version: 66.04
glider: 166
mission: 2
dive: 581
start: 8 31 109 11 46 21
data:
$ID,166
$MISSION,2
$DIVE,581
$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,-18763.945
$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,34
$R_STBD_OVSHOOT,58
$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
$GPS1,113507,2513.712,12315.679,33,1.4,33,-3.7
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.7
$GPS2,114556,2513.930,12315.895,15,1.1,15,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,242.2,87567,-13.9,-10.000
$D_GRID,1517
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,88,0.00,0.00,-69.28,0.000,2,0.000,0.000,159,2101,2242
$GC,92,-0.93,-243.4,3.4,-6.3,10,151,9.45,2.30,-43.00,0.000,4,0.223,0.048,2504,633,3940
$GC,408,-0.54,-243.4,84.0,-24.5,64,416,0.47,2.10,0.00,0.000,6,0.128,0.031,2643,2055,3942
$GC,757,-0.54,-243.4,123.6,-11.2,125,763,0.00,2.15,0.00,0.000,4,0.000,0.043,2616,3462,3943
$GC,828,-0.63,-243.4,130.7,-9.5,137,834,0.00,2.08,0.00,0.000,6,0.000,0.027,2624,2032,3943
$GC,1176,-0.67,-243.4,170.0,-9.8,198,1182,0.00,2.05,0.00,0.000,4,0.000,0.036,2622,664,3944
$GC,1201,-0.72,-243.4,172.7,-10.0,202,1208,0.00,2.12,0.00,0.000,6,0.000,0.031,2612,2065,3943
$GC,1550,-0.81,-243.4,198.5,-7.3,263,1557,0.15,2.15,0.00,0.000,4,0.056,0.043,2518,3465,3943
$GC,1605,-0.68,-243.4,205.2,-14.1,272,1613,0.25,2.03,0.00,0.000,6,0.119,0.027,2596,2059,3943
$GC,1956,-0.74,-243.4,239.8,-9.4,333,1962,0.00,2.10,0.00,0.000,4,0.000,0.038,2594,671,3942
$GC,1987,-0.80,-243.4,243.0,-9.8,338,1994,0.00,2.12,0.00,0.000,6,0.000,0.032,2593,2089,3941
$GC,2334,-0.88,-243.4,270.0,-7.7,399,2340,0.17,2.12,0.00,0.000,4,0.052,0.045,2490,3457,3940
$GC,2365,-0.78,-243.4,273.6,-12.7,404,2375,0.25,2.03,0.00,0.000,6,0.123,0.028,2566,2093,3939
$GC,2709,-0.78,-243.4,309.6,-11.1,457,2713,0.00,2.15,0.00,0.000,4,0.000,0.038,2566,673,3938
$GC,2737,-0.78,-243.4,313.1,-12.2,459,2743,0.00,2.15,0.00,0.000,6,0.000,0.034,2560,2098,3937
$GC,3062,-0.78,-243.4,349.7,-12.0,490,3070,0.00,2.20,0.00,0.000,4,0.000,0.041,2560,670,3936
$GC,3101,-0.78,-243.4,354.1,-12.0,493,3105,0.00,2.17,0.00,0.000,6,0.000,0.036,2558,2094,3935
$GC,3433,-0.81,-243.4,389.2,-9.5,524,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2094,3933
$GC,3751,-0.86,-243.4,418.0,-8.7,554,3754,0.00,2.15,0.00,0.000,4,0.000,0.051,2550,3462,3931
$GC,3789,-0.92,-243.4,421.2,-8.9,557,3793,0.00,2.05,0.00,0.000,6,0.000,0.031,2550,2084,3930
$GC,4120,-0.95,-243.4,452.0,-9.6,588,4125,0.12,2.20,0.00,0.000,4,0.062,0.043,2479,670,3928
$GC,4163,-0.80,-243.4,457.3,-14.4,591,4168,0.30,2.17,0.00,0.000,6,0.119,0.039,2564,2079,3927
$GC,4490,-0.89,-243.4,486.4,-8.7,621,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2080,3925
$GC,4817,-0.97,-243.4,516.7,-9.4,644,4819,0.17,0.00,0.00,0.000,6,0.051,0.000,2474,2080,3923
$GC,5127,-0.83,-243.4,563.3,-15.4,659,5129,0.25,0.00,0.00,0.000,6,0.126,0.000,2550,2080,3920
$GC,5432,-0.90,-243.4,592.9,-9.1,674,5435,0.00,2.25,0.00,0.000,4,0.000,0.048,2550,673,3918
$GC,5479,-0.95,-243.4,597.5,-9.9,676,5482,0.00,2.22,0.00,0.000,6,0.000,0.042,2547,2091,3918
$GC,5817,-1.01,-243.4,626.6,-8.4,692,5819,0.15,0.00,0.00,0.000,6,0.058,0.000,2469,2091,3915
$GC,6124,-0.86,-243.4,665.4,-12.9,707,6129,0.22,2.30,0.00,0.000,4,0.131,0.048,2542,662,3912
$GC,6193,-0.91,-243.4,672.2,-8.1,710,6198,0.00,2.22,0.00,0.000,6,0.000,0.044,2542,2080,3912
$GC,6519,-0.96,-243.4,695.2,-7.0,726,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2080,3910
$GC,6830,-1.01,-243.4,717.0,-7.3,741,6834,0.15,2.28,0.00,0.000,4,0.060,0.049,2468,664,3907
$GC,6874,-0.87,-243.4,721.7,-12.8,743,6879,0.28,2.25,0.00,0.000,6,0.124,0.046,2539,2082,3907
$GC,7207,-0.93,-243.4,745.4,-7.0,759,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2082,3906
$GC,7511,-0.98,-243.4,768.0,-7.8,774,7516,0.12,2.28,0.00,0.000,4,0.062,0.061,2475,3466,3903
$GC,7545,-0.91,-243.4,771.5,-11.6,775,7552,0.17,2.12,0.00,0.000,6,0.128,0.038,2526,2081,3903
$GC,7866,-0.91,-243.4,799.3,-8.7,791,7871,0.00,2.25,0.00,0.000,4,0.000,0.051,2527,660,3902
$GC,7929,-0.91,-243.4,805.4,-9.2,793,7935,0.00,2.25,0.00,0.000,6,0.000,0.046,2523,2079,3901
$GC,8250,-0.91,-243.4,833.9,-9.3,809,8254,0.00,2.28,0.00,0.000,4,0.000,0.051,2523,665,3900
$GC,8300,-0.91,-243.4,839.4,-9.5,811,8304,0.00,2.22,0.00,0.000,6,0.000,0.047,2520,2068,3900
$GC,8626,-0.91,-243.4,871.8,-9.9,827,8630,0.00,2.25,0.00,0.000,4,0.000,0.051,2520,661,3898
$GC,8689,-0.91,-243.4,879.0,-11.0,829,8695,0.00,2.25,0.00,0.000,6,0.000,0.048,2521,2070,3898
$GC,9006,-0.91,-243.4,910.6,-10.2,845,9010,0.00,2.28,0.00,0.000,4,0.000,0.052,2521,664,3896
$GC,9041,-0.91,-243.4,914.4,-11.4,846,9045,0.00,2.22,0.00,0.000,6,0.000,0.048,2520,2057,3896
$GC,9358,-0.91,-243.4,946.9,-10.3,861,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2057,3895
$GC,9666,-0.91,-243.4,978.0,-10.1,876,9670,0.00,2.35,0.00,0.000,4,0.000,0.065,2524,3469,3893
$GC,9696,-0.91,-243.4,980.3,-10.9,877,9700,0.00,2.20,0.00,0.000,6,0.000,0.040,2521,2059,3893
$STATE,9798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9799,begin apogee
$GC,9807,-0.23,0.0,991.8,10.5,882,10025,0.70,0.00,210.95,1.486,6,0.100,0.000,2749,1694,2945
$STATE,10025,end apogee,CONTROL_FINISHED_OK
$STATE,10025,begin climb
$GC,10029,0.93,243.4,1007.3,0.0,893,10462,1.08,2.53,290.15,1.217,4,0.044,0.057,3139,3099,1950
$GC,10641,0.50,243.4,941.9,20.1,920,10646,0.57,2.17,0.00,0.000,6,0.158,0.044,2987,1699,1945
$GC,10964,0.46,243.4,907.7,10.2,935,10968,0.00,2.25,0.00,0.000,4,0.000,0.058,2986,3106,1943
$GC,11161,0.40,243.4,885.4,10.8,944,11166,0.17,2.17,0.00,0.000,6,0.138,0.043,2947,1707,1942
$GC,11493,0.58,339.2,860.4,7.4,960,11586,0.17,2.40,86.65,1.404,4,0.058,0.059,3038,3105,1561
$GC,11756,0.43,339.2,820.9,16.6,971,11763,0.32,2.15,0.00,0.000,6,0.139,0.044,2955,1720,1556
$GC,12078,0.61,397.4,792.8,8.4,987,12138,0.17,2.28,53.53,1.352,4,0.056,0.057,3048,3110,1324
$GC,12302,0.45,397.4,753.8,18.2,996,12307,0.32,2.10,0.00,0.000,6,0.139,0.043,2964,1749,1321
$GC,12629,0.57,397.4,720.9,10.0,1012,12634,0.12,2.17,0.00,0.000,4,0.064,0.054,3034,3105,1317
$GC,12750,0.47,397.4,701.0,16.7,1017,12754,0.25,2.08,0.00,0.000,6,0.134,0.043,2972,1771,1317
$GC,13070,0.57,397.4,666.8,10.1,1032,13074,0.00,2.15,0.00,0.000,4,0.000,0.056,2972,3108,1317
$GC,13166,0.66,397.4,656.0,10.0,1036,13171,0.15,2.08,0.00,0.000,6,0.058,0.042,3052,1775,1317
$GC,13494,0.53,397.4,604.6,16.2,1052,13498,0.17,2.17,0.00,0.000,4,0.141,0.055,2996,3112,1317
$GC,13672,0.53,397.4,581.6,10.8,1060,13676,0.00,2.03,0.00,0.000,6,0.000,0.041,3004,1810,1316
$GC,14001,0.53,397.4,545.0,11.2,1076,14005,0.00,2.10,0.00,0.000,4,0.000,0.055,3004,3114,1316
$GC,14165,0.53,397.4,525.9,12.3,1083,14169,0.00,2.00,0.00,0.000,6,0.000,0.041,3012,1831,1316
$GC,14495,0.53,397.4,485.6,12.5,1104,14499,0.00,2.05,0.00,0.000,4,0.000,0.054,3012,3107,1316
$GC,14613,0.53,397.4,469.7,13.3,1114,14619,0.00,1.98,0.00,0.000,6,0.000,0.041,3019,1855,1316
$GC,14941,0.53,397.4,425.5,13.7,1145,14945,0.00,2.03,0.00,0.000,4,0.000,0.054,3020,3111,1316
$GC,15066,0.53,397.4,407.9,13.8,1156,15070,0.15,1.92,0.00,0.000,6,0.131,0.040,2986,1864,1316
$GC,15398,0.67,431.0,378.3,9.1,1187,15435,0.15,2.05,30.23,1.069,4,0.058,0.054,3066,3105,1188
$GC,15542,0.57,431.0,354.8,17.5,1199,15547,0.22,1.90,0.00,0.000,6,0.134,0.040,3005,1868,1186
$GC,15876,0.63,431.0,313.1,11.5,1230,15880,0.00,1.98,0.00,0.000,4,0.000,0.051,3006,3115,1185
$GC,15937,0.70,431.0,306.1,12.2,1235,15941,0.00,1.90,0.00,0.000,6,0.000,0.038,3012,1863,1185
$GC,16282,0.78,445.5,268.4,9.6,1291,16303,0.15,2.05,14.35,0.930,4,0.058,0.051,3092,3118,1128
$GC,16338,0.63,445.5,259.1,17.8,1300,16345,0.20,1.90,0.00,0.000,6,0.130,0.038,3025,1891,1127
$GC,16686,0.69,445.5,222.9,10.2,1361,16693,0.00,1.92,0.00,0.000,4,0.000,0.049,3026,3110,1126
$GC,16757,0.80,469.4,215.9,9.3,1373,16785,0.12,1.85,22.17,0.900,6,0.061,0.036,3102,1886,1031
$GC,17129,0.70,469.4,154.0,17.5,1437,17136,0.17,1.92,0.00,0.000,4,0.138,0.047,3046,3109,1030
$GC,17212,0.78,469.4,142.5,12.5,1451,17219,0.00,1.88,0.00,0.000,6,0.000,0.035,3050,1889,1030
$GC,17559,0.88,485.7,106.7,9.5,1512,17579,0.15,0.00,15.80,0.777,6,0.054,0.000,3140,1889,964
$GC,17920,0.88,485.7,61.0,10.2,1575,17926,0.15,1.90,0.00,0.000,4,0.123,0.043,3095,3115,964
$GC,18072,1.02,485.7,47.8,10.3,1601,18080,0.10,1.85,0.00,0.000,6,0.041,0.032,3174,1895,964
$GC,18423,1.02,485.7,7.6,10.9,1662,18429,0.00,2.50,0.00,0.000,4,0.000,0.042,3185,276,964
$STATE,18462,end climb,SURFACE_DEPTH_REACHED
$STATE,18462,begin surface coast
$FINISH,0.9,1.001130
$STATE,18479,end surface coast,CONTROL_FINISHED_OK
$STATE,18480,begin surface
$SM_CCo,18564,0.00,0.000,0,0,962,486.43
$SM_GC,1.81,8.10,0.00,0.00,0.033,0.000,0.000,165,2093,962,-8.27,0.90,486.43
$IRIDIUM_FIX,2503.20,12316.31,251198,060627
$TT8_MAMPS,0.026845
$HUMID,1719
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.80
$XPDR_PINGS,197
$24V_AH,21.3,133.513
$10V_AH,10.4,84.985
$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,26.600,154.825,723.825,0.000,0.000,46.855,117.272,230.567,57.250,0.000,0.000,15.792,2980.233,10222.594,870.535,4097.372,1024.767,0.000,2517.769,0.000,4057.064,0.000,54.416,0.000
$DEVICE_MAMPS,223.197,65.195,1485.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.348,1134.086,2454.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94599,1672
$CAP_FILE_SIZE,198388,0
$CFSIZE,260165632,187092992
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,26,0
$CURRENT,0.362, 55.5,1
$GPS,310809,165706,2513.811,12316.745,36,1.4,41,-3.7