,0.051,2488,3460,3935
$GC,3738,-0.84,-243.4,392.3,-10.6,551,3743,0.20,2.10,0.00,0.000,6,0.119,0.032,2549,2039,3934
$GC,4065,-0.87,-243.4,420.3,-9.0,581,4069,0.00,2.22,0.00,0.000,4,0.000,0.054,2544,3457,3933
$GC,4124,-0.93,-243.4,425.8,-9.6,586,4128,0.00,2.10,0.00,0.000,6,0.000,0.032,2544,2036,3932
$GC,4456,-0.93,-243.4,461.7,-11.1,617,4460,0.00,2.08,0.00,0.000,4,0.000,0.044,2545,669,3929
$GC,4582,-0.93,-243.4,476.6,-11.6,628,4586,0.00,2.10,0.00,0.000,6,0.000,0.040,2545,2045,3928
$GC,4912,-0.93,-243.4,511.7,-10.5,654,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2046,3927
$GC,5222,-0.93,-243.4,544.1,-9.9,669,5225,0.00,2.25,0.00,0.000,4,0.000,0.058,2543,3468,3925
$GC,5262,-1.00,-243.4,548.2,-8.9,670,5269,0.12,2.12,0.00,0.000,6,0.063,0.035,2480,2044,3924
$GC,5580,-0.86,-243.4,593.3,-13.7,686,5585,0.17,2.15,0.00,0.000,4,0.134,0.047,2537,656,3923
$GC,5725,-0.86,-243.4,608.3,-9.8,692,5728,0.00,2.10,0.00,0.000,6,0.000,0.042,2538,2024,3922
$GC,6047,-0.86,-243.4,636.5,-8.0,708,6050,0.00,2.12,0.00,0.000,4,0.000,0.048,2537,660,3920
$GC,6132,-0.86,-243.4,643.4,-8.7,711,6138,0.00,2.10,0.00,0.000,6,0.000,0.044,2537,2021,3920
$GC,6449,-0.86,-243.4,667.6,-7.7,727,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2021,3918
$GC,6758,-0.86,-243.4,690.5,-7.1,742,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2021,3917
$GC,7069,-0.86,-243.4,713.1,-7.5,757,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2021,3915
$GC,7377,-0.90,-243.4,737.4,-7.6,772,7381,0.00,2.15,0.00,0.000,4,0.000,0.051,2539,657,3913
$GC,7402,-0.90,-243.4,739.3,-8.2,773,7405,0.00,2.12,0.00,0.000,6,0.000,0.046,2543,2020,3912
$GC,7737,-0.93,-243.4,767.7,-8.9,789,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2019,3911
$GC,8044,-0.93,-243.4,792.7,-7.2,804,8048,0.00,2.35,0.00,0.000,4,0.000,0.064,2553,3469,3910
$GC,8079,-1.00,-243.4,794.9,-6.6,805,8086,0.15,2.22,0.00,0.000,6,0.061,0.040,2482,2014,3909
$GC,8397,-0.86,-243.4,831.7,-13.4,821,8401,0.17,2.15,0.00,0.000,4,0.135,0.052,2541,654,3908
$GC,8452,-0.86,-243.4,838.6,-10.9,823,8458,0.00,2.15,0.00,0.000,6,0.000,0.047,2541,2024,3907
$GC,8770,-0.86,-243.4,871.7,-10.4,839,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2024,3906
$GC,9077,-0.86,-243.4,904.4,-11.3,854,9081,0.00,2.17,0.00,0.000,4,0.000,0.054,2541,656,3905
$GC,9123,-0.86,-243.4,909.7,-11.7,856,9127,0.00,2.15,0.00,0.000,6,0.000,0.049,2542,2017,3905
$GC,9456,-0.86,-243.4,947.3,-11.4,872,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2017,3903
$GC,9766,-0.86,-243.4,981.7,-10.8,887,9769,0.00,2.17,0.00,0.000,4,0.000,0.056,2542,657,3902
$GC,9816,-0.86,-243.4,987.6,-11.5,889,9820,0.00,2.15,0.00,0.000,6,0.000,0.050,2542,2018,3902
$STATE,9851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9851,begin apogee
$GC,9860,-0.23,0.0,991.7,11.1,891,10075,0.62,0.00,211.77,1.489,6,0.106,0.000,2743,1695,2945
$STATE,10076,end apogee,CONTROL_FINISHED_OK
$STATE,10076,begin climb
$GC,10080,0.93,243.4,1007.8,0.0,902,10310,1.05,0.00,226.05,1.438,6,0.046,0.000,3126,1695,1952
$GC,10618,0.58,243.4,940.0,19.3,928,10623,0.38,2.28,0.00,0.000,4,0.162,0.059,3015,3103,1943
$GC,10730,0.46,243.4,925.9,11.3,933,10735,0.20,2.15,0.00,0.000,6,0.146,0.044,2969,1718,1942
$GC,11054,0.61,369.9,900.8,6.5,949,11187,0.15,2.40,119.30,1.375,4,0.067,0.060,3038,3109,1436
$GC,11322,0.49,369.9,866.9,13.5,961,11327,0.25,2.17,0.00,0.000,6,0.143,0.044,2979,1702,1431
$GC,11658,0.60,407.7,837.8,9.0,977,11703,0.10,2.30,35.67,1.348,4,0.077,0.058,3031,3105,1280
$GC,11827,0.52,407.7,813.2,15.5,984,11832,0.20,2.12,0.00,0.000,6,0.141,0.044,2985,1732,1279
$GC,12145,0.59,407.7,778.4,10.9,999,12148,0.00,2.20,0.00,0.000,4,0.000,0.058,2985,3112,1278
$GC,12282,0.63,407.7,761.4,12.5,1005,12286,0.00,2.08,0.00,0.000,6,0.000,0.044,2993,1758,1277
$GC,12616,0.68,407.7,720.5,12.0,1021,12621,0.12,2.15,0.00,0.000,4,0.067,0.057,3057,3106,1277
$GC,12735,0.53,407.7,699.3,18.3,1026,12740,0.28,2.08,0.00,0.000,6,0.142,0.044,2989,1762,1277
$GC,13052,0.60,407.7,662.8,10.3,1041,13056,0.00,2.15,0.00,0.000,4,0.000,0.058,2989,3112,1276
$GC,13194,0.65,407.7,646.5,11.0,1047,13199,0.10,2.03,0.00,0.000,6,0.073,0.043,3050,1790,1275
$GC,13522,0.55,407.7,590.4,17.4,1063,13527,0.17,2.12,0.00,0.000,4,0.140,0.058,2999,3114,1276
$GC,13758,0.59,407.7,558.4,11.5,1073,13764,0.00,2.00,0.00,0.000,6,0.000,0.042,3007,1816,1275
$GC,14074,0.59,407.7,523.9,10.2,1089,14076,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1815,1275
$GC,14386,0.64,417.3,495.9,9.7,1106,14400,0.00,2.12,9.00,1.062,4,0.000,0.055,3007,3109,1242
$GC,14527,0.68,417.3,480.1,11.8,1118,14531,0.00,1.95,0.00,0.000,6,0.000,0.042,3016,1842,1242
$GC,14862,0.68,417.3,440.8,11.6,1149,14866,0.00,2.03,0.00,0.000,4,0.000,0.056,3016,3115,1242
$GC,14957,0.68,417.3,428.6,13.0,1157,14963,0.00,1.95,0.00,0.000,6,0.000,0.041,3025,1844,1242
$GC,15286,0.68,417.3,383.9,15.2,1188,15290,0.00,2.00,0.00,0.000,4,0.000,0.054,3024,3107,1242
$GC,15377,0.68,417.3,372.5,10.9,1196,15381,0.00,1.95,0.00,0.000,6,0.000,0.041,3033,1839,1242
$GC,15714,0.68,417.3,324.2,14.1,1227,15717,0.00,2.03,0.00,0.000,4,0.000,0.053,3034,3115,1242
$GC,15843,0.68,417.3,304.3,13.1,1238,15850,0.00,1.92,0.00,0.000,6,0.000,0.039,3042,1875,1242
$GC,16185,0.65,417.3,260.2,12.3,1296,16191,0.00,1.98,0.00,0.000,4,0.000,0.052,3042,3108,1242
$GC,16276,0.65,417.3,248.6,12.2,1312,16282,0.00,1.88,0.00,0.000,6,0.000,0.039,3050,1900,1242
$GC,16622,0.62,417.3,200.7,14.2,1373,16628,0.12,1.92,0.00,0.000,4,0.143,0.050,3015,3117,1242
$GC,16660,0.66,417.3,195.9,11.9,1379,16667,0.00,1.88,0.00,0.000,6,0.000,0.038,3022,1899,1242
$GC,17007,0.81,458.6,159.0,8.9,1440,17054,0.17,2.62,38.38,0.883,4,0.054,0.050,3136,287,1074
$GC,17067,0.64,458.6,149.7,16.9,1449,17075,0.38,2.50,0.00,0.000,6,0.133,0.040,3026,1902,1073
$GC,17415,0.78,458.6,122.7,11.5,1510,17423,0.12,1.85,0.00,0.000,4,0.064,0.048,3093,3109,1073
$GC,17623,0.70,458.6,85.1,16.6,1546,17631,0.17,1.83,0.00,0.000,6,0.116,0.036,3043,1909,1073
$GC,17973,1.07,602.8,55.3,6.0,1607,18105,0.30,2.58,124.03,0.764,4,0.041,0.045,3199,287,486
$GC,18129,0.91,602.8,30.0,19.9,1631,18136,0.30,2.53,0.00,0.000,6,0.123,0.038,3110,1921,485
$GC,18478,1.38,755.6,3.5,5.8,1692,18486,0.38,0.00,5.32,0.533,2,0.036,0.000,3290,1922,465
$STATE,18487,end climb,SURFACE_DEPTH_REACHED
$STATE,18487,begin surface coast
$FINISH,1.0,1.009557
$STATE,18538,end surface coast,CONTROL_FINISHED_OK
$STATE,18538,begin surface
$SM_CCo,18620,0.00,0.000,0,0,464,608.59
$SM_GC,1.79,8.38,0.00,0.00,0.041,0.000,0.000,153,2113,464,-8.29,1.47,608.59
$IRIDIUM_FIX,2446.56,12229.55,151198,080830
$TT8_MAMPS,0.026845
$HUMID,1729
$INTERNAL_PRESSURE,9.77058
$TCM_TEMP,23.00
$XPDR_PINGS,191
$24V_AH,22.3,118.009
$10V_AH,10.5,76.291
$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,26.550,144.725,769.525,0.000,0.000,26.333,36.682,267.141,55.750,0.000,0.000,15.855,3010.619,10801.640,863.534,3565.923,882.005,0.000,2449.327,0.000,3521.000,0.000,54.386,0.000
$DEVICE_MAMPS,219.362,64.428,1488.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.822,1197.135,2020.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97851,1702
$CAP_FILE_SIZE,186133,0
$CFSIZE,260165632,191905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.213,131.6,1
$GPS,210809,185436,2457.366,12232.784,28,1.0,28,-3.6