version: 66.04
glider: 166
mission: 2
dive: 568
start: 8 28 109 17 8 49
data:
$ID,166
$MISSION,2
$DIVE,568
$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,-18565.457
$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,50
$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
$GPS1,165325,2510.213,12257.959,41,1.4,41,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.4
$GPS2,170825,2510.551,12258.528,15,1.4,32,-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,202.5,27959,-13.9,-10.000
$D_GRID,1606
$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,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,73,0.00,0.00,-55.00,0.000,2,0.000,0.000,165,2085,2054
$GC,78,-0.93,-243.4,3.0,-5.0,8,144,9.55,2.28,-50.72,0.000,4,0.224,0.048,2510,633,3940
$GC,299,-0.59,-243.4,59.1,-26.3,45,307,0.40,2.12,0.00,0.000,6,0.134,0.031,2625,2068,3941
$GC,649,-0.54,-243.4,111.9,-12.3,106,655,0.00,2.12,0.00,0.000,4,0.000,0.044,2604,3462,3942
$GC,723,-0.54,-243.4,121.3,-12.0,119,730,0.12,2.10,0.00,0.000,6,0.118,0.026,2651,2007,3942
$GC,1070,-0.66,-243.4,155.8,-8.6,180,1077,0.12,2.25,0.00,0.000,4,0.063,0.042,2559,3460,3943
$GC,1119,-0.60,-243.4,161.4,-12.5,188,1126,0.22,2.08,0.00,0.000,6,0.113,0.026,2632,2017,3942
$GC,1470,-0.74,-243.4,191.4,-6.5,249,1477,0.15,0.00,0.00,0.000,6,0.058,0.000,2544,2017,3941
$GC,1818,-0.64,-243.4,234.2,-12.0,310,1825,0.20,2.28,0.00,0.000,4,0.122,0.044,2609,3465,3941
$GC,1923,-0.83,-243.4,241.6,-7.0,328,1930,0.12,2.05,0.00,0.000,6,0.038,0.028,2524,2073,3940
$GC,2273,-0.70,-243.4,292.5,-15.4,389,2281,0.20,2.12,0.00,0.000,4,0.126,0.036,2589,673,3938
$GC,2393,-0.80,-243.4,305.2,-9.5,405,2397,0.00,2.10,0.00,0.000,6,0.000,0.032,2588,2072,3938
$GC,2729,-0.90,-243.4,337.2,-9.5,436,2734,0.17,2.15,0.00,0.000,4,0.052,0.046,2486,3459,3936
$GC,2751,-0.90,-243.4,340.3,-10.8,437,2759,0.15,2.05,0.00,0.000,6,0.130,0.029,2530,2054,3935
$GC,3078,-0.85,-243.4,379.1,-10.1,468,3082,0.00,2.22,0.00,0.000,4,0.000,0.049,2530,3456,3933
$GC,3103,-0.82,-243.4,381.6,-10.1,470,3106,0.00,2.05,0.00,0.000,6,0.000,0.029,2530,2072,3933
$GC,3435,-0.78,-243.4,414.8,-10.6,501,3439,0.15,2.17,0.00,0.000,4,0.123,0.039,2575,661,3930
$GC,3516,-0.87,-243.4,421.5,-7.9,507,3523,0.10,2.12,0.00,0.000,6,0.069,0.035,2516,2066,3929
$GC,3844,-0.84,-243.4,455.4,-10.3,538,3850,0.12,0.00,0.00,0.000,6,0.129,0.000,2552,2067,3927
$GC,4175,-0.90,-243.4,483.3,-8.1,569,4179,0.00,2.17,0.00,0.000,4,0.000,0.043,2552,662,3924
$GC,4215,-0.95,-243.4,487.1,-7.9,572,4221,0.00,2.12,0.00,0.000,6,0.000,0.038,2548,2059,3923
$GC,4551,-0.99,-243.4,514.3,-8.4,596,4555,0.15,2.28,0.00,0.000,4,0.058,0.056,2462,3465,3921
$GC,4591,-0.86,-243.4,519.6,-14.0,597,4600,0.28,2.10,0.00,0.000,6,0.124,0.033,2544,2068,3921
$GC,4913,-0.91,-243.4,551.6,-9.9,613,4917,0.00,2.20,0.00,0.000,4,0.000,0.048,2544,664,3918
$GC,4954,-0.94,-243.4,556.1,-9.9,614,4960,0.00,2.17,0.00,0.000,6,0.000,0.041,2545,2053,3917
$GC,5272,-0.98,-243.4,585.1,-8.9,630,5274,0.12,0.00,0.00,0.000,6,0.064,0.000,2476,2054,3914
$GC,5581,-0.85,-243.4,626.2,-14.3,645,5583,0.22,0.00,0.00,0.000,6,0.129,0.000,2544,2054,3912
$GC,5889,-0.90,-243.4,657.2,-10.2,660,5893,0.00,2.20,0.00,0.000,4,0.000,0.048,2544,663,3910
$GC,5941,-0.95,-243.4,662.7,-10.7,662,5945,0.00,2.20,0.00,0.000,6,0.000,0.044,2544,2070,3910
$GC,6270,-1.00,-243.4,693.8,-8.7,678,6271,0.15,0.00,0.00,0.000,6,0.059,0.000,2468,2070,3907
$GC,6580,-0.86,-243.4,737.3,-14.5,693,6582,0.25,0.00,0.00,0.000,6,0.130,0.000,2545,2070,3905
$GC,6888,-0.91,-243.4,764.8,-8.9,708,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2070,3903
$GC,7197,-0.97,-243.4,790.4,-8.1,723,7199,0.12,0.00,0.00,0.000,6,0.064,0.000,2483,2070,3902
$GC,7508,-0.88,-243.4,826.4,-11.6,738,7513,0.17,2.28,0.00,0.000,4,0.133,0.051,2539,670,3900
$GC,7604,-0.92,-243.4,835.6,-8.6,742,7608,0.00,2.20,0.00,0.000,6,0.000,0.047,2537,2057,3899
$GC,7928,-0.96,-243.4,862.6,-8.8,758,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2057,3897
$GC,8236,-1.01,-243.4,890.3,-9.1,773,8241,0.12,2.25,0.00,0.000,4,0.065,0.051,2478,668,3896
$GC,8272,-0.90,-243.4,894.5,-13.2,774,8279,0.20,2.22,0.00,0.000,6,0.133,0.048,2530,2068,3895
$GC,8590,-0.90,-243.4,926.2,-9.5,790,8594,0.00,2.30,0.00,0.000,4,0.000,0.065,2533,3462,3893
$GC,8625,-0.95,-243.4,929.5,-8.6,791,8629,0.00,2.17,0.00,0.000,6,0.000,0.039,2530,2056,3894
$GC,8948,-0.95,-243.4,958.7,-8.5,807,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2056,3893
$GC,9256,-0.95,-243.4,983.9,-8.2,822,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2056,3892
$STATE,9335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9335,begin apogee
$GC,9343,-0.23,0.0,990.6,8.1,826,9558,0.68,0.00,208.85,1.476,6,0.103,0.000,2748,1689,2945
$STATE,9559,end apogee,CONTROL_FINISHED_OK
$STATE,9559,begin climb
$GC,9564,0.93,243.4,1001.3,0.0,837,9822,1.08,2.62,235.95,1.403,4,0.046,0.058,3133,3092,1950
$GC,9895,0.52,243.4,968.9,20.6,853,9901,0.57,2.28,0.00,0.000,6,0.163,0.043,2993,1694,1945
$GC,10221,0.47,253.6,933.9,9.7,869,10235,0.00,2.30,9.27,1.215,4,0.000,0.059,2992,3111,1911
$GC,10441,0.40,264.7,912.0,9.7,878,10469,0.17,2.17,13.95,1.115,6,0.146,0.044,2954,1704,1864
$GC,10782,0.59,370.1,888.0,7.1,895,10888,0.17,2.38,97.78,1.400,4,0.059,0.060,3038,3110,1436
$GC,11116,0.43,370.1,837.3,16.9,910,11121,0.30,2.15,0.00,0.000,6,0.141,0.042,2964,1725,1431
$GC,11448,0.59,412.4,807.2,8.8,926,11494,0.15,2.30,39.45,1.344,4,0.059,0.060,3042,3098,1262
$GC,11591,0.44,412.4,783.3,18.2,932,11596,0.30,2.10,0.00,0.000,6,0.140,0.044,2967,1743,1261
$GC,11910,0.57,421.4,750.7,9.8,947,11924,0.12,2.22,9.07,1.169,4,0.064,0.058,3034,3100,1227
$GC,12052,0.46,421.4,727.9,17.0,953,12056,0.28,2.03,0.00,0.000,6,0.137,0.042,2965,1780,1226
$GC,12381,0.62,444.8,695.9,9.4,969,12426,0.17,2.15,27.75,1.122,4,0.054,0.058,3060,3106,1130
$GC,12601,0.47,444.8,651.8,19.8,978,12608,0.35,2.03,0.00,0.000,6,0.137,0.042,2968,1791,1129
$GC,12919,0.62,444.8,619.0,10.1,994,12923,0.15,2.10,0.00,0.000,4,0.058,0.054,3049,3101,1128
$GC,13015,0.50,444.8,602.0,19.1,998,13019,0.25,2.00,0.00,0.000,6,0.137,0.042,2987,1803,1128
$GC,13344,0.60,444.8,565.2,10.9,1014,13347,0.00,2.10,0.00,0.000,4,0.000,0.055,2987,3108,1128
$GC,13451,0.68,444.8,552.8,12.2,1018,13458,0.10,2.03,0.00,0.000,6,0.048,0.041,3058,1824,1128
$GC,13769,0.57,444.8,497.9,17.4,1034,13774,0.20,2.08,0.00,0.000,4,0.140,0.057,2996,3103,1128
$GC,13865,0.61,444.8,485.0,11.2,1042,13872,0.00,1.98,0.00,0.000,6,0.000,0.041,3002,1852,1128
$GC,14195,0.66,444.8,447.6,12.1,1073,14199,0.00,2.03,0.00,0.000,4,0.000,0.054,3003,3109,1127
$GC,14336,0.70,444.8,429.4,11.6,1085,14343,0.00,1.92,0.00,0.000,6,0.000,0.041,3012,1867,1127
$GC,14666,0.75,444.8,393.0,10.9,1116,14670,0.15,2.00,0.00,0.000,4,0.059,0.054,3086,3106,1127
$GC,14739,0.55,444.8,379.0,20.5,1122,14746,0.28,1.92,0.00,0.000,6,0.140,0.041,3002,1881,1127
$GC,15067,0.65,444.8,340.5,10.6,1153,15070,0.00,1.95,0.00,0.000,4,0.000,0.053,3002,3103,1127
$GC,15174,0.74,444.8,329.0,10.2,1162,15181,0.10,1.90,0.00,0.000,6,0.044,0.040,3086,1890,1127
$GC,15511,0.59,444.8,266.8,18.7,1208,15518,0.22,2.00,0.00,0.000,4,0.137,0.052,3014,3105,1127
$GC,15590,0.64,444.8,256.5,11.8,1221,15597,0.00,1.88,0.00,0.000,6,0.000,0.038,3016,1883,1127
$GC,15938,0.73,444.8,223.3,10.2,1282,15945,0.12,1.98,0.00,0.000,4,0.062,0.049,3088,3104,1127
$GC,16009,0.61,444.8,212.0,19.0,1294,16016,0.20,1.88,0.00,0.000,6,0.132,0.038,3018,1898,1127
$GC,16358,0.75,465.6,174.9,9.4,1355,16385,0.12,1.92,19.73,0.864,4,0.059,0.048,3094,3114,1045
$GC,16569,0.66,465.6,140.8,17.3,1391,16576,0.20,1.83,0.00,0.000,6,0.122,0.036,3025,1922,1045
$GC,16920,1.08,650.1,110.4,4.9,1452,17052,0.35,0.00,125.75,0.796,6,0.036,0.000,3191,1921,454
$GC,17392,1.08,650.1,28.8,17.4,1533,17400,0.00,1.88,0.00,0.000,4,0.000,0.044,3191,3111,451
$GC,17521,1.08,650.1,9.8,14.2,1555,17527,0.00,1.80,0.00,0.000,6,0.000,0.032,3195,1921,451
$STATE,17567,end climb,SURFACE_DEPTH_REACHED
$STATE,17567,begin surface coast
$FINISH,0.9,0.999426
$STATE,17588,end surface coast,CONTROL_FINISHED_OK
$STATE,17589,begin surface
$SM_CCo,17671,0.00,0.000,0,0,449,612.02
$SM_GC,1.68,8.10,0.00,0.00,0.035,0.000,0.000,146,2098,449,-8.30,1.05,612.02
$IRIDIUM_FIX,2503.20,12257.14,221198,171711
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.00
$XPDR_PINGS,168
$24V_AH,21.6,129.451
$10V_AH,10.5,82.664
$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,28.500,131.825,787.550,0.000,0.000,73.020,98.066,373.730,50.000,0.000,0.000,32.268,2787.656,10456.555,902.544,3278.771,1125.714,0.000,2375.715,0.000,3222.025,0.000,54.398,0.000
$DEVICE_MAMPS,223.964,65.195,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.651,1066.306,1798.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91529,1567
$CAP_FILE_SIZE,182403,0
$CFSIZE,260165632,188350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.270, 44.2,1
$GPS,280809,220437,2509.456,12300.238,39,0.9,39,-3.6