version: 66.04
glider: 166
mission: 2
dive: 574
start: 8 30 109 0 0 53
data:
$ID,166
$MISSION,2
$DIVE,574
$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,-18655.939
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,234537,2509.887,12308.374,37,1.0,37,-3.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.4
$GPS2,000031,2510.397,12308.784,11,1.1,16,-3.7
$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,232.7,25815,-13.9,-10.000
$D_GRID,1692
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.93,-243.4,0.0,0.0,0,95,0.00,0.00,-77.62,0.000,2,0.000,0.000,155,2122,2207
$GC,101,-0.93,-243.4,3.1,-5.7,12,159,9.43,2.33,-42.75,0.000,4,0.221,0.046,2510,630,3940
$GC,353,-0.53,-243.4,72.4,-27.1,55,360,0.45,2.17,0.00,0.000,6,0.128,0.033,2642,2088,3940
$GC,703,-0.53,-243.4,114.6,-7.3,116,709,0.00,2.10,0.00,0.000,4,0.000,0.043,2627,3472,3942
$GC,786,-0.64,-243.4,120.7,-7.3,130,793,0.00,2.10,0.00,0.000,6,0.000,0.027,2635,2018,3942
$GC,1134,-0.68,-243.4,157.7,-10.7,191,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2017,3942
$GC,1478,-0.80,-243.4,186.9,-6.7,252,1485,0.17,2.25,0.00,0.000,4,0.049,0.041,2518,3471,3942
$GC,1517,-0.68,-243.4,191.2,-12.0,258,1526,0.22,2.08,0.00,0.000,6,0.117,0.026,2596,2051,3941
$GC,1868,-0.72,-243.4,222.8,-8.1,319,1874,0.00,2.20,0.00,0.000,4,0.000,0.044,2587,3463,3940
$GC,1916,-0.81,-243.4,227.2,-8.5,327,1922,0.00,2.03,0.00,0.000,6,0.000,0.027,2587,2067,3939
$GC,2261,-0.88,-243.4,258.4,-8.6,388,2268,0.15,2.10,0.00,0.000,4,0.054,0.035,2503,673,3938
$GC,2315,-0.71,-243.4,265.7,-15.1,397,2322,0.30,2.10,0.00,0.000,6,0.123,0.032,2592,2072,3937
$GC,2662,-0.81,-243.4,294.4,-7.3,458,2669,0.10,2.15,0.00,0.000,4,0.067,0.045,2529,3466,3935
$GC,2688,-0.81,-243.4,296.8,-9.0,462,2696,0.00,2.08,0.00,0.000,6,0.000,0.028,2529,2071,3935
$GC,3020,-0.72,-243.4,339.3,-12.9,495,3025,0.20,2.15,0.00,0.000,4,0.122,0.038,2594,661,3933
$GC,3075,-0.84,-243.4,344.3,-7.9,499,3079,0.12,2.10,0.00,0.000,6,0.060,0.034,2523,2060,3933
$GC,3401,-0.74,-243.4,385.1,-13.7,529,3403,0.20,0.00,0.00,0.000,6,0.123,0.000,2583,2060,3930
$GC,3720,-0.85,-243.4,412.4,-7.7,559,3724,0.12,2.20,0.00,0.000,4,0.062,0.048,2504,3459,3927
$GC,3760,-0.79,-243.4,416.7,-11.6,562,3765,0.20,2.08,0.00,0.000,6,0.116,0.031,2564,2062,3927
$GC,4086,-0.86,-243.4,444.4,-7.5,592,4090,0.00,2.15,0.00,0.000,4,0.000,0.042,2564,658,3924
$GC,4138,-0.92,-243.4,448.9,-8.8,596,4145,0.08,2.15,0.00,0.000,6,0.052,0.037,2503,2047,3923
$GC,4466,-0.84,-243.4,487.3,-12.4,627,4471,0.15,2.15,0.00,0.000,4,0.127,0.042,2547,667,3921
$GC,4501,-0.84,-243.4,491.2,-9.4,629,4507,0.00,2.12,0.00,0.000,6,0.000,0.038,2543,2057,3921
$GC,4835,-0.87,-243.4,520.5,-9.1,650,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2057,3919
$GC,5143,-0.91,-243.4,546.9,-8.5,665,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2057,3916
$GC,5450,-0.95,-243.4,574.6,-9.2,680,5458,0.00,2.17,0.00,0.000,4,0.000,0.047,2543,672,3913
$GC,5482,-0.99,-243.4,577.3,-9.8,681,5486,0.12,2.15,0.00,0.000,6,0.065,0.042,2480,2054,3913
$GC,5816,-0.87,-243.4,621.0,-13.4,697,5818,0.20,0.00,0.00,0.000,6,0.132,0.000,2539,2055,3910
$GC,6119,-0.92,-243.4,650.2,-9.2,712,6123,0.00,2.20,0.00,0.000,4,0.000,0.049,2539,663,3908
$GC,6155,-0.95,-243.4,653.7,-9.7,713,6159,0.00,2.15,0.00,0.000,6,0.000,0.043,2534,2041,3908
$GC,6478,-0.95,-243.4,684.6,-9.5,729,6482,0.00,2.17,0.00,0.000,4,0.000,0.049,2534,672,3905
$GC,6527,-0.95,-243.4,689.4,-9.8,731,6531,0.00,2.15,0.00,0.000,6,0.000,0.044,2533,2038,3904
$GC,6866,-0.99,-243.4,720.4,-9.1,747,6870,0.00,2.33,0.00,0.000,4,0.000,0.061,2531,3469,3903
$GC,6911,-1.05,-243.4,724.5,-8.8,749,6917,0.15,2.17,0.00,0.000,6,0.056,0.037,2463,2048,3902
$GC,7249,-0.91,-243.4,771.2,-14.3,765,7254,0.20,2.22,0.00,0.000,4,0.133,0.050,2526,655,3900
$GC,7342,-0.91,-243.4,781.8,-10.3,769,7346,0.00,2.17,0.00,0.000,6,0.000,0.044,2519,2036,3900
$GC,7677,-0.91,-243.4,815.9,-10.4,785,7681,0.00,2.35,0.00,0.000,4,0.000,0.063,2520,3471,3897
$GC,7723,-0.95,-243.4,820.1,-10.4,787,7727,0.00,2.22,0.00,0.000,6,0.000,0.038,2519,2029,3897
$GC,8054,-0.95,-243.4,853.2,-9.8,803,8058,0.00,2.17,0.00,0.000,4,0.000,0.052,2519,659,3895
$GC,8123,-0.95,-243.4,861.0,-10.5,806,8127,0.00,2.17,0.00,0.000,6,0.000,0.047,2520,2029,3895
$GC,8457,-0.95,-243.4,895.0,-9.4,822,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2029,3893
$GC,8771,-0.95,-243.4,925.5,-9.7,837,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2029,3892
$GC,9075,-0.95,-243.4,955.2,-9.6,852,9079,0.00,2.38,0.00,0.000,4,0.000,0.064,2522,3460,3890
$GC,9110,-0.99,-243.4,958.4,-8.3,853,9116,0.00,2.22,0.00,0.000,6,0.000,0.039,2521,2025,3890
$GC,9428,-0.99,-243.4,986.3,-9.0,869,9432,0.00,2.20,0.00,0.000,4,0.000,0.054,2521,652,3889
$GC,9462,-0.99,-243.4,989.8,-9.5,870,9466,0.00,2.20,0.00,0.000,6,0.000,0.048,2521,2030,3888
$STATE,9474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9474,begin apogee
$GC,9482,-0.23,0.0,990.8,10.1,871,9695,0.70,0.00,207.95,1.481,6,0.104,0.000,2747,1696,2945
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9696,begin climb
$GC,9700,0.93,243.4,1002.5,0.0,882,9949,1.02,2.67,236.27,1.422,4,0.041,0.057,3138,3099,1950
$GC,9997,0.50,243.4,973.2,20.5,895,10002,0.65,2.38,0.00,0.000,6,0.158,0.041,2985,1703,1946
$GC,10323,0.47,244.9,938.6,10.0,911,10327,0.00,2.25,0.00,0.000,4,0.000,0.058,2984,3102,1942
$GC,10521,0.41,244.9,917.1,10.6,919,10528,0.15,2.17,0.00,0.000,6,0.143,0.043,2953,1703,1941
$GC,10844,0.54,314.1,890.9,8.1,935,10914,0.12,2.33,63.95,1.406,4,0.070,0.058,3014,3111,1663
$GC,11168,0.43,314.1,844.5,16.0,949,11173,0.22,2.15,0.00,0.000,6,0.142,0.043,2962,1723,1658
$GC,11489,0.51,318.3,811.8,9.9,964,11498,0.00,2.25,3.92,0.837,4,0.000,0.058,2962,3099,1647
$GC,11621,0.56,322.9,798.0,9.9,969,11632,0.00,2.10,6.22,1.083,6,0.000,0.042,2969,1749,1629
$GC,11960,0.65,354.2,765.5,9.1,986,11996,0.17,2.20,30.40,1.333,4,0.055,0.058,3064,3102,1500
$GC,12154,0.45,354.2,731.8,18.1,994,12164,0.35,2.08,0.00,0.000,6,0.140,0.042,2967,1783,1497
$GC,12474,0.54,354.2,698.9,10.5,1010,12477,0.00,2.12,0.00,0.000,4,0.000,0.056,2966,3105,1496
$GC,12594,0.60,354.2,685.8,11.4,1015,12598,0.12,2.08,0.00,0.000,6,0.063,0.042,3037,1780,1495
$GC,12932,0.50,354.2,632.8,16.0,1031,12937,0.20,2.17,0.00,0.000,4,0.138,0.056,2975,3112,1495
$GC,13055,0.54,354.2,616.8,11.7,1036,13059,0.00,2.05,0.00,0.000,6,0.000,0.041,2982,1796,1494
$GC,13377,0.60,354.2,580.5,10.8,1052,13381,0.00,2.12,0.00,0.000,4,0.000,0.056,2982,3109,1494
$GC,13482,0.60,354.2,569.1,10.4,1056,13485,0.00,2.00,0.00,0.000,6,0.000,0.041,2991,1822,1494
$GC,13804,0.60,354.2,536.1,10.3,1072,13807,0.00,2.08,0.00,0.000,4,0.000,0.056,2991,3106,1494
$GC,13923,0.60,354.2,523.2,10.8,1077,13927,0.00,1.98,0.00,0.000,6,0.000,0.041,2999,1837,1494
$GC,14243,0.60,354.2,492.0,10.0,1096,14246,0.00,2.05,0.00,0.000,4,0.000,0.054,3000,3110,1494
$GC,14340,0.63,380.4,482.4,9.3,1104,14371,0.00,1.98,24.23,1.150,6,0.000,0.041,3008,1859,1394
$GC,14689,0.63,380.4,445.2,11.2,1137,14692,0.00,2.00,0.00,0.000,4,0.000,0.054,3008,3113,1391
$GC,14871,0.63,380.4,423.1,12.7,1153,14874,0.00,1.92,0.00,0.000,6,0.000,0.040,3017,1869,1391
$GC,15202,0.63,382.7,387.9,9.9,1184,15206,0.00,1.98,0.00,0.000,4,0.000,0.053,3017,3105,1390
$GC,15357,0.63,382.7,371.3,10.5,1197,15363,0.00,1.85,0.00,0.000,6,0.000,0.040,3020,1906,1390
$GC,15682,0.63,382.7,335.6,11.9,1228,15686,0.00,1.92,0.00,0.000,4,0.000,0.051,3022,3106,1389
$GC,15734,0.60,382.7,329.0,13.0,1232,15742,0.00,1.88,0.00,0.000,6,0.000,0.038,3026,1910,1389
$GC,16067,0.57,382.7,288.0,12.1,1271,16073,0.00,1.92,0.00,0.000,4,0.000,0.051,3028,3111,1389
$GC,16165,0.54,382.7,275.2,12.7,1288,16172,0.12,1.85,0.00,0.000,6,0.120,0.038,2997,1921,1389
$GC,16512,0.75,461.0,244.7,7.8,1349,16594,0.17,1.95,71.55,0.943,4,0.053,0.050,3098,3108,1065
$GC,16709,0.61,461.0,216.2,14.5,1382,16717,0.22,1.80,0.00,0.000,6,0.125,0.036,3013,1933,1064
$GC,17057,0.82,498.9,183.9,9.0,1443,17097,0.17,1.92,33.28,0.865,4,0.051,0.048,3119,3114,910
$GC,17202,0.68,498.9,158.4,19.9,1467,17208,0.25,1.77,0.00,0.000,6,0.127,0.035,3037,1945,910
$GC,17552,0.95,590.3,125.8,7.5,1528,17640,0.22,2.67,79.35,0.808,4,0.044,0.045,3166,281,538
$GC,17663,0.85,590.3,105.6,20.5,1545,17670,0.25,2.60,0.00,0.000,6,0.119,0.036,3092,1973,537
$GC,18010,1.14,690.7,68.5,7.2,1606,18036,0.22,1.75,19.20,0.719,4,0.044,0.044,3212,3112,454
$GC,18078,1.00,690.7,57.7,17.0,1617,18085,0.22,1.75,0.00,0.000,6,0.128,0.032,3146,1952,452
$GC,18425,1.15,721.3,18.0,9.2,1678,18433,0.12,1.83,0.00,0.000,4,0.061,0.040,3220,3114,452
$GC,18468,1.07,721.3,11.7,16.1,1685,18475,0.17,1.75,0.00,0.000,6,0.122,0.031,3166,1953,452
$STATE,18535,end climb,SURFACE_DEPTH_REACHED
$STATE,18535,begin surface coast
$FINISH,0.9,0.996711
$STATE,18564,end surface coast,CONTROL_FINISHED_OK
$STATE,18568,begin surface
$SM_CCo,18649,0.00,0.000,0,0,450,612.02
$SM_GC,1.62,8.15,0.00,0.00,0.040,0.000,0.000,163,2109,450,-8.28,1.36,612.02
$IRIDIUM_FIX,2458.45,12306.42,231198,232327
$TT8_MAMPS,0.026845
$HUMID,1702
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.80
$XPDR_PINGS,193
$24V_AH,21.4,131.348
$10V_AH,10.5,83.708
$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,26.625,161.625,776.325,0.000,0.000,87.536,161.582,324.935,56.250,0.000,0.000,16.324,3012.548,10459.925,843.765,3982.603,1224.338,0.000,2489.972,0.000,3957.808,0.000,54.418,0.000
$DEVICE_MAMPS,220.896,64.428,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.056,1158.059,2352.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97784,1702
$CAP_FILE_SIZE,203863,0
$CFSIZE,260165632,187756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.428, 45.2,1
$GPS,300809,051301,2510.971,12310.081,39,1.2,39,-3.7