version: 66.04
glider: 166
mission: 2
dive: 565
start: 8 28 109 1 33 34
data:
$ID,166
$MISSION,2
$DIVE,565
$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,-18501.709
$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,59
$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
$GPS1,012500,2514.133,12249.451,37,0.9,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.5
$GPS2,013313,2514.275,12249.723,13,1.1,13,-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,174.1,41719,-13.9,-10.000
$D_GRID,1413
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,98,0.00,0.00,-76.07,0.000,2,0.000,0.000,164,2104,2146
$GC,102,-0.93,-243.4,3.1,-6.1,12,168,9.32,2.10,-47.72,0.000,4,0.216,0.056,2504,3456,3939
$GC,368,-0.60,-243.4,68.3,-22.0,57,377,0.35,2.10,0.00,0.000,6,0.126,0.029,2624,2039,3940
$GC,717,-0.60,-243.4,114.2,-11.9,118,723,0.00,2.17,0.00,0.000,4,0.000,0.044,2606,3455,3942
$GC,817,-0.67,-243.4,123.9,-9.2,135,824,0.00,2.03,0.00,0.000,6,0.000,0.028,2617,2050,3943
$GC,1166,-0.72,-243.4,157.3,-8.5,196,1172,0.00,2.15,0.00,0.000,4,0.000,0.044,2599,3448,3943
$GC,1298,-0.82,-243.4,169.3,-9.0,219,1305,0.15,2.00,0.00,0.000,6,0.054,0.028,2525,2090,3942
$GC,1646,-0.67,-243.4,226.6,-15.5,280,1653,0.22,2.12,0.00,0.000,4,0.127,0.036,2597,680,3941
$GC,1753,-0.75,-243.4,237.4,-8.6,298,1759,0.00,2.08,0.00,0.000,6,0.000,0.032,2593,2080,3941
$GC,2100,-0.85,-243.4,263.5,-7.7,359,2107,0.15,2.12,0.00,0.000,4,0.056,0.044,2504,3457,3939
$GC,2148,-0.75,-243.4,269.1,-13.3,367,2155,0.25,2.00,0.00,0.000,6,0.119,0.029,2580,2084,3939
$GC,2499,-0.83,-243.4,301.4,-9.0,427,2503,0.00,2.12,0.00,0.000,4,0.000,0.038,2580,675,3936
$GC,2584,-0.92,-243.4,310.1,-9.6,434,2591,0.12,2.15,0.00,0.000,6,0.041,0.034,2503,2084,3936
$GC,2910,-0.80,-243.4,357.9,-14.6,465,2912,0.20,0.00,0.00,0.000,6,0.127,0.000,2563,2084,3934
$GC,3232,-0.86,-243.4,387.0,-8.8,495,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2084,3933
$GC,3561,-0.94,-243.4,418.1,-9.1,526,3568,0.15,0.00,0.00,0.000,6,0.058,0.000,2483,2084,3929
$GC,3889,-0.77,-243.4,466.6,-15.5,557,3894,0.25,2.20,0.00,0.000,4,0.127,0.041,2564,680,3927
$GC,3986,-0.87,-243.4,476.2,-8.3,565,3990,0.00,2.15,0.00,0.000,6,0.000,0.038,2562,2077,3926
$GC,4322,-1.07,-243.4,502.6,-8.3,595,4326,0.20,2.20,0.00,0.000,4,0.051,0.052,2448,3463,3924
$GC,4362,-0.99,-243.4,507.1,-12.0,597,4367,0.17,1.90,0.00,0.000,6,0.140,0.033,2497,2187,3923
$GC,4698,-0.91,-243.4,546.2,-11.1,613,4702,0.10,2.35,0.00,0.000,4,0.145,0.044,2526,675,3921
$GC,4906,-0.91,-243.4,567.2,-9.4,622,4911,0.00,2.33,0.00,0.000,6,0.000,0.042,2523,2167,3919
$GC,5225,-0.91,-243.4,598.1,-9.8,637,5229,0.00,2.33,0.00,0.000,4,0.000,0.046,2523,683,3917
$GC,5298,-0.91,-243.4,606.0,-10.7,640,5302,0.00,2.30,0.00,0.000,6,0.000,0.043,2522,2156,3916
$GC,5621,-0.91,-243.4,635.9,-9.2,656,5625,0.00,2.33,0.00,0.000,4,0.000,0.047,2522,677,3913
$GC,5728,-0.91,-243.4,646.5,-9.9,661,5733,0.00,2.30,0.00,0.000,6,0.000,0.044,2521,2141,3913
$GC,6058,-0.91,-243.4,677.9,-9.2,677,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2141,3911
$GC,6365,-0.91,-243.4,708.9,-10.1,692,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2140,3909
$GC,6675,-0.91,-243.4,740.7,-10.1,707,6679,0.00,2.33,0.00,0.000,4,0.000,0.050,2522,676,3908
$GC,6739,-0.91,-243.4,747.7,-11.0,710,6743,0.00,2.33,0.00,0.000,6,0.000,0.047,2522,2142,3907
$GC,7072,-0.91,-243.4,783.4,-10.3,726,7076,0.00,2.35,0.00,0.000,4,0.000,0.050,2522,677,3905
$GC,7136,-0.91,-243.4,790.4,-11.0,729,7140,0.00,2.33,0.00,0.000,6,0.000,0.047,2520,2135,3904
$GC,7467,-0.91,-243.4,822.4,-9.6,745,7471,0.00,2.33,0.00,0.000,4,0.000,0.050,2522,680,3904
$GC,7499,-0.91,-243.4,826.2,-10.6,746,7506,0.00,2.30,0.00,0.000,6,0.000,0.048,2522,2133,3903
$GC,7818,-0.91,-243.4,855.3,-9.0,762,7822,0.00,2.33,0.00,0.000,4,0.000,0.051,2521,679,3902
$GC,7859,-0.91,-243.4,859.4,-9.8,763,7865,0.00,2.33,0.00,0.000,6,0.000,0.047,2523,2140,3902
$GC,8176,-0.91,-243.4,888.4,-9.1,779,8180,0.00,2.33,0.00,0.000,4,0.000,0.051,2523,682,3900
$GC,8239,-0.91,-243.4,894.7,-10.0,782,8243,0.00,2.33,0.00,0.000,6,0.000,0.048,2525,2129,3900
$GC,8568,-0.91,-243.4,926.7,-10.1,798,8572,0.00,2.33,0.00,0.000,4,0.000,0.052,2523,677,3899
$GC,8630,-0.91,-243.4,934.0,-11.0,800,8637,0.00,2.30,0.00,0.000,6,0.000,0.048,2527,2120,3898
$GC,8948,-0.91,-243.4,966.6,-10.3,816,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2120,3898
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9180,-0.23,0.0,990.1,10.3,827,9401,0.68,0.00,212.52,1.473,6,0.099,0.000,2743,1718,2945
$STATE,9402,end apogee,CONTROL_FINISHED_OK
$STATE,9402,begin climb
$GC,9405,0.93,243.4,1005.8,0.0,838,9677,1.08,2.58,240.90,1.390,4,0.040,0.058,3144,3090,1951
$GC,9887,0.50,243.4,950.1,22.8,859,9894,0.60,2.17,0.00,0.000,6,0.162,0.043,2986,1693,1944
$GC,10205,0.46,247.0,917.6,9.9,875,10209,0.00,2.25,0.00,0.000,4,0.000,0.059,2986,3105,1943
$GC,10357,0.39,247.0,901.1,10.4,881,10364,0.17,2.17,0.00,0.000,6,0.145,0.044,2947,1703,1942
$GC,10675,0.56,333.5,876.5,7.6,897,10764,0.15,2.38,82.00,1.397,4,0.064,0.058,3019,3094,1584
$GC,10906,0.46,333.5,846.6,13.7,907,10910,0.22,2.12,0.00,0.000,6,0.140,0.044,2966,1720,1580
$GC,11229,0.63,420.5,819.2,7.6,923,11323,0.17,2.30,82.82,1.334,4,0.057,0.058,3050,3095,1230
$GC,11460,0.50,420.5,784.6,16.2,933,11465,0.28,2.10,0.00,0.000,6,0.140,0.044,2982,1743,1226
$GC,11778,0.66,488.7,757.5,8.1,948,11848,0.15,2.25,63.70,1.320,4,0.061,0.056,3059,3103,951
$GC,11974,0.53,488.7,725.1,17.5,957,11979,0.28,2.10,0.00,0.000,6,0.141,0.044,2991,1753,950
$GC,12303,0.61,488.7,691.2,10.5,973,12307,0.00,2.15,0.00,0.000,4,0.000,0.057,2990,3097,947
$GC,12421,0.70,488.7,677.4,11.0,978,12426,0.15,2.05,0.00,0.000,6,0.058,0.043,3069,1767,947
$GC,12750,0.54,488.7,613.3,20.0,994,12755,0.22,2.15,0.00,0.000,4,0.141,0.056,2999,3099,947
$GC,12876,0.60,488.7,596.2,11.5,999,12882,0.00,2.03,0.00,0.000,6,0.000,0.042,3006,1795,947
$GC,13193,0.60,488.7,558.1,11.6,1015,13197,0.00,2.10,0.00,0.000,4,0.000,0.057,3006,3100,947
$GC,13323,0.65,488.7,542.9,10.9,1020,13329,0.00,2.00,0.00,0.000,6,0.000,0.041,3015,1832,946
$GC,13641,0.65,488.7,503.1,12.6,1036,13644,0.00,2.05,0.00,0.000,4,0.000,0.055,3015,3106,947
$GC,13715,0.65,488.7,493.3,13.1,1041,13721,0.00,1.95,0.00,0.000,6,0.000,0.041,3024,1848,946
$GC,14043,0.65,488.7,451.5,13.5,1072,14047,0.00,2.03,0.00,0.000,4,0.000,0.055,3024,3105,946
$GC,14095,0.65,488.7,443.7,14.1,1076,14101,0.00,1.98,0.00,0.000,6,0.000,0.041,3031,1851,946
$GC,14425,0.65,488.7,399.4,13.9,1107,14429,0.00,2.00,0.00,0.000,4,0.000,0.054,3032,3103,946
$GC,14574,0.65,488.7,376.9,15.4,1120,14577,0.00,1.90,0.00,0.000,6,0.000,0.041,3039,1878,946
$GC,14909,0.61,488.7,324.6,15.7,1151,14912,0.00,1.95,0.00,0.000,4,0.000,0.054,3038,3100,946
$GC,15089,0.61,488.7,298.6,13.4,1167,15095,0.00,1.88,0.00,0.000,6,0.000,0.041,3045,1906,947
$GC,15434,0.61,488.7,248.8,14.3,1228,15441,0.00,1.92,0.00,0.000,4,0.000,0.051,3046,3094,946
$GC,15571,0.61,488.7,228.3,14.4,1252,15578,0.08,1.83,0.00,0.000,6,0.131,0.038,3022,1925,946
$GC,15922,0.71,488.7,187.6,10.2,1313,15928,0.00,1.88,0.00,0.000,4,0.000,0.049,3023,3096,946
$GC,15998,0.82,488.7,178.3,11.6,1326,16006,0.12,1.83,0.00,0.000,6,0.043,0.037,3106,1920,946
$GC,16347,0.68,488.7,117.9,16.2,1387,16354,0.20,1.90,0.00,0.000,4,0.138,0.047,3039,3096,946
$GC,16431,0.84,538.9,108.4,8.6,1401,16483,0.10,1.80,44.12,0.821,6,0.044,0.035,3117,1922,747
$GC,16826,0.88,538.9,61.1,11.4,1469,16832,0.00,1.85,0.00,0.000,4,0.000,0.045,3118,3099,746
$GC,17022,0.97,538.9,39.4,10.7,1503,17028,0.00,1.80,0.00,0.000,6,0.000,0.033,3125,1918,745
$GC,17368,1.23,623.9,11.0,7.6,1564,17427,0.20,0.00,55.78,0.692,2,0.044,0.000,3240,1918,483
$STATE,17427,end climb,SURFACE_DEPTH_REACHED
$STATE,17427,begin surface coast
$FINISH,0.8,1.011097
$STATE,17445,end surface coast,CONTROL_FINISHED_OK
$STATE,17445,begin surface
$SM_CCo,17528,0.00,0.000,0,0,480,604.66
$SM_GC,1.62,8.30,0.00,0.00,0.038,0.000,0.000,166,2091,480,-8.27,0.85,604.66
$IRIDIUM_FIX,2505.59,12246.55,211198,202005
$TT8_MAMPS,0.027612
$HUMID,1725
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,175
$24V_AH,21.5,128.533
$10V_AH,10.5,82.173
$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,24.800,141.675,781.850,0.000,0.000,23.551,34.143,236.266,51.750,0.000,0.000,13.169,2804.248,10054.364,859.294,3423.089,856.766,0.000,2424.577,0.000,3382.876,0.000,54.387,0.000
$DEVICE_MAMPS,215.527,59.059,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.879,1081.104,1822.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91673,1576
$CAP_FILE_SIZE,174875,0
$CFSIZE,260165632,188641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.253, 46.5,1
$GPS,280809,062701,2513.379,12253.096,41,1.1,41,-3.7