version: 66.04
glider: 166
mission: 2
dive: 576
start: 8 30 109 10 14 6
data:
$ID,166
$MISSION,2
$DIVE,576
$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,-18689.566
$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,37
$R_STBD_OVSHOOT,64
$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
$GPS1,100555,2511.837,12310.647,42,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.7
$GPS2,101344,2512.076,12310.756,16,1.1,16,-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,225.3,29687,-13.9,-10.000
$D_GRID,1695
$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,17,-0.93,-243.4,0.0,0.0,0,97,0.00,0.00,-78.15,0.000,2,0.000,0.000,164,2100,2188
$GC,101,-0.93,-243.4,3.1,-5.5,12,166,9.35,2.28,-45.97,0.000,4,0.219,0.049,2516,641,3941
$GC,350,-0.52,-243.4,68.1,-29.6,54,358,0.40,2.12,0.00,0.000,6,0.130,0.034,2645,2035,3941
$GC,697,-0.52,-243.4,110.1,-9.7,115,705,0.00,2.20,0.00,0.000,4,0.000,0.044,2628,3472,3944
$GC,731,-0.58,-243.4,113.5,-10.0,120,737,0.00,2.10,0.00,0.000,6,0.000,0.027,2645,2028,3944
$GC,1080,-0.63,-243.4,155.2,-10.1,181,1087,0.00,2.25,0.00,0.000,4,0.000,0.044,2627,3474,3944
$GC,1140,-0.75,-243.4,161.1,-8.9,191,1147,0.17,2.05,0.00,0.000,6,0.048,0.027,2546,2060,3944
$GC,1488,-0.57,-243.4,217.4,-16.7,252,1494,0.25,0.00,0.00,0.000,6,0.127,0.000,2627,2058,3944
$GC,1835,-0.70,-243.4,249.6,-8.2,313,1847,0.00,2.20,0.00,0.000,4,0.000,0.043,2612,3469,3943
$GC,1895,-0.87,-243.4,254.2,-7.6,322,1901,0.20,2.03,0.00,0.000,6,0.044,0.028,2509,2068,3943
$GC,2246,-0.70,-243.4,308.2,-15.1,379,2250,0.25,2.12,0.00,0.000,4,0.124,0.035,2590,679,3942
$GC,2355,-0.79,-243.4,317.9,-8.1,388,2359,0.00,2.08,0.00,0.000,6,0.000,0.031,2588,2066,3941
$GC,2687,-0.89,-243.4,346.3,-8.9,419,2689,0.17,0.00,0.00,0.000,6,0.051,0.000,2494,2066,3939
$GC,3005,-0.75,-243.4,394.0,-14.2,449,3007,0.28,0.00,0.00,0.000,6,0.119,0.000,2578,2066,3936
$GC,3326,-0.87,-243.4,417.4,-6.4,479,3331,0.12,2.15,0.00,0.000,4,0.062,0.039,2509,681,3935
$GC,3368,-0.79,-243.4,421.6,-11.7,482,3373,0.20,2.10,0.00,0.000,6,0.118,0.035,2564,2059,3934
$GC,3695,-0.87,-243.4,446.1,-7.4,512,3699,0.00,2.20,0.00,0.000,4,0.000,0.051,2560,3460,3932
$GC,3724,-0.97,-243.4,448.5,-8.1,514,3731,0.15,2.08,0.00,0.000,6,0.054,0.031,2484,2059,3931
$GC,4051,-0.84,-243.4,494.6,-14.1,545,4055,0.17,2.15,0.00,0.000,4,0.129,0.041,2542,670,3928
$GC,4119,-0.88,-243.4,502.3,-10.9,550,4123,0.00,2.10,0.00,0.000,6,0.000,0.038,2542,2045,3928
$GC,4450,-0.91,-243.4,536.3,-10.3,566,4453,0.00,2.25,0.00,0.000,4,0.000,0.054,2541,3462,3925
$GC,4477,-0.97,-243.4,539.2,-10.5,567,4482,0.00,2.12,0.00,0.000,6,0.000,0.033,2541,2046,3924
$GC,4817,-1.01,-243.4,571.8,-9.2,583,4821,0.12,2.15,0.00,0.000,4,0.062,0.043,2474,659,3922
$GC,4862,-0.87,-243.4,578.1,-13.9,585,4867,0.25,2.15,0.00,0.000,6,0.124,0.040,2540,2050,3922
$GC,5193,-0.91,-243.4,607.5,-8.1,601,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3919
$GC,5500,-0.96,-243.4,631.4,-7.6,616,5504,0.00,2.28,0.00,0.000,4,0.000,0.058,2536,3462,3917
$GC,5540,-1.03,-243.4,634.7,-8.1,617,5548,0.15,2.15,0.00,0.000,6,0.056,0.035,2465,2043,3916
$GC,5861,-0.88,-243.4,675.5,-13.2,633,5865,0.20,2.17,0.00,0.000,4,0.133,0.047,2531,664,3913
$GC,5957,-0.88,-243.4,685.6,-9.7,637,5961,0.00,2.17,0.00,0.000,6,0.000,0.044,2530,2050,3913
$GC,6282,-0.88,-243.4,716.1,-9.7,653,6286,0.00,2.30,0.00,0.000,4,0.000,0.061,2532,3463,3910
$GC,6327,-0.94,-243.4,720.2,-9.0,655,6331,0.00,2.17,0.00,0.000,6,0.000,0.036,2531,2039,3910
$GC,6667,-0.97,-243.4,749.4,-8.1,671,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2039,3908
$GC,6972,-1.01,-243.4,773.8,-8.0,686,6977,0.10,2.20,0.00,0.000,4,0.073,0.050,2479,653,3907
$GC,7043,-0.90,-243.4,781.7,-11.6,689,7048,0.20,2.22,0.00,0.000,6,0.127,0.045,2529,2058,3905
$GC,7375,-0.90,-243.4,810.9,-8.4,705,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2058,3904
$GC,7680,-0.90,-243.4,837.1,-8.3,720,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2058,3903
$GC,7992,-0.90,-243.4,862.1,-7.9,735,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2059,3901
$GC,8300,-0.90,-243.4,885.5,-7.3,750,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2059,3900
$GC,8611,-0.93,-243.4,907.4,-7.1,765,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2058,3898
$GC,8919,-0.97,-243.4,930.5,-7.8,780,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2059,3898
$GC,9227,-1.00,-243.4,953.7,-7.7,795,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2059,3897
$GC,9538,-1.04,-243.4,979.0,-8.5,810,9542,0.15,2.28,0.00,0.000,4,0.061,0.053,2462,666,3895
$GC,9571,-0.91,-243.4,983.1,-12.6,811,9576,0.25,2.22,0.00,0.000,6,0.130,0.050,2526,2045,3894
$STATE,9659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9668,-0.23,0.0,991.6,9.4,815,9889,0.68,0.00,212.98,1.480,6,0.104,0.000,2744,1698,2945
$STATE,9890,end apogee,CONTROL_FINISHED_OK
$STATE,9890,begin climb
$GC,9895,0.93,243.4,1005.2,0.0,826,10165,1.08,2.65,246.32,1.407,4,0.044,0.057,3136,3107,1951
$GC,10296,0.52,243.4,962.9,21.9,843,10303,0.57,2.28,0.00,0.000,6,0.160,0.043,2992,1699,1944
$GC,10618,0.47,243.4,925.3,11.4,859,10622,0.00,2.25,0.00,0.000,4,0.000,0.058,2991,3106,1942
$GC,10817,0.39,243.4,899.3,12.7,867,10824,0.20,2.17,0.00,0.000,6,0.138,0.044,2944,1708,1940
$GC,11141,0.52,292.5,870.8,8.6,883,11199,0.12,2.35,45.75,1.349,4,0.067,0.059,3002,3108,1752
$GC,11422,0.44,292.5,835.2,13.4,895,11426,0.17,2.12,0.00,0.000,6,0.142,0.044,2966,1729,1747
$GC,11741,0.57,353.9,806.6,8.3,910,11812,0.12,2.28,58.75,1.332,4,0.067,0.058,3032,3108,1501
$GC,11999,0.46,353.9,770.7,14.2,921,12004,0.25,2.08,0.00,0.000,6,0.138,0.044,2971,1759,1498
$GC,12328,0.59,402.5,742.2,8.7,937,12378,0.12,2.20,45.08,1.322,4,0.066,0.058,3037,3103,1303
$GC,12483,0.49,402.5,718.8,15.5,944,12487,0.22,2.05,0.00,0.000,6,0.137,0.043,2983,1782,1301
$GC,12816,0.58,408.9,685.0,9.8,960,12829,0.00,2.17,6.85,1.067,4,0.000,0.058,2982,3105,1277
$GC,12964,0.64,408.9,669.7,10.1,966,12968,0.10,2.03,0.00,0.000,6,0.070,0.042,3044,1799,1277
$GC,13290,0.54,408.9,620.8,16.0,982,13294,0.17,2.12,0.00,0.000,4,0.139,0.057,2994,3108,1277
$GC,13407,0.54,408.9,605.1,12.2,987,13410,0.00,2.00,0.00,0.000,6,0.000,0.042,3001,1826,1275
$GC,13744,0.54,408.9,562.9,12.5,1003,13748,0.00,2.08,0.00,0.000,4,0.000,0.057,3001,3109,1275
$GC,13852,0.54,408.9,548.3,13.4,1007,13858,0.00,1.98,0.00,0.000,6,0.000,0.041,3008,1842,1275
$GC,14172,0.54,408.9,507.5,12.0,1023,14176,0.00,2.05,0.00,0.000,4,0.000,0.056,3007,3110,1275
$GC,14369,0.54,408.9,483.7,10.6,1037,14375,0.00,1.95,0.00,0.000,6,0.000,0.041,3016,1856,1275
$GC,14694,0.54,408.9,447.9,11.1,1068,14698,0.00,2.03,0.00,0.000,4,0.000,0.055,3016,3108,1275
$GC,14831,0.54,408.9,431.9,11.8,1080,14835,0.00,1.92,0.00,0.000,6,0.000,0.040,3022,1891,1274
$GC,15163,0.51,408.9,389.0,13.4,1111,15168,0.12,2.00,0.00,0.000,4,0.138,0.054,2987,3114,1274
$GC,15292,0.58,408.9,375.1,10.8,1122,15296,0.00,1.88,0.00,0.000,6,0.000,0.038,2993,1903,1274
$GC,15626,0.66,408.9,338.4,10.9,1153,15631,0.12,1.95,0.00,0.000,4,0.064,0.051,3063,3110,1274
$GC,15708,0.54,408.9,324.7,18.7,1160,15713,0.20,1.88,0.00,0.000,6,0.130,0.038,2997,1913,1274
$GC,16043,0.64,410.7,288.6,10.0,1201,16049,0.00,1.92,0.00,0.000,4,0.000,0.051,2998,3111,1274
$GC,16163,0.74,410.7,274.5,11.0,1222,16171,0.10,1.85,0.00,0.000,6,0.044,0.038,3075,1931,1273
$GC,16512,0.63,410.7,222.5,15.3,1283,16518,0.17,1.90,0.00,0.000,4,0.138,0.048,3020,3109,1274
$GC,16665,0.70,410.7,205.4,10.8,1309,16671,0.00,1.80,0.00,0.000,6,0.000,0.035,3024,1928,1274
$GC,17012,0.79,410.7,171.8,10.1,1370,17020,0.15,0.00,0.00,0.000,6,0.055,0.000,3111,1928,1274
$GC,17361,0.70,410.7,121.5,12.4,1431,17367,0.20,1.88,0.00,0.000,4,0.131,0.045,3047,3110,1274
$GC,17534,0.89,478.1,106.7,8.1,1461,17599,0.12,1.77,60.67,0.805,6,0.038,0.034,3132,1949,995
$GC,17941,0.89,478.1,53.2,12.1,1531,17948,0.00,1.83,0.00,0.000,4,0.000,0.044,3133,3114,993
$GC,18001,0.89,478.1,45.9,12.2,1541,18008,0.10,1.73,0.00,0.000,6,0.117,0.032,3105,1972,993
$GC,18347,1.17,574.8,17.6,7.3,1602,18438,0.22,2.62,81.57,0.693,4,0.044,0.042,3238,285,602
$STATE,18448,end climb,SURFACE_DEPTH_REACHED
$STATE,18448,begin surface coast
$FINISH,1.0,1.021098
$STATE,18463,end surface coast,CONTROL_FINISHED_OK
$STATE,18463,begin surface
$SM_CCo,18547,0.00,0.000,0,0,600,575.23
$SM_GC,1.69,8.25,0.00,0.00,0.036,0.000,0.000,161,2085,600,-8.28,0.68,575.23
$IRIDIUM_FIX,2500.82,12309.71,241198,050513
$TT8_MAMPS,0.026845
$HUMID,1685
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.90
$XPDR_PINGS,188
$24V_AH,21.2,131.965
$10V_AH,10.4,84.063
$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,26.750,136.125,757.975,0.000,0.000,23.533,32.888,217.280,55.000,0.000,0.000,16.321,2870.842,10443.100,813.511,3972.644,896.615,0.000,2406.441,0.000,3941.019,0.000,54.404,0.000
$DEVICE_MAMPS,218.595,60.593,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.239,1101.552,2372.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91409,1620
$CAP_FILE_SIZE,192360,0
$CFSIZE,260165632,187584512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.369, 48.4,1
$GPS,300809,152436,2511.758,12312.265,40,0.9,45,-3.7