version: 66.04
glider: 166
mission: 2
dive: 567
start: 8 28 109 11 49 11
data:
$ID,166
$MISSION,2
$DIVE,567
$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,-18532.559
$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,56
$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
$GPS1,114037,2511.676,12255.133,35,1.1,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.6
$GPS2,114850,2511.863,12255.391,13,1.4,13,-3.6
$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,186.6,32569,-13.9,-10.000
$D_GRID,1578
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,97,0.00,0.00,-76.18,0.000,2,0.000,0.000,170,2097,2146
$GC,102,-0.93,-243.4,3.2,-6.0,12,167,9.38,2.22,-47.70,0.000,4,0.218,0.050,2520,641,3938
$GC,345,-0.56,-243.4,66.4,-26.9,53,353,0.43,2.10,0.00,0.000,6,0.127,0.034,2633,2050,3939
$GC,693,-0.56,-243.4,109.0,-10.1,114,701,0.00,2.17,0.00,0.000,4,0.000,0.045,2617,3475,3941
$GC,766,-0.64,-243.4,115.9,-9.4,126,773,0.00,2.10,0.00,0.000,6,0.000,0.027,2622,2020,3941
$GC,1115,-0.64,-243.4,153.1,-11.2,187,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2020,3941
$GC,1461,-0.74,-243.4,183.4,-8.4,248,1468,0.00,2.28,0.00,0.000,4,0.000,0.044,2612,3457,3941
$GC,1518,-0.89,-243.4,187.8,-8.1,257,1527,0.22,2.03,0.00,0.000,6,0.043,0.027,2502,2049,3941
$GC,1867,-0.67,-243.4,244.6,-16.9,318,1874,0.30,2.08,0.00,0.000,4,0.130,0.035,2597,682,3940
$GC,1955,-0.77,-243.4,254.2,-8.2,333,1962,0.00,2.08,0.00,0.000,6,0.000,0.031,2595,2072,3940
$GC,2303,-0.88,-243.4,281.7,-8.2,394,2310,0.17,2.15,0.00,0.000,4,0.051,0.045,2490,3466,3938
$GC,2362,-0.75,-243.4,290.2,-16.1,404,2370,0.28,2.05,0.00,0.000,6,0.123,0.029,2573,2058,3937
$GC,2695,-0.82,-243.4,323.8,-9.6,442,2699,0.00,2.10,0.00,0.000,4,0.000,0.038,2573,667,3935
$GC,2732,-0.88,-243.4,327.5,-10.7,445,2736,0.12,2.10,0.00,0.000,6,0.062,0.035,2508,2064,3935
$GC,3062,-0.77,-243.4,374.1,-15.1,476,3064,0.22,0.00,0.00,0.000,6,0.124,0.000,2575,2065,3933
$GC,3381,-0.87,-243.4,402.9,-8.0,506,3386,0.12,2.15,0.00,0.000,4,0.064,0.040,2507,667,3930
$GC,3415,-0.80,-243.4,406.8,-12.5,508,3422,0.20,2.10,0.00,0.000,6,0.119,0.037,2563,2054,3930
$GC,3741,-0.88,-243.4,433.8,-8.2,539,3745,0.00,2.22,0.00,0.000,4,0.000,0.053,2560,3465,3928
$GC,3770,-0.97,-243.4,436.4,-8.9,541,3779,0.15,2.10,0.00,0.000,6,0.055,0.032,2484,2053,3927
$GC,4096,-0.85,-243.4,480.5,-13.9,572,4098,0.20,0.00,0.00,0.000,6,0.126,0.000,2544,2050,3925
$GC,4415,-0.89,-243.4,509.9,-8.8,597,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2050,3923
$GC,4721,-0.94,-243.4,536.5,-8.4,612,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2050,3919
$GC,5030,-0.98,-243.4,563.2,-8.6,627,5032,0.12,0.00,0.00,0.000,6,0.063,0.000,2478,2050,3917
$GC,5341,-0.86,-243.4,602.1,-12.7,642,5343,0.22,0.00,0.00,0.000,6,0.128,0.000,2546,2050,3914
$GC,5651,-0.91,-243.4,626.6,-7.9,657,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2050,3911
$GC,5959,-0.97,-243.4,650.7,-7.8,672,5960,0.12,0.00,0.00,0.000,6,0.065,0.000,2480,2049,3910
$GC,6268,-0.86,-243.4,686.6,-11.8,687,6273,0.17,2.22,0.00,0.000,4,0.132,0.049,2538,669,3908
$GC,6319,-0.91,-243.4,691.8,-8.7,689,6323,0.00,2.17,0.00,0.000,6,0.000,0.045,2534,2051,3907
$GC,6643,-0.94,-243.4,718.5,-8.8,705,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2051,3905
$GC,6950,-0.98,-243.4,746.4,-9.1,720,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2051,3904
$GC,7261,-1.02,-243.4,773.7,-8.5,735,7263,0.12,0.00,0.00,0.000,6,0.065,0.000,2469,2051,3902
$GC,7569,-0.89,-243.4,813.1,-12.9,750,7574,0.20,2.25,0.00,0.000,4,0.131,0.051,2533,666,3900
$GC,7620,-0.93,-243.4,818.7,-9.4,752,7624,0.00,2.20,0.00,0.000,6,0.000,0.048,2531,2047,3900
$GC,7949,-0.96,-243.4,846.8,-8.3,768,7953,0.00,2.33,0.00,0.000,4,0.000,0.064,2532,3463,3899
$GC,7984,-1.04,-243.4,849.9,-7.9,769,7990,0.15,2.17,0.00,0.000,6,0.058,0.038,2464,2048,3899
$GC,8311,-0.90,-243.4,889.3,-12.4,785,8316,0.20,2.25,0.00,0.000,4,0.133,0.052,2528,652,3897
$GC,8384,-0.90,-243.4,897.2,-9.7,788,8388,0.00,2.22,0.00,0.000,6,0.000,0.048,2521,2051,3897
$GC,8703,-0.90,-243.4,925.8,-9.3,803,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2052,3896
$GC,9011,-0.90,-243.4,956.7,-10.4,818,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2051,3895
$GC,9319,-0.90,-243.4,989.1,-10.4,833,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2051,3893
$STATE,9336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9336,begin apogee
$GC,9345,-0.23,0.0,991.3,10.3,834,9560,0.70,0.00,210.00,1.478,6,0.103,0.000,2748,1699,2945
$STATE,9561,end apogee,CONTROL_FINISHED_OK
$STATE,9561,begin climb
$GC,9566,0.93,243.4,1005.3,0.0,845,9836,1.08,2.62,239.30,1.394,4,0.046,0.058,3138,3092,1949
$GC,10028,0.52,243.4,949.7,21.9,866,10034,0.57,2.20,0.00,0.000,6,0.161,0.043,2989,1684,1944
$GC,10346,0.50,262.1,917.4,9.5,881,10376,0.00,2.35,19.05,1.209,4,0.000,0.060,2988,3105,1876
$GC,10603,0.44,262.1,891.6,10.4,892,10608,0.12,2.15,0.00,0.000,6,0.153,0.044,2965,1710,1873
$GC,10926,0.57,342.0,866.4,7.8,908,11006,0.12,2.33,74.15,1.390,4,0.071,0.059,3023,3103,1549
$GC,11198,0.45,342.0,827.7,15.8,919,11203,0.25,2.12,0.00,0.000,6,0.142,0.044,2964,1731,1545
$GC,11521,0.54,342.0,794.9,10.2,935,11525,0.00,2.20,0.00,0.000,4,0.000,0.058,2964,3103,1544
$GC,11640,0.59,342.0,781.3,11.6,940,11644,0.12,2.10,0.00,0.000,6,0.064,0.044,3034,1748,1543
$GC,11962,0.48,342.0,733.1,14.8,956,11967,0.17,2.20,0.00,0.000,4,0.142,0.057,2980,3102,1543
$GC,12123,0.48,342.0,715.0,10.2,963,12127,0.00,2.05,0.00,0.000,6,0.000,0.043,2987,1788,1542
$GC,12454,0.48,342.0,681.0,10.8,979,12457,0.00,2.12,0.00,0.000,4,0.000,0.057,2987,3102,1542
$GC,12590,0.48,342.0,664.5,12.2,985,12594,0.00,2.05,0.00,0.000,6,0.000,0.042,2996,1789,1542
$GC,12925,0.48,342.0,625.1,11.9,1001,12929,0.00,2.12,0.00,0.000,4,0.000,0.056,2996,3105,1541
$GC,13032,0.48,342.0,611.2,12.8,1005,13039,0.00,2.00,0.00,0.000,6,0.000,0.041,3005,1822,1541
$GC,13348,0.48,342.0,572.9,12.3,1021,13352,0.00,2.10,0.00,0.000,4,0.000,0.057,3005,3112,1541
$GC,13504,0.44,342.0,553.7,12.0,1027,13511,0.20,1.98,0.00,0.000,6,0.133,0.041,2960,1838,1541
$GC,13822,0.67,423.9,528.3,7.7,1043,13902,0.17,2.15,74.32,1.185,4,0.054,0.056,3054,3107,1214
$GC,13973,0.53,423.9,504.3,17.6,1049,13977,0.25,1.98,0.00,0.000,6,0.137,0.041,2992,1841,1213
$GC,14306,0.63,435.8,469.2,9.7,1078,14321,0.00,2.03,11.07,1.045,4,0.000,0.055,2992,3114,1168
$GC,14432,0.71,435.8,455.7,11.1,1088,14439,0.10,1.95,0.00,0.000,6,0.048,0.041,3062,1864,1168
$GC,14758,0.59,435.8,401.7,16.3,1119,14762,0.17,2.00,0.00,0.000,4,0.140,0.054,3013,3108,1167
$GC,14844,0.63,435.8,390.7,11.5,1126,14850,0.00,1.92,0.00,0.000,6,0.000,0.041,3019,1881,1166
$GC,15170,0.63,435.8,355.5,10.4,1157,15174,0.00,1.98,0.00,0.000,4,0.000,0.054,3020,3115,1166
$GC,15308,0.63,435.8,340.0,10.6,1169,15312,0.00,1.88,0.00,0.000,6,0.000,0.039,3028,1895,1166
$GC,15637,0.63,435.8,295.7,13.5,1202,15643,0.00,1.95,0.00,0.000,4,0.000,0.052,3028,3100,1166
$GC,15724,0.63,435.8,284.6,12.0,1217,15731,0.00,1.83,0.00,0.000,6,0.000,0.038,3034,1911,1166
$GC,16071,0.63,435.8,242.3,13.4,1278,16077,0.00,1.92,0.00,0.000,4,0.000,0.051,3035,3105,1166
$GC,16135,0.63,435.8,234.0,12.4,1289,16142,0.00,1.80,0.00,0.000,6,0.000,0.038,3038,1925,1166
$GC,16483,0.65,455.0,191.2,9.5,1350,16509,0.00,1.88,18.48,0.873,4,0.000,0.048,3041,3113,1089
$GC,16638,0.69,455.0,175.2,12.8,1376,16645,0.00,1.80,0.00,0.000,6,0.000,0.036,3046,1945,1089
$GC,16986,0.77,455.0,136.4,10.2,1437,16993,0.00,1.85,0.00,0.000,4,0.000,0.046,3050,3108,1089
$GC,17086,0.85,455.0,124.9,11.2,1454,17092,0.08,1.75,0.00,0.000,6,0.049,0.035,3111,1966,1088
$GC,17435,0.78,455.0,73.9,11.9,1515,17442,0.15,2.67,0.00,0.000,4,0.138,0.044,3079,271,1088
$GC,17484,0.98,513.6,69.3,8.4,1523,17543,0.15,2.62,50.83,0.762,6,0.056,0.035,3158,1992,851
$GC,17884,0.98,513.6,21.3,11.5,1592,17890,0.00,1.73,0.00,0.000,4,0.000,0.044,3158,3111,850
$GC,18005,1.04,521.7,7.9,9.8,1613,18020,0.00,1.75,8.38,0.601,6,0.000,0.032,3164,1948,817
$STATE,18058,end climb,SURFACE_DEPTH_REACHED
$STATE,18058,begin surface coast
$FINISH,1.0,0.998096
$STATE,18092,end surface coast,CONTROL_FINISHED_OK
$STATE,18092,begin surface
$SM_CCo,18175,0.00,0.000,0,0,817,522.00
$SM_GC,1.86,8.02,0.00,0.00,0.038,0.000,0.000,154,2085,817,-8.27,0.68,522.00
$IRIDIUM_FIX,2503.20,12253.84,221198,060649
$TT8_MAMPS,0.026845
$HUMID,1722
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.20
$XPDR_PINGS,171
$24V_AH,21.4,129.132
$10V_AH,10.5,82.501
$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,25.575,126.700,705.575,0.000,0.000,24.904,33.058,242.542,50.750,0.000,0.000,13.750,2876.300,10700.942,818.375,3377.143,873.455,0.000,2335.959,0.000,3349.931,0.000,54.395,0.000
$DEVICE_MAMPS,217.828,63.661,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.490,1124.867,1890.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94761,1628
$CAP_FILE_SIZE,178139,0
$CFSIZE,260165632,188448768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.229, 53.1,1
$GPS,280809,165325,2510.213,12257.959,41,1.4,41,-3.6