version: 66.04
glider: 166
mission: 2
dive: 589
start: 9 2 109 5 52 16
data:
$ID,166
$MISSION,2
$DIVE,589
$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,-18883.312
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,054337,2511.584,12336.691,35,1.0,35,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.3
$GPS2,055155,2511.648,12336.831,11,1.0,16,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,215.5,172417,-13.9,-10.000
$D_GRID,2045
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,105,0.00,0.00,-82.75,0.000,2,0.000,0.000,158,2083,2301
$GC,109,-0.93,-243.4,3.2,-5.5,12,167,9.52,2.22,-41.28,0.000,4,0.228,0.048,2515,627,3939
$GC,312,-0.61,-243.4,57.1,-25.9,46,319,0.40,2.15,0.00,0.000,6,0.123,0.033,2625,2066,3939
$GC,659,-0.52,-243.4,115.4,-16.1,107,666,0.10,2.15,0.00,0.000,4,0.142,0.041,2645,3472,3941
$GC,776,-0.60,-243.4,128.9,-10.3,127,783,0.00,2.08,0.00,0.000,6,0.000,0.026,2645,2038,3941
$GC,1123,-0.67,-243.4,162.8,-8.1,188,1130,0.10,2.20,0.00,0.000,4,0.070,0.041,2565,3460,3941
$GC,1199,-0.59,-243.4,172.2,-13.2,201,1207,0.17,2.00,0.00,0.000,6,0.120,0.026,2627,2090,3941
$GC,1549,-0.63,-243.4,210.1,-11.3,262,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2090,3940
$GC,1896,-0.69,-243.4,243.0,-8.5,323,1902,0.00,2.15,0.00,0.000,4,0.000,0.044,2600,3471,3939
$GC,1939,-0.79,-243.4,246.3,-7.6,330,1946,0.10,2.03,0.00,0.000,6,0.068,0.027,2541,2098,3939
$GC,2287,-0.67,-243.4,294.1,-14.6,391,2293,0.17,2.15,0.00,0.000,4,0.129,0.035,2601,683,3937
$GC,2407,-0.75,-243.4,306.1,-8.6,406,2411,0.00,2.10,0.00,0.000,6,0.000,0.032,2596,2090,3937
$GC,2742,-0.82,-243.4,333.6,-9.0,437,2746,0.12,2.12,0.00,0.000,4,0.063,0.044,2517,3461,3935
$GC,2787,-0.73,-243.4,339.4,-12.6,440,2794,0.17,2.03,0.00,0.000,6,0.114,0.028,2577,2088,3935
$GC,3115,-0.77,-243.4,368.7,-8.0,471,3118,0.00,2.17,0.00,0.000,4,0.000,0.048,2573,3462,3933
$GC,3218,-0.86,-243.4,376.8,-8.0,480,3222,0.00,2.00,0.00,0.000,6,0.000,0.029,2573,2108,3932
$GC,3550,-0.91,-243.4,406.4,-8.7,511,3552,0.12,0.00,0.00,0.000,6,0.061,0.000,2501,2108,3930
$GC,3871,-0.77,-243.4,452.7,-15.2,541,3875,0.20,2.25,0.00,0.000,4,0.124,0.039,2568,660,3928
$GC,3901,-0.77,-243.4,457.0,-12.9,543,3905,0.00,2.20,0.00,0.000,6,0.000,0.035,2567,2098,3928
$GC,4233,-0.84,-243.4,487.6,-8.4,574,4237,0.00,2.15,0.00,0.000,4,0.000,0.051,2559,3462,3926
$GC,4263,-0.92,-243.4,490.1,-8.1,576,4270,0.12,2.03,0.00,0.000,6,0.060,0.031,2490,2096,3926
$GC,4592,-0.79,-243.4,533.9,-13.3,596,4597,0.22,2.22,0.00,0.000,4,0.123,0.042,2564,668,3923
$GC,4644,-0.86,-243.4,538.5,-7.8,598,4648,0.00,2.17,0.00,0.000,6,0.000,0.038,2560,2085,3923
$GC,4970,-0.93,-243.4,560.4,-7.0,614,4975,0.12,2.20,0.00,0.000,4,0.062,0.053,2486,3466,3920
$GC,5011,-0.85,-243.4,564.6,-11.1,616,5015,0.20,2.08,0.00,0.000,6,0.120,0.032,2546,2083,3920
$GC,5342,-0.90,-243.4,592.4,-8.6,632,5346,0.00,2.20,0.00,0.000,4,0.000,0.045,2546,669,3917
$GC,5399,-0.95,-243.4,598.0,-9.2,634,5403,0.00,2.20,0.00,0.000,6,0.000,0.041,2542,2088,3917
$GC,5727,-0.99,-243.4,628.3,-9.7,650,5731,0.12,2.25,0.00,0.000,4,0.063,0.045,2475,665,3914
$GC,5772,-0.86,-243.4,635.0,-15.0,652,5777,0.22,2.20,0.00,0.000,6,0.123,0.043,2540,2075,3914
$GC,6098,-0.91,-243.4,666.5,-9.5,668,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2075,3911
$GC,6406,-0.95,-243.4,694.4,-8.6,683,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2075,3910
$GC,6714,-1.01,-243.4,721.4,-8.8,698,6716,0.12,0.00,0.00,0.000,6,0.062,0.000,2475,2075,3907
$GC,7024,-0.90,-243.4,759.6,-12.5,713,7029,0.17,2.28,0.00,0.000,4,0.132,0.048,2532,673,3905
$GC,7069,-0.90,-243.4,764.4,-10.0,715,7073,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2081,3905
$GC,7410,-0.93,-243.4,795.9,-9.5,731,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2081,3903
$GC,7715,-0.97,-243.4,825.9,-9.8,746,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2081,3901
$GC,8024,-1.00,-243.4,855.5,-9.5,761,8026,0.10,0.00,0.00,0.000,6,0.074,0.000,2475,2082,3899
$GC,8332,-0.91,-243.4,893.3,-12.0,776,8334,0.17,0.00,0.00,0.000,6,0.130,0.000,2527,2081,3897
$GC,8645,-0.94,-243.4,919.8,-8.2,791,8649,0.00,2.30,0.00,0.000,4,0.000,0.053,2527,670,3895
$GC,8685,-0.94,-243.4,923.7,-8.8,792,8694,0.00,2.25,0.00,0.000,6,0.000,0.047,2519,2062,3895
$GC,9005,-0.94,-243.4,950.5,-8.2,808,9009,0.00,2.33,0.00,0.000,4,0.000,0.064,2518,3471,3893
$GC,9028,-0.94,-243.4,952.8,-8.4,809,9032,0.00,2.17,0.00,0.000,6,0.000,0.040,2518,2071,3893
$GC,9363,-0.94,-243.4,980.2,-8.5,825,9367,0.00,2.28,0.00,0.000,4,0.000,0.051,2518,648,3892
$GC,9419,-0.94,-243.4,986.0,-9.3,827,9424,0.00,2.28,0.00,0.000,6,0.000,0.048,2518,2070,3892
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9475,-0.23,0.0,990.1,8.9,829,9690,0.70,0.00,211.52,1.483,6,0.100,0.000,2747,1684,2945
$STATE,9691,end apogee,CONTROL_FINISHED_OK
$STATE,9691,begin climb
$GC,9696,0.93,243.4,1001.8,0.0,840,9966,1.12,2.67,246.65,1.398,4,0.044,0.057,3131,3104,1951
$GC,10211,0.52,243.4,937.6,20.4,862,10219,0.50,2.28,0.00,0.000,6,0.152,0.043,2996,1703,1943
$GC,10533,0.45,244.8,904.4,10.0,878,10538,0.12,2.28,0.00,0.000,4,0.142,0.058,2960,3104,1942
$GC,10697,0.51,292.0,889.1,8.7,885,10760,0.00,2.20,47.42,1.300,6,0.000,0.043,2968,1691,1755
$GC,11083,0.54,324.1,854.6,9.1,904,11129,0.00,2.38,32.00,1.296,4,0.000,0.058,2969,3112,1622
$GC,11339,0.54,324.1,830.4,10.1,915,11342,0.00,2.15,0.00,0.000,6,0.000,0.043,2979,1723,1619
$GC,11674,0.54,324.1,796.1,10.5,931,11678,0.00,2.22,0.00,0.000,4,0.000,0.057,2978,3104,1618
$GC,11889,0.54,324.1,771.1,11.1,940,11893,0.00,2.10,0.00,0.000,6,0.000,0.043,2988,1759,1618
$GC,12211,0.54,324.1,734.3,11.3,956,12215,0.00,2.17,0.00,0.000,4,0.000,0.056,2988,3111,1617
$GC,12398,0.51,324.1,711.9,11.4,964,12402,0.00,2.08,0.00,0.000,6,0.000,0.041,2998,1784,1617
$GC,12726,0.51,324.1,673.7,12.0,980,12730,0.00,2.15,0.00,0.000,4,0.000,0.056,2999,3114,1617
$GC,12882,0.46,324.1,653.7,12.2,986,12890,0.10,2.08,0.00,0.000,6,0.129,0.041,2976,1804,1617
$GC,13202,0.50,324.1,619.9,10.2,1002,13206,0.00,2.10,0.00,0.000,4,0.000,0.055,2976,3109,1617
$GC,13321,0.50,324.1,606.5,10.4,1007,13325,0.00,2.03,0.00,0.000,6,0.000,0.041,2983,1814,1616
$GC,13651,0.50,324.1,571.9,10.1,1023,13655,0.00,2.10,0.00,0.000,4,0.000,0.054,2984,3104,1616
$GC,13794,0.50,324.1,556.2,10.0,1029,13798,0.00,2.00,0.00,0.000,6,0.000,0.041,2991,1826,1616
$GC,14125,0.51,328.6,523.3,9.9,1045,14134,0.00,2.10,3.90,0.755,4,0.000,0.054,2992,3108,1605
$GC,14255,0.51,328.6,509.0,10.3,1050,14263,0.00,2.00,0.00,0.000,6,0.000,0.040,3000,1848,1605
$GC,14578,0.52,342.3,476.1,9.6,1076,14604,0.00,2.10,16.52,0.992,4,0.000,0.054,3001,3115,1549
$GC,14746,0.52,342.3,457.0,10.9,1090,14754,0.00,1.95,0.00,0.000,6,0.000,0.039,3010,1869,1548
$GC,15074,0.52,342.3,422.8,10.6,1121,15078,0.00,1.98,0.00,0.000,4,0.000,0.053,3012,3108,1548
$GC,15282,0.52,342.3,397.9,13.4,1139,15287,0.00,1.88,0.00,0.000,6,0.000,0.039,3018,1893,1548
$GC,15607,0.52,342.3,361.7,10.5,1170,15611,0.00,1.98,0.00,0.000,4,0.000,0.051,3018,3115,1548
$GC,15724,0.52,342.3,348.7,12.1,1180,15728,0.12,1.88,0.00,0.000,6,0.130,0.038,2991,1900,1547
$GC,16056,0.69,410.1,319.6,8.1,1211,16129,0.15,1.95,62.55,0.974,4,0.058,0.049,3071,3112,1273
$GC,16356,0.61,410.1,276.1,15.3,1250,16363,0.17,1.83,0.00,0.000,6,0.124,0.037,3021,1929,1271
$GC,16704,0.65,410.1,237.0,11.2,1311,16710,0.00,1.88,0.00,0.000,4,0.000,0.048,3024,3118,1270
$GC,16780,0.70,410.1,228.4,11.1,1324,16788,0.00,1.83,0.00,0.000,6,0.000,0.035,3026,1933,1269
$GC,17129,0.75,416.9,191.4,9.8,1385,17142,0.10,1.83,7.35,0.740,4,0.073,0.045,3084,3111,1244
$GC,17224,0.66,416.9,177.5,15.1,1401,17231,0.17,1.77,0.00,0.000,6,0.123,0.034,3034,1948,1244
$GC,17572,0.80,467.4,141.5,8.6,1462,17624,0.12,0.00,44.65,0.825,6,0.064,0.000,3116,1947,1038
$GC,17968,0.76,467.4,85.3,13.0,1530,17975,0.17,1.83,0.00,0.000,4,0.122,0.042,3060,3123,1037
$GC,18017,0.96,526.8,80.3,8.4,1538,18075,0.15,1.80,50.65,0.762,6,0.035,0.032,3156,1936,797
$GC,18418,0.96,526.8,27.6,11.4,1607,18424,0.00,1.85,0.00,0.000,4,0.000,0.042,3156,3111,797
$GC,18559,1.01,542.6,11.7,9.6,1631,18579,0.00,1.73,14.60,0.654,6,0.000,0.030,3163,1963,733
$STATE,18640,end climb,SURFACE_DEPTH_REACHED
$STATE,18640,begin surface coast
$FINISH,0.9,1.020911
$STATE,18673,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18754,0.00,0.000,0,0,730,543.34
$SM_GC,1.69,8.12,0.00,0.00,0.041,0.000,0.000,166,2118,730,-8.27,1.61,543.34
$IRIDIUM_FIX,2503.20,12333.48,271198,000017
$TT8_MAMPS,0.027612
$HUMID,1707
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.80
$XPDR_PINGS,198
$24V_AH,21.3,135.992
$10V_AH,10.5,86.518
$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,24.650,143.675,737.825,0.000,0.000,23.200,37.016,240.122,57.500,0.000,0.000,16.585,2934.454,10376.158,808.608,4180.605,929.424,0.000,2453.486,0.000,4142.516,0.000,54.409,0.000
$DEVICE_MAMPS,227.799,64.428,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.942,1111.762,2492.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91519,1650
$CAP_FILE_SIZE,198082,0
$CFSIZE,260165632,186318848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.341, 49.0,1
$GPS,020909,110626,2511.146,12338.729,36,2.3,55,-3.7