version: 66.04
glider: 166
mission: 2
dive: 575
start: 8 30 109 5 21 57
data:
$ID,166
$MISSION,2
$DIVE,575
$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,-18672.617
$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,36
$R_STBD_OVSHOOT,70
$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
$GPS1,051301,2510.971,12310.081,39,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.2
$GPS2,052132,2511.185,12310.263,15,1.1,15,-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,239.0,27864,-13.9,-10.000
$D_GRID,1692
$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,-243.4,0.0,0.0,0,96,0.00,0.00,-76.80,0.000,2,0.000,0.000,159,2110,2155
$GC,100,-0.93,-243.4,3.0,-5.9,12,164,9.43,2.22,-47.85,0.000,4,0.219,0.047,2521,645,3938
$GC,381,-0.60,-243.4,78.0,-26.1,60,389,0.32,2.12,0.00,0.000,6,0.125,0.033,2626,2042,3939
$GC,729,-0.55,-243.4,132.8,-13.3,121,736,0.00,2.17,0.00,0.000,4,0.000,0.043,2607,3470,3941
$GC,773,-0.55,-243.4,138.4,-12.6,128,779,0.00,2.10,0.00,0.000,6,0.000,0.026,2618,2017,3942
$GC,1120,-0.51,-243.4,176.3,-10.7,189,1127,0.15,2.03,0.00,0.000,4,0.122,0.035,2655,663,3942
$GC,1152,-0.59,-243.4,179.1,-8.2,194,1160,0.00,2.10,0.00,0.000,6,0.000,0.030,2644,2081,3942
$GC,1501,-0.76,-243.4,201.7,-6.9,255,1508,0.17,2.12,0.00,0.000,4,0.051,0.041,2531,3463,3940
$GC,1538,-0.68,-243.4,205.7,-12.2,261,1545,0.22,2.05,0.00,0.000,6,0.119,0.027,2603,2046,3941
$GC,1886,-0.74,-243.4,238.8,-8.0,322,1893,0.00,2.20,0.00,0.000,4,0.000,0.044,2598,3460,3939
$GC,1914,-0.82,-243.4,241.1,-8.2,326,1922,0.12,2.03,0.00,0.000,6,0.059,0.028,2531,2065,3939
$GC,2264,-0.70,-243.4,290.7,-13.7,387,2270,0.17,2.12,0.00,0.000,4,0.126,0.036,2590,663,3938
$GC,2307,-0.76,-243.4,295.6,-9.7,394,2315,0.00,2.08,0.00,0.000,6,0.000,0.032,2588,2057,3937
$GC,2638,-0.85,-243.4,323.1,-8.3,429,2642,0.12,2.17,0.00,0.000,4,0.061,0.045,2505,3460,3935
$GC,2661,-0.85,-243.4,325.5,-9.9,430,2669,0.15,2.08,0.00,0.000,6,0.124,0.028,2549,2039,3935
$GC,2987,-0.85,-243.4,360.7,-10.5,461,2991,0.00,2.08,0.00,0.000,4,0.000,0.039,2549,666,3933
$GC,3039,-0.85,-243.4,366.4,-10.7,465,3045,0.00,2.08,0.00,0.000,6,0.000,0.034,2547,2043,3933
$GC,3366,-0.85,-243.4,399.1,-9.2,496,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2043,3930
$GC,3685,-0.85,-243.4,427.3,-9.5,526,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2044,3927
$GC,4016,-0.88,-243.4,458.2,-8.9,557,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2044,3924
$GC,4344,-0.92,-243.4,489.7,-9.8,588,4348,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,678,3922
$GC,4419,-0.96,-243.4,498.1,-11.2,594,4427,0.00,2.10,0.00,0.000,6,0.000,0.039,2545,2044,3921
$GC,4742,-1.00,-243.4,529.4,-9.7,611,4744,0.15,0.00,0.00,0.000,6,0.058,0.000,2466,2044,3918
$GC,5048,-0.84,-243.4,576.2,-15.7,626,5052,0.22,2.20,0.00,0.000,4,0.130,0.046,2540,670,3916
$GC,5144,-0.87,-243.4,587.7,-11.1,630,5148,0.00,2.15,0.00,0.000,6,0.000,0.042,2540,2048,3915
$GC,5472,-0.91,-243.4,619.7,-9.7,646,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2048,3912
$GC,5783,-0.96,-243.4,649.8,-9.6,661,5791,0.00,2.30,0.00,0.000,4,0.000,0.059,2540,3465,3910
$GC,5810,-1.02,-243.4,652.5,-9.2,662,5815,0.15,2.17,0.00,0.000,6,0.056,0.036,2471,2050,3909
$GC,6141,-0.88,-243.4,698.0,-14.6,678,6146,0.20,2.22,0.00,0.000,4,0.129,0.049,2537,659,3907
$GC,6279,-0.88,-243.4,712.8,-9.7,684,6283,0.00,2.17,0.00,0.000,6,0.000,0.044,2535,2045,3905
$GC,6609,-0.92,-243.4,743.7,-9.6,700,6613,0.00,2.30,0.00,0.000,4,0.000,0.060,2531,3461,3904
$GC,6681,-0.98,-243.4,750.2,-9.1,703,6685,0.00,2.17,0.00,0.000,6,0.000,0.037,2531,2042,3903
$GC,7020,-1.01,-243.4,780.9,-8.7,719,7022,0.12,0.00,0.00,0.000,6,0.064,0.000,2468,2042,3901
$GC,7324,-0.88,-243.4,820.3,-12.8,734,7329,0.20,2.22,0.00,0.000,4,0.130,0.051,2531,659,3899
$GC,7462,-0.88,-243.4,832.7,-9.0,740,7466,0.00,2.20,0.00,0.000,6,0.000,0.047,2531,2049,3898
$GC,7790,-0.92,-243.4,860.2,-8.6,756,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2050,3896
$GC,8101,-0.92,-243.4,888.9,-9.3,771,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2050,3895
$GC,8408,-0.96,-243.4,918.0,-9.4,786,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2050,3893
$GC,8720,-1.00,-243.4,945.1,-8.4,801,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2050,3892
$GC,9028,-1.04,-243.4,969.8,-8.0,816,9030,0.15,0.00,0.00,0.000,6,0.061,0.000,2459,2050,3891
$STATE,9187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9188,begin apogee
$GC,9196,-0.23,0.0,990.2,13.0,824,9414,0.93,0.00,208.40,1.485,6,0.123,0.000,2744,1694,2946
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9419,0.93,243.4,1002.6,0.0,835,9676,1.05,2.70,238.23,1.427,4,0.041,0.057,3132,3104,1948
$GC,9763,0.50,243.4,963.3,21.6,850,9773,0.57,2.35,0.00,0.000,6,0.158,0.043,2988,1695,1944
$GC,10082,0.45,243.4,929.1,10.2,866,10086,0.00,2.28,0.00,0.000,4,0.000,0.059,2988,3108,1942
$GC,10248,0.36,243.4,911.2,10.9,873,10253,0.22,2.20,0.00,0.000,6,0.137,0.043,2934,1696,1941
$GC,10581,0.58,348.2,887.5,7.1,889,10684,0.17,2.42,94.90,1.407,4,0.058,0.058,3028,3109,1524
$GC,10947,0.44,348.2,834.0,16.7,905,10952,0.28,2.15,0.00,0.000,6,0.137,0.043,2960,1726,1519
$GC,11281,0.63,421.6,804.0,8.0,921,11356,0.17,2.35,67.68,1.356,4,0.055,0.058,3055,3112,1225
$GC,11529,0.45,421.6,760.2,17.9,932,11533,0.35,2.10,0.00,0.000,6,0.140,0.042,2966,1750,1221
$GC,11861,0.65,484.7,731.1,8.3,948,11939,0.17,2.22,62.92,1.246,4,0.054,0.058,3060,3103,968
$GC,12154,0.50,484.7,674.0,19.6,961,12159,0.30,2.08,0.00,0.000,6,0.136,0.043,2981,1759,967
$GC,12488,0.62,486.5,637.7,9.9,977,12493,0.12,2.17,0.00,0.000,4,0.063,0.055,3051,3111,965
$GC,12609,0.49,486.5,616.5,19.1,982,12614,0.28,2.05,0.00,0.000,6,0.134,0.041,2982,1786,965
$GC,12932,0.61,486.5,580.1,10.9,997,12937,0.12,2.12,0.00,0.000,4,0.063,0.054,3053,3105,965
$GC,13017,0.50,486.5,564.4,18.8,1000,13025,0.28,2.05,0.00,0.000,6,0.127,0.042,2974,1812,964
$GC,13338,0.65,486.5,530.0,10.0,1016,13342,0.15,2.10,0.00,0.000,4,0.057,0.053,3055,3114,964
$GC,13388,0.53,486.5,521.3,19.6,1018,13393,0.25,2.03,0.00,0.000,6,0.133,0.041,2994,1814,964
$GC,13716,0.64,506.7,485.1,9.4,1041,13742,0.00,2.12,20.62,1.141,4,0.000,0.055,2995,3109,879
$GC,13830,0.78,539.1,474.2,9.1,1051,13866,0.20,2.00,30.92,1.131,6,0.051,0.041,3092,1813,748
$GC,14195,0.61,539.1,401.5,21.5,1085,14200,0.22,2.08,0.00,0.000,4,0.141,0.054,3018,3103,745
$GC,14454,0.66,539.1,366.4,13.9,1107,14458,0.00,1.92,0.00,0.000,6,0.000,0.040,3022,1860,745
$GC,14786,0.66,539.1,322.4,11.4,1138,14790,0.00,2.00,0.00,0.000,4,0.000,0.052,3023,3111,744
$GC,14838,0.70,539.1,316.1,11.4,1142,14846,0.00,1.92,0.00,0.000,6,0.000,0.039,3031,1879,743
$GC,15179,0.75,539.1,274.5,12.1,1190,15186,0.00,1.98,0.00,0.000,4,0.000,0.051,3035,3104,744
$GC,15256,0.81,539.1,264.7,11.4,1203,15263,0.12,1.88,0.00,0.000,6,0.061,0.038,3109,1879,744
$GC,15604,0.66,539.1,195.2,20.0,1264,15611,0.25,1.98,0.00,0.000,4,0.137,0.048,3032,3114,744
$GC,15785,0.89,585.6,176.1,8.7,1295,15832,0.17,1.88,41.65,0.884,6,0.034,0.036,3135,1904,557
$GC,16175,0.78,585.6,96.0,19.2,1362,16183,0.20,1.88,0.00,0.000,4,0.132,0.045,3070,3115,555
$GC,16312,1.00,610.7,80.2,9.3,1385,16345,0.15,1.83,23.67,0.774,6,0.037,0.035,3170,1919,453
$GC,16689,1.00,610.7,22.4,12.1,1450,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1919,452
$STATE,16845,end climb,SURFACE_DEPTH_REACHED
$STATE,16845,begin surface coast
$FINISH,1.0,1.009737
$STATE,16877,end surface coast,CONTROL_FINISHED_OK
$STATE,16877,begin surface
$SM_CCo,16958,0.00,0.000,0,0,450,612.02
$SM_GC,1.73,8.10,0.00,0.00,0.038,0.000,0.000,152,2100,450,-8.29,1.10,612.02
$IRIDIUM_FIX,2500.82,12306.42,241198,000015
$TT8_MAMPS,0.029146
$HUMID,1766
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.00
$XPDR_PINGS,161
$24V_AH,21.3,131.670
$10V_AH,10.5,83.876
$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,26.925,119.750,789.000,0.000,0.000,23.702,35.869,238.915,48.250,0.000,0.000,16.050,2629.009,9552.296,864.534,3502.573,900.063,0.000,2327.095,0.000,3479.405,0.000,54.417,0.000
$DEVICE_MAMPS,219.362,59.826,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.301,1001.609,2038.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85280,1483
$CAP_FILE_SIZE,175300,0
$CFSIZE,260165632,187699200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.395, 37.2,1
$GPS,300809,100555,2511.837,12310.647,42,1.1,42,-3.7