version: 66.04
glider: 166
mission: 2
dive: 563
start: 8 27 109 15 6 59
data:
$ID,166
$MISSION,2
$DIVE,563
$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,-18472.775
$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,33
$R_STBD_OVSHOOT,64
$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
$GPS1,145507,2516.876,12240.316,33,1.1,33,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.1
$GPS2,150638,2516.635,12240.604,11,1.9,11,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$TGT_RADIUS,2000.000
$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,126.4,55527,-13.9,-10.000
$D_GRID,992
$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,-243.4,0.0,0.0,0,88,0.00,0.00,-69.95,0.000,2,0.000,0.000,177,2108,2074
$GC,92,-0.93,-243.4,3.0,-4.8,11,164,9.23,2.30,-52.62,0.000,4,0.212,0.051,2506,637,3940
$GC,321,-0.58,-243.4,62.9,-25.8,49,328,0.45,2.10,0.00,0.000,6,0.127,0.032,2631,2053,3941
$GC,670,-0.65,-243.4,102.6,-9.1,110,676,0.00,2.15,0.00,0.000,4,0.000,0.046,2620,3460,3943
$GC,775,-0.80,-243.4,111.6,-7.2,128,783,0.17,2.08,0.00,0.000,6,0.048,0.028,2535,2019,3944
$GC,1125,-0.62,-243.4,165.6,-14.3,189,1132,0.25,2.03,0.00,0.000,4,0.128,0.036,2613,666,3944
$GC,1187,-0.69,-243.4,171.8,-7.9,199,1193,0.00,2.05,0.00,0.000,6,0.000,0.032,2602,2053,3944
$GC,1535,-0.79,-243.4,199.3,-8.5,260,1544,0.10,2.20,0.00,0.000,4,0.071,0.046,2532,3455,3942
$GC,1580,-0.75,-243.4,204.6,-12.4,267,1587,0.15,2.05,0.00,0.000,6,0.120,0.028,2578,2048,3942
$GC,1927,-0.79,-243.4,236.8,-8.2,328,1935,0.00,2.10,0.00,0.000,4,0.000,0.038,2576,672,3941
$GC,2005,-0.84,-243.4,243.4,-8.3,341,2011,0.00,2.08,0.00,0.000,6,0.000,0.034,2574,2056,3941
$GC,2350,-0.89,-243.4,274.0,-9.9,402,2357,0.12,2.22,0.00,0.000,4,0.062,0.048,2492,3489,3938
$GC,2429,-0.78,-243.4,284.5,-14.2,415,2435,0.25,2.10,0.00,0.000,6,0.120,0.031,2568,2057,3938
$GC,2763,-0.84,-243.4,320.0,-10.3,458,2767,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,669,3937
$GC,2849,-0.90,-243.4,329.0,-10.1,465,2855,0.00,2.10,0.00,0.000,6,0.000,0.035,2562,2059,3936
$GC,3178,-0.96,-243.4,359.8,-9.5,496,3183,0.15,2.17,0.00,0.000,4,0.057,0.040,2479,670,3935
$GC,3235,-0.80,-243.4,368.3,-16.2,500,3244,0.28,2.12,0.00,0.000,6,0.123,0.038,2560,2064,3934
$GC,3562,-0.86,-243.4,398.7,-9.1,531,3566,0.00,2.20,0.00,0.000,4,0.000,0.053,2556,3460,3932
$GC,3599,-0.95,-243.4,402.0,-9.1,534,3603,0.12,2.08,0.00,0.000,6,0.060,0.032,2490,2063,3932
$GC,3932,-0.82,-243.4,448.5,-14.7,565,3937,0.20,2.17,0.00,0.000,4,0.127,0.042,2555,658,3929
$GC,4012,-0.87,-243.4,458.1,-11.4,571,4018,0.00,2.15,0.00,0.000,6,0.000,0.038,2547,2062,3928
$GC,4341,-0.91,-243.4,496.6,-11.8,602,4344,0.00,2.17,0.00,0.000,4,0.000,0.045,2548,672,3926
$GC,4366,-0.94,-243.4,499.7,-11.9,604,4374,0.00,2.15,0.00,0.000,6,0.000,0.041,2546,2061,3926
$GC,4691,-0.99,-243.4,528.2,-7.0,620,4695,0.12,2.25,0.00,0.000,4,0.064,0.056,2473,3463,3924
$GC,4731,-0.90,-243.4,532.1,-11.0,622,4736,0.20,2.15,0.00,0.000,6,0.126,0.035,2533,2043,3923
$GC,5060,-0.90,-243.4,561.5,-9.3,638,5063,0.00,2.15,0.00,0.000,4,0.000,0.048,2533,660,3922
$GC,5201,-0.90,-243.4,575.4,-9.5,644,5205,0.00,2.15,0.00,0.000,6,0.000,0.042,2531,2044,3921
$GC,5530,-0.90,-243.4,606.9,-9.4,660,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2044,3919
$GC,5839,-0.90,-243.4,635.4,-9.2,675,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2045,3917
$GC,6149,-0.90,-243.4,665.0,-9.4,690,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2045,3915
$GC,6458,-0.90,-243.4,694.9,-9.6,705,6462,0.00,2.22,0.00,0.000,4,0.000,0.050,2531,663,3913
$GC,6497,-0.90,-243.4,699.0,-10.5,706,6504,0.00,2.20,0.00,0.000,6,0.000,0.045,2531,2040,3912
$GC,6814,-0.90,-243.4,732.3,-11.1,722,6818,0.00,2.20,0.00,0.000,4,0.000,0.051,2531,668,3911
$GC,6839,-0.90,-243.4,735.2,-11.5,723,6842,0.00,2.17,0.00,0.000,6,0.000,0.046,2531,2038,3911
$GC,7173,-0.94,-243.4,767.8,-8.5,739,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2038,3909
$GC,7482,-0.94,-243.4,791.0,-8.2,754,7486,0.00,2.20,0.00,0.000,4,0.000,0.053,2531,667,3908
$GC,7507,-0.98,-243.4,793.3,-9.0,755,7511,0.00,2.17,0.00,0.000,6,0.000,0.048,2531,2038,3907
$GC,7842,-1.02,-243.4,822.3,-9.3,771,7843,0.12,0.00,0.00,0.000,6,0.067,0.000,2468,2038,3906
$GC,8151,-0.89,-243.4,863.0,-13.5,786,8153,0.20,0.00,0.00,0.000,6,0.133,0.000,2529,2038,3904
$GC,8461,-0.93,-243.4,889.0,-7.9,801,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2038,3903
$GC,8769,-0.96,-243.4,913.8,-8.0,816,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2038,3902
$GC,9079,-1.00,-243.4,938.1,-7.9,831,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2038,3901
$GC,9387,-1.04,-243.4,959.9,-7.1,846,9389,0.15,0.00,0.00,0.000,6,0.061,0.000,2461,2039,3900
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9661,-0.23,0.0,992.5,12.3,859,9877,0.90,0.00,212.45,1.480,6,0.123,0.000,2738,1695,2945
$STATE,9878,end apogee,CONTROL_FINISHED_OK
$STATE,9878,begin climb
$GC,9882,0.93,243.4,1003.1,0.0,870,10141,1.08,2.62,238.75,1.403,4,0.036,0.058,3139,3105,1950
$GC,10251,0.48,243.4,958.8,22.2,886,10259,0.62,2.25,0.00,0.000,6,0.159,0.044,2979,1693,1945
$GC,10569,0.45,243.4,924.9,10.6,902,10573,0.00,2.28,0.00,0.000,4,0.000,0.059,2981,3102,1943
$GC,10760,0.38,243.7,904.2,10.0,910,10767,0.17,2.15,0.00,0.000,6,0.144,0.044,2942,1711,1941
$GC,11078,0.51,306.7,879.5,8.3,926,11148,0.12,2.30,59.42,1.358,4,0.070,0.059,3000,3103,1694
$GC,11324,0.42,306.7,848.2,13.8,937,11328,0.20,2.12,0.00,0.000,6,0.143,0.044,2955,1724,1690
$GC,11653,0.49,311.1,817.7,9.9,953,11663,0.00,2.22,4.70,0.948,4,0.000,0.059,2954,3104,1675
$GC,11798,0.54,317.9,803.7,9.8,959,11814,0.00,2.08,8.05,1.170,6,0.000,0.044,2962,1757,1649
$GC,12125,0.59,317.9,773.3,10.1,975,12129,0.15,2.15,0.00,0.000,4,0.061,0.058,3039,3101,1648
$GC,12255,0.41,317.9,752.3,17.4,980,12263,0.28,2.10,0.00,0.000,6,0.137,0.044,2954,1774,1648
$GC,12574,0.53,348.0,720.8,9.2,996,12627,0.12,2.17,33.03,1.183,4,0.068,0.058,3020,3106,1525
$GC,12825,0.43,348.0,683.5,14.0,1007,12829,0.25,2.03,0.00,0.000,6,0.137,0.043,2958,1802,1524
$GC,13142,0.62,423.4,655.4,7.9,1022,13233,0.17,2.22,74.85,1.223,4,0.055,0.058,3050,3107,1217
$GC,13363,0.47,423.4,620.7,17.1,1032,13367,0.30,2.00,0.00,0.000,6,0.137,0.044,2972,1805,1215
$GC,13691,0.58,425.5,588.4,9.9,1048,13696,0.10,2.10,0.00,0.000,4,0.074,0.056,3032,3112,1213
$GC,13810,0.50,425.5,569.4,17.0,1053,13814,0.20,2.00,0.00,0.000,6,0.135,0.043,2984,1822,1212
$GC,14134,0.57,425.5,532.1,10.7,1069,14137,0.00,2.05,0.00,0.000,4,0.000,0.057,2984,3102,1211
$GC,14181,0.64,425.5,526.8,10.6,1071,14185,0.10,1.95,0.00,0.000,6,0.071,0.042,3043,1837,1212
$GC,14512,0.54,425.5,481.3,13.4,1093,14516,0.17,2.03,0.00,0.000,4,0.139,0.055,2993,3102,1212
$GC,14626,0.58,425.5,468.9,10.1,1103,14630,0.00,1.95,0.00,0.000,6,0.000,0.041,2998,1844,1211
$GC,14961,0.62,425.5,431.1,12.7,1134,14965,0.00,2.03,0.00,0.000,4,0.000,0.055,2998,3108,1212
$GC,15116,0.65,425.5,410.6,12.0,1147,15122,0.00,1.90,0.00,0.000,6,0.000,0.041,3005,1875,1211
$GC,15445,0.65,425.5,372.0,12.0,1178,15451,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1875,1211
$GC,15773,0.65,425.5,329.2,13.1,1209,15776,0.00,1.98,0.00,0.000,4,0.000,0.053,3005,3111,1210
$GC,15881,0.69,425.5,315.4,12.4,1218,15887,0.00,1.92,0.00,0.000,6,0.000,0.039,3012,1879,1211
$GC,16217,0.69,425.5,277.0,11.4,1267,16223,0.00,1.98,0.00,0.000,4,0.000,0.051,3013,3114,1211
$GC,16344,0.69,425.5,263.0,11.5,1289,16350,0.00,1.88,0.00,0.000,6,0.000,0.038,3021,1885,1210
$GC,16690,0.69,425.5,221.2,11.6,1350,16696,0.00,1.98,0.00,0.000,4,0.000,0.051,3020,3109,1211
$GC,16732,0.69,425.5,216.2,10.7,1357,16738,0.00,1.85,0.00,0.000,6,0.000,0.037,3028,1900,1211
$GC,17079,0.69,425.5,174.1,10.8,1418,17086,0.00,1.92,0.00,0.000,4,0.000,0.049,3029,3102,1210
$GC,17241,0.69,425.5,154.7,11.8,1446,17248,0.00,1.80,0.00,0.000,6,0.000,0.037,3036,1938,1210
$GC,17587,0.82,495.2,114.5,8.1,1507,17659,0.12,1.92,61.97,0.833,4,0.066,0.048,3113,3111,926
$GC,17781,0.78,495.2,84.5,13.0,1539,17788,0.15,1.80,0.00,0.000,6,0.117,0.035,3070,1939,924
$GC,18131,1.13,626.3,53.7,6.4,1600,18239,0.28,0.00,99.72,0.749,6,0.040,0.000,3210,1939,454
$STATE,18470,end climb,SURFACE_DEPTH_REACHED
$STATE,18470,begin surface coast
$FINISH,1.0,1.002191
$STATE,18495,end surface coast,CONTROL_FINISHED_OK
$STATE,18495,begin surface
$SM_CCo,18576,0.00,0.000,0,0,449,612.51
$SM_GC,1.81,8.18,0.00,0.00,0.038,0.000,0.000,156,2101,449,-8.28,1.13,612.51
$IRIDIUM_FIX,2507.97,12237.96,211198,151554
$TT8_MAMPS,0.027612
$HUMID,1760
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,23.30
$XPDR_PINGS,192
$24V_AH,21.5,127.909
$10V_AH,10.5,81.846
$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,25.950,135.225,792.950,0.000,0.000,47.831,73.133,299.454,56.000,0.000,0.000,11.518,2907.406,10970.623,876.358,3491.076,1004.185,0.000,2477.848,0.000,3455.479,0.000,54.395,0.000
$DEVICE_MAMPS,212.459,59.059,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.072,1128.903,1903.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98040,1662
$CAP_FILE_SIZE,183683,0
$CFSIZE,260165632,188825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.074, 93.0,1
$GPS,270809,201755,2515.798,12244.692,41,1.5,41,-3.6