version: 66.04
glider: 166
mission: 2
dive: 593
start: 9 3 109 2 38 29
data:
$ID,166
$MISSION,2
$DIVE,593
$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,-18951.49
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,023007,2507.283,12343.863,26,1.1,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.0
$GPS2,023808,2507.326,12343.982,15,1.1,15,-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,219.1,162168,-13.9,-10.000
$D_GRID,2074
$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,-243.4,0.0,0.0,0,106,0.00,0.00,-84.03,0.000,2,0.000,0.000,166,2120,2350
$GC,111,-0.93,-243.4,3.5,-7.0,13,164,9.32,2.20,-37.97,0.000,4,0.219,0.054,2501,3489,3940
$GC,314,-0.50,-243.4,63.4,-28.0,47,321,0.55,2.12,0.00,0.000,6,0.131,0.028,2660,2037,3941
$GC,661,-0.55,-243.4,107.0,-9.1,108,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2036,3943
$GC,1011,-0.63,-243.4,139.1,-9.3,169,1018,0.12,2.25,0.00,0.000,4,0.064,0.041,2582,3484,3944
$GC,1062,-0.55,-243.4,145.4,-14.2,177,1070,0.20,2.08,0.00,0.000,6,0.120,0.026,2642,2049,3943
$GC,1411,-0.63,-243.4,178.2,-10.2,238,1418,0.00,2.05,0.00,0.000,4,0.000,0.036,2638,675,3943
$GC,1449,-0.73,-243.4,182.0,-9.4,244,1458,0.12,2.10,0.00,0.000,6,0.059,0.030,2552,2097,3943
$GC,1800,-0.59,-243.4,237.0,-15.7,305,1807,0.20,2.10,0.00,0.000,4,0.127,0.043,2614,3453,3943
$GC,1877,-0.75,-243.4,245.6,-8.3,318,1884,0.12,2.03,0.00,0.000,6,0.058,0.028,2547,2057,3942
$GC,2225,-0.61,-243.4,299.3,-15.1,379,2235,0.20,2.12,0.00,0.000,4,0.125,0.037,2616,667,3941
$GC,2272,-0.68,-243.4,304.6,-9.7,383,2278,0.00,2.10,0.00,0.000,6,0.000,0.032,2603,2066,3941
$GC,2601,-0.75,-243.4,335.1,-9.3,414,2605,0.00,2.17,0.00,0.000,4,0.000,0.048,2600,3464,3939
$GC,2639,-0.86,-243.4,338.6,-8.6,417,2644,0.17,2.05,0.00,0.000,6,0.051,0.028,2514,2066,3939
$GC,2965,-0.67,-243.4,391.6,-15.6,447,2970,0.25,2.20,0.00,0.000,4,0.125,0.046,2586,3460,3937
$GC,3020,-0.77,-243.4,397.2,-8.2,451,3023,0.00,2.03,0.00,0.000,6,0.000,0.028,2586,2082,3936
$GC,3352,-0.85,-243.4,425.8,-8.7,482,3357,0.12,2.17,0.00,0.000,4,0.060,0.048,2506,3457,3935
$GC,3395,-0.74,-243.4,430.8,-13.3,485,3400,0.25,2.03,0.00,0.000,6,0.114,0.029,2583,2084,3935
$GC,3722,-0.83,-243.4,458.3,-8.2,515,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2084,3933
$GC,4044,-0.93,-243.4,485.9,-8.8,545,4049,0.17,2.22,0.00,0.000,4,0.054,0.052,2480,3460,3931
$GC,4062,-0.93,-243.4,488.3,-9.4,546,4069,0.15,2.03,0.00,0.000,6,0.129,0.030,2524,2091,3930
$GC,4385,-0.86,-243.4,529.4,-12.9,566,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2091,3927
$GC,4693,-0.80,-243.4,566.3,-11.4,581,4698,0.12,2.20,0.00,0.000,4,0.130,0.052,2553,3457,3926
$GC,4728,-0.85,-243.4,569.9,-8.4,582,4732,0.00,2.03,0.00,0.000,6,0.000,0.031,2553,2100,3925
$GC,5055,-0.90,-243.4,595.9,-7.7,598,5059,0.00,2.28,0.00,0.000,4,0.000,0.049,2553,657,3923
$GC,5140,-0.94,-243.4,603.3,-8.5,601,5147,0.00,2.20,0.00,0.000,6,0.000,0.038,2549,2086,3923
$GC,5464,-0.98,-243.4,629.3,-8.5,617,5469,0.12,2.22,0.00,0.000,4,0.063,0.060,2474,3462,3920
$GC,5526,-0.87,-243.4,637.7,-14.2,619,5535,0.22,2.08,0.00,0.000,6,0.121,0.034,2541,2090,3920
$GC,5852,-0.91,-243.4,668.4,-9.7,635,5855,0.00,2.25,0.00,0.000,4,0.000,0.047,2541,658,3917
$GC,5881,-0.95,-243.4,671.9,-10.0,636,5885,0.00,2.25,0.00,0.000,6,0.000,0.041,2541,2103,3917
$GC,6215,-0.99,-243.4,701.6,-9.0,652,6220,0.12,2.28,0.00,0.000,4,0.062,0.045,2475,666,3915
$GC,6267,-0.87,-243.4,708.4,-13.3,654,6272,0.25,2.22,0.00,0.000,6,0.118,0.043,2540,2089,3914
$GC,6592,-0.92,-243.4,734.6,-8.1,669,6596,0.00,2.22,0.00,0.000,4,0.000,0.058,2532,3465,3911
$GC,6642,-0.98,-243.4,739.2,-8.8,671,6646,0.00,2.10,0.00,0.000,6,0.000,0.035,2532,2086,3911
$GC,6982,-1.02,-243.4,769.7,-9.4,687,6987,0.12,2.25,0.00,0.000,4,0.061,0.047,2468,657,3910
$GC,7028,-0.90,-243.4,775.3,-14.0,689,7033,0.25,2.28,0.00,0.000,6,0.123,0.044,2532,2103,3909
$GC,7363,-0.94,-243.4,807.4,-9.1,705,7367,0.00,2.28,0.00,0.000,4,0.000,0.048,2532,666,3907
$GC,7420,-0.97,-243.4,813.5,-9.5,707,7424,0.00,2.25,0.00,0.000,6,0.000,0.045,2530,2090,3906
$GC,7739,-1.00,-243.4,842.2,-9.0,722,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2090,3905
$GC,8050,-1.04,-243.4,869.4,-8.7,737,8055,0.12,2.30,0.00,0.000,4,0.062,0.049,2466,657,3902
$GC,8084,-0.93,-243.4,873.8,-13.1,738,8093,0.17,2.30,0.00,0.000,6,0.114,0.045,2514,2087,3901
$GC,8405,-0.93,-243.4,903.8,-9.1,754,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2087,3901
$GC,8713,-0.93,-243.4,931.6,-9.2,769,8717,0.00,2.30,0.00,0.000,4,0.000,0.051,2515,657,3899
$GC,8746,-0.93,-243.4,935.3,-10.5,770,8755,0.00,2.33,0.00,0.000,6,0.000,0.047,2507,2095,3898
$GC,9064,-0.93,-243.4,967.1,-10.2,786,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2095,3897
$STATE,9306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9307,begin apogee
$GC,9315,-0.23,0.0,992.0,10.3,798,9539,0.73,0.00,215.18,1.476,6,0.103,0.000,2743,1697,2945
$STATE,9540,end apogee,CONTROL_FINISHED_OK
$STATE,9540,begin climb
$GC,9544,0.93,243.4,1006.0,0.0,809,9888,1.10,2.70,267.23,1.312,4,0.038,0.056,3132,3109,1950
$GC,10129,0.52,243.4,935.5,22.0,835,10135,0.55,2.25,0.00,0.000,6,0.154,0.042,2990,1692,1943
$GC,10464,0.45,243.4,899.5,10.1,851,10468,0.00,2.28,0.00,0.000,4,0.000,0.058,2990,3106,1942
$GC,10673,0.35,243.4,876.0,10.9,860,10677,0.22,2.17,0.00,0.000,6,0.136,0.044,2936,1707,1941
$GC,10995,0.52,326.4,851.9,7.7,875,11085,0.15,2.35,76.85,1.367,4,0.064,0.058,3012,3108,1612
$GC,11290,0.42,326.4,811.3,14.7,888,11295,0.22,2.15,0.00,0.000,6,0.137,0.043,2959,1723,1607
$GC,11623,0.49,333.6,779.0,9.8,904,11636,0.00,2.28,6.80,1.104,4,0.000,0.057,2960,3107,1584
$GC,11765,0.53,338.3,763.8,9.9,910,11775,0.00,2.10,5.93,1.045,6,0.000,0.042,2967,1751,1564
$GC,12093,0.58,338.3,729.7,10.5,925,12097,0.12,2.20,0.00,0.000,4,0.064,0.056,3039,3109,1564
$GC,12251,0.44,338.3,703.9,16.4,932,12256,0.30,2.10,0.00,0.000,6,0.133,0.041,2963,1761,1564
$GC,12584,0.56,372.8,671.9,9.0,948,12622,0.12,2.20,32.25,1.284,4,0.067,0.056,3032,3111,1425
$GC,12766,0.47,372.8,645.4,15.0,956,12770,0.25,2.05,0.00,0.000,6,0.132,0.041,2969,1787,1423
$GC,13101,0.55,372.8,610.6,10.5,972,13105,0.00,2.12,0.00,0.000,4,0.000,0.054,2971,3107,1421
$GC,13232,0.62,372.8,596.1,10.1,977,13239,0.12,2.03,0.00,0.000,6,0.062,0.041,3038,1807,1421
$GC,13554,0.53,372.8,549.1,14.5,993,13558,0.17,2.12,0.00,0.000,4,0.134,0.052,2988,3115,1421
$GC,13716,0.53,372.8,529.8,11.1,1000,13720,0.00,2.00,0.00,0.000,6,0.000,0.040,2996,1826,1421
$GC,14040,0.53,372.8,493.4,11.7,1018,14044,0.00,2.08,0.00,0.000,4,0.000,0.053,2996,3112,1420
$GC,14168,0.53,372.8,477.7,11.9,1029,14171,0.00,1.98,0.00,0.000,6,0.000,0.038,3005,1841,1420
$GC,14500,0.53,372.8,440.9,10.9,1060,14504,0.00,2.05,0.00,0.000,4,0.000,0.052,3005,3113,1420
$GC,14752,0.53,372.8,411.5,11.3,1082,14760,0.00,1.98,0.00,0.000,6,0.000,0.038,3013,1860,1420
$GC,15080,0.53,372.8,376.0,11.3,1113,15083,0.00,2.00,0.00,0.000,4,0.000,0.050,3016,3114,1420
$GC,15216,0.53,372.8,359.8,12.1,1125,15220,0.12,1.92,0.00,0.000,6,0.128,0.036,2989,1864,1420
$GC,15547,0.74,448.7,330.5,7.9,1156,15622,0.20,2.03,67.68,0.994,4,0.048,0.048,3092,3118,1115
$GC,15675,0.58,448.7,310.1,18.6,1167,15682,0.32,1.90,0.00,0.000,6,0.132,0.035,3005,1870,1114
$GC,16015,0.74,493.4,277.4,8.8,1220,16061,0.15,2.03,39.33,0.928,4,0.058,0.047,3091,3114,932
$GC,16115,0.62,493.4,261.3,17.7,1236,16122,0.20,1.90,0.00,0.000,6,0.124,0.035,3020,1882,932
$GC,16462,0.74,493.4,221.4,10.6,1297,16469,0.12,1.92,0.00,0.000,4,0.062,0.044,3100,3123,931
$GC,16534,0.64,493.4,209.8,18.1,1309,16541,0.28,1.85,0.00,0.000,6,0.127,0.034,3025,1897,931
$GC,16883,0.92,600.0,175.1,7.1,1370,16987,0.20,1.98,91.72,0.841,4,0.048,0.051,3144,3112,499
$GC,17036,0.75,600.0,146.9,20.1,1394,17043,0.25,1.85,0.00,0.000,6,0.125,0.032,3061,1900,497
$GC,17383,0.92,600.0,107.2,11.1,1455,17390,0.15,1.90,0.00,0.000,4,0.052,0.041,3154,3121,497
$GC,17483,0.82,600.0,89.2,20.1,1472,17489,0.20,1.85,0.00,0.000,6,0.114,0.032,3081,1904,497
$GC,17830,1.21,688.5,60.0,7.6,1533,17850,0.30,1.92,10.62,0.664,4,0.038,0.041,3245,3123,455
$GC,17866,1.14,688.5,55.2,16.9,1538,17873,0.20,1.83,0.00,0.000,6,0.136,0.031,3187,1914,455
$GC,18213,1.14,688.5,5.3,15.0,1599,18220,0.00,2.53,0.00,0.000,4,0.000,0.041,3203,281,455
$STATE,18230,end climb,SURFACE_DEPTH_REACHED
$STATE,18230,begin surface coast
$FINISH,0.9,1.021232
$STATE,18246,end surface coast,CONTROL_FINISHED_OK
$STATE,18247,begin surface
$SM_CCo,18330,0.00,0.000,0,0,453,611.53
$SM_GC,1.66,8.25,0.00,0.00,0.039,0.000,0.000,166,2095,453,-8.28,0.96,611.53
$IRIDIUM_FIX,2500.82,12340.74,271198,212100
$TT8_MAMPS,0.026845
$HUMID,1694
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,187
$24V_AH,20.9,137.194
$10V_AH,10.5,87.271
$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,28.525,158.625,813.575,0.000,0.000,25.209,38.272,219.522,54.750,0.000,0.000,15.836,2863.966,10060.330,905.457,4014.256,943.187,0.000,2560.600,0.000,3988.668,0.000,54.423,0.000
$DEVICE_MAMPS,219.362,59.826,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1089.083,1103.698,2397.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91419,1605
$CAP_FILE_SIZE,199798,0
$CFSIZE,260165632,185933824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$CURRENT,0.263, 65.5,1
$GPS,030909,074524,2505.538,12345.253,27,1.5,45,-3.7