version: 66.04
glider: 166
mission: 2
dive: 587
start: 9 1 109 19 27 5
data:
$ID,166
$MISSION,2
$DIVE,587
$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,-18851.801
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,191731,2513.671,12332.848,43,1.0,43,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.6
$GPS2,192644,2513.858,12332.954,12,1.2,12,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,213.8,177986,-13.9,-10.000
$D_GRID,1911
$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,17,-0.93,-243.4,0.0,0.0,0,99,0.00,0.00,-79.93,0.000,2,0.000,0.000,162,2033,2240
$GC,104,-0.93,-243.4,3.2,-6.0,12,162,9.38,2.15,-43.78,0.000,4,0.221,0.047,2514,650,3940
$GC,313,-0.53,-243.4,58.3,-29.2,47,320,0.47,2.12,0.00,0.000,6,0.120,0.033,2648,2080,3941
$GC,661,-0.53,-243.4,105.1,-12.4,108,667,0.00,2.10,0.00,0.000,4,0.000,0.042,2643,3462,3943
$GC,731,-0.61,-243.4,113.8,-11.4,120,737,0.00,2.08,0.00,0.000,6,0.000,0.026,2648,2050,3942
$GC,1079,-0.66,-243.4,149.1,-9.9,181,1085,0.12,2.20,0.00,0.000,4,0.061,0.041,2564,3472,3943
$GC,1117,-0.56,-243.4,153.7,-13.1,187,1124,0.20,2.05,0.00,0.000,6,0.112,0.026,2634,2067,3943
$GC,1466,-0.62,-243.4,190.9,-9.5,248,1472,0.00,2.08,0.00,0.000,4,0.000,0.035,2622,676,3943
$GC,1493,-0.70,-243.4,193.5,-10.1,252,1499,0.00,2.08,0.00,0.000,6,0.000,0.031,2614,2079,3943
$GC,1841,-0.78,-243.4,223.6,-7.6,313,1847,0.12,2.12,0.00,0.000,4,0.062,0.043,2531,3459,3941
$GC,1884,-0.69,-243.4,228.1,-12.4,320,1891,0.20,2.03,0.00,0.000,6,0.119,0.027,2596,2059,3941
$GC,2230,-0.73,-243.4,262.0,-11.7,381,2236,0.00,2.20,0.00,0.000,4,0.000,0.045,2587,3457,3940
$GC,2327,-0.82,-243.4,272.5,-9.7,398,2335,0.00,2.00,0.00,0.000,6,0.000,0.028,2587,2105,3939
$GC,2677,-0.87,-243.4,307.6,-10.3,453,2683,0.15,0.00,0.00,0.000,6,0.058,0.000,2504,2105,3937
$GC,3005,-0.71,-243.4,362.5,-15.7,484,3009,0.25,2.17,0.00,0.000,4,0.124,0.046,2581,3457,3936
$GC,3026,-0.60,-243.4,365.3,-15.2,485,3030,0.15,2.03,0.00,0.000,6,0.104,0.028,2629,2083,3936
$GC,3359,-1.07,-243.4,387.0,-7.4,516,3365,0.43,0.00,0.00,0.000,6,0.062,0.000,2469,2083,3934
$GC,3686,-0.83,-243.4,437.6,-17.9,547,3691,0.25,2.22,0.00,0.000,4,0.133,0.049,2542,3462,3931
$GC,3798,-0.87,-243.4,450.6,-10.3,556,3802,0.00,2.05,0.00,0.000,6,0.000,0.031,2543,2082,3930
$GC,4132,-0.87,-243.4,489.6,-11.7,587,4136,0.00,2.17,0.00,0.000,4,0.000,0.042,2542,672,3928
$GC,4161,-0.87,-243.4,493.3,-12.1,589,4167,0.00,2.15,0.00,0.000,6,0.000,0.037,2542,2077,3927
$GC,4494,-0.87,-243.4,529.3,-10.3,608,4497,0.00,2.20,0.00,0.000,4,0.000,0.053,2542,3468,3925
$GC,4534,-0.93,-243.4,533.8,-9.7,609,4540,0.00,2.08,0.00,0.000,6,0.000,0.031,2542,2075,3925
$GC,4854,-0.93,-243.4,563.4,-8.6,625,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2075,3923
$GC,5160,-0.96,-243.4,590.0,-9.0,640,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2075,3920
$GC,5474,-0.99,-243.4,618.7,-9.3,655,5476,0.12,0.00,0.00,0.000,6,0.064,0.000,2472,2075,3918
$GC,5778,-0.86,-243.4,663.5,-14.8,670,5783,0.20,2.25,0.00,0.000,4,0.124,0.047,2539,658,3915
$GC,5825,-0.89,-243.4,668.9,-10.7,672,5829,0.00,2.22,0.00,0.000,6,0.000,0.041,2533,2087,3915
$GC,6149,-0.89,-243.4,699.8,-9.4,688,6154,0.00,2.22,0.00,0.000,4,0.000,0.058,2530,3465,3912
$GC,6197,-0.95,-243.4,704.4,-8.8,690,6201,0.00,2.10,0.00,0.000,6,0.000,0.035,2530,2087,3912
$GC,6531,-0.95,-243.4,737.9,-10.1,706,6534,0.00,2.25,0.00,0.000,4,0.000,0.049,2529,662,3910
$GC,6593,-0.95,-243.4,744.6,-10.2,708,6602,0.00,2.25,0.00,0.000,6,0.000,0.044,2530,2075,3909
$GC,6914,-0.95,-243.4,776.2,-9.9,724,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2075,3907
$GC,7222,-0.95,-243.4,804.8,-9.1,739,7226,0.00,2.25,0.00,0.000,4,0.000,0.050,2529,665,3905
$GC,7286,-0.95,-243.4,811.2,-9.8,741,7292,0.00,2.25,0.00,0.000,6,0.000,0.045,2530,2087,3904
$GC,7608,-0.99,-243.4,839.1,-8.4,757,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2087,3903
$GC,7913,-1.02,-243.4,863.9,-7.8,772,7915,0.12,0.00,0.00,0.000,6,0.066,0.000,2467,2087,3901
$GC,8227,-0.90,-243.4,900.8,-11.8,787,8229,0.20,0.00,0.00,0.000,6,0.128,0.000,2528,2087,3899
$GC,8533,-0.94,-243.4,925.9,-7.6,802,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2087,3898
$GC,8843,-0.98,-243.4,948.7,-7.3,817,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2087,3896
$GC,9149,-1.01,-243.4,970.3,-6.8,832,9151,0.12,0.00,0.00,0.000,6,0.066,0.000,2468,2087,3895
$STATE,9333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9333,begin apogee
$GC,9343,-0.23,0.0,990.2,11.4,841,9564,0.88,0.00,212.52,1.473,6,0.116,0.000,2741,1699,2945
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9568,0.93,243.4,1002.6,0.0,852,10004,1.10,2.62,291.85,1.206,4,0.041,0.056,3130,3098,1950
$GC,10254,0.51,243.4,911.9,20.3,883,10259,0.55,2.20,0.00,0.000,6,0.157,0.044,2985,1693,1945
$GC,10574,0.46,243.4,878.5,10.1,898,10578,0.00,2.28,0.00,0.000,4,0.000,0.058,2986,3108,1943
$GC,10767,0.39,243.4,857.0,12.3,906,10772,0.17,2.17,0.00,0.000,6,0.137,0.044,2947,1705,1942
$GC,11091,0.50,302.6,830.9,8.4,921,11158,0.12,2.30,54.75,1.345,4,0.070,0.058,3009,3110,1710
$GC,11367,0.40,302.6,793.6,14.9,933,11372,0.25,2.12,0.00,0.000,6,0.135,0.042,2947,1736,1706
$GC,11700,0.52,332.6,761.8,9.2,949,11735,0.12,2.28,27.70,1.322,4,0.065,0.058,3015,3105,1589
$GC,11906,0.43,332.6,731.8,14.1,958,11910,0.22,2.08,0.00,0.000,6,0.133,0.043,2960,1765,1585
$GC,12234,0.54,363.9,700.2,9.1,974,12269,0.10,2.20,29.08,1.289,4,0.074,0.057,3019,3101,1461
$GC,12388,0.46,363.9,678.8,13.9,980,12395,0.17,2.08,0.00,0.000,6,0.126,0.043,2971,1785,1459
$GC,12709,0.61,427.0,650.2,8.3,996,12778,0.12,2.17,58.20,1.267,4,0.066,0.056,3043,3097,1203
$GC,12919,0.50,427.0,619.4,15.4,1005,12923,0.25,2.00,0.00,0.000,6,0.132,0.042,2979,1808,1200
$GC,13251,0.59,431.6,585.6,9.9,1021,13261,0.00,2.05,4.80,0.873,4,0.000,0.055,2981,3105,1184
$GC,13346,0.67,431.6,575.9,10.9,1025,13350,0.15,2.00,0.00,0.000,6,0.057,0.041,3057,1814,1184
$GC,13684,0.55,431.6,519.4,17.5,1041,13688,0.20,2.08,0.00,0.000,4,0.136,0.053,2991,3103,1184
$GC,13859,0.61,431.6,497.2,11.2,1049,13862,0.00,1.98,0.00,0.000,6,0.000,0.041,2998,1833,1184
$GC,14190,0.66,431.6,459.4,11.7,1080,14194,0.00,2.05,0.00,0.000,4,0.000,0.052,2999,3112,1184
$GC,14283,0.69,431.6,447.7,12.3,1088,14287,0.10,1.98,0.00,0.000,6,0.069,0.040,3062,1835,1184
$GC,14615,0.59,431.6,393.7,16.1,1119,14619,0.20,2.05,0.00,0.000,4,0.136,0.051,3002,3106,1184
$GC,14734,0.65,431.6,379.6,11.3,1129,14738,0.00,1.90,0.00,0.000,6,0.000,0.038,3004,1863,1184
$GC,15065,0.70,431.6,344.0,10.2,1160,15069,0.10,1.98,0.00,0.000,4,0.071,0.050,3063,3108,1184
$GC,15224,0.61,431.6,319.9,15.5,1174,15228,0.20,1.88,0.00,0.000,6,0.132,0.038,3016,1890,1184
$GC,15561,0.65,431.6,280.5,11.3,1219,15567,0.00,1.92,0.00,0.000,4,0.000,0.049,3019,3114,1184
$GC,15648,0.72,431.6,270.5,10.4,1234,15656,0.00,1.88,0.00,0.000,6,0.000,0.037,3023,1904,1184
$GC,15998,0.79,436.8,232.1,9.9,1295,16011,0.15,1.90,6.20,0.746,4,0.058,0.047,3112,3115,1165
$GC,16097,0.63,436.8,214.5,18.1,1312,16104,0.28,1.83,0.00,0.000,6,0.127,0.035,3019,1925,1164
$GC,16444,0.82,510.1,181.5,8.0,1373,16518,0.17,2.60,64.85,0.867,4,0.052,0.050,3140,283,865
$GC,16540,0.68,510.1,166.8,19.6,1387,16547,0.35,2.58,0.00,0.000,6,0.123,0.037,3035,1959,864
$GC,16889,0.81,522.2,133.1,9.7,1448,16910,0.12,1.80,11.68,0.749,4,0.061,0.044,3114,3114,815
$GC,17037,0.74,522.2,108.4,19.7,1473,17043,0.17,1.80,0.00,0.000,6,0.117,0.033,3062,1924,815
$GC,17386,0.98,579.3,71.1,8.4,1534,17446,0.17,2.58,49.28,0.750,4,0.047,0.044,3177,271,584
$GC,17455,0.89,579.3,62.5,16.0,1544,17462,0.25,2.55,0.00,0.000,6,0.117,0.033,3102,1946,583
$GC,17802,1.21,672.3,33.1,7.4,1605,17836,0.25,1.88,28.17,0.695,4,0.041,0.042,3234,3124,455
$GC,17951,1.11,672.3,6.0,18.1,1630,17959,0.17,1.83,0.00,0.000,6,0.121,0.031,3167,1916,454
$STATE,17963,end climb,SURFACE_DEPTH_REACHED
$STATE,17963,begin surface coast
$FINISH,1.0,1.021304
$STATE,17982,end surface coast,CONTROL_FINISHED_OK
$STATE,17982,begin surface
$SM_CCo,18065,0.00,0.000,0,0,451,611.78
$SM_GC,1.63,8.02,0.00,0.00,0.035,0.000,0.000,161,2104,451,-8.28,1.22,611.78
$IRIDIUM_FIX,2503.20,12328.19,261198,141431
$TT8_MAMPS,0.026845
$HUMID,1723
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.60
$XPDR_PINGS,177
$24V_AH,21.0,135.398
$10V_AH,10.5,86.134
$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,27.650,132.500,839.075,0.000,0.000,22.918,31.523,306.030,52.250,0.000,0.000,12.517,2867.987,9772.025,948.281,4023.026,985.481,0.000,2591.967,0.000,4008.170,0.000,54.424,0.000
$DEVICE_MAMPS,220.896,58.292,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.457,1126.021,2469.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91571,1635
$CAP_FILE_SIZE,193656,0
$CFSIZE,260165632,186519552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.311, 53.9,1
$GPS,020909,002930,2512.699,12334.502,36,1.0,41,-3.7