version: 66.04
glider: 166
mission: 2
dive: 588
start: 9 2 109 0 41 36
data:
$ID,166
$MISSION,2
$DIVE,588
$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,-18866.1
$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,53
$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
$GPS1,002930,2512.699,12334.502,36,1.0,41,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.2
$GPS2,004114,2512.760,12334.733,13,1.1,13,-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,214.5,175260,-13.9,-10.000
$D_GRID,1964
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,99,0.00,0.00,-79.75,0.000,2,0.000,0.000,161,2108,2242
$GC,104,-0.93,-243.4,3.1,-5.3,12,163,9.23,2.30,-44.42,0.000,4,0.214,0.048,2514,641,3940
$GC,408,-0.52,-243.4,87.6,-28.7,64,415,0.47,2.12,0.00,0.000,6,0.123,0.031,2647,2068,3940
$GC,758,-0.57,-243.4,130.1,-9.8,125,765,0.00,2.12,0.00,0.000,4,0.000,0.044,2645,3460,3942
$GC,819,-0.68,-243.4,135.8,-9.6,135,826,0.15,2.08,0.00,0.000,6,0.052,0.027,2569,2034,3943
$GC,1166,-0.51,-243.4,195.7,-15.3,196,1172,0.25,0.00,0.00,0.000,6,0.127,0.000,2649,2031,3943
$GC,1514,-0.63,-243.4,223.7,-7.7,257,1521,0.00,2.25,0.00,0.000,4,0.000,0.044,2627,3470,3942
$GC,1559,-0.79,-243.4,227.3,-7.0,264,1566,0.22,2.03,0.00,0.000,6,0.043,0.027,2536,2072,3941
$GC,1907,-0.57,-243.4,289.4,-18.5,325,1914,0.28,0.00,0.00,0.000,6,0.127,0.000,2627,2070,3940
$GC,2242,-0.67,-243.4,319.2,-8.6,365,2246,0.00,2.20,0.00,0.000,4,0.000,0.048,2601,3463,3938
$GC,2281,-0.82,-243.4,322.7,-8.2,368,2288,0.15,2.03,0.00,0.000,6,0.054,0.028,2522,2086,3938
$GC,2609,-0.69,-243.4,367.9,-14.3,399,2614,0.20,2.17,0.00,0.000,4,0.125,0.046,2582,3456,3935
$GC,2643,-0.75,-243.4,372.0,-9.4,401,2651,0.00,2.03,0.00,0.000,6,0.000,0.028,2583,2081,3935
$GC,2973,-0.82,-243.4,399.3,-8.6,432,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2081,3934
$GC,3304,-0.91,-243.4,427.0,-8.3,463,3310,0.17,0.00,0.00,0.000,6,0.051,0.000,2481,2081,3931
$GC,3631,-0.71,-243.4,480.8,-16.8,494,3635,0.32,2.22,0.00,0.000,4,0.123,0.041,2586,663,3928
$GC,3713,-0.82,-243.4,489.3,-8.2,501,3717,0.00,2.17,0.00,0.000,6,0.000,0.037,2585,2082,3927
$GC,4048,-0.95,-243.4,514.2,-7.6,523,4053,0.20,2.20,0.00,0.000,4,0.046,0.051,2469,3467,3925
$GC,4111,-0.81,-243.4,522.8,-14.0,526,4116,0.30,2.05,0.00,0.000,6,0.121,0.032,2561,2102,3925
$GC,4445,-0.88,-243.4,552.5,-8.7,542,4449,0.00,2.25,0.00,0.000,4,0.000,0.044,2561,662,3923
$GC,4474,-0.95,-243.4,555.3,-9.5,543,4479,0.15,2.20,0.00,0.000,6,0.057,0.039,2484,2092,3922
$GC,4805,-0.83,-243.4,600.5,-14.4,559,4810,0.20,2.25,0.00,0.000,4,0.127,0.044,2550,667,3919
$GC,4895,-0.88,-243.4,611.3,-10.4,563,4899,0.00,2.20,0.00,0.000,6,0.000,0.041,2547,2090,3918
$GC,5230,-0.94,-243.4,640.4,-8.4,579,5233,0.00,2.20,0.00,0.000,4,0.000,0.056,2542,3463,3916
$GC,5259,-1.00,-243.4,643.3,-8.1,580,5264,0.15,2.08,0.00,0.000,6,0.056,0.034,2469,2093,3915
$GC,5581,-0.86,-243.4,684.6,-12.9,596,5585,0.20,2.28,0.00,0.000,4,0.128,0.046,2534,666,3912
$GC,5695,-0.90,-243.4,694.5,-8.4,601,5699,0.00,2.22,0.00,0.000,6,0.000,0.042,2530,2089,3911
$GC,6034,-0.90,-243.4,723.9,-8.8,617,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2090,3909
$GC,6338,-0.90,-243.4,750.5,-8.6,632,6342,0.00,2.28,0.00,0.000,4,0.000,0.049,2530,661,3907
$GC,6380,-0.90,-243.4,754.2,-9.2,634,6384,0.00,2.25,0.00,0.000,6,0.000,0.044,2530,2088,3907
$GC,6712,-0.93,-243.4,783.5,-9.1,650,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2088,3905
$GC,7020,-0.96,-243.4,811.2,-8.8,665,7024,0.00,2.30,0.00,0.000,4,0.000,0.051,2530,659,3902
$GC,7066,-0.96,-243.4,815.7,-9.5,667,7070,0.00,2.25,0.00,0.000,6,0.000,0.045,2530,2081,3901
$GC,7388,-1.00,-243.4,845.1,-9.5,683,7392,0.00,2.28,0.00,0.000,4,0.000,0.061,2522,3472,3900
$GC,7417,-1.04,-243.4,848.1,-9.7,684,7422,0.12,2.15,0.00,0.000,6,0.064,0.038,2462,2073,3899
$GC,7743,-0.91,-243.4,893.5,-14.2,700,7748,0.20,2.28,0.00,0.000,4,0.129,0.051,2527,655,3898
$GC,7794,-0.95,-243.4,900.0,-10.3,702,7798,0.00,2.25,0.00,0.000,6,0.000,0.044,2519,2078,3897
$GC,8122,-0.95,-243.4,933.1,-9.9,718,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2079,3895
$GC,8434,-0.95,-243.4,964.2,-10.0,733,8438,0.00,2.28,0.00,0.000,4,0.000,0.052,2518,666,3894
$GC,8475,-0.95,-243.4,969.1,-10.7,734,8482,0.00,2.28,0.00,0.000,6,0.000,0.049,2517,2069,3893
$STATE,8687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8687,begin apogee
$GC,8696,-0.23,0.0,991.1,10.4,745,8916,0.70,0.00,211.60,1.474,6,0.099,0.000,2747,1689,2945
$STATE,8917,end apogee,CONTROL_FINISHED_OK
$STATE,8917,begin climb
$GC,8920,0.93,243.4,1006.5,0.0,756,9350,1.12,0.00,292.10,1.210,6,0.041,0.000,3137,1688,1952
$GC,9651,0.53,243.4,915.6,19.5,791,9656,0.47,2.30,0.00,0.000,4,0.166,0.058,2996,3108,1944
$GC,9913,0.41,243.4,882.1,11.5,802,9922,0.15,2.17,0.00,0.000,6,0.134,0.044,2957,1731,1941
$GC,10232,0.49,305.7,854.9,8.3,818,10301,0.00,2.33,57.60,1.355,4,0.000,0.058,2957,3103,1697
$GC,10487,0.49,305.7,831.1,10.3,829,10491,0.00,2.12,0.00,0.000,6,0.000,0.043,2965,1738,1693
$GC,10824,0.54,348.5,799.9,8.8,845,10869,0.00,2.22,38.88,1.357,4,0.000,0.056,2965,3105,1525
$GC,11039,0.54,348.5,777.9,10.2,854,11043,0.00,2.10,0.00,0.000,6,0.000,0.043,2974,1751,1521
$GC,11361,0.54,348.5,745.2,10.2,870,11365,0.00,2.17,0.00,0.000,4,0.000,0.058,2975,3107,1520
$GC,11528,0.54,348.5,727.6,10.5,877,11531,0.00,2.08,0.00,0.000,6,0.000,0.042,2985,1778,1519
$GC,11865,0.54,350.6,693.1,9.9,893,11869,0.00,2.15,0.00,0.000,4,0.000,0.057,2985,3106,1519
$GC,11945,0.54,350.6,683.7,11.6,896,11948,0.00,2.05,0.00,0.000,6,0.000,0.042,2995,1793,1518
$GC,12267,0.54,350.6,646.8,11.5,912,12271,0.00,2.12,0.00,0.000,4,0.000,0.056,2995,3111,1518
$GC,12433,0.51,350.6,627.2,12.1,919,12437,0.00,2.03,0.00,0.000,6,0.000,0.041,3005,1814,1518
$GC,12769,0.51,350.6,587.0,11.7,935,12773,0.00,2.10,0.00,0.000,4,0.000,0.055,3005,3111,1516
$GC,12873,0.47,350.6,573.7,12.7,939,12877,0.15,2.00,0.00,0.000,6,0.134,0.041,2974,1827,1517
$GC,13200,0.58,383.6,542.6,9.1,955,13236,0.00,2.12,31.70,1.193,4,0.000,0.054,2976,3106,1381
$GC,13343,0.66,393.1,528.9,9.7,960,13360,0.15,1.98,10.15,1.063,6,0.056,0.041,3052,1821,1342
$GC,13670,0.56,393.1,478.5,16.3,982,13674,0.17,2.08,0.00,0.000,4,0.136,0.053,2999,3116,1340
$GC,13800,0.56,393.1,462.0,10.9,993,13806,0.00,1.95,0.00,0.000,6,0.000,0.040,3005,1852,1339
$GC,14126,0.56,393.1,424.2,11.8,1024,14129,0.00,2.00,0.00,0.000,4,0.000,0.051,3006,3106,1339
$GC,14281,0.56,393.1,405.7,11.4,1037,14284,0.00,1.90,0.00,0.000,6,0.000,0.039,3013,1878,1339
$GC,14611,0.56,393.1,366.5,11.5,1068,14615,0.00,1.98,0.00,0.000,4,0.000,0.051,3015,3114,1339
$GC,14831,0.56,393.1,342.1,11.3,1087,14835,0.00,1.90,0.00,0.000,6,0.000,0.038,3022,1906,1339
$GC,15162,0.56,393.1,301.9,11.5,1118,15166,0.00,1.92,0.00,0.000,4,0.000,0.048,3023,3115,1339
$GC,15277,0.56,396.9,289.6,9.9,1136,15286,0.00,1.85,4.88,0.708,6,0.000,0.036,3029,1922,1326
$GC,15627,0.56,396.9,255.3,11.3,1197,15632,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1922,1325
$GC,15971,0.56,396.9,215.8,10.9,1258,15978,0.00,1.92,0.00,0.000,4,0.000,0.045,3030,3111,1326
$GC,16182,0.62,411.8,193.1,9.6,1294,16202,0.00,1.80,15.12,0.834,6,0.000,0.034,3038,1948,1265
$GC,16548,0.67,411.8,157.5,10.2,1357,16555,0.00,1.85,0.00,0.000,4,0.000,0.044,3038,3111,1265
$GC,16580,0.73,411.8,153.6,11.1,1362,16586,0.00,1.77,0.00,0.000,6,0.000,0.033,3046,1950,1265
$GC,16929,0.86,458.7,118.4,8.7,1423,16976,0.15,1.90,41.62,0.798,4,0.055,0.043,3132,3124,1074
$GC,17008,0.73,458.7,106.8,13.7,1435,17015,0.25,1.77,0.00,0.000,6,0.119,0.032,3058,1959,1074
$GC,17355,1.09,615.8,80.9,5.7,1496,17490,0.25,1.88,128.15,0.747,4,0.041,0.041,3191,3118,455
$GC,17573,1.01,615.8,44.0,18.1,1531,17580,0.15,1.77,0.00,0.000,6,0.118,0.031,3148,1947,453
$GC,17920,1.17,646.6,4.1,9.1,1592,17929,0.15,2.58,0.00,0.000,4,0.055,0.039,3245,269,452
$STATE,17933,end climb,SURFACE_DEPTH_REACHED
$STATE,17933,begin surface coast
$FINISH,0.8,1.021449
$STATE,17964,end surface coast,CONTROL_FINISHED_OK
$STATE,17964,begin surface
$SM_CCo,18048,0.00,0.000,0,0,450,612.02
$SM_GC,1.57,8.20,0.00,0.00,0.033,0.000,0.000,162,2082,450,-8.27,0.62,612.02
$IRIDIUM_FIX,2503.20,12336.78,271198,000030
$TT8_MAMPS,0.026845
$HUMID,1683
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,176
$24V_AH,20.8,135.706
$10V_AH,10.4,86.324
$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,25.050,140.475,831.800,0.000,0.000,49.358,75.499,316.226,52.000,0.000,0.000,13.672,2808.807,9915.128,949.897,3981.288,1075.395,0.000,2575.986,0.000,3963.144,0.000,58.335,0.000
$DEVICE_MAMPS,213.993,61.360,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.627,1085.423,2381.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88399,1599
$CAP_FILE_SIZE,191188,0
$CFSIZE,260165632,186429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.319, 57.2,1
$GPS,020909,054337,2511.584,12336.691,35,1.0,35,-3.7