version: 66.04
glider: 166
mission: 2
dive: 592
start: 9 2 109 21 21 28
data:
$ID,166
$MISSION,2
$DIVE,592
$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,-18935.025
$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,39
$R_STBD_OVSHOOT,69
$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
$GPS1,211307,2508.887,12342.369,41,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.1
$GPS2,212107,2508.970,12342.546,11,1.1,16,-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,218.4,165588,-13.9,-10.000
$D_GRID,2083
$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,-243.4,0.0,0.0,0,90,0.00,0.00,-68.47,0.000,2,0.000,0.000,160,2107,2194
$GC,95,-0.93,-243.4,3.0,-5.9,10,155,9.45,2.30,-44.95,0.000,4,0.222,0.048,2510,643,3940
$GC,282,-0.50,-243.4,55.6,-29.9,41,289,0.52,2.10,0.00,0.000,6,0.129,0.032,2656,2050,3941
$GC,630,-0.50,-243.4,103.2,-11.0,102,637,0.00,2.17,0.00,0.000,4,0.000,0.043,2648,3471,3943
$GC,687,-0.57,-243.4,108.5,-9.3,111,693,0.00,2.10,0.00,0.000,6,0.000,0.026,2648,2027,3943
$GC,1034,-0.57,-243.4,144.6,-10.9,172,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2027,3943
$GC,1381,-0.64,-243.4,178.6,-10.0,233,1388,0.10,2.25,0.00,0.000,4,0.070,0.042,2577,3468,3943
$GC,1449,-0.57,-243.4,187.5,-14.1,244,1456,0.15,2.08,0.00,0.000,6,0.113,0.027,2630,2060,3943
$GC,1798,-0.61,-243.4,225.9,-10.3,305,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2060,3942
$GC,2146,-0.67,-243.4,256.9,-8.7,366,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2060,3941
$GC,2494,-0.77,-243.4,289.0,-9.4,427,2500,0.12,0.00,0.00,0.000,6,0.063,0.000,2544,2060,3939
$GC,2830,-0.63,-243.4,339.7,-14.5,465,2832,0.22,0.00,0.00,0.000,6,0.123,0.000,2613,2060,3938
$GC,3155,-0.74,-243.4,365.9,-7.9,495,3158,0.00,2.22,0.00,0.000,4,0.000,0.048,2601,3455,3936
$GC,3235,-0.90,-243.4,372.5,-7.5,502,3239,0.20,2.03,0.00,0.000,6,0.046,0.029,2502,2087,3936
$GC,3561,-0.72,-243.4,425.8,-15.4,532,3566,0.25,2.20,0.00,0.000,4,0.126,0.048,2581,3456,3934
$GC,3584,-0.66,-243.4,429.0,-13.4,533,3590,0.00,2.05,0.00,0.000,6,0.000,0.029,2582,2074,3934
$GC,3914,-0.74,-243.4,457.3,-8.9,564,3918,0.00,2.20,0.00,0.000,4,0.000,0.051,2581,3454,3933
$GC,3955,-0.87,-243.4,461.3,-8.8,567,3961,0.12,2.05,0.00,0.000,6,0.058,0.030,2515,2073,3932
$GC,4280,-0.76,-243.4,503.9,-13.3,597,4285,0.17,2.20,0.00,0.000,4,0.127,0.042,2573,657,3930
$GC,4314,-0.80,-243.4,507.9,-10.0,598,4324,0.00,2.17,0.00,0.000,6,0.000,0.037,2565,2065,3930
$GC,4635,-0.86,-243.4,536.0,-8.8,614,4639,0.00,2.22,0.00,0.000,4,0.000,0.059,2557,3462,3927
$GC,4682,-0.96,-243.4,540.2,-8.1,616,4686,0.15,2.08,0.00,0.000,6,0.054,0.031,2483,2070,3927
$GC,5020,-0.80,-243.4,589.3,-15.1,632,5022,0.28,0.00,0.00,0.000,6,0.121,0.000,2565,2070,3924
$GC,5330,-0.90,-243.4,616.5,-8.1,647,5334,0.00,2.25,0.00,0.000,4,0.000,0.055,2560,3459,3922
$GC,5355,-1.00,-243.4,619.0,-8.1,648,5360,0.17,2.08,0.00,0.000,6,0.050,0.033,2475,2087,3922
$GC,5682,-0.87,-243.4,663.4,-13.7,664,5687,0.20,2.25,0.00,0.000,4,0.125,0.044,2539,660,3919
$GC,5762,-0.91,-243.4,671.7,-9.2,667,5768,0.00,2.20,0.00,0.000,6,0.000,0.041,2531,2078,3918
$GC,6087,-0.91,-243.4,700.4,-8.5,683,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2078,3916
$GC,6388,-0.91,-243.4,727.7,-8.9,698,6392,0.00,2.25,0.00,0.000,4,0.000,0.048,2531,660,3913
$GC,6436,-0.91,-243.4,732.1,-9.7,700,6440,0.00,2.22,0.00,0.000,6,0.000,0.043,2530,2077,3913
$GC,6772,-0.91,-243.4,762.3,-8.8,716,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2077,3910
$GC,7083,-0.95,-243.4,789.2,-8.6,731,7087,0.00,2.28,0.00,0.000,4,0.000,0.049,2530,661,3908
$GC,7132,-0.95,-243.4,793.7,-9.4,733,7135,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2066,3907
$GC,7471,-0.95,-243.4,822.1,-8.4,749,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2067,3905
$GC,7776,-0.98,-243.4,849.3,-9.2,764,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2067,3903
$GC,8087,-1.02,-243.4,878.4,-9.4,779,8092,0.12,2.28,0.00,0.000,4,0.065,0.051,2466,664,3901
$GC,8133,-0.90,-243.4,883.7,-13.5,781,8138,0.25,2.22,0.00,0.000,6,0.122,0.046,2528,2065,3901
$GC,8466,-0.94,-243.4,915.1,-9.1,797,8470,0.00,2.30,0.00,0.000,4,0.000,0.063,2528,3466,3899
$GC,8507,-1.02,-243.4,919.1,-8.9,798,8517,0.08,2.17,0.00,0.000,6,0.051,0.038,2475,2073,3899
$GC,8826,-0.93,-243.4,957.3,-12.3,814,8831,0.15,2.28,0.00,0.000,4,0.131,0.051,2519,657,3897
$GC,8930,-0.93,-243.4,968.3,-9.7,818,8934,0.00,2.22,0.00,0.000,6,0.000,0.047,2517,2054,3897
$STATE,9163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9163,begin apogee
$GC,9171,-0.23,0.0,990.1,9.0,829,9394,0.70,0.00,214.43,1.474,6,0.101,0.000,2746,1687,2945
$STATE,9395,end apogee,CONTROL_FINISHED_OK
$STATE,9395,begin climb
$GC,9400,0.93,243.4,1001.9,0.0,840,9839,1.10,2.60,292.85,1.208,4,0.041,0.055,3143,292,1951
$GC,9880,0.56,243.4,954.9,20.4,861,9885,0.55,2.42,0.00,0.000,6,0.156,0.043,3004,1697,1949
$GC,10213,0.47,243.4,912.9,11.5,877,10218,0.12,2.28,0.00,0.000,4,0.148,0.056,2968,3113,1945
$GC,10473,0.44,256.3,886.6,9.6,888,10497,0.00,2.17,13.85,1.121,6,0.000,0.043,2978,1732,1899
$GC,10823,0.47,282.0,854.6,9.3,905,10860,0.00,2.30,26.60,1.285,4,0.000,0.058,2977,3107,1794
$GC,11039,0.44,282.0,831.4,11.1,913,11045,0.00,2.12,0.00,0.000,6,0.000,0.043,2988,1728,1791
$GC,11358,0.41,282.0,799.2,10.2,929,11363,0.15,2.22,0.00,0.000,4,0.137,0.056,2945,3104,1790
$GC,11545,0.49,317.2,782.4,9.0,937,11592,0.00,2.10,34.80,1.295,6,0.000,0.042,2953,1757,1651
$GC,11913,0.61,346.7,750.8,9.2,955,11948,0.17,2.25,27.62,1.320,4,0.054,0.058,3042,3106,1531
$GC,12086,0.47,346.7,722.6,16.4,962,12093,0.20,2.08,0.00,0.000,6,0.131,0.042,2975,1789,1528
$GC,12407,0.55,373.4,690.5,9.3,978,12444,0.00,2.15,27.02,1.206,4,0.000,0.057,2976,3112,1422
$GC,12588,0.61,387.5,672.5,9.6,986,12613,0.10,2.03,13.50,1.206,6,0.071,0.041,3037,1804,1367
$GC,12920,0.53,387.5,626.0,14.4,1002,12925,0.17,2.10,0.00,0.000,4,0.133,0.054,2987,3110,1365
$GC,13078,0.53,387.5,608.1,11.1,1009,13082,0.00,2.00,0.00,0.000,6,0.000,0.041,2993,1822,1364
$GC,13409,0.57,387.5,573.7,10.6,1025,13413,0.00,2.08,0.00,0.000,4,0.000,0.055,2993,3108,1363
$GC,13557,0.57,387.5,556.3,11.6,1031,13561,0.00,1.98,0.00,0.000,6,0.000,0.041,3000,1834,1363
$GC,13882,0.57,387.5,518.2,11.6,1047,13886,0.00,2.05,0.00,0.000,4,0.000,0.053,3000,3108,1363
$GC,14029,0.57,387.5,499.5,12.7,1053,14033,0.00,1.92,0.00,0.000,6,0.000,0.039,3007,1864,1362
$GC,14361,0.57,387.5,462.2,10.6,1084,14364,0.00,2.00,0.00,0.000,4,0.000,0.053,3008,3111,1363
$GC,14468,0.57,387.5,450.4,11.0,1093,14471,0.00,1.90,0.00,0.000,6,0.000,0.039,3016,1882,1363
$GC,14799,0.57,387.5,412.5,11.7,1124,14802,0.00,1.98,0.00,0.000,4,0.000,0.051,3018,3114,1363
$GC,14985,0.57,387.5,389.7,12.4,1140,14993,0.00,1.88,0.00,0.000,6,0.000,0.037,3026,1915,1363
$GC,15315,0.57,387.5,350.7,12.0,1171,15318,0.00,1.90,0.00,0.000,4,0.000,0.050,3027,3108,1362
$GC,15542,0.57,387.5,322.5,12.3,1191,15545,0.00,1.80,0.00,0.000,6,0.000,0.036,3033,1931,1363
$GC,15878,0.57,387.5,283.2,10.8,1234,15883,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1931,1362
$GC,16225,0.57,387.5,245.7,10.9,1295,16231,0.00,1.88,0.00,0.000,4,0.000,0.046,3033,3108,1363
$GC,16273,0.57,387.5,240.2,11.7,1303,16280,0.15,1.77,0.00,0.000,6,0.122,0.034,2996,1945,1363
$GC,16619,0.69,387.5,206.4,10.3,1364,16628,0.12,1.88,0.00,0.000,4,0.061,0.044,3070,3108,1363
$GC,16663,0.60,387.5,200.8,14.3,1371,16670,0.22,1.77,0.00,0.000,6,0.123,0.034,3012,1940,1363
$GC,17012,0.76,434.0,166.8,8.7,1432,17072,0.15,1.90,44.17,0.816,4,0.056,0.045,3102,3109,1175
$GC,17141,0.67,434.0,147.8,13.8,1452,17149,0.22,1.77,0.00,0.000,6,0.116,0.032,3020,1945,1175
$GC,17494,0.94,524.3,118.7,7.5,1513,17578,0.25,1.90,76.97,0.795,4,0.041,0.043,3155,3114,807
$GC,17603,0.78,524.3,98.9,22.0,1530,17609,0.25,1.77,0.00,0.000,6,0.121,0.031,3071,1949,807
$GC,17950,1.10,616.9,66.2,7.4,1591,18027,0.22,0.00,73.35,0.736,6,0.041,0.000,3196,1948,455
$STATE,18356,end climb,SURFACE_DEPTH_REACHED
$STATE,18356,begin surface coast
$FINISH,1.1,1.021200
$STATE,18372,end surface coast,CONTROL_FINISHED_OK
$STATE,18372,begin surface
$SM_CCo,18455,0.00,0.000,0,0,450,612.02
$SM_GC,1.63,8.23,0.00,0.00,0.040,0.000,0.000,165,2120,450,-8.29,1.67,612.02
$IRIDIUM_FIX,2500.82,12338.76,271198,161656
$TT8_MAMPS,0.027612
$HUMID,1711
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.70
$XPDR_PINGS,181
$24V_AH,20.6,136.887
$10V_AH,10.5,87.082
$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,25.825,131.375,845.175,0.000,0.000,23.501,34.523,225.071,53.250,0.000,0.000,16.481,2920.443,9966.836,950.358,4156.449,918.837,0.000,2659.192,0.000,4122.721,0.000,57.110,0.000
$DEVICE_MAMPS,222.430,62.894,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.546,1135.558,2480.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91652,1664
$CAP_FILE_SIZE,193794,0
$CFSIZE,260165632,186040320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,32,0
$CURRENT,0.252, 64.4,1
$GPS,030909,023007,2507.283,12343.863,26,1.1,26,-3.7