version: 66.04
glider: 166
mission: 2
dive: 570
start: 8 29 109 3 27 55
data:
$ID,166
$MISSION,2
$DIVE,570
$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,-18595.375
$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,38
$R_STBD_OVSHOOT,55
$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
$GPS1,031607,2508.580,12302.296,38,0.9,38,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.5
$GPS2,032731,2508.750,12302.461,13,1.0,13,-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,216.0,22674,-13.9,-10.000
$D_GRID,1603
$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,15,-0.93,-243.4,0.0,0.0,0,94,0.00,0.00,-75.78,0.000,2,0.000,0.000,171,2093,2175
$GC,99,-0.93,-243.4,3.1,-5.7,12,164,9.48,2.15,-46.28,0.000,4,0.224,0.056,2496,3447,3941
$GC,363,-0.61,-243.4,73.2,-26.2,57,372,0.35,2.10,0.00,0.000,6,0.134,0.028,2622,2025,3941
$GC,713,-0.55,-243.4,128.0,-12.8,118,719,0.00,2.22,0.00,0.000,4,0.000,0.043,2602,3460,3943
$GC,744,-0.52,-243.4,131.9,-13.2,123,751,0.17,2.03,0.00,0.000,6,0.109,0.027,2663,2058,3943
$GC,1092,-0.68,-243.4,151.2,-5.7,184,1098,0.17,0.00,0.00,0.000,6,0.050,0.000,2554,2057,3943
$GC,1438,-0.54,-243.4,201.5,-14.5,245,1445,0.25,2.20,0.00,0.000,4,0.128,0.042,2626,3457,3943
$GC,1501,-0.73,-243.4,207.4,-7.3,255,1507,0.12,2.03,0.00,0.000,6,0.055,0.027,2541,2063,3942
$GC,1848,-0.60,-243.4,259.9,-16.3,316,1854,0.25,0.00,0.00,0.000,6,0.126,0.000,2622,2061,3941
$GC,2196,-0.76,-243.4,286.6,-6.6,377,2204,0.12,2.17,0.00,0.000,4,0.060,0.044,2545,3449,3940
$GC,2252,-0.76,-243.4,291.6,-9.5,386,2259,0.12,2.03,0.00,0.000,6,0.117,0.028,2582,2048,3939
$GC,2587,-0.85,-243.4,316.6,-7.7,426,2594,0.12,0.00,0.00,0.000,6,0.062,0.000,2510,2048,3937
$GC,2913,-0.73,-243.4,361.4,-14.0,457,2915,0.25,0.00,0.00,0.000,6,0.120,0.000,2586,2047,3936
$GC,3235,-0.86,-243.4,384.3,-6.5,487,3241,0.12,0.00,0.00,0.000,6,0.062,0.000,2512,2046,3934
$GC,3566,-0.78,-243.4,425.5,-13.0,518,3573,0.20,0.00,0.00,0.000,6,0.121,0.000,2576,2045,3930
$GC,3896,-0.89,-243.4,455.8,-8.6,549,3900,0.12,2.25,0.00,0.000,4,0.063,0.049,2504,3447,3927
$GC,3949,-0.84,-243.4,461.8,-12.1,553,3954,0.15,2.03,0.00,0.000,6,0.122,0.031,2547,2085,3927
$GC,4280,-0.89,-243.4,493.3,-9.2,584,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2085,3924
$GC,4604,-0.93,-243.4,523.3,-9.3,603,4608,0.00,2.17,0.00,0.000,4,0.000,0.044,2547,677,3922
$GC,4689,-0.98,-243.4,532.1,-10.7,606,4696,0.12,2.12,0.00,0.000,6,0.064,0.039,2484,2062,3921
$GC,5006,-0.86,-243.4,573.9,-13.2,622,5008,0.20,0.00,0.00,0.000,6,0.131,0.000,2543,2063,3918
$GC,5319,-0.91,-243.4,601.8,-9.1,637,5323,0.00,2.17,0.00,0.000,4,0.000,0.046,2543,674,3916
$GC,5393,-0.96,-243.4,609.8,-9.9,640,5397,0.00,2.17,0.00,0.000,6,0.000,0.041,2542,2068,3915
$GC,5721,-1.00,-243.4,642.8,-10.2,656,5726,0.15,2.25,0.00,0.000,4,0.059,0.056,2459,3465,3912
$GC,5744,-0.95,-243.4,645.8,-11.9,657,5748,0.17,2.10,0.00,0.000,6,0.136,0.036,2509,2075,3912
$GC,6070,-0.92,-243.4,684.3,-12.0,673,6074,0.00,2.20,0.00,0.000,4,0.000,0.048,2509,668,3910
$GC,6149,-0.92,-243.4,695.3,-13.8,676,6152,0.00,2.17,0.00,0.000,6,0.000,0.044,2506,2059,3909
$GC,6471,-0.88,-243.4,735.0,-12.1,692,6475,0.00,2.28,0.00,0.000,4,0.000,0.061,2509,3460,3907
$GC,6506,-0.88,-243.4,739.2,-11.9,693,6510,0.00,2.12,0.00,0.000,6,0.000,0.036,2507,2060,3907
$GC,6830,-0.84,-243.4,776.0,-11.2,709,6834,0.15,2.22,0.00,0.000,4,0.125,0.049,2552,654,3905
$GC,6893,-0.91,-243.4,782.6,-9.6,712,6897,0.00,2.22,0.00,0.000,6,0.000,0.045,2551,2070,3905
$GC,7227,-0.98,-243.4,811.3,-8.2,728,7229,0.15,0.00,0.00,0.000,6,0.059,0.000,2476,2070,3903
$GC,7538,-0.86,-243.4,850.5,-13.1,743,7540,0.20,0.00,0.00,0.000,6,0.133,0.000,2538,2070,3901
$GC,7846,-0.90,-243.4,878.5,-8.6,758,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2071,3900
$GC,8154,-0.94,-243.4,905.7,-8.5,773,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2070,3898
$GC,8464,-0.98,-243.4,933.0,-9.0,788,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2070,3897
$GC,8773,-1.02,-243.4,962.5,-9.9,803,8777,0.15,2.28,0.00,0.000,4,0.061,0.053,2468,660,3895
$GC,8842,-0.88,-243.4,971.9,-15.5,806,8847,0.25,2.25,0.00,0.000,6,0.132,0.048,2538,2060,3894
$STATE,9022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9022,begin apogee
$GC,9031,-0.23,0.0,991.6,10.1,815,9246,0.68,0.00,209.98,1.479,6,0.104,0.000,2752,1695,2945
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9246,begin climb
$GC,9250,0.93,243.4,1006.5,0.0,826,9515,1.08,2.58,238.20,1.396,4,0.044,0.058,3142,3097,1950
$GC,9735,0.49,243.4,945.1,20.9,848,9740,0.62,2.20,0.00,0.000,6,0.164,0.044,2978,1685,1942
$GC,10054,0.56,305.0,917.4,8.3,863,10124,0.00,2.42,57.78,1.352,4,0.000,0.059,2978,3112,1701
$GC,10273,0.56,305.0,896.5,10.1,873,10276,0.00,2.17,0.00,0.000,6,0.000,0.043,2986,1711,1696
$GC,10607,0.59,326.2,863.5,9.4,889,10632,0.00,2.28,20.05,1.334,4,0.000,0.059,2985,3106,1615
$GC,10808,0.61,340.5,842.8,9.6,898,10834,0.00,2.12,16.58,1.155,6,0.000,0.044,2995,1724,1556
$GC,11167,0.62,350.1,808.0,9.7,915,11181,0.00,2.22,10.12,1.223,4,0.000,0.058,2995,3107,1516
$GC,11390,0.58,350.1,782.2,11.9,924,11394,0.00,2.08,0.00,0.000,6,0.000,0.043,3004,1758,1515
$GC,11718,0.55,350.1,744.2,11.7,940,11722,0.00,2.17,0.00,0.000,4,0.000,0.057,3005,3109,1514
$GC,11815,0.49,350.1,732.2,12.1,944,11820,0.15,2.08,0.00,0.000,6,0.143,0.043,2975,1768,1514
$GC,12143,0.61,393.4,702.1,8.8,960,12189,0.12,2.20,40.83,1.302,4,0.067,0.056,3041,3113,1340
$GC,12310,0.47,393.4,677.3,15.0,967,12317,0.28,2.05,0.00,0.000,6,0.140,0.043,2972,1786,1339
$GC,12628,0.62,442.9,649.1,8.6,983,12692,0.15,2.20,48.78,1.217,4,0.060,0.057,3050,3108,1139
$GC,12810,0.47,442.9,618.4,18.5,991,12815,0.30,2.00,0.00,0.000,6,0.138,0.043,2973,1811,1137
$GC,13134,0.67,495.6,589.0,8.5,1007,13191,0.20,2.15,49.03,1.209,4,0.050,0.057,3076,3103,924
$GC,13298,0.48,495.6,557.0,21.0,1014,13303,0.38,1.98,0.00,0.000,6,0.139,0.042,2977,1824,922
$GC,13617,0.73,558.3,527.5,8.3,1029,13682,0.20,2.10,58.30,1.164,4,0.047,0.056,3079,3107,667
$GC,13738,0.56,558.3,505.8,21.3,1034,13743,0.30,2.00,0.00,0.000,6,0.140,0.042,3002,1818,667
$GC,14069,0.71,567.3,467.7,9.8,1064,14085,0.15,2.10,8.75,0.992,4,0.056,0.055,3080,3105,632
$GC,14166,0.58,567.3,450.7,20.8,1072,14173,0.20,1.98,0.00,0.000,6,0.123,0.041,3012,1845,632
$GC,14493,0.71,567.3,413.1,10.2,1103,14497,0.12,2.03,0.00,0.000,4,0.064,0.054,3078,3111,631
$GC,14556,0.61,567.3,402.5,19.5,1108,14563,0.17,1.95,0.00,0.000,6,0.130,0.041,3018,1863,631
$GC,14883,0.73,567.3,364.1,10.1,1139,14888,0.10,2.00,0.00,0.000,4,0.071,0.052,3076,3115,631
$GC,14935,0.67,567.3,356.7,15.9,1143,14941,0.17,1.92,0.00,0.000,6,0.138,0.040,3038,1863,631
$GC,15260,0.71,567.3,316.4,11.1,1174,15264,0.00,1.98,0.00,0.000,4,0.000,0.051,3037,3107,631
$GC,15374,0.81,567.3,304.4,10.2,1184,15379,0.05,1.88,0.00,0.000,6,0.029,0.038,3104,1898,631
$GC,15719,0.69,567.3,238.5,19.7,1242,15726,0.17,1.95,0.00,0.000,4,0.142,0.050,3048,3117,631
$GC,15872,0.78,567.3,218.6,11.2,1268,15878,0.00,1.83,0.00,0.000,6,0.000,0.037,3049,1932,631
$GC,16219,0.87,567.3,176.6,10.5,1329,16225,0.15,1.85,0.00,0.000,4,0.053,0.046,3141,3111,631
$GC,16273,0.72,567.3,167.6,19.7,1338,16281,0.28,1.80,0.00,0.000,6,0.128,0.035,3049,1937,631
$GC,16625,0.96,654.4,131.0,7.6,1399,16670,0.17,1.92,39.60,0.817,4,0.051,0.047,3153,3120,455
$GC,16745,0.83,654.4,110.0,20.1,1418,16753,0.22,1.80,0.00,0.000,6,0.121,0.035,3073,1938,454
$GC,17095,1.14,735.6,74.7,7.8,1479,17102,0.28,2.58,0.00,0.000,4,0.038,0.045,3223,285,453
$GC,17155,1.08,735.6,64.9,17.8,1489,17162,0.20,2.53,0.00,0.000,6,0.130,0.035,3164,1963,453
$GC,17503,1.19,757.6,17.3,9.4,1550,17511,0.12,1.77,0.00,0.000,4,0.062,0.042,3232,3109,454
$STATE,17594,end climb,SURFACE_DEPTH_REACHED
$STATE,17594,begin surface coast
$FINISH,2.0,1.020811
$STATE,17601,end surface coast,CONTROL_FINISHED_OK
$STATE,17601,begin surface
$SM_CCo,17685,0.00,0.000,0,0,452,611.53
$SM_GC,1.78,8.20,0.00,0.00,0.035,0.000,0.000,156,2028,452,-8.27,-0.93,611.53
$IRIDIUM_FIX,2458.45,12303.13,231198,030358
$TT8_MAMPS,0.026845
$HUMID,1756
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.20
$XPDR_PINGS,168
$24V_AH,21.6,130.088
$10V_AH,10.5,82.992
$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,28.800,127.000,797.975,0.000,0.000,48.761,70.571,307.948,50.000,0.000,0.000,13.108,2807.451,10328.071,871.364,3351.047,992.222,0.000,2407.782,0.000,3305.030,0.000,56.988,0.000
$DEVICE_MAMPS,223.964,61.360,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.420,1066.220,1796.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91528,1567
$CAP_FILE_SIZE,181928,0
$CFSIZE,260165632,188162048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.361, 42.8,1
$GPS,290809,082401,2508.394,12303.871,43,1.6,43,-3.6