version: 66.04
glider: 166
mission: 2
dive: 534
start: 8 23 109 22 37 35
data:
$ID,166
$MISSION,2
$DIVE,534
$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,-17912.021
$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,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
$GPS1,222337,2504.290,12227.641,32,0.9,32,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.1
$GPS2,223714,2504.579,12227.969,12,1.1,12,-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,334.7,38145,-13.9,-10.000
$D_GRID,1091
$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,-243.4,0.0,0.0,0,99,0.00,0.00,-80.55,0.000,2,0.000,0.000,129,2089,2252
$GC,103,-0.93,-243.4,3.4,-5.9,12,162,9.52,2.22,-43.65,0.000,4,0.218,0.061,2508,3465,3940
$GC,205,-0.38,-243.4,26.2,-31.5,28,212,0.65,2.10,0.00,0.000,6,0.160,0.029,2689,2017,3941
$GC,552,-0.58,-243.4,61.4,-8.7,89,559,0.15,2.00,0.00,0.000,4,0.052,0.037,2602,679,3942
$GC,715,-0.58,-243.4,82.0,-8.3,117,722,0.12,2.08,0.00,0.000,6,0.127,0.032,2636,2082,3942
$GC,1062,-0.74,-243.4,108.3,-6.3,178,1070,0.17,2.12,0.00,0.000,4,0.048,0.044,2533,3454,3943
$GC,1112,-0.66,-243.4,113.2,-11.1,186,1120,0.20,2.00,0.00,0.000,6,0.117,0.028,2601,2087,3943
$GC,1462,-0.76,-243.4,148.5,-10.7,247,1468,0.00,2.10,0.00,0.000,4,0.000,0.038,2600,678,3942
$GC,1567,-0.85,-243.4,159.9,-10.2,265,1574,0.12,2.12,0.00,0.000,6,0.043,0.032,2518,2092,3942
$GC,1913,-0.70,-243.4,202.3,-11.8,326,1921,0.22,2.15,0.00,0.000,4,0.130,0.037,2591,675,3941
$GC,1980,-0.77,-243.4,207.7,-7.5,337,1986,0.00,2.12,0.00,0.000,6,0.000,0.033,2588,2091,3940
$GC,2328,-0.85,-243.4,245.6,-9.9,398,2336,0.12,0.00,0.00,0.000,6,0.064,0.000,2516,2091,3938
$GC,2677,-0.72,-243.4,292.5,-11.4,459,2683,0.20,2.17,0.00,0.000,4,0.129,0.039,2582,682,3936
$GC,2793,-0.79,-243.4,299.8,-5.5,479,2800,0.00,2.10,0.00,0.000,6,0.000,0.035,2582,2077,3935
$GC,3123,-0.88,-243.4,314.6,-7.1,510,3127,0.12,2.15,0.00,0.000,4,0.061,0.039,2508,676,3934
$GC,3156,-0.79,-243.4,318.3,-11.2,512,3164,0.20,2.10,0.00,0.000,6,0.127,0.036,2563,2075,3933
$GC,3484,-0.85,-243.4,350.3,-9.7,543,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2075,3931
$GC,3814,-0.91,-243.4,378.2,-9.1,574,3819,0.12,2.15,0.00,0.000,4,0.062,0.040,2496,673,3928
$GC,3870,-0.79,-243.4,386.1,-14.4,578,3878,0.25,2.12,0.00,0.000,6,0.122,0.038,2567,2082,3928
$GC,4196,-0.87,-243.4,416.6,-8.9,609,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2083,3927
$GC,4519,-0.96,-243.4,447.0,-10.1,639,4525,0.17,0.00,0.00,0.000,6,0.051,0.000,2467,2083,3924
$GC,4845,-0.78,-243.4,499.3,-15.1,670,4850,0.30,2.20,0.00,0.000,4,0.128,0.044,2565,678,3922
$GC,5050,-0.87,-243.4,514.7,-5.9,680,5054,0.00,2.15,0.00,0.000,6,0.000,0.040,2564,2077,3921
$GC,5383,-0.96,-243.4,535.8,-6.2,696,5388,0.15,2.20,0.00,0.000,4,0.058,0.056,2485,3460,3919
$GC,5424,-0.87,-243.4,539.6,-10.5,698,5428,0.20,2.05,0.00,0.000,6,0.125,0.034,2542,2088,3919
$GC,5756,-0.91,-243.4,564.8,-7.5,714,5760,0.00,2.20,0.00,0.000,4,0.000,0.047,2541,663,3917
$GC,5853,-0.94,-243.4,573.2,-8.2,718,5856,0.00,2.17,0.00,0.000,6,0.000,0.043,2538,2069,3916
$GC,6181,-0.94,-243.4,598.9,-8.2,734,6185,0.00,2.20,0.00,0.000,4,0.000,0.048,2539,659,3913
$GC,6251,-0.94,-243.4,605.3,-8.9,737,6254,0.00,2.20,0.00,0.000,6,0.000,0.044,2538,2071,3913
$GC,6586,-0.94,-243.4,636.2,-9.7,753,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2071,3911
$GC,6893,-0.94,-243.4,667.4,-10.0,768,6896,0.00,2.22,0.00,0.000,4,0.000,0.050,2538,660,3910
$GC,6933,-0.94,-243.4,671.4,-9.9,769,6938,0.00,2.20,0.00,0.000,6,0.000,0.045,2540,2068,3910
$GC,7251,-0.98,-243.4,700.0,-8.9,785,7253,0.12,0.00,0.00,0.000,6,0.065,0.000,2478,2068,3908
$GC,7558,-0.86,-243.4,734.6,-11.2,800,7560,0.20,0.00,0.00,0.000,6,0.131,0.000,2538,2068,3906
$GC,7869,-0.89,-243.4,759.4,-8.3,815,7873,0.00,2.22,0.00,0.000,4,0.000,0.051,2537,666,3905
$GC,7926,-0.89,-243.4,764.7,-9.1,817,7930,0.00,2.20,0.00,0.000,6,0.000,0.048,2538,2062,3905
$GC,8249,-0.92,-243.4,794.6,-9.4,833,8253,0.00,2.22,0.00,0.000,4,0.000,0.052,2538,661,3903
$GC,8307,-0.92,-243.4,800.6,-10.0,835,8311,0.00,2.20,0.00,0.000,6,0.000,0.048,2542,2057,3903
$GC,8631,-0.96,-243.4,830.4,-8.6,851,8634,0.00,2.20,0.00,0.000,4,0.000,0.052,2540,673,3901
$GC,8699,-0.96,-243.4,835.6,-7.5,854,8703,0.00,2.17,0.00,0.000,6,0.000,0.046,2544,2050,3901
$GC,9034,-1.00,-243.4,861.0,-6.5,870,9039,0.15,2.20,0.00,0.000,4,0.061,0.051,2475,671,3899
$GC,9097,-0.86,-243.4,868.0,-12.3,873,9102,0.22,2.17,0.00,0.000,6,0.130,0.048,2539,2040,3899
$GC,9426,-0.86,-243.4,895.3,-7.8,889,9430,0.00,2.35,0.00,0.000,4,0.000,0.066,2540,3461,3898
$GC,9454,-0.89,-243.4,897.6,-7.8,890,9458,0.00,2.17,0.00,0.000,6,0.000,0.039,2539,2039,3898
$GC,9782,-0.89,-243.4,923.8,-8.3,906,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2039,3897
$GC,10093,-0.89,-243.4,948.8,-8.2,921,10097,0.00,2.20,0.00,0.000,4,0.000,0.053,2539,649,3896
$GC,10162,-0.89,-243.4,954.6,-8.8,924,10165,0.00,2.20,0.00,0.000,6,0.000,0.048,2541,2037,3895
$GC,10496,-0.89,-243.4,982.1,-8.5,940,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2037,3895
$STATE,10595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10595,begin apogee
$GC,10603,-0.23,0.0,991.1,8.7,945,10824,0.62,0.00,212.45,1.477,6,0.103,0.000,2744,1695,2945
$STATE,10825,end apogee,CONTROL_FINISHED_OK
$STATE,10825,begin climb
$GC,10828,0.93,243.4,1002.7,0.0,956,11078,1.05,2.47,230.88,1.417,4,0.044,0.058,3133,294,1951
$GC,11091,0.58,243.4,983.1,17.9,968,11096,0.47,2.38,0.00,0.000,6,0.163,0.044,3011,1699,1949
$GC,11415,0.50,243.4,943.3,12.1,984,11419,0.12,2.25,0.00,0.000,4,0.153,0.058,2977,3108,1943
$GC,11672,0.46,243.4,913.5,10.6,995,11679,0.00,2.15,0.00,0.000,6,0.000,0.044,2985,1721,1942
$GC,11990,0.42,243.4,880.7,10.3,1011,11994,0.00,2.22,0.00,0.000,4,0.000,0.059,2984,3108,1941
$GC,12200,0.36,247.1,858.1,9.9,1020,12205,0.20,2.15,0.00,0.000,6,0.149,0.044,2941,1728,1940
$GC,12522,0.62,391.5,838.1,6.0,1036,12678,0.20,2.38,138.45,1.364,4,0.054,0.059,3043,3095,1348
$GC,12814,0.50,391.5,794.3,16.2,1049,12819,0.25,2.10,0.00,0.000,6,0.139,0.042,2982,1739,1344
$GC,13142,0.57,391.5,752.5,12.4,1065,13145,0.00,2.20,0.00,0.000,4,0.000,0.058,2983,3111,1341
$GC,13327,0.61,391.5,729.5,12.4,1073,13330,0.00,2.08,0.00,0.000,6,0.000,0.043,2989,1776,1340
$GC,13661,0.66,391.5,691.7,10.4,1089,13665,0.12,2.15,0.00,0.000,4,0.064,0.057,3054,3111,1340
$GC,13810,0.52,391.5,668.3,15.7,1095,13818,0.28,2.05,0.00,0.000,6,0.141,0.042,2986,1783,1340
$GC,14128,0.72,495.7,642.6,7.1,1111,14235,0.17,2.25,96.30,1.263,4,0.055,0.058,3077,3100,923
$GC,14491,0.57,495.7,580.0,19.7,1127,14496,0.28,1.98,0.00,0.000,6,0.141,0.042,3008,1808,921
$GC,14821,0.63,495.7,537.0,12.7,1143,14824,0.00,2.08,0.00,0.000,4,0.000,0.057,3008,3109,919
$GC,14975,0.69,495.7,517.2,12.8,1149,14981,0.00,1.98,0.00,0.000,6,0.000,0.042,3016,1825,919
$GC,15301,0.72,495.7,478.5,11.4,1173,15305,0.10,2.05,0.00,0.000,4,0.073,0.055,3073,3106,918
$GC,15408,0.60,495.7,460.1,16.4,1182,15415,0.15,1.98,0.00,0.000,6,0.124,0.041,3019,1843,918
$GC,15735,0.64,495.7,413.7,15.5,1213,15738,0.00,2.03,0.00,0.000,4,0.000,0.056,3018,3108,918
$GC,15909,0.68,495.7,389.2,13.1,1228,15912,0.00,1.88,0.00,0.000,6,0.000,0.041,3026,1882,918
$GC,16243,0.74,512.0,353.2,9.5,1259,16267,0.00,2.00,15.20,1.020,4,0.000,0.054,3026,3107,857
$GC,16427,0.79,512.0,331.0,12.6,1275,16432,0.12,1.85,0.00,0.000,6,0.062,0.040,3102,1900,857
$GC,16764,0.66,512.0,258.7,26.4,1321,16771,0.20,1.92,0.00,0.000,4,0.140,0.053,3036,3104,856
$GC,16880,0.71,512.0,236.6,16.4,1341,16886,0.00,1.80,0.00,0.000,6,0.000,0.039,3042,1921,856
$GC,17226,0.71,512.0,196.1,11.8,1402,17232,0.00,1.90,0.00,0.000,4,0.000,0.052,3043,3106,856
$GC,17330,0.71,512.0,183.1,15.5,1420,17336,0.00,1.80,0.00,0.000,6,0.000,0.038,3051,1938,856
$GC,17678,0.75,512.0,135.6,11.5,1481,17685,0.00,1.88,0.00,0.000,4,0.000,0.051,3051,3106,856
$GC,17795,0.87,535.8,123.7,9.3,1501,17822,0.08,1.75,22.58,0.844,6,0.050,0.037,3120,1964,759
$GC,18165,0.92,535.8,75.1,10.1,1565,18171,0.00,1.80,0.00,0.000,4,0.000,0.048,3120,3105,758
$GC,18286,1.01,535.8,62.0,10.7,1586,18292,0.00,1.67,0.00,0.000,6,0.000,0.036,3125,2005,758
$GC,18633,1.37,722.7,32.5,4.8,1647,18706,0.32,2.80,65.57,0.737,4,0.041,0.048,3287,284,455
$STATE,18787,end climb,SURFACE_DEPTH_REACHED
$STATE,18787,begin surface coast
$FINISH,1.0,1.017419
$STATE,18804,end surface coast,CONTROL_FINISHED_OK
$STATE,18804,begin surface
$SM_CCo,18887,0.00,0.000,0,0,451,612.02
$SM_GC,1.74,8.32,0.00,0.00,0.040,0.000,0.000,144,2080,451,-8.27,0.51,612.02
$IRIDIUM_FIX,2453.69,12227.54,171198,171746
$TT8_MAMPS,0.026845
$HUMID,1734
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,23.40
$XPDR_PINGS,194
$24V_AH,22.1,121.399
$10V_AH,10.5,78.124
$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,26.800,149.425,781.425,0.000,0.000,93.072,169.656,240.576,56.500,0.000,0.000,12.386,2997.552,11095.705,861.675,3652.207,1074.054,0.000,2520.272,0.000,3609.646,0.000,54.399,0.000
$DEVICE_MAMPS,217.828,65.962,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.219,1164.097,1966.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98004,1675
$CAP_FILE_SIZE,191488,0
$CFSIZE,260165632,190844928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.187, 34.9,1
$GPS,240809,035337,2507.885,12226.704,36,0.9,36,-3.6