version: 66.04
glider: 166
mission: 2
dive: 584
start: 9 1 109 3 41 35
data:
$ID,166
$MISSION,2
$DIVE,584
$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,-18811.738
$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,65
$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
$GPS1,033236,2514.725,12319.086,36,0.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.5
$GPS2,034114,2514.943,12319.317,14,1.0,14,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,171.2,292671,-13.9,-10.000
$D_GRID,1763
$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,-78.03,0.000,2,0.000,0.000,152,2108,2230
$GC,102,-0.93,-243.4,3.2,-6.4,12,160,9.40,2.30,-43.17,0.000,4,0.222,0.048,2515,636,3940
$GC,256,-0.55,-243.4,39.5,-27.3,37,264,0.43,2.10,0.00,0.000,6,0.128,0.034,2635,2038,3941
$GC,605,-0.49,-243.4,101.4,-12.0,98,611,0.00,2.17,0.00,0.000,4,0.000,0.044,2615,3462,3942
$GC,692,-0.49,-243.4,111.6,-11.7,113,700,0.12,2.08,0.00,0.000,6,0.117,0.027,2670,2029,3942
$GC,1041,-0.63,-243.4,143.1,-9.2,174,1048,0.15,2.25,0.00,0.000,4,0.056,0.043,2560,3472,3943
$GC,1084,-0.57,-243.4,149.1,-15.1,181,1093,0.15,2.05,0.00,0.000,6,0.114,0.027,2632,2075,3943
$GC,1436,-0.60,-243.4,184.2,-10.8,242,1442,0.00,2.17,0.00,0.000,4,0.000,0.044,2610,3469,3943
$GC,1497,-0.72,-243.4,190.2,-9.7,252,1503,0.00,2.03,0.00,0.000,6,0.000,0.027,2614,2074,3943
$GC,1844,-0.79,-243.4,221.5,-8.1,313,1852,0.15,2.17,0.00,0.000,4,0.056,0.045,2531,3462,3943
$GC,1919,-0.70,-243.4,230.9,-14.1,325,1927,0.20,1.98,0.00,0.000,6,0.123,0.028,2597,2102,3942
$GC,2270,-0.74,-243.4,261.9,-9.0,386,2276,0.00,2.15,0.00,0.000,4,0.000,0.048,2587,3471,3941
$GC,2346,-0.85,-243.4,269.1,-8.5,399,2353,0.12,2.00,0.00,0.000,6,0.058,0.028,2518,2102,3941
$GC,2691,-0.68,-243.4,322.7,-16.0,448,2693,0.28,0.00,0.00,0.000,6,0.126,0.000,2601,2100,3940
$GC,3015,-0.81,-243.4,346.7,-6.6,478,3020,0.12,2.17,0.00,0.000,4,0.061,0.048,2520,3463,3937
$GC,3060,-0.76,-243.4,351.7,-11.2,481,3068,0.20,2.00,0.00,0.000,6,0.115,0.029,2580,2114,3937
$GC,3388,-0.84,-243.4,378.9,-7.7,512,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2114,3935
$GC,3705,-0.93,-243.4,405.6,-9.4,542,3707,0.17,0.00,0.00,0.000,6,0.054,0.000,2490,2114,3934
$GC,4024,-0.79,-243.4,453.3,-13.0,572,4029,0.20,2.25,0.00,0.000,4,0.126,0.042,2556,679,3931
$GC,4090,-0.84,-243.4,459.7,-8.5,577,4094,0.00,2.20,0.00,0.000,6,0.000,0.038,2554,2109,3931
$GC,4422,-0.89,-243.4,488.6,-9.6,608,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2110,3928
$GC,4739,-0.95,-243.4,515.4,-7.6,629,4744,0.12,2.28,0.00,0.000,4,0.062,0.045,2484,672,3925
$GC,4780,-0.82,-243.4,520.4,-12.7,630,4789,0.22,2.25,0.00,0.000,6,0.110,0.041,2550,2105,3925
$GC,5100,-0.88,-243.4,548.9,-9.1,646,5104,0.00,2.17,0.00,0.000,4,0.000,0.056,2545,3469,3923
$GC,5136,-0.96,-243.4,552.4,-9.1,647,5140,0.12,2.03,0.00,0.000,6,0.060,0.034,2478,2121,3922
$GC,5463,-0.83,-243.4,597.1,-14.1,663,5468,0.20,2.28,0.00,0.000,4,0.127,0.047,2543,686,3920
$GC,5528,-0.88,-243.4,604.4,-9.3,666,5532,0.00,2.22,0.00,0.000,6,0.000,0.042,2542,2108,3919
$GC,5859,-0.92,-243.4,633.6,-9.0,682,5863,0.00,2.17,0.00,0.000,4,0.000,0.058,2542,3463,3917
$GC,5906,-1.01,-243.4,638.0,-9.0,684,5911,0.15,2.03,0.00,0.000,6,0.055,0.035,2468,2125,3916
$GC,6244,-0.87,-243.4,686.5,-15.0,700,6249,0.20,2.30,0.00,0.000,4,0.130,0.047,2534,673,3913
$GC,6313,-0.87,-243.4,695.4,-11.1,703,6317,0.00,2.25,0.00,0.000,6,0.000,0.044,2530,2110,3912
$GC,6640,-0.87,-243.4,728.9,-10.3,719,6644,0.00,2.28,0.00,0.000,4,0.000,0.050,2531,676,3910
$GC,6674,-0.87,-243.4,733.2,-11.2,720,6678,0.00,2.25,0.00,0.000,6,0.000,0.044,2530,2105,3910
$GC,6993,-0.87,-243.4,764.5,-9.6,735,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2105,3908
$GC,7300,-0.87,-243.4,792.5,-8.8,750,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2106,3906
$GC,7613,-0.90,-243.4,819.7,-8.8,765,7617,0.00,2.30,0.00,0.000,4,0.000,0.052,2531,680,3905
$GC,7641,-0.90,-243.4,822.9,-10.2,766,7645,0.00,2.28,0.00,0.000,6,0.000,0.047,2530,2110,3905
$GC,7963,-0.94,-243.4,852.2,-9.6,781,7967,0.00,2.22,0.00,0.000,4,0.000,0.062,2529,3470,3903
$GC,8005,-1.01,-243.4,856.6,-9.2,782,8013,0.08,2.10,0.00,0.000,6,0.055,0.039,2474,2129,3902
$GC,8325,-0.91,-243.4,896.2,-12.5,798,8329,0.17,2.33,0.00,0.000,4,0.131,0.050,2533,683,3901
$GC,8441,-0.95,-243.4,908.1,-9.8,803,8445,0.00,2.25,0.00,0.000,6,0.000,0.046,2531,2100,3900
$GC,8768,-0.99,-243.4,937.8,-9.1,819,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2100,3899
$GC,9074,-1.04,-243.4,967.4,-9.8,834,9079,0.15,2.30,0.00,0.000,4,0.059,0.051,2460,678,3897
$GC,9108,-0.91,-243.4,972.3,-15.5,835,9115,0.25,2.28,0.00,0.000,6,0.127,0.048,2525,2100,3897
$STATE,9276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9276,begin apogee
$GC,9286,-0.23,0.0,991.0,10.6,844,9503,0.68,0.00,211.05,1.485,6,0.104,0.000,2745,1715,2945
$STATE,9503,end apogee,CONTROL_FINISHED_OK
$STATE,9504,begin climb
$GC,9507,0.93,243.4,1007.3,0.0,855,9942,1.10,2.58,291.40,1.216,4,0.046,0.057,3146,293,1951
$GC,10007,0.55,243.4,965.1,18.4,877,10013,0.55,2.35,0.00,0.000,6,0.160,0.044,3004,1699,1947
$GC,10327,0.49,252.7,932.4,9.7,892,10341,0.00,2.28,8.95,1.218,4,0.000,0.059,3003,3100,1913
$GC,10590,0.38,252.7,904.0,10.6,903,10600,0.22,2.12,0.00,0.000,6,0.140,0.043,2947,1728,1911
$GC,10913,0.59,374.8,882.6,6.6,919,11039,0.17,2.33,114.43,1.387,4,0.059,0.058,3039,3102,1416
$GC,11225,0.44,374.8,837.2,16.3,932,11230,0.30,2.12,0.00,0.000,6,0.139,0.044,2963,1732,1412
$GC,11558,0.58,416.0,805.8,8.9,948,11604,0.12,2.25,38.30,1.346,4,0.066,0.057,3032,3113,1248
$GC,11789,0.48,416.0,769.7,17.4,958,11794,0.25,2.10,0.00,0.000,6,0.135,0.043,2971,1750,1245
$GC,12116,0.60,438.6,738.6,9.4,974,12143,0.12,2.22,21.80,1.289,4,0.065,0.058,3041,3102,1157
$GC,12291,0.50,438.6,708.9,18.4,981,12297,0.22,2.05,0.00,0.000,6,0.135,0.043,2983,1775,1156
$GC,12614,0.58,438.6,672.8,10.9,997,12618,0.00,2.15,0.00,0.000,4,0.000,0.056,2983,3112,1153
$GC,12721,0.64,438.6,660.0,10.4,1001,12728,0.10,2.03,0.00,0.000,6,0.069,0.041,3043,1810,1154
$GC,13044,0.54,438.6,611.4,15.4,1017,13049,0.17,2.10,0.00,0.000,4,0.137,0.054,2987,3108,1154
$GC,13201,0.61,443.8,592.5,9.9,1024,13211,0.00,2.00,5.80,0.981,6,0.000,0.041,2993,1823,1135
$GC,13529,0.66,443.8,556.0,11.8,1039,13534,0.12,2.08,0.00,0.000,4,0.064,0.054,3058,3110,1135
$GC,13673,0.52,443.8,529.9,18.8,1045,13677,0.30,1.95,0.00,0.000,6,0.135,0.041,2983,1853,1134
$GC,14004,0.61,443.8,494.8,10.0,1063,14008,0.10,2.03,0.00,0.000,4,0.074,0.053,3040,3108,1135
$GC,14074,0.52,443.8,484.2,15.6,1069,14079,0.20,1.95,0.00,0.000,6,0.131,0.040,2991,1844,1135
$GC,14406,0.60,443.8,448.2,10.3,1100,14410,0.00,2.05,0.00,0.000,4,0.000,0.054,2990,3115,1134
$GC,14536,0.68,443.8,434.7,10.5,1111,14540,0.12,1.92,0.00,0.000,6,0.061,0.039,3061,1871,1135
$GC,14867,0.57,443.8,378.6,16.1,1142,14871,0.17,2.00,0.00,0.000,4,0.140,0.051,3005,3108,1135
$GC,14963,0.63,443.8,367.3,11.0,1150,14970,0.00,1.90,0.00,0.000,6,0.000,0.039,3009,1893,1133
$GC,15292,0.68,443.8,330.5,10.2,1181,15296,0.00,1.92,0.00,0.000,4,0.000,0.051,3010,3105,1133
$GC,15355,0.73,443.8,323.4,11.1,1186,15364,0.08,1.90,0.00,0.000,6,0.051,0.038,3072,1893,1133
$GC,15693,0.63,443.8,268.1,16.7,1233,15699,0.17,1.98,0.00,0.000,4,0.139,0.049,3017,3117,1133
$GC,15811,0.71,455.4,255.1,9.7,1253,15830,0.00,1.85,12.00,0.900,6,0.000,0.037,3025,1906,1088
$GC,16174,0.75,455.7,220.1,10.0,1316,16181,0.10,1.90,0.00,0.000,4,0.073,0.046,3084,3112,1088
$GC,16268,0.69,455.7,207.1,14.2,1332,16275,0.15,1.85,0.00,0.000,6,0.122,0.035,3028,1911,1088
$GC,16615,0.82,486.2,172.8,9.2,1393,16649,0.17,1.95,28.38,0.857,4,0.053,0.046,3132,3112,963
$GC,16708,0.65,486.2,156.8,19.4,1408,16715,0.32,1.83,0.00,0.000,6,0.124,0.034,3025,1914,962
$GC,17058,0.98,589.8,126.6,7.1,1469,17155,0.28,1.95,89.75,0.811,4,0.039,0.046,3163,3109,540
$GC,17229,0.89,589.8,93.9,20.5,1496,17236,0.17,1.80,0.00,0.000,6,0.120,0.033,3110,1925,540
$GC,17574,1.00,589.8,52.8,10.1,1557,17581,0.00,2.55,0.00,0.000,4,0.000,0.044,3122,274,538
$GC,17600,1.14,589.8,49.9,10.9,1561,17607,0.17,2.55,0.00,0.000,6,0.049,0.032,3216,1965,537
$STATE,17877,end climb,SURFACE_DEPTH_REACHED
$STATE,17877,begin surface coast
$FINISH,1.0,1.021380
$STATE,17895,end surface coast,CONTROL_FINISHED_OK
$STATE,17895,begin surface
$SM_CCo,17976,0.00,0.000,0,0,536,590.93
$SM_GC,1.74,8.25,0.00,0.00,0.038,0.000,0.000,158,2103,536,-8.28,1.19,590.93
$IRIDIUM_FIX,2503.20,12319.60,251198,222250
$TT8_MAMPS,0.026845
$HUMID,1724
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.10
$XPDR_PINGS,198
$24V_AH,21.3,134.464
$10V_AH,10.5,85.557
$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,28.300,149.950,821.850,0.000,0.000,23.111,32.264,269.921,57.500,0.000,0.000,14.313,2873.841,9648.832,925.715,4060.083,963.469,0.000,2584.625,0.000,4023.896,0.000,54.404,0.000
$DEVICE_MAMPS,221.663,62.127,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.572,1100.956,2449.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91610,1613
$CAP_FILE_SIZE,199594,0
$CFSIZE,260165632,186810368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,0
$CURRENT,0.425, 52.7,1
$GPS,010909,084230,2514.726,12324.354,39,0.9,39,-3.7