version: 66.04
glider: 166
mission: 2
dive: 597
start: 9 3 109 23 8 5
data:
$ID,166
$MISSION,2
$DIVE,597
$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,-19031.951
$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,39
$R_STBD_OVSHOOT,66
$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
$GPS1,225936,2459.344,12347.861,29,1.4,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.5
$GPS2,230744,2459.426,12347.918,15,1.3,15,-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,196.4,146684,-13.9,-10.000
$D_GRID,1913
$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,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,93,0.00,0.00,-70.78,0.000,2,0.000,0.000,167,2109,2314
$GC,98,-0.93,-243.4,3.0,-5.3,11,156,9.50,2.28,-39.25,0.000,4,0.226,0.048,2515,651,3940
$GC,333,-0.47,-243.4,73.4,-31.1,51,340,0.55,2.08,0.00,0.000,6,0.138,0.030,2665,2053,3941
$GC,682,-0.51,-243.4,119.9,-9.5,112,688,0.00,2.15,0.00,0.000,4,0.000,0.042,2662,3464,3943
$GC,737,-0.63,-243.4,124.9,-9.0,121,745,0.12,2.08,0.00,0.000,6,0.058,0.027,2590,2034,3942
$GC,1086,-0.48,-243.4,177.1,-16.2,182,1093,0.20,2.05,0.00,0.000,4,0.126,0.034,2656,675,3943
$GC,1118,-0.48,-243.4,181.5,-12.0,187,1124,0.00,2.08,0.00,0.000,6,0.000,0.029,2648,2074,3943
$GC,1466,-0.57,-243.4,213.5,-8.8,248,1473,0.00,2.12,0.00,0.000,4,0.000,0.044,2641,3463,3943
$GC,1532,-0.74,-243.4,219.1,-7.3,259,1539,0.17,2.03,0.00,0.000,6,0.049,0.026,2552,2068,3943
$GC,1880,-0.58,-243.4,271.9,-16.2,320,1887,0.22,2.12,0.00,0.000,4,0.125,0.035,2628,670,3942
$GC,1913,-0.58,-243.4,276.3,-12.5,325,1920,0.00,2.10,0.00,0.000,6,0.000,0.031,2606,2074,3942
$GC,2257,-0.65,-243.4,305.6,-9.2,380,2261,0.00,2.15,0.00,0.000,4,0.000,0.047,2601,3460,3940
$GC,2341,-0.79,-243.4,312.2,-8.3,387,2345,0.10,2.03,0.00,0.000,6,0.066,0.028,2542,2078,3940
$GC,2673,-0.67,-243.4,356.9,-14.4,418,2678,0.17,2.15,0.00,0.000,4,0.127,0.038,2602,675,3938
$GC,2726,-0.74,-243.4,363.2,-10.6,422,2730,0.00,2.12,0.00,0.000,6,0.000,0.033,2596,2079,3937
$GC,3061,-0.84,-243.4,393.9,-8.5,453,3066,0.15,2.17,0.00,0.000,4,0.054,0.047,2513,3467,3935
$GC,3135,-0.76,-243.4,403.3,-13.1,459,3140,0.20,2.05,0.00,0.000,6,0.117,0.029,2574,2082,3935
$GC,3463,-0.80,-243.4,435.7,-9.2,489,3467,0.00,2.17,0.00,0.000,4,0.000,0.040,2575,672,3933
$GC,3499,-0.84,-243.4,439.3,-9.7,492,3503,0.00,2.17,0.00,0.000,6,0.000,0.035,2572,2098,3933
$GC,3834,-0.88,-243.4,469.9,-9.2,523,3839,0.10,0.00,0.00,0.000,6,0.070,0.000,2509,2098,3930
$GC,4170,-0.75,-243.4,518.9,-14.8,549,4174,0.20,2.17,0.00,0.000,4,0.123,0.050,2566,3465,3928
$GC,4211,-0.83,-243.4,524.3,-10.7,551,4214,0.00,2.08,0.00,0.000,6,0.000,0.031,2566,2087,3927
$GC,4549,-0.90,-243.4,557.3,-9.6,567,4551,0.12,0.00,0.00,0.000,6,0.060,0.000,2494,2087,3926
$GC,4854,-0.78,-243.4,599.8,-13.4,582,4860,0.22,2.25,0.00,0.000,4,0.123,0.044,2566,661,3923
$GC,4913,-0.86,-243.4,605.9,-8.6,584,4917,0.00,2.20,0.00,0.000,6,0.000,0.038,2561,2085,3923
$GC,5235,-0.94,-243.4,632.8,-8.2,599,5240,0.12,2.20,0.00,0.000,4,0.061,0.054,2486,3458,3920
$GC,5281,-0.86,-243.4,637.5,-11.8,601,5285,0.20,2.08,0.00,0.000,6,0.120,0.033,2546,2088,3920
$GC,5614,-0.91,-243.4,665.5,-8.4,617,5618,0.00,2.25,0.00,0.000,4,0.000,0.051,2546,663,3918
$GC,5689,-0.95,-243.4,672.8,-9.1,620,5693,0.00,2.20,0.00,0.000,6,0.000,0.041,2542,2078,3917
$GC,6020,-0.99,-243.4,703.4,-9.1,636,6022,0.12,0.00,0.00,0.000,6,0.062,0.000,2473,2079,3914
$GC,6330,-0.87,-243.4,744.6,-14.1,651,6334,0.20,2.28,0.00,0.000,4,0.129,0.047,2537,666,3911
$GC,6374,-0.91,-243.4,749.6,-10.2,653,6379,0.00,2.22,0.00,0.000,6,0.000,0.043,2533,2078,3911
$GC,6716,-0.95,-243.4,778.9,-8.8,669,6720,0.00,2.28,0.00,0.000,4,0.000,0.048,2533,658,3909
$GC,6766,-0.95,-243.4,784.6,-10.1,671,6770,0.00,2.25,0.00,0.000,6,0.000,0.043,2530,2087,3909
$GC,7084,-0.95,-243.4,815.8,-10.6,686,7088,0.00,2.28,0.00,0.000,4,0.000,0.049,2530,661,3906
$GC,7157,-0.95,-243.4,824.0,-11.3,689,7161,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2072,3906
$GC,7477,-0.98,-243.4,855.8,-9.9,704,7481,0.00,2.28,0.00,0.000,4,0.000,0.061,2530,3466,3904
$GC,7512,-1.05,-243.4,859.4,-9.7,705,7517,0.15,2.12,0.00,0.000,6,0.056,0.036,2459,2074,3904
$GC,7833,-0.92,-243.4,901.5,-13.4,720,7837,0.17,2.25,0.00,0.000,4,0.133,0.050,2518,656,3901
$GC,7967,-0.92,-243.4,915.5,-9.8,726,7971,0.00,2.25,0.00,0.000,6,0.000,0.046,2517,2074,3901
$GC,8297,-0.92,-243.4,947.4,-9.7,742,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2074,3899
$GC,8609,-0.92,-243.4,976.8,-9.7,757,8614,0.00,2.28,0.00,0.000,4,0.000,0.051,2518,657,3897
$GC,8673,-0.92,-243.4,983.9,-10.9,760,8677,0.00,2.25,0.00,0.000,6,0.000,0.048,2517,2062,3897
$STATE,8749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8749,begin apogee
$GC,8759,-0.23,0.0,991.7,9.8,764,8978,0.70,0.00,215.20,1.477,6,0.101,0.000,2746,1693,2945
$STATE,8978,end apogee,CONTROL_FINISHED_OK
$STATE,8978,begin climb
$GC,8982,0.93,243.4,1005.4,0.0,775,9416,1.10,2.60,292.55,1.207,4,0.041,0.055,3126,3107,1952
$GC,9606,0.53,243.4,934.1,19.3,803,9612,0.52,2.30,0.00,0.000,6,0.153,0.043,2995,1691,1946
$GC,9935,0.45,243.4,898.7,10.6,819,9939,0.00,2.30,0.00,0.000,4,0.000,0.058,2995,3103,1944
$GC,10114,0.35,243.4,878.2,11.8,827,10119,0.25,2.17,0.00,0.000,6,0.133,0.043,2933,1712,1943
$GC,10447,0.52,330.6,853.1,7.6,843,10547,0.15,2.38,83.53,1.337,4,0.064,0.056,3004,3103,1597
$GC,10728,0.45,330.6,816.3,14.7,855,10736,0.17,2.15,0.00,0.000,6,0.137,0.043,2967,1723,1592
$GC,11052,0.52,351.7,784.9,9.4,871,11076,0.00,2.30,19.30,1.301,4,0.000,0.057,2966,3106,1511
$GC,11237,0.56,351.7,765.0,10.4,879,11241,0.00,2.10,0.00,0.000,6,0.000,0.042,2974,1752,1510
$GC,11577,0.59,351.7,730.9,10.1,895,11582,0.10,2.20,0.00,0.000,4,0.073,0.055,3034,3111,1508
$GC,11786,0.48,351.7,698.9,15.1,904,11791,0.25,2.08,0.00,0.000,6,0.136,0.042,2974,1781,1508
$GC,12108,0.57,381.1,667.5,9.2,919,12154,0.00,2.20,29.50,1.201,4,0.000,0.055,2975,3105,1391
$GC,12279,0.65,396.8,650.8,9.6,926,12308,0.15,2.05,18.08,1.096,6,0.056,0.042,3053,1787,1326
$GC,12619,0.54,396.8,600.4,15.4,942,12623,0.20,2.12,0.00,0.000,4,0.134,0.053,2990,3105,1324
$GC,12757,0.58,396.8,583.7,11.5,948,12761,0.00,2.03,0.00,0.000,6,0.000,0.041,2996,1805,1323
$GC,13086,0.62,396.8,546.2,10.7,964,13090,0.00,2.10,0.00,0.000,4,0.000,0.054,2997,3114,1323
$GC,13205,0.62,396.8,532.4,11.2,969,13209,0.00,2.00,0.00,0.000,6,0.000,0.040,3006,1827,1322
$GC,13525,0.62,396.8,496.5,10.9,985,13529,0.00,2.05,0.00,0.000,4,0.000,0.053,3007,3105,1322
$GC,13651,0.64,411.0,482.4,9.6,996,13670,0.00,1.98,13.80,1.077,6,0.000,0.039,3014,1837,1268
$GC,13992,0.64,416.7,448.7,9.8,1027,14004,0.00,2.05,6.47,0.900,4,0.000,0.051,3014,3105,1246
$GC,14046,0.64,416.7,442.4,12.2,1032,14050,0.00,1.95,0.00,0.000,6,0.000,0.038,3022,1842,1246
$GC,14379,0.64,416.7,404.2,12.0,1063,14382,0.00,2.03,0.00,0.000,4,0.000,0.049,3024,3113,1246
$GC,14463,0.64,416.7,393.7,12.6,1070,14469,0.00,1.95,0.00,0.000,6,0.000,0.037,3032,1863,1246
$GC,14794,0.64,416.7,353.8,12.5,1101,14797,0.00,1.98,0.00,0.000,4,0.000,0.048,3033,3111,1246
$GC,14864,0.64,416.7,344.6,12.3,1107,14868,0.00,1.90,0.00,0.000,6,0.000,0.036,3041,1870,1246
$GC,15195,0.64,416.7,303.3,12.0,1138,15199,0.00,1.95,0.00,0.000,4,0.000,0.048,3042,3109,1246
$GC,15293,0.64,416.7,291.1,12.6,1152,15302,0.00,1.90,0.00,0.000,6,0.000,0.036,3049,1886,1246
$GC,15643,0.64,416.7,246.9,11.1,1213,15649,0.00,1.92,0.00,0.000,4,0.000,0.045,3049,3109,1246
$GC,15810,0.64,416.7,227.4,11.5,1242,15816,0.00,1.85,0.00,0.000,6,0.000,0.034,3057,1907,1246
$GC,16156,0.64,416.7,185.2,11.9,1303,16164,0.00,1.92,0.00,0.000,4,0.000,0.044,3057,3111,1246
$GC,16222,0.64,416.7,177.0,12.8,1314,16229,0.10,1.85,0.00,0.000,6,0.120,0.033,3031,1908,1246
$GC,16573,0.84,499.0,145.0,7.7,1375,16663,0.17,1.98,74.68,0.798,4,0.054,0.043,3136,3118,909
$GC,16780,0.74,499.0,110.9,16.0,1409,16787,0.25,1.83,0.00,0.000,6,0.117,0.032,3062,1919,909
$GC,17127,1.01,595.1,81.9,7.3,1470,17217,0.20,2.58,81.55,0.748,4,0.046,0.041,3188,279,517
$GC,17244,0.95,595.1,62.8,18.0,1488,17251,0.22,2.58,0.00,0.000,6,0.117,0.031,3122,1958,516
$GC,17592,1.21,665.7,31.7,8.1,1549,17614,0.20,1.83,14.68,0.652,4,0.044,0.041,3237,3123,455
$GC,17703,1.09,665.7,13.9,19.3,1567,17710,0.22,1.80,0.00,0.000,6,0.119,0.030,3157,1934,454
$STATE,17787,end climb,SURFACE_DEPTH_REACHED
$STATE,17787,begin surface coast
$FINISH,0.9,0.997525
$STATE,17826,end surface coast,CONTROL_FINISHED_OK
$STATE,17826,begin surface
$SM_CCo,17908,0.00,0.000,0,0,451,611.53
$SM_GC,1.44,7.93,0.00,0.00,0.029,0.000,0.000,166,2106,451,-8.28,1.27,611.53
$IRIDIUM_FIX,2453.69,12346.02,281198,181806
$TT8_MAMPS,0.027612
$HUMID,1682
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.30
$XPDR_PINGS,187
$24V_AH,20.9,138.424
$10V_AH,10.5,88.010
$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,25.925,158.175,849.325,0.000,0.000,25.787,30.807,225.577,54.750,0.000,0.000,15.560,2829.008,9672.498,967.422,3969.726,934.111,0.000,2627.476,0.000,3929.334,0.000,54.430,0.000
$DEVICE_MAMPS,226.265,61.360,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.773,1081.856,2327.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88426,1588
$CAP_FILE_SIZE,194712,0
$CFSIZE,260165632,185561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,31,0
$CURRENT,0.054, 68.8,1
$GPS,040909,040754,2456.588,12348.574,24,0.9,41,-3.7