version: 66.04
glider: 166
mission: 2
dive: 598
start: 9 4 109 4 22 45
data:
$ID,166
$MISSION,2
$DIVE,598
$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,-19045.117
$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,35
$R_STBD_OVSHOOT,72
$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
$GPS1,040754,2456.588,12348.574,24,0.9,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.0
$GPS2,042220,2456.796,12348.589,12,1.8,12,-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,185.0,141702,-13.9,-10.000
$D_GRID,1905
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-83.88,0.000,2,0.000,0.000,166,2106,2338
$GC,107,-0.93,-243.4,3.0,-4.4,13,165,9.43,2.28,-40.35,0.000,4,0.222,0.047,2513,645,3941
$GC,293,-0.48,-243.4,56.7,-32.3,44,300,0.55,2.08,0.00,0.000,6,0.134,0.031,2664,2044,3941
$GC,641,-0.48,-243.4,103.3,-10.8,105,647,0.00,2.12,0.00,0.000,4,0.000,0.035,2664,640,3942
$GC,674,-0.48,-243.4,106.4,-9.8,110,680,0.00,2.10,0.00,0.000,6,0.000,0.030,2664,2056,3942
$GC,1021,-0.55,-243.4,139.4,-10.6,171,1028,0.00,2.15,0.00,0.000,4,0.000,0.044,2661,3461,3942
$GC,1099,-0.70,-243.4,146.2,-8.1,184,1106,0.20,2.08,0.00,0.000,6,0.048,0.026,2563,2027,3942
$GC,1447,-0.48,-243.4,205.4,-17.8,245,1453,0.30,2.05,0.00,0.000,4,0.122,0.037,2658,678,3942
$GC,1484,-0.53,-243.4,210.4,-10.5,251,1491,0.00,2.08,0.00,0.000,6,0.000,0.031,2658,2066,3942
$GC,1834,-0.67,-243.4,233.6,-5.5,312,1840,0.15,2.15,0.00,0.000,4,0.052,0.044,2565,3462,3940
$GC,1906,-0.59,-243.4,240.9,-11.2,324,1913,0.20,2.05,0.00,0.000,6,0.117,0.027,2627,2055,3940
$GC,2254,-0.65,-243.4,271.2,-8.5,385,2260,0.00,2.22,0.00,0.000,4,0.000,0.046,2606,3465,3938
$GC,2308,-0.78,-243.4,275.8,-7.7,394,2315,0.12,2.08,0.00,0.000,6,0.041,0.028,2541,2069,3937
$GC,2651,-0.60,-243.4,330.1,-15.8,439,2658,0.28,0.00,0.00,0.000,6,0.121,0.000,2625,2069,3936
$GC,2980,-0.69,-243.4,358.2,-7.5,470,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2069,3934
$GC,3311,-0.79,-243.4,380.0,-6.5,501,3317,0.15,0.00,0.00,0.000,6,0.055,0.000,2530,2069,3932
$GC,3642,-0.64,-243.4,426.0,-15.4,532,3647,0.22,2.17,0.00,0.000,4,0.123,0.041,2606,673,3929
$GC,3666,-0.59,-243.4,429.8,-13.2,534,3671,0.12,2.15,0.00,0.000,6,0.114,0.035,2638,2082,3928
$GC,3994,-1.10,-243.4,452.4,-8.4,564,3999,0.47,2.22,0.00,0.000,4,0.076,0.041,2462,666,3926
$GC,4069,-0.85,-243.4,463.3,-18.0,570,4074,0.30,2.15,0.00,0.000,6,0.124,0.036,2544,2069,3926
$GC,4397,-0.85,-243.4,500.8,-11.2,600,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2069,3924
$GC,4706,-0.85,-243.4,534.4,-10.8,615,4710,0.00,2.20,0.00,0.000,4,0.000,0.052,2542,3459,3922
$GC,4843,-0.88,-243.4,546.7,-8.4,621,4847,0.00,2.10,0.00,0.000,6,0.000,0.031,2543,2065,3921
$GC,5183,-0.88,-243.4,577.5,-9.1,637,5186,0.00,2.25,0.00,0.000,4,0.000,0.053,2542,3463,3918
$GC,5212,-0.88,-243.4,580.5,-8.6,638,5215,0.00,2.10,0.00,0.000,6,0.000,0.031,2543,2066,3918
$GC,5541,-0.88,-243.4,609.1,-8.9,654,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2066,3916
$GC,5851,-0.88,-243.4,638.0,-9.4,669,5855,0.00,2.20,0.00,0.000,4,0.000,0.045,2543,657,3913
$GC,5902,-0.88,-243.4,642.6,-9.7,671,5906,0.00,2.20,0.00,0.000,6,0.000,0.040,2542,2075,3912
$GC,6243,-0.92,-243.4,670.8,-7.9,687,6246,0.00,2.22,0.00,0.000,4,0.000,0.054,2532,3474,3910
$GC,6272,-0.96,-243.4,673.6,-8.0,688,6275,0.00,2.12,0.00,0.000,6,0.000,0.033,2533,2063,3910
$GC,6604,-0.96,-243.4,703.2,-9.4,704,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2063,3908
$GC,6911,-0.96,-243.4,731.5,-9.0,719,6915,0.00,2.20,0.00,0.000,4,0.000,0.047,2533,658,3905
$GC,6967,-0.96,-243.4,737.3,-9.6,721,6971,0.00,2.20,0.00,0.000,6,0.000,0.042,2530,2067,3905
$GC,7296,-0.96,-243.4,766.8,-9.0,737,7300,0.00,2.28,0.00,0.000,4,0.000,0.064,2522,3466,3903
$GC,7354,-1.00,-243.4,772.3,-7.6,739,7357,0.00,2.12,0.00,0.000,6,0.000,0.035,2522,2066,3903
$GC,7682,-1.00,-243.4,802.1,-9.5,755,7686,0.00,2.22,0.00,0.000,4,0.000,0.049,2521,663,3900
$GC,7767,-1.00,-243.4,811.8,-11.0,758,7776,0.00,2.22,0.00,0.000,6,0.000,0.044,2517,2065,3900
$GC,8084,-1.00,-243.4,844.4,-10.3,774,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2065,3898
$GC,8396,-1.00,-243.4,875.0,-9.6,789,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2064,3895
$GC,8704,-1.00,-243.4,905.0,-9.7,804,8708,0.00,2.25,0.00,0.000,4,0.000,0.051,2517,656,3893
$GC,8754,-1.00,-243.4,910.3,-10.2,806,8758,0.00,2.22,0.00,0.000,6,0.000,0.044,2507,2064,3893
$GC,9076,-1.00,-243.4,945.1,-11.1,822,9080,0.00,2.25,0.00,0.000,4,0.000,0.051,2508,657,3891
$GC,9127,-1.00,-243.4,951.0,-11.5,824,9132,0.00,2.22,0.00,0.000,6,0.000,0.046,2504,2060,3891
$GC,9450,-1.00,-243.4,985.4,-10.7,840,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2060,3890
$STATE,9510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9510,begin apogee
$GC,9519,-0.23,0.0,992.0,10.7,843,9737,0.75,0.00,214.20,1.473,6,0.104,0.000,2746,1693,2945
$STATE,9737,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9742,0.93,243.4,1005.2,0.0,854,10176,1.10,0.00,292.33,1.205,6,0.042,0.000,3127,1693,1951
$GC,10473,0.56,243.4,909.9,19.9,888,10478,0.40,2.35,0.00,0.000,4,0.161,0.056,3010,3107,1944
$GC,10728,0.41,243.4,874.2,14.1,899,10733,0.22,2.17,0.00,0.000,6,0.140,0.042,2956,1724,1942
$GC,11049,0.45,274.8,844.5,9.1,914,11088,0.00,2.28,30.02,1.289,4,0.000,0.056,2956,3108,1824
$GC,11258,0.45,274.8,822.9,10.9,922,11262,0.00,2.12,0.00,0.000,6,0.000,0.041,2964,1734,1820
$GC,11581,0.45,274.8,789.5,10.4,938,11584,0.00,2.20,0.00,0.000,4,0.000,0.056,2964,3103,1819
$GC,11728,0.45,274.8,772.6,11.0,944,11732,0.00,2.10,0.00,0.000,6,0.000,0.043,2974,1758,1819
$GC,12051,0.45,274.8,738.4,10.5,960,12055,0.00,2.17,0.00,0.000,4,0.000,0.056,2974,3105,1819
$GC,12266,0.41,274.8,714.2,11.6,969,12270,0.00,2.08,0.00,0.000,6,0.000,0.042,2983,1776,1817
$GC,12592,0.41,274.8,681.1,10.5,985,12596,0.00,2.17,0.00,0.000,4,0.000,0.055,2983,3112,1817
$GC,12771,0.37,274.8,661.6,11.7,992,12778,0.15,2.08,0.00,0.000,6,0.129,0.041,2945,1802,1816
$GC,13092,0.57,364.6,636.6,7.5,1008,13182,0.17,2.22,81.15,1.266,4,0.057,0.055,3035,3100,1457
$GC,13268,0.45,364.6,611.5,15.9,1015,13274,0.28,2.03,0.00,0.000,6,0.134,0.041,2966,1811,1454
$GC,13591,0.59,406.7,582.3,8.8,1031,13636,0.12,2.10,38.22,1.196,4,0.064,0.054,3039,3109,1285
$GC,13756,0.49,406.7,557.3,15.6,1038,13761,0.25,2.00,0.00,0.000,6,0.131,0.040,2975,1814,1282
$GC,14082,0.60,411.0,525.0,9.9,1054,14091,0.12,2.05,4.30,0.779,4,0.064,0.053,3047,3105,1269
$GC,14180,0.50,411.0,509.4,16.4,1058,14184,0.25,1.98,0.00,0.000,6,0.130,0.040,2983,1829,1269
$GC,14511,0.61,437.2,474.2,9.3,1085,14542,0.10,2.05,25.83,1.107,4,0.073,0.050,3043,3109,1161
$GC,14594,0.53,437.2,462.3,14.7,1091,14600,0.20,1.98,0.00,0.000,6,0.130,0.039,2993,1832,1160
$GC,14920,0.64,460.5,430.2,9.4,1122,14946,0.00,2.10,21.83,1.058,4,0.000,0.051,2994,3109,1066
$GC,15081,0.73,460.5,415.0,10.6,1135,15088,0.15,1.95,0.00,0.000,6,0.055,0.038,3074,1838,1066
$GC,15407,0.63,460.5,362.2,16.6,1166,15412,0.17,2.05,0.00,0.000,4,0.132,0.048,3016,3115,1064
$GC,15478,0.69,460.5,353.1,11.3,1172,15482,0.00,1.95,0.00,0.000,6,0.000,0.036,3022,1867,1065
$GC,15812,0.69,460.5,311.5,13.1,1203,15815,0.00,1.98,0.00,0.000,4,0.000,0.048,3023,3109,1065
$GC,15932,0.73,460.5,295.4,13.0,1216,15939,0.00,1.90,0.00,0.000,6,0.000,0.036,3031,1885,1065
$GC,16279,0.76,460.5,253.2,10.1,1277,16285,0.00,1.95,0.00,0.000,4,0.000,0.047,3031,3118,1065
$GC,16417,0.81,460.5,238.8,10.2,1301,16424,0.08,1.88,0.00,0.000,6,0.049,0.035,3118,1906,1065
$GC,16765,0.68,460.5,178.8,18.0,1362,16773,0.22,1.92,0.00,0.000,4,0.132,0.044,3040,3120,1065
$GC,16890,0.79,460.5,163.4,11.8,1383,16896,0.00,1.85,0.00,0.000,6,0.000,0.034,3046,1919,1065
$GC,17237,0.97,515.3,128.7,8.5,1444,17291,0.20,1.95,47.88,0.808,4,0.045,0.044,3158,3123,843
$GC,17375,0.86,515.3,106.1,17.2,1466,17383,0.17,1.83,0.00,0.000,6,0.121,0.032,3094,1927,843
$GC,17725,0.98,518.9,69.8,9.9,1527,17732,0.12,0.00,4.40,0.502,6,0.061,0.000,3171,1927,830
$GC,18073,0.98,518.9,25.3,12.1,1588,18080,0.15,1.85,0.00,0.000,4,0.123,0.040,3131,3120,830
$GC,18241,1.19,604.2,9.6,7.6,1617,18300,0.15,1.85,53.72,0.678,2,0.035,0.030,3249,1904,575
$STATE,18301,end climb,SURFACE_DEPTH_REACHED
$STATE,18301,begin surface coast
$FINISH,0.9,1.009415
$STATE,18319,end surface coast,CONTROL_FINISHED_OK
$STATE,18319,begin surface
$SM_CCo,18401,0.00,0.000,0,0,575,581.36
$SM_GC,1.65,8.38,0.00,0.00,0.039,0.000,0.000,166,2109,575,-8.27,1.36,581.36
$IRIDIUM_FIX,2446.56,12350.63,291198,040401
$TT8_MAMPS,0.026845
$HUMID,1690
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.50
$XPDR_PINGS,167
$24V_AH,20.4,138.736
$10V_AH,10.5,88.202
$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,26.425,139.675,813.875,0.000,0.000,73.569,101.090,364.678,49.750,0.000,0.000,12.537,2870.613,10266.927,918.450,3993.520,1198.030,0.000,2578.975,0.000,3982.585,0.000,57.162,0.000
$DEVICE_MAMPS,222.430,63.661,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.334,1105.905,2374.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91445,1629
$CAP_FILE_SIZE,195919,0
$CFSIZE,260165632,185462784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,0
$CURRENT,0.070, 55.6,1
$GPS,040909,093037,2454.225,12349.962,31,1.0,31,-3.7