version: 66.04
glider: 166
mission: 2
dive: 577
start: 8 30 109 15 33 27
data:
$ID,166
$MISSION,2
$DIVE,577
$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,-18703.59
$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,46
$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
$GPS1,152436,2511.758,12312.265,40,0.9,45,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.2
$GPS2,153302,2511.986,12312.485,13,1.3,13,-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,235.8,30537,-13.9,-10.000
$D_GRID,1715
$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,-243.4,0.0,0.0,0,90,0.00,0.00,-71.53,0.000,2,0.000,0.000,145,2085,2209
$GC,94,-0.93,-243.4,3.2,-5.7,11,158,9.48,2.17,-45.22,0.000,4,0.223,0.058,2512,3452,3941
$GC,274,-0.50,-243.4,50.9,-30.4,41,282,0.45,2.10,0.00,0.000,6,0.145,0.028,2653,2020,3942
$GC,621,-0.50,-243.4,102.5,-12.0,102,627,0.00,2.22,0.00,0.000,4,0.000,0.042,2648,3460,3943
$GC,649,-0.50,-243.4,105.7,-12.1,106,656,0.00,2.03,0.00,0.000,6,0.000,0.026,2642,2060,3944
$GC,995,-0.54,-243.4,140.5,-8.2,167,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2059,3944
$GC,1340,-0.60,-243.4,170.2,-9.6,228,1347,0.00,2.17,0.00,0.000,4,0.000,0.043,2627,3460,3944
$GC,1420,-0.74,-243.4,177.2,-9.1,241,1428,0.17,2.05,0.00,0.000,6,0.048,0.026,2542,2044,3944
$GC,1771,-0.56,-243.4,234.5,-15.3,302,1778,0.28,2.05,0.00,0.000,4,0.124,0.035,2630,681,3943
$GC,1837,-0.69,-243.4,241.6,-7.6,313,1845,0.00,2.05,0.00,0.000,6,0.000,0.031,2622,2060,3943
$GC,2185,-0.84,-243.4,264.2,-7.6,374,2192,0.17,2.15,0.00,0.000,4,0.050,0.044,2517,3459,3942
$GC,2217,-0.81,-243.4,267.9,-12.7,379,2224,0.15,2.05,0.00,0.000,6,0.126,0.028,2561,2051,3942
$GC,2565,-0.81,-243.4,308.8,-11.2,434,2569,0.00,2.08,0.00,0.000,4,0.000,0.038,2561,677,3940
$GC,2602,-0.81,-243.4,312.7,-10.1,437,2606,0.00,2.08,0.00,0.000,6,0.000,0.033,2558,2053,3940
$GC,2933,-0.81,-243.4,343.9,-9.3,468,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2053,3938
$GC,3253,-0.84,-243.4,371.6,-8.7,498,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2053,3936
$GC,3572,-0.88,-243.4,400.3,-9.8,528,3575,0.00,2.22,0.00,0.000,4,0.000,0.049,2549,3469,3934
$GC,3611,-0.94,-243.4,404.0,-9.9,531,3615,0.00,2.12,0.00,0.000,6,0.000,0.031,2549,2045,3933
$GC,3942,-0.94,-243.4,440.8,-10.9,562,3946,0.00,2.12,0.00,0.000,4,0.000,0.043,2549,663,3930
$GC,3992,-0.97,-243.4,446.0,-11.3,566,3997,0.12,2.10,0.00,0.000,6,0.064,0.037,2481,2038,3929
$GC,4324,-0.83,-243.4,495.0,-13.4,597,4326,0.25,0.00,0.00,0.000,6,0.127,0.000,2555,2039,3927
$GC,4651,-0.90,-243.4,519.5,-6.4,615,4655,0.00,2.25,0.00,0.000,4,0.000,0.054,2547,3459,3924
$GC,4685,-0.98,-243.4,522.0,-6.1,616,4690,0.12,2.15,0.00,0.000,6,0.060,0.033,2481,2029,3924
$GC,5006,-0.86,-243.4,557.6,-11.8,631,5011,0.17,2.15,0.00,0.000,4,0.127,0.046,2540,664,3921
$GC,5101,-0.86,-243.4,566.7,-7.9,635,5105,0.00,2.12,0.00,0.000,6,0.000,0.041,2534,2033,3920
$GC,5425,-0.86,-243.4,594.3,-8.4,651,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2033,3918
$GC,5733,-0.86,-243.4,621.0,-9.1,666,5737,0.00,2.33,0.00,0.000,4,0.000,0.059,2530,3463,3915
$GC,5768,-0.91,-243.4,624.0,-8.3,667,5774,0.00,2.20,0.00,0.000,6,0.000,0.035,2530,2028,3914
$GC,6091,-0.91,-243.4,652.5,-9.0,683,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2028,3912
$GC,6394,-0.91,-243.4,682.2,-9.2,698,6398,0.00,2.17,0.00,0.000,4,0.000,0.050,2530,660,3910
$GC,6429,-0.91,-243.4,685.9,-10.7,699,6433,0.00,2.17,0.00,0.000,6,0.000,0.044,2530,2039,3910
$GC,6753,-0.91,-243.4,718.0,-10.2,715,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2039,3908
$GC,7060,-0.91,-243.4,749.4,-10.1,730,7065,0.00,2.22,0.00,0.000,4,0.000,0.051,2531,660,3905
$GC,7121,-0.91,-243.4,756.2,-11.4,732,7130,0.00,2.20,0.00,0.000,6,0.000,0.046,2531,2029,3905
$GC,7438,-0.91,-243.4,789.0,-10.6,748,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2029,3904
$GC,7751,-0.94,-243.4,823.1,-11.2,763,7755,0.00,2.38,0.00,0.000,4,0.000,0.063,2531,3470,3902
$GC,7785,-1.00,-243.4,827.2,-10.8,764,7793,0.00,2.25,0.00,0.000,6,0.000,0.039,2531,2036,3901
$GC,8101,-1.04,-243.4,860.8,-10.8,780,8103,0.12,0.00,0.00,0.000,6,0.065,0.000,2468,2036,3900
$GC,8414,-0.92,-243.4,904.7,-14.3,795,8419,0.17,2.22,0.00,0.000,4,0.132,0.052,2520,660,3899
$GC,8470,-0.92,-243.4,912.1,-11.2,797,8477,0.00,2.20,0.00,0.000,6,0.000,0.047,2518,2041,3898
$GC,8789,-0.92,-243.4,944.5,-10.1,813,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2041,3897
$GC,9096,-0.92,-243.4,975.0,-9.7,828,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2041,3895
$STATE,9257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9257,begin apogee
$GC,9266,-0.23,0.0,990.9,9.6,836,9484,0.70,0.00,209.88,1.487,6,0.102,0.000,2746,1694,2945
$STATE,9485,end apogee,CONTROL_FINISHED_OK
$STATE,9485,begin climb
$GC,9489,0.93,243.4,1004.5,0.0,847,9736,1.08,2.65,238.18,1.428,4,0.045,0.056,3145,296,1950
$GC,9822,0.53,243.4,971.2,20.6,861,9829,0.60,2.38,0.00,0.000,6,0.161,0.044,2994,1700,1945
$GC,10144,0.47,244.5,937.6,10.0,877,10148,0.00,2.25,0.00,0.000,4,0.000,0.058,2995,3105,1943
$GC,10387,0.37,244.5,911.5,10.3,887,10395,0.22,2.17,0.00,0.000,6,0.142,0.043,2942,1715,1941
$GC,10710,0.61,389.8,891.7,6.0,903,10861,0.20,2.38,135.52,1.391,4,0.054,0.058,3044,3095,1354
$GC,11085,0.43,389.8,830.4,18.3,919,11090,0.32,2.12,0.00,0.000,6,0.140,0.043,2962,1722,1349
$GC,11405,0.54,395.2,798.0,9.9,934,11414,0.00,2.22,4.93,0.961,4,0.000,0.055,2962,3109,1334
$GC,11567,0.62,395.2,780.5,10.5,941,11572,0.15,2.10,0.00,0.000,6,0.057,0.042,3043,1757,1334
$GC,11887,0.50,395.2,727.8,16.6,956,11892,0.17,2.17,0.00,0.000,4,0.140,0.056,2986,3102,1334
$GC,12005,0.50,395.2,712.1,12.4,961,12009,0.00,2.08,0.00,0.000,6,0.000,0.041,2991,1773,1333
$GC,12336,0.50,395.2,675.3,10.9,977,12340,0.00,2.17,0.00,0.000,4,0.000,0.057,2991,3110,1333
$GC,12450,0.50,395.2,661.5,11.6,982,12453,0.00,2.08,0.00,0.000,6,0.000,0.041,3001,1785,1333
$GC,12783,0.50,395.2,621.8,11.1,998,12787,0.00,2.15,0.00,0.000,4,0.000,0.056,3001,3110,1333
$GC,12930,0.50,395.2,605.2,11.1,1004,12934,0.00,2.03,0.00,0.000,6,0.000,0.041,3010,1810,1333
$GC,13253,0.50,395.2,568.0,12.1,1020,13257,0.00,2.10,0.00,0.000,4,0.000,0.055,3010,3108,1332
$GC,13444,0.45,395.2,545.0,12.2,1028,13449,0.17,2.00,0.00,0.000,6,0.134,0.041,2970,1827,1333
$GC,13771,0.65,470.2,518.9,7.9,1044,13870,0.17,2.12,75.82,1.114,4,0.054,0.056,3065,3102,1028
$GC,14023,0.48,470.2,472.4,21.7,1060,14031,0.28,1.95,0.00,0.000,6,0.133,0.041,2972,1855,1027
$GC,14350,0.76,564.5,441.9,7.4,1091,14445,0.22,2.10,85.80,1.111,4,0.046,0.055,3087,3109,642
$GC,14511,0.59,564.5,411.7,23.2,1104,14518,0.22,1.95,0.00,0.000,6,0.137,0.040,3009,1866,641
$GC,14841,0.68,564.5,371.8,10.6,1135,14844,0.00,1.98,0.00,0.000,4,0.000,0.053,3009,3110,638
$GC,14921,0.82,572.4,363.1,9.8,1142,14936,0.20,1.92,7.65,0.899,6,0.049,0.039,3110,1876,611
$GC,15255,0.63,572.4,288.3,21.1,1177,15262,0.28,1.98,0.00,0.000,4,0.137,0.051,3019,3111,610
$GC,15401,0.76,572.4,268.8,10.2,1202,15410,0.08,1.88,0.00,0.000,6,0.048,0.039,3090,1903,610
$GC,15753,0.64,572.4,198.6,20.5,1263,15761,0.20,1.92,0.00,0.000,4,0.137,0.048,3029,3107,610
$GC,15814,0.76,572.4,188.9,12.0,1273,15820,0.00,1.85,0.00,0.000,6,0.000,0.038,3031,1914,610
$GC,16161,0.94,607.8,156.2,9.0,1334,16201,0.20,1.90,32.40,0.859,4,0.047,0.048,3146,3116,466
$GC,16256,0.74,607.8,137.4,24.3,1349,16263,0.28,1.80,0.00,0.000,6,0.131,0.035,3054,1938,466
$GC,16607,1.04,687.2,104.9,7.8,1410,16623,0.25,2.62,4.45,0.556,4,0.039,0.046,3196,285,455
$GC,16649,0.92,687.2,98.5,17.9,1416,16656,0.28,2.55,0.00,0.000,6,0.132,0.036,3115,1957,454
$GC,16996,1.05,704.0,56.1,9.5,1477,17003,0.12,1.80,0.00,0.000,4,0.064,0.044,3184,3110,454
$GC,17109,0.98,704.0,36.6,17.8,1496,17115,0.15,1.77,0.00,0.000,6,0.123,0.032,3142,1935,454
$STATE,17417,end climb,SURFACE_DEPTH_REACHED
$STATE,17417,begin surface coast
$FINISH,0.9,1.007938
$STATE,17451,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
$SM_CCo,17537,0.00,0.000,0,0,454,611.04
$SM_GC,1.73,8.02,0.00,0.00,0.036,0.000,0.000,144,2100,454,-8.30,1.10,611.04
$IRIDIUM_FIX,2503.20,12311.02,241198,101040
$TT8_MAMPS,0.026845
$HUMID,1741
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,180
$24V_AH,21.3,132.287
$10V_AH,10.5,84.247
$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,26.250,132.700,794.625,0.000,0.000,22.563,32.073,256.161,53.000,0.000,0.000,13.393,2759.040,9681.495,826.783,3850.993,905.240,0.000,2390.340,0.000,3821.200,0.000,54.416,0.000
$DEVICE_MAMPS,223.197,62.894,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.557,1083.313,2346.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88422,1557
$CAP_FILE_SIZE,183310,0
$CFSIZE,260165632,187498496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.358, 44.5,1
$GPS,300809,202701,2512.178,12313.014,39,1.6,39,-3.7