version: 66.04
glider: 166
mission: 2
dive: 566
start: 8 28 109 6 35 29
data:
$ID,166
$MISSION,2
$DIVE,566
$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,-18518.178
$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,33
$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
$GPS1,062701,2513.379,12253.096,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.4
$GPS2,063508,2513.660,12253.267,15,1.2,15,-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,195.6,37284,-13.9,-10.000
$D_GRID,1480
$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,-243.4,0.0,0.0,0,97,0.00,0.00,-74.95,0.000,2,0.000,0.000,166,2091,2172
$GC,101,-0.93,-243.4,3.2,-6.1,11,165,9.60,2.15,-45.50,0.000,4,0.228,0.055,2500,3450,3940
$GC,288,-0.56,-243.4,50.9,-27.2,42,295,0.45,2.08,0.00,0.000,6,0.140,0.029,2632,2028,3941
$GC,637,-0.56,-243.4,101.8,-10.3,103,644,0.00,2.17,0.00,0.000,4,0.000,0.042,2620,3447,3942
$GC,675,-0.56,-243.4,106.1,-11.5,109,683,0.00,2.03,0.00,0.000,6,0.000,0.027,2626,2042,3942
$GC,1025,-0.60,-243.4,142.7,-9.1,170,1031,0.00,2.05,0.00,0.000,4,0.000,0.035,2620,660,3944
$GC,1061,-0.65,-243.4,146.5,-9.5,176,1068,0.00,2.08,0.00,0.000,6,0.000,0.030,2616,2076,3944
$GC,1411,-0.75,-243.4,176.7,-9.1,237,1420,0.10,2.10,0.00,0.000,4,0.072,0.041,2540,3463,3943
$GC,1458,-0.69,-243.4,181.9,-12.2,244,1465,0.17,2.03,0.00,0.000,6,0.120,0.027,2597,2051,3943
$GC,1806,-0.76,-243.4,216.7,-9.1,305,1813,0.00,2.20,0.00,0.000,4,0.000,0.045,2587,3464,3941
$GC,1844,-0.86,-243.4,220.3,-9.8,311,1851,0.12,2.00,0.00,0.000,6,0.060,0.028,2518,2085,3941
$GC,2190,-0.71,-243.4,268.6,-13.6,372,2197,0.20,2.12,0.00,0.000,4,0.129,0.036,2584,673,3939
$GC,2252,-0.78,-243.4,274.3,-7.5,382,2260,0.00,2.10,0.00,0.000,6,0.000,0.032,2583,2091,3939
$GC,2602,-0.87,-243.4,300.2,-7.6,443,2606,0.12,2.12,0.00,0.000,4,0.061,0.045,2503,3467,3937
$GC,2625,-0.87,-243.4,302.5,-8.6,445,2630,0.12,2.05,0.00,0.000,6,0.129,0.029,2539,2066,3937
$GC,2958,-0.87,-243.4,341.4,-12.3,476,2961,0.00,2.10,0.00,0.000,4,0.000,0.039,2539,678,3934
$GC,3019,-0.87,-243.4,349.5,-12.2,481,3031,0.00,2.12,0.00,0.000,6,0.000,0.035,2533,2084,3933
$GC,3346,-0.87,-243.4,388.6,-10.9,512,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2084,3932
$GC,3669,-0.87,-243.4,421.8,-9.9,542,3673,0.00,2.17,0.00,0.000,4,0.000,0.041,2533,678,3928
$GC,3698,-0.87,-243.4,425.3,-11.2,544,3705,0.00,2.12,0.00,0.000,6,0.000,0.037,2530,2078,3928
$GC,4024,-0.87,-243.4,457.1,-9.6,575,4028,0.00,2.17,0.00,0.000,4,0.000,0.041,2531,679,3927
$GC,4105,-0.87,-243.4,465.0,-9.5,582,4109,0.00,2.12,0.00,0.000,6,0.000,0.038,2530,2069,3926
$GC,4438,-0.87,-243.4,496.9,-9.5,613,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2070,3923
$GC,4766,-0.87,-243.4,530.1,-10.3,631,4770,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,676,3920
$GC,4823,-0.87,-243.4,536.2,-10.8,633,4827,0.00,2.12,0.00,0.000,6,0.000,0.040,2530,2051,3919
$GC,5147,-0.87,-243.4,567.7,-9.6,649,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2051,3917
$GC,5454,-0.87,-243.4,599.6,-10.7,664,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2051,3915
$GC,5765,-0.87,-243.4,633.7,-11.1,679,5768,0.00,2.15,0.00,0.000,4,0.000,0.047,2531,687,3912
$GC,5811,-0.87,-243.4,639.0,-11.6,681,5815,0.00,2.15,0.00,0.000,6,0.000,0.044,2531,2058,3912
$GC,6144,-0.87,-243.4,670.8,-8.9,697,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2059,3909
$GC,6454,-0.87,-243.4,698.9,-9.0,712,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2059,3907
$GC,6763,-0.87,-243.4,727.2,-9.5,727,6766,0.00,2.20,0.00,0.000,4,0.000,0.050,2531,679,3905
$GC,6791,-0.87,-243.4,730.1,-10.1,728,6795,0.00,2.17,0.00,0.000,6,0.000,0.045,2532,2060,3906
$GC,7121,-0.87,-243.4,758.3,-8.4,744,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2060,3904
$GC,7429,-0.90,-243.4,783.3,-8.0,759,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2060,3902
$GC,7738,-0.94,-243.4,808.4,-8.0,774,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2060,3901
$GC,8049,-0.98,-243.4,836.4,-9.4,789,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2060,3899
$GC,8356,-1.02,-243.4,866.1,-9.7,804,8361,0.12,2.22,0.00,0.000,4,0.066,0.052,2471,686,3897
$GC,8408,-0.90,-243.4,873.0,-14.1,806,8412,0.22,2.17,0.00,0.000,6,0.127,0.049,2531,2051,3897
$GC,8733,-0.94,-243.4,906.0,-9.9,822,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2051,3895
$GC,9042,-0.97,-243.4,935.0,-9.5,837,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2051,3894
$GC,9348,-1.02,-243.4,963.9,-9.3,852,9350,0.12,0.00,0.00,0.000,6,0.063,0.000,2474,2051,3893
$STATE,9571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9571,begin apogee
$GC,9580,-0.23,0.0,992.4,12.5,863,9795,0.85,0.00,209.55,1.483,6,0.117,0.000,2738,1719,2945
$STATE,9795,end apogee,CONTROL_FINISHED_OK
$STATE,9795,begin climb
$GC,9800,0.93,243.4,1006.2,0.0,874,10070,1.10,2.60,238.88,1.401,4,0.041,0.058,3145,3094,1949
$GC,10185,0.49,243.4,964.0,21.5,892,10190,0.62,2.22,0.00,0.000,6,0.163,0.044,2984,1693,1944
$GC,10518,0.49,270.9,931.0,9.2,908,10561,0.00,2.38,28.85,1.205,4,0.000,0.059,2984,3111,1840
$GC,10798,0.43,270.9,900.5,11.1,920,10803,0.12,2.17,0.00,0.000,6,0.150,0.044,2961,1710,1836
$GC,11116,0.53,312.4,872.2,8.9,935,11167,0.00,2.30,40.78,1.332,4,0.000,0.060,2961,3102,1671
$GC,11338,0.57,312.4,850.1,10.5,945,11343,0.10,2.12,0.00,0.000,6,0.073,0.044,3020,1736,1667
$GC,11674,0.48,312.4,805.2,13.7,961,11679,0.17,2.22,0.00,0.000,4,0.143,0.058,2971,3112,1666
$GC,11830,0.48,314.7,788.0,9.9,968,11834,0.00,2.10,0.00,0.000,6,0.000,0.043,2979,1753,1666
$GC,12164,0.51,343.6,755.6,9.2,984,12214,0.00,2.28,33.17,1.202,4,0.000,0.058,2979,3113,1544
$GC,12363,0.52,351.5,735.7,9.8,993,12377,0.00,2.08,8.65,1.153,6,0.000,0.044,2988,1777,1511
$GC,12698,0.52,351.5,701.7,10.3,1009,12701,0.00,2.12,0.00,0.000,4,0.000,0.058,2989,3103,1509
$GC,12856,0.52,351.5,683.5,11.3,1016,12860,0.00,2.03,0.00,0.000,6,0.000,0.043,2998,1808,1509
$GC,13190,0.52,351.5,647.6,10.9,1032,13194,0.00,2.10,0.00,0.000,4,0.000,0.057,2998,3109,1509
$GC,13319,0.52,351.5,632.4,12.0,1037,13325,0.00,2.00,0.00,0.000,6,0.000,0.042,3007,1822,1508
$GC,13636,0.52,351.5,595.4,11.7,1053,13640,0.00,2.08,0.00,0.000,4,0.000,0.057,3007,3103,1508
$GC,13722,0.48,351.5,584.5,12.4,1056,13729,0.15,2.00,0.00,0.000,6,0.142,0.043,2977,1840,1508
$GC,14040,0.61,394.5,555.5,8.8,1072,14086,0.12,2.10,40.35,1.209,4,0.066,0.058,3045,3114,1336
$GC,14211,0.47,394.5,528.7,16.7,1079,14218,0.28,1.95,0.00,0.000,6,0.140,0.042,2977,1853,1333
$GC,14529,0.63,433.0,497.9,8.9,1096,14574,0.15,2.10,35.80,1.154,4,0.058,0.056,3054,3108,1179
$GC,14724,0.49,433.0,465.7,17.6,1113,14728,0.30,1.90,0.00,0.000,6,0.137,0.041,2977,1870,1177
$GC,15055,0.75,527.1,438.2,7.4,1144,15156,0.20,2.05,87.40,1.088,4,0.049,0.057,3081,3113,796
$GC,15263,0.59,527.1,397.4,21.0,1162,15271,0.25,1.92,0.00,0.000,6,0.136,0.041,2997,1882,795
$GC,15592,0.81,570.6,365.9,8.8,1193,15638,0.20,1.98,39.83,1.036,4,0.048,0.054,3105,3109,618
$GC,15687,0.61,570.6,347.4,24.2,1201,15691,0.32,1.90,0.00,0.000,6,0.144,0.039,3021,1877,617
$GC,16018,0.71,570.6,303.6,12.8,1232,16022,0.00,1.95,0.00,0.000,4,0.000,0.052,3019,3115,614
$GC,16156,0.84,570.6,287.8,10.3,1253,16163,0.20,1.88,0.00,0.000,6,0.049,0.039,3121,1891,614
$GC,16503,0.65,570.6,209.1,22.9,1314,16511,0.28,1.95,0.00,0.000,4,0.140,0.051,3031,3113,614
$GC,16656,0.76,570.6,188.2,12.1,1340,16662,0.00,1.85,0.00,0.000,6,0.000,0.038,3036,1921,614
$GC,17004,0.92,584.0,145.6,9.6,1401,17025,0.17,1.90,12.55,0.815,4,0.050,0.050,3145,3106,563
$GC,17107,0.74,584.0,125.5,20.7,1418,17116,0.28,1.80,0.00,0.000,6,0.128,0.037,3061,1931,563
$GC,17460,0.93,632.6,85.8,8.7,1479,17493,0.15,1.85,25.40,0.785,4,0.055,0.046,3149,3114,455
$GC,17631,0.93,632.6,58.9,16.5,1508,17638,0.10,1.80,0.00,0.000,6,0.120,0.035,3121,1929,454
$GC,17980,1.17,688.5,22.1,8.5,1569,17987,0.17,1.85,0.00,0.000,4,0.048,0.042,3227,3117,454
$GC,18030,1.07,688.5,14.7,19.1,1577,18037,0.20,1.77,0.00,0.000,6,0.123,0.032,3168,1938,453
$STATE,18118,end climb,SURFACE_DEPTH_REACHED
$STATE,18119,begin surface coast
$FINISH,1.0,0.997763
$STATE,18152,end surface coast,CONTROL_FINISHED_OK
$STATE,18152,begin surface
$SM_CCo,18234,0.00,0.000,0,0,451,611.53
$SM_GC,1.62,8.02,0.00,0.00,0.038,0.000,0.000,138,2097,451,-8.27,1.02,611.53
$IRIDIUM_FIX,2505.59,12251.84,221198,010154
$TT8_MAMPS,0.027612
$HUMID,1754
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,23.90
$XPDR_PINGS,167
$24V_AH,21.5,128.848
$10V_AH,10.5,82.336
$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,25.900,129.500,801.200,0.000,0.000,26.059,29.929,239.253,49.750,0.000,0.000,15.841,2822.639,10739.834,920.806,3351.586,866.040,0.000,2445.449,0.000,3314.253,0.000,54.409,0.000
$DEVICE_MAMPS,227.799,59.826,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.192,1099.590,1853.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94618,1598
$CAP_FILE_SIZE,176334,0
$CFSIZE,260165632,188538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.184, 51.5,1
$GPS,280809,114037,2511.676,12255.133,35,1.1,35,-3.6