version: 66.04
glider: 166
mission: 2
dive: 517
start: 8 20 109 6 23 36
data:
$ID,166
$MISSION,2
$DIVE,517
$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,-17622.852
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,060536,2455.719,12237.203,24,1.1,24,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.9
$GPS2,062314,2455.990,12237.567,11,1.7,11,-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,268.8,46863,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.93,-243.4,0.0,0.0,0,87,0.00,0.00,-69.90,0.000,2,0.000,0.000,124,2091,2208
$GC,91,-0.93,-243.4,3.3,-5.8,10,156,9.65,2.25,-44.88,0.000,4,0.223,0.051,2502,651,3941
$GC,346,-0.63,-243.4,60.6,-24.5,53,353,0.40,2.08,0.00,0.000,6,0.128,0.034,2615,2061,3942
$GC,690,-0.72,-243.4,108.3,-11.1,114,696,0.00,2.12,0.00,0.000,4,0.000,0.046,2611,3466,3943
$GC,761,-0.85,-243.4,115.2,-9.8,126,768,0.20,2.08,0.00,0.000,6,0.048,0.028,2511,2019,3943
$GC,1109,-0.69,-243.4,173.2,-14.8,187,1116,0.25,2.00,0.00,0.000,4,0.127,0.037,2593,675,3943
$GC,1179,-0.77,-243.4,179.5,-7.1,199,1186,0.00,2.05,0.00,0.000,6,0.000,0.032,2588,2076,3943
$GC,1525,-0.85,-243.4,199.6,-8.8,260,1535,0.12,2.10,0.00,0.000,4,0.064,0.038,2517,673,3941
$GC,1561,-0.78,-243.4,203.8,-13.3,265,1568,0.17,2.05,0.00,0.000,6,0.130,0.034,2567,2053,3941
$GC,1908,-0.82,-243.4,246.7,-13.3,326,1914,0.00,2.17,0.00,0.000,4,0.000,0.048,2560,3455,3939
$GC,1935,-0.85,-243.4,250.3,-13.9,330,1942,0.00,2.03,0.00,0.000,6,0.000,0.031,2560,2053,3939
$GC,2285,-0.85,-243.4,292.7,-9.5,391,2291,0.00,2.08,0.00,0.000,4,0.000,0.041,2560,667,3936
$GC,2321,-0.85,-243.4,296.2,-9.0,397,2329,0.00,2.08,0.00,0.000,6,0.000,0.036,2556,2052,3937
$GC,2657,-0.85,-243.4,322.4,-7.5,432,2660,0.00,2.10,0.00,0.000,4,0.000,0.041,2556,664,3935
$GC,2726,-0.85,-243.4,328.1,-8.8,438,2729,0.00,2.05,0.00,0.000,6,0.000,0.037,2549,2033,3934
$GC,3063,-0.85,-243.4,362.9,-11.7,469,3066,0.00,2.08,0.00,0.000,4,0.000,0.041,2549,672,3932
$GC,3097,-0.85,-243.4,367.7,-12.0,472,3101,0.00,2.05,0.00,0.000,6,0.000,0.037,2549,2032,3932
$GC,3429,-0.85,-243.4,405.6,-10.6,503,3433,0.00,2.22,0.00,0.000,4,0.000,0.053,2545,3465,3928
$GC,3499,-0.90,-243.4,412.0,-8.7,509,3503,0.00,2.10,0.00,0.000,6,0.000,0.033,2546,2043,3928
$GC,3829,-0.90,-243.4,443.8,-11.1,540,3833,0.00,2.10,0.00,0.000,4,0.000,0.044,2545,660,3926
$GC,3876,-0.90,-243.4,449.2,-12.0,544,3880,0.00,2.10,0.00,0.000,6,0.000,0.039,2545,2042,3926
$GC,4208,-0.93,-243.4,484.2,-10.1,575,4212,0.00,2.12,0.00,0.000,4,0.000,0.045,2545,661,3923
$GC,4244,-0.93,-243.4,487.9,-10.9,578,4247,0.00,2.10,0.00,0.000,6,0.000,0.039,2545,2044,3923
$GC,4582,-0.97,-243.4,517.0,-7.9,600,4584,0.12,0.00,0.00,0.000,6,0.067,0.000,2480,2044,3922
$GC,4890,-0.84,-243.4,555.5,-12.8,615,4895,0.20,2.15,0.00,0.000,4,0.128,0.047,2544,671,3919
$GC,5018,-0.88,-243.4,567.8,-9.6,620,5025,0.00,2.08,0.00,0.000,6,0.000,0.043,2545,2029,3918
$GC,5335,-0.93,-243.4,594.9,-7.8,636,5339,0.00,2.12,0.00,0.000,4,0.000,0.048,2545,662,3916
$GC,5387,-0.97,-243.4,598.9,-7.9,638,5392,0.12,2.10,0.00,0.000,6,0.067,0.044,2488,2025,3916
$GC,5717,-0.88,-243.4,632.0,-9.0,654,5721,0.17,2.12,0.00,0.000,4,0.135,0.048,2545,662,3913
$GC,5779,-0.92,-243.4,636.2,-5.9,656,5787,0.00,2.10,0.00,0.000,6,0.000,0.044,2545,2027,3912
$GC,6096,-0.95,-243.4,654.1,-6.8,672,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2027,3910
$GC,6408,-0.98,-243.4,680.1,-9.2,687,6410,0.12,0.00,0.00,0.000,6,0.067,0.000,2481,2027,3909
$GC,6714,-0.86,-243.4,720.9,-12.8,702,6716,0.17,0.00,0.00,0.000,6,0.133,0.000,2538,2027,3907
$GC,7024,-0.86,-243.4,748.2,-9.0,717,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2027,3906
$GC,7333,-0.86,-243.4,780.8,-11.0,732,7337,0.00,2.33,0.00,0.000,4,0.000,0.064,2541,3468,3904
$GC,7360,-0.86,-243.4,784.1,-11.2,733,7365,0.00,2.20,0.00,0.000,6,0.000,0.040,2537,2028,3904
$GC,7676,-0.86,-243.4,821.9,-12.4,748,7680,0.00,2.15,0.00,0.000,4,0.000,0.054,2533,659,3903
$GC,7725,-0.86,-243.4,828.0,-13.9,750,7729,0.00,2.12,0.00,0.000,6,0.000,0.049,2541,2014,3902
$GC,8058,-0.86,-243.4,870.0,-12.3,766,8062,0.00,2.35,0.00,0.000,4,0.000,0.065,2542,3463,3901
$GC,8086,-0.90,-243.4,873.4,-12.8,767,8090,0.00,2.22,0.00,0.000,6,0.000,0.041,2541,2005,3900
$GC,8405,-0.90,-243.4,909.6,-11.2,782,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2005,3900
$GC,8712,-0.90,-243.4,943.7,-10.9,797,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2005,3899
$GC,9022,-0.90,-243.4,976.9,-10.5,812,9027,0.00,2.40,0.00,0.000,4,0.000,0.067,2542,3465,3897
$GC,9065,-0.96,-243.4,981.4,-10.9,814,9069,0.00,2.22,0.00,0.000,6,0.000,0.041,2541,2018,3897
$STATE,9162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9162,begin apogee
$GC,9170,-0.23,0.0,991.6,10.0,819,9391,0.62,0.00,212.82,1.470,6,0.104,0.000,2742,1684,2945
$STATE,9392,end apogee,CONTROL_FINISHED_OK
$STATE,9392,begin climb
$GC,9396,0.93,243.4,1005.2,0.0,830,9630,1.05,0.00,225.85,1.430,6,0.044,0.000,3131,1684,1951
$GC,9935,0.58,243.4,933.8,18.0,856,9940,0.40,2.30,0.00,0.000,4,0.162,0.061,3012,3105,1943
$GC,10193,0.47,243.4,899.9,12.6,867,10200,0.17,2.15,0.00,0.000,6,0.147,0.045,2974,1722,1941
$GC,10511,0.47,244.6,868.1,10.0,883,10515,0.00,2.20,0.00,0.000,4,0.000,0.060,2974,3100,1941
$GC,10741,0.47,244.6,842.8,11.0,893,10745,0.00,2.15,0.00,0.000,6,0.000,0.045,2981,1710,1940
$GC,11070,0.47,247.4,810.1,9.9,909,11073,0.00,2.25,0.00,0.000,4,0.000,0.061,2982,3111,1939
$GC,11206,0.44,247.4,795.6,10.5,915,11210,0.00,2.12,0.00,0.000,6,0.000,0.044,2991,1744,1938
$GC,11540,0.44,247.4,760.8,10.6,931,11544,0.00,2.17,0.00,0.000,4,0.000,0.060,2991,3105,1938
$GC,11706,0.38,247.4,741.4,11.9,938,11711,0.20,2.10,0.00,0.000,6,0.143,0.045,2946,1738,1937
$GC,12035,0.53,304.8,712.9,8.4,954,12112,0.15,2.33,59.42,1.247,4,0.062,0.058,3021,3117,1701
$GC,12356,0.45,304.8,668.5,15.1,968,12360,0.22,2.08,0.00,0.000,6,0.137,0.044,2968,1784,1697
$GC,12673,0.52,304.8,635.2,10.5,983,12676,0.00,2.10,0.00,0.000,4,0.000,0.058,2968,3102,1695
$GC,12752,0.57,304.8,626.3,11.7,986,12755,0.00,2.03,0.00,0.000,6,0.000,0.044,2976,1793,1695
$GC,13076,0.73,387.9,597.6,7.7,1002,13174,0.20,2.22,80.40,1.186,4,0.052,0.058,3075,3100,1363
$GC,13328,0.56,387.9,562.0,13.9,1013,13332,0.30,2.00,0.00,0.000,6,0.142,0.044,2999,1816,1359
$GC,13644,0.68,442.4,536.9,8.5,1028,13715,0.12,2.12,54.60,1.112,4,0.067,0.056,3064,3110,1140
$GC,13754,0.58,442.4,521.2,17.5,1033,13759,0.22,2.03,0.00,0.000,6,0.137,0.042,3010,1820,1140
$GC,14086,0.63,442.4,478.7,12.4,1056,14090,0.00,2.05,0.00,0.000,4,0.000,0.056,3010,3109,1137
$GC,14171,0.68,442.4,467.7,12.8,1063,14177,0.00,1.98,0.00,0.000,6,0.000,0.043,3017,1826,1136
$GC,14500,0.73,442.4,426.0,13.2,1094,14504,0.10,2.03,0.00,0.000,4,0.074,0.057,3073,3104,1135
$GC,14706,0.63,442.4,390.3,15.9,1112,14713,0.17,1.95,0.00,0.000,6,0.134,0.042,3026,1858,1135
$GC,15032,0.67,442.4,353.7,10.9,1143,15036,0.00,1.98,0.00,0.000,4,0.000,0.054,3026,3106,1135
$GC,15125,0.67,442.4,342.9,11.7,1151,15129,0.00,1.92,0.00,0.000,6,0.000,0.041,3032,1849,1135
$GC,15459,0.67,442.4,302.3,13.9,1182,15462,0.00,1.98,0.00,0.000,4,0.000,0.054,3032,3103,1134
$GC,15495,0.67,442.4,297.1,14.3,1186,15501,0.00,1.92,0.00,0.000,6,0.000,0.041,3040,1867,1134
$GC,15841,0.67,442.4,253.1,10.9,1247,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1867,1134
$GC,16185,0.75,510.8,217.8,8.1,1308,16254,0.00,2.05,60.58,0.927,4,0.000,0.051,3041,3103,862
$GC,16393,0.84,510.8,198.5,10.5,1343,16400,0.08,1.92,0.00,0.000,6,0.053,0.038,3128,1864,861
$GC,16741,0.70,510.8,125.2,20.2,1404,16748,0.25,1.95,0.00,0.000,4,0.134,0.050,3049,3109,860
$GC,16784,0.75,510.8,117.6,15.8,1411,16790,0.00,1.90,0.00,0.000,6,0.000,0.038,3055,1870,860
$GC,17131,1.08,660.2,86.6,5.9,1472,17229,0.28,2.60,87.40,0.798,4,0.041,0.048,3197,280,454
$GC,17271,0.98,660.2,62.7,17.0,1493,17279,0.22,2.42,0.00,0.000,6,0.129,0.038,3132,1857,453
$GC,17620,1.33,809.7,16.6,5.9,1554,17627,0.28,2.45,0.00,0.000,4,0.041,0.048,3273,284,452
$STATE,17704,end climb,SURFACE_DEPTH_REACHED
$STATE,17704,begin surface coast
$FINISH,1.1,1.011308
$STATE,17722,end surface coast,CONTROL_FINISHED_OK
$STATE,17724,begin surface
$SM_CCo,17809,0.00,0.000,0,0,449,612.27
$SM_GC,1.74,8.40,0.00,0.00,0.044,0.000,0.000,149,2078,449,-8.29,0.48,612.27
$IRIDIUM_FIX,2444.18,12240.12,141198,060650
$TT8_MAMPS,0.026845
$HUMID,1747
$INTERNAL_PRESSURE,9.78035
$TCM_TEMP,22.50
$XPDR_PINGS,173
$24V_AH,22.4,116.216
$10V_AH,10.5,75.268
$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,25.175,145.500,781.075,0.000,0.000,105.612,137.728,429.935,51.250,0.000,0.000,11.439,2800.766,10605.096,868.754,3346.431,1226.050,0.000,2404.797,0.000,3307.472,0.000,54.383,0.000
$DEVICE_MAMPS,223.197,67.496,1469.572,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.547,1056.687,1781.743,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91555,1572
$CAP_FILE_SIZE,181100,0
$CFSIZE,260165632,192512000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.325, 66.6,1
$GPS,200809,112136,2456.505,12237.527,33,1.2,33,-3.6