version: 66.04
glider: 166
mission: 2
dive: 591
start: 9 2 109 16 20 16
data:
$ID,166
$MISSION,2
$DIVE,591
$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,-18917.918
$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,65
$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
$GPS1,161206,2509.927,12340.456,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.6
$GPS2,161955,2510.020,12340.585,16,1.1,16,-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,217.4,168121,-13.9,-10.000
$D_GRID,2065
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,107,0.00,0.00,-85.07,0.000,2,0.000,0.000,150,2107,2371
$GC,111,-0.93,-243.4,3.1,-4.2,13,164,9.18,2.30,-38.70,0.000,4,0.212,0.047,2510,634,3941
$GC,365,-0.50,-243.4,76.5,-27.7,56,374,0.45,2.12,0.00,0.000,6,0.119,0.031,2661,2039,3941
$GC,714,-0.54,-243.4,119.2,-8.9,117,722,0.00,2.17,0.00,0.000,4,0.000,0.044,2656,3460,3944
$GC,745,-0.62,-243.4,121.6,-8.7,121,752,0.12,2.08,0.00,0.000,6,0.058,0.026,2589,2026,3944
$GC,1091,-0.48,-243.4,172.1,-15.6,182,1098,0.22,2.28,0.00,0.000,4,0.123,0.043,2653,3465,3943
$GC,1136,-0.60,-243.4,176.7,-8.1,189,1142,0.00,2.05,0.00,0.000,6,0.000,0.027,2655,2050,3943
$GC,1484,-0.74,-243.4,205.9,-8.3,250,1490,0.17,0.00,0.00,0.000,6,0.048,0.000,2547,2050,3943
$GC,1831,-0.57,-243.4,263.6,-16.3,311,1838,0.25,2.25,0.00,0.000,4,0.123,0.044,2612,3462,3941
$GC,1892,-0.72,-243.4,270.1,-7.7,321,1898,0.00,2.05,0.00,0.000,6,0.000,0.027,2614,2061,3941
$GC,2237,-0.81,-243.4,299.1,-8.4,382,2243,0.15,0.00,0.00,0.000,6,0.055,0.000,2532,2061,3940
$GC,2570,-0.65,-243.4,351.0,-15.0,414,2575,0.22,2.25,0.00,0.000,4,0.126,0.047,2598,3462,3938
$GC,2598,-0.65,-243.4,354.5,-10.8,416,2606,0.00,2.08,0.00,0.000,6,0.000,0.028,2599,2052,3938
$GC,2924,-0.76,-243.4,375.8,-6.1,447,2928,0.00,2.25,0.00,0.000,4,0.000,0.048,2598,3461,3936
$GC,2973,-0.91,-243.4,378.5,-5.5,451,2978,0.20,2.08,0.00,0.000,6,0.046,0.028,2498,2060,3936
$GC,3300,-0.73,-243.4,428.7,-15.7,481,3305,0.25,2.15,0.00,0.000,4,0.124,0.039,2579,674,3935
$GC,3346,-0.79,-243.4,434.1,-9.8,484,3354,0.00,2.10,0.00,0.000,6,0.000,0.035,2575,2062,3935
$GC,3676,-0.86,-243.4,463.1,-9.0,515,3680,0.00,2.20,0.00,0.000,4,0.000,0.051,2572,3457,3933
$GC,3792,-0.98,-243.4,472.9,-8.0,525,3797,0.20,2.05,0.00,0.000,6,0.048,0.030,2475,2078,3931
$GC,4122,-0.77,-243.4,525.6,-17.2,549,4127,0.28,2.20,0.00,0.000,4,0.126,0.042,2566,660,3929
$GC,4179,-0.85,-243.4,532.8,-9.5,551,4183,0.00,2.17,0.00,0.000,6,0.000,0.037,2561,2076,3929
$GC,4508,-0.91,-243.4,560.5,-8.2,567,4511,0.00,2.20,0.00,0.000,4,0.000,0.053,2551,3464,3927
$GC,4542,-0.98,-243.4,563.8,-8.4,568,4547,0.15,2.08,0.00,0.000,6,0.054,0.031,2475,2080,3927
$GC,4865,-0.81,-243.4,609.8,-15.0,583,4870,0.22,2.25,0.00,0.000,4,0.128,0.051,2550,666,3923
$GC,4899,-0.81,-243.4,614.9,-10.5,584,4902,0.00,2.20,0.00,0.000,6,0.000,0.041,2546,2083,3923
$GC,5225,-0.86,-243.4,641.2,-8.1,600,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2083,3921
$GC,5533,-0.91,-243.4,667.5,-9.0,615,5537,0.00,2.22,0.00,0.000,4,0.000,0.057,2541,3466,3918
$GC,5585,-1.00,-243.4,672.6,-9.0,617,5590,0.12,2.10,0.00,0.000,6,0.060,0.034,2477,2072,3917
$GC,5915,-0.88,-243.4,716.3,-13.4,633,5919,0.17,2.22,0.00,0.000,4,0.129,0.048,2535,667,3915
$GC,5978,-0.92,-243.4,724.0,-9.8,636,5982,0.00,2.22,0.00,0.000,6,0.000,0.042,2532,2089,3914
$GC,6317,-0.92,-243.4,756.5,-9.6,652,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2089,3911
$GC,6624,-0.96,-243.4,786.9,-9.8,667,6627,0.00,2.28,0.00,0.000,4,0.000,0.050,2532,660,3910
$GC,6665,-0.96,-243.4,791.7,-10.9,668,6674,0.00,2.28,0.00,0.000,6,0.000,0.044,2530,2082,3909
$GC,6984,-0.99,-243.4,823.9,-9.9,684,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2082,3907
$GC,7296,-1.03,-243.4,853.7,-9.6,699,7298,0.12,0.00,0.00,0.000,6,0.063,0.000,2465,2082,3905
$GC,7600,-0.91,-243.4,894.9,-13.1,714,7605,0.17,2.30,0.00,0.000,4,0.132,0.051,2523,666,3903
$GC,7715,-0.91,-243.4,906.0,-10.0,719,7719,0.00,2.25,0.00,0.000,6,0.000,0.046,2518,2079,3902
$GC,8048,-0.91,-243.4,936.3,-8.7,735,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2079,3900
$GC,8353,-0.91,-243.4,961.9,-8.1,750,8356,0.00,2.28,0.00,0.000,4,0.000,0.051,2518,668,3898
$GC,8387,-0.91,-243.4,965.2,-9.5,751,8391,0.00,2.28,0.00,0.000,6,0.000,0.048,2517,2086,3898
$STATE,8700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8700,begin apogee
$GC,8709,-0.23,0.0,990.2,7.8,766,8931,0.70,0.00,213.68,1.468,6,0.101,0.000,2746,1704,2945
$STATE,8932,end apogee,CONTROL_FINISHED_OK
$STATE,8932,begin climb
$GC,8936,0.93,243.4,1000.7,0.0,777,9374,1.10,2.60,292.10,1.203,4,0.041,0.057,3131,3099,1951
$GC,9546,0.51,243.4,921.4,22.3,804,9551,0.55,2.25,0.00,0.000,6,0.155,0.043,2990,1686,1945
$GC,9874,0.45,243.4,882.7,11.3,820,9878,0.00,2.28,0.00,0.000,4,0.000,0.058,2990,3105,1945
$GC,10096,0.36,243.4,855.2,12.8,830,10101,0.22,2.17,0.00,0.000,6,0.133,0.044,2935,1707,1942
$GC,10428,0.50,307.1,827.2,8.2,846,10500,0.15,2.38,58.80,1.341,4,0.064,0.058,3009,3108,1693
$GC,10664,0.40,307.1,795.7,14.3,856,10669,0.25,2.15,0.00,0.000,6,0.134,0.043,2947,1721,1688
$GC,10988,0.59,393.6,770.2,7.6,871,11078,0.17,2.35,78.62,1.341,4,0.056,0.057,3036,3102,1339
$GC,11247,0.48,393.6,729.9,16.1,882,11252,0.25,2.10,0.00,0.000,6,0.133,0.043,2973,1744,1336
$GC,11570,0.54,393.6,694.1,11.0,897,11574,0.00,2.20,0.00,0.000,4,0.000,0.056,2973,3115,1333
$GC,11726,0.59,393.6,675.2,12.9,903,11732,0.00,2.08,0.00,0.000,6,0.000,0.041,2983,1778,1333
$GC,12045,0.63,393.6,638.8,11.0,919,12050,0.12,2.15,0.00,0.000,4,0.065,0.054,3051,3111,1333
$GC,12162,0.51,393.6,620.2,16.8,924,12166,0.28,2.05,0.00,0.000,6,0.132,0.041,2982,1792,1333
$GC,12488,0.58,394.2,585.5,10.0,940,12492,0.00,2.12,0.00,0.000,4,0.000,0.054,2983,3112,1331
$GC,12662,0.62,394.2,566.6,10.7,947,12665,0.00,2.00,0.00,0.000,6,0.000,0.040,2990,1819,1332
$GC,12986,0.67,394.2,531.6,10.5,963,12991,0.12,2.08,0.00,0.000,4,0.061,0.053,3055,3105,1332
$GC,13215,0.57,394.2,495.1,15.9,974,13220,0.20,1.95,0.00,0.000,6,0.137,0.041,3005,1849,1331
$GC,13547,0.57,394.2,454.7,11.5,1005,13551,0.00,2.03,0.00,0.000,4,0.000,0.053,3007,3110,1332
$GC,13654,0.57,394.2,441.4,11.8,1014,13662,0.00,1.95,0.00,0.000,6,0.000,0.040,3012,1869,1331
$GC,13982,0.57,394.2,403.7,11.9,1045,13986,0.00,2.00,0.00,0.000,4,0.000,0.052,3014,3111,1331
$GC,14089,0.57,394.2,390.6,12.6,1054,14098,0.00,1.92,0.00,0.000,6,0.000,0.038,3021,1881,1330
$GC,14415,0.57,394.2,352.8,10.9,1085,14419,0.00,1.98,0.00,0.000,4,0.000,0.050,3023,3117,1331
$GC,14567,0.57,394.2,335.1,11.4,1098,14573,0.00,1.90,0.00,0.000,6,0.000,0.037,3028,1897,1331
$GC,14896,0.57,394.2,296.9,12.0,1131,14902,0.00,1.92,0.00,0.000,4,0.000,0.049,3030,3108,1331
$GC,15000,0.57,394.2,284.5,11.6,1149,15007,0.12,1.83,0.00,0.000,6,0.126,0.035,3002,1907,1330
$GC,15348,0.66,394.2,252.4,10.2,1210,15355,0.00,1.92,0.00,0.000,4,0.000,0.047,3003,3108,1331
$GC,15405,0.78,417.2,247.0,9.4,1219,15432,0.17,1.80,20.77,0.898,6,0.049,0.035,3099,1916,1244
$GC,15775,0.67,417.2,185.0,15.8,1283,15782,0.20,1.90,0.00,0.000,4,0.132,0.045,3031,3118,1244
$GC,15852,0.73,417.2,175.4,10.6,1296,15858,0.00,1.85,0.00,0.000,6,0.000,0.034,3038,1918,1243
$GC,16199,0.83,442.7,141.6,9.3,1357,16232,0.12,1.92,23.95,0.810,4,0.062,0.052,3113,3116,1139
$GC,16329,0.72,442.7,123.1,15.8,1378,16336,0.20,1.80,0.00,0.000,6,0.120,0.033,3045,1928,1139
$GC,16681,0.99,531.6,88.3,7.5,1439,16764,0.22,2.58,76.12,0.768,4,0.043,0.041,3178,278,776
$GC,16795,0.93,531.6,71.2,17.1,1457,16803,0.20,2.58,0.00,0.000,6,0.116,0.033,3119,1980,775
$GC,17146,1.09,556.3,37.0,9.3,1518,17173,0.15,1.80,21.80,0.690,4,0.054,0.041,3202,3118,677
$GC,17318,0.99,556.3,11.4,16.4,1547,17325,0.20,1.77,0.00,0.000,6,0.123,0.030,3143,1939,677
$STATE,17380,end climb,SURFACE_DEPTH_REACHED
$STATE,17380,begin surface coast
$FINISH,1.0,1.021404
$STATE,17409,end surface coast,CONTROL_FINISHED_OK
$STATE,17409,begin surface
$SM_CCo,17491,0.00,0.000,0,0,672,557.32
$SM_GC,1.62,8.00,0.00,0.00,0.035,0.000,0.000,163,2107,672,-8.28,1.30,557.32
$IRIDIUM_FIX,2500.82,12336.78,271198,111118
$TT8_MAMPS,0.027612
$HUMID,1725
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.00
$XPDR_PINGS,180
$24V_AH,20.4,136.584
$10V_AH,10.5,86.887
$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,26.400,141.125,785.850,0.000,0.000,25.861,31.645,216.567,53.000,0.000,0.000,16.272,2773.220,9447.438,909.338,3916.209,893.043,0.000,2523.335,0.000,3882.986,0.000,58.300,0.000
$DEVICE_MAMPS,212.459,58.292,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.522,1072.059,2342.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88385,1563
$CAP_FILE_SIZE,188269,0
$CFSIZE,260165632,186146816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.320, 58.5,1
$GPS,020909,211307,2508.887,12342.369,41,1.0,41,-3.7