version: 66.04
glider: 166
mission: 2
dive: 571
start: 8 29 109 8 39 10
data:
$ID,166
$MISSION,2
$DIVE,571
$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,-18611.486
$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,60
$R_STBD_OVSHOOT,28
$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
$GPS1,082401,2508.394,12303.871,43,1.6,43,-3.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.4
$GPS2,083849,2508.881,12304.303,10,1.0,15,-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,224.0,22449,-13.9,-10.000
$D_GRID,1610
$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,16,-0.93,-243.4,0.0,0.0,0,96,0.00,0.00,-77.43,0.000,2,0.000,0.000,164,2028,2202
$GC,100,-0.93,-243.4,3.2,-6.1,12,158,9.50,2.08,-42.15,0.000,4,0.222,0.049,2516,658,3939
$GC,319,-0.62,-243.4,59.4,-23.5,49,326,0.35,2.12,0.00,0.000,6,0.124,0.032,2620,2079,3939
$GC,666,-0.62,-243.4,108.1,-12.5,110,672,0.00,2.12,0.00,0.000,4,0.000,0.043,2608,3480,3941
$GC,707,-0.62,-243.4,113.0,-10.6,117,714,0.00,2.05,0.00,0.000,6,0.000,0.027,2618,2055,3941
$GC,1052,-0.62,-243.4,151.4,-11.2,178,1059,0.00,2.20,0.00,0.000,4,0.000,0.044,2600,3477,3941
$GC,1101,-0.67,-243.4,156.8,-10.6,186,1108,0.00,2.05,0.00,0.000,6,0.000,0.027,2604,2053,3941
$GC,1450,-0.71,-243.4,194.2,-9.4,247,1457,0.00,2.20,0.00,0.000,4,0.000,0.044,2598,3475,3940
$GC,1483,-0.78,-243.4,197.4,-9.3,252,1490,0.00,2.03,0.00,0.000,6,0.000,0.028,2599,2073,3940
$GC,1831,-0.86,-243.4,227.6,-7.9,313,1837,0.15,2.10,0.00,0.000,4,0.057,0.035,2519,676,3938
$GC,1892,-0.69,-243.4,235.8,-16.0,323,1900,0.28,2.10,0.00,0.000,6,0.123,0.032,2599,2087,3938
$GC,2243,-0.79,-243.4,267.0,-7.9,384,2249,0.00,2.17,0.00,0.000,4,0.000,0.037,2599,676,3936
$GC,2270,-0.89,-243.4,269.2,-8.7,388,2277,0.20,2.08,0.00,0.000,6,0.048,0.031,2503,2080,3936
$GC,2608,-0.70,-243.4,323.2,-15.6,435,2613,0.28,2.15,0.00,0.000,4,0.127,0.046,2585,3457,3934
$GC,2650,-0.78,-243.4,327.6,-8.6,438,2654,0.00,2.05,0.00,0.000,6,0.000,0.028,2585,2056,3933
$GC,2983,-0.89,-243.4,351.8,-7.1,469,2985,0.15,0.00,0.00,0.000,6,0.054,0.000,2501,2057,3932
$GC,3304,-0.76,-243.4,396.2,-14.7,499,3311,0.20,0.00,0.00,0.000,6,0.126,0.000,2568,2055,3929
$GC,3631,-0.84,-243.4,428.4,-8.8,530,3634,0.00,2.10,0.00,0.000,4,0.000,0.041,2567,675,3927
$GC,3667,-0.92,-243.4,431.6,-9.6,533,3671,0.12,2.08,0.00,0.000,6,0.061,0.035,2496,2053,3927
$GC,4000,-0.82,-243.4,473.9,-12.2,564,4007,0.20,0.00,0.00,0.000,6,0.125,0.000,2554,2053,3923
$GC,4338,-0.89,-243.4,503.7,-8.4,594,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2053,3921
$GC,4646,-0.96,-243.4,528.9,-8.1,609,4648,0.12,0.00,0.00,0.000,6,0.063,0.000,2487,2053,3919
$GC,4954,-0.86,-243.4,566.9,-12.1,624,4959,0.20,2.20,0.00,0.000,4,0.125,0.044,2551,668,3916
$GC,5005,-0.92,-243.4,572.0,-8.9,626,5009,0.00,2.12,0.00,0.000,6,0.000,0.040,2546,2045,3915
$GC,5328,-0.98,-243.4,599.2,-8.4,642,5330,0.12,0.00,0.00,0.000,6,0.064,0.000,2476,2045,3912
$GC,5636,-0.86,-243.4,638.3,-12.8,657,5638,0.22,0.00,0.00,0.000,6,0.127,0.000,2544,2045,3909
$GC,5947,-0.92,-243.4,664.4,-8.1,672,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2045,3907
$GC,6256,-0.98,-243.4,690.2,-8.5,687,6260,0.12,2.20,0.00,0.000,4,0.064,0.048,2479,673,3905
$GC,6291,-0.89,-243.4,694.2,-13.2,688,6298,0.20,2.15,0.00,0.000,6,0.129,0.044,2532,2047,3904
$GC,6610,-0.92,-243.4,724.1,-9.3,704,6614,0.00,2.30,0.00,0.000,4,0.000,0.060,2531,3465,3902
$GC,6644,-0.99,-243.4,727.6,-9.3,705,6650,0.00,2.15,0.00,0.000,6,0.000,0.037,2531,2057,3902
$GC,6962,-0.99,-243.4,758.4,-10.1,721,6966,0.00,2.20,0.00,0.000,4,0.000,0.050,2531,664,3900
$GC,7013,-0.99,-243.4,764.3,-11.3,723,7016,0.00,2.17,0.00,0.000,6,0.000,0.045,2531,2045,3900
$GC,7341,-1.02,-243.4,796.9,-9.8,739,7346,0.12,2.33,0.00,0.000,4,0.065,0.059,2456,3466,3897
$GC,7387,-0.90,-243.4,802.8,-14.2,741,7392,0.25,2.17,0.00,0.000,6,0.128,0.038,2530,2047,3897
$GC,7715,-0.93,-243.4,834.6,-9.3,757,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2047,3895
$GC,8026,-0.96,-243.4,862.6,-8.5,772,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2047,3894
$GC,8334,-1.00,-243.4,889.3,-8.6,787,8336,0.10,0.00,0.00,0.000,6,0.076,0.000,2480,2047,3893
$GC,8644,-0.90,-243.4,925.9,-12.0,802,8649,0.15,2.22,0.00,0.000,4,0.136,0.053,2523,663,3891
$GC,8762,-0.90,-243.4,938.3,-9.9,807,8766,0.00,2.22,0.00,0.000,6,0.000,0.048,2521,2057,3890
$GC,9085,-0.90,-243.4,967.1,-8.9,823,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2058,3888
$STATE,9349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9349,begin apogee
$GC,9359,-0.23,0.0,990.5,9.3,836,9573,0.70,0.00,207.80,1.477,6,0.105,0.000,2748,1693,2945
$STATE,9573,end apogee,CONTROL_FINISHED_OK
$STATE,9574,begin climb
$GC,9577,0.93,243.4,1002.8,0.0,847,9821,1.05,2.58,233.80,1.418,4,0.048,0.058,3141,293,1950
$GC,9844,0.52,243.4,978.8,20.3,859,9850,0.62,2.45,0.00,0.000,6,0.163,0.043,2993,1694,1948
$GC,10170,0.46,243.4,940.5,11.1,875,10173,0.00,2.28,0.00,0.000,4,0.000,0.058,2993,3112,1943
$GC,10429,0.37,243.4,907.6,12.5,886,10433,0.22,2.15,0.00,0.000,6,0.146,0.043,2941,1713,1941
$GC,10752,0.52,301.3,880.9,8.4,902,10826,0.15,2.33,56.50,1.315,4,0.063,0.057,3011,3100,1715
$GC,10969,0.40,301.3,852.0,14.6,911,10976,0.25,2.12,0.00,0.000,6,0.140,0.043,2951,1720,1711
$GC,11287,0.54,350.4,823.9,8.6,927,11340,0.12,2.30,45.25,1.364,4,0.066,0.057,3015,3100,1516
$GC,11515,0.45,350.4,791.7,15.0,937,11520,0.22,2.08,0.00,0.000,6,0.140,0.043,2962,1743,1512
$GC,11844,0.59,391.8,760.6,8.9,953,11889,0.15,2.30,38.70,1.325,4,0.059,0.056,3041,3115,1347
$GC,12071,0.44,391.8,725.1,16.3,963,12075,0.30,2.08,0.00,0.000,6,0.138,0.043,2965,1776,1344
$GC,12404,0.67,480.4,697.4,7.6,979,12513,0.17,2.25,86.62,1.245,4,0.054,0.057,3059,3109,986
$GC,12585,0.51,480.4,667.6,20.0,987,12589,0.30,2.05,0.00,0.000,6,0.140,0.042,2983,1778,985
$GC,12919,0.68,521.4,633.5,8.9,1003,12966,0.15,2.20,38.38,1.232,4,0.058,0.058,3059,3102,817
$GC,13106,0.53,521.4,600.4,19.6,1011,13111,0.28,2.00,0.00,0.000,6,0.139,0.043,2990,1814,817
$GC,13438,0.71,563.1,567.4,8.8,1027,13484,0.17,2.10,38.78,1.194,4,0.053,0.057,3085,3112,649
$GC,13583,0.52,563.1,536.7,24.2,1033,13588,0.35,2.00,0.00,0.000,6,0.140,0.041,2992,1811,648
$GC,13910,0.74,610.9,503.2,8.7,1049,13966,0.17,2.17,45.22,1.151,4,0.051,0.056,3087,3112,455
$GC,14109,0.59,610.9,464.5,20.3,1064,14116,0.22,1.98,0.00,0.000,6,0.126,0.041,3011,1850,452
$GC,14437,0.75,628.1,433.1,9.5,1095,14442,0.15,2.00,0.00,0.000,4,0.057,0.053,3089,3106,451
$GC,14497,0.63,628.1,423.2,20.2,1100,14501,0.25,1.90,0.00,0.000,6,0.137,0.041,3025,1860,451
$GC,14828,0.70,628.1,379.2,12.6,1131,14832,0.00,1.98,0.00,0.000,4,0.000,0.052,3025,3111,450
$GC,14903,0.84,628.1,370.0,11.9,1137,14910,0.17,1.92,0.00,0.000,6,0.051,0.040,3116,1857,450
$GC,15230,0.68,628.1,294.1,24.9,1170,15237,0.22,2.00,0.00,0.000,4,0.137,0.051,3046,3106,450
$GC,15379,0.74,628.1,270.7,14.4,1195,15386,0.00,1.88,0.00,0.000,6,0.000,0.038,3048,1882,450
$GC,15728,0.80,628.1,221.0,12.4,1256,15735,0.00,1.98,0.00,0.000,4,0.000,0.049,3054,3106,450
$GC,15815,0.86,628.1,208.9,13.9,1271,15823,0.12,1.83,0.00,0.000,6,0.060,0.037,3127,1903,450
$GC,16164,0.79,628.1,136.2,19.5,1332,16171,0.17,1.95,0.00,0.000,4,0.135,0.047,3071,3109,450
$GC,16333,0.97,676.0,114.6,8.7,1361,16340,0.12,1.80,0.00,0.000,6,0.039,0.035,3154,1933,450
$GC,16681,0.94,676.0,57.1,17.4,1422,16688,0.12,1.85,0.00,0.000,4,0.138,0.044,3119,3114,450
$GC,16752,1.04,676.0,47.5,12.6,1434,16758,0.00,1.77,0.00,0.000,6,0.000,0.034,3124,1950,450
$GC,17099,1.35,738.3,18.5,8.3,1495,17107,0.32,1.80,0.00,0.000,4,0.038,0.042,3292,3114,450
$GC,17120,1.43,738.3,15.9,11.2,1498,17127,0.00,1.75,0.00,0.000,6,0.000,0.032,3300,1954,450
$STATE,17181,end climb,SURFACE_DEPTH_REACHED
$STATE,17181,begin surface coast
$FINISH,0.9,0.996863
$STATE,17199,end surface coast,CONTROL_FINISHED_OK
$STATE,17200,begin surface
$SM_CCo,17282,0.00,0.000,0,0,450,612.02
$SM_GC,1.86,8.50,0.00,0.00,0.038,0.000,0.000,152,2104,450,-8.29,1.22,612.02
$IRIDIUM_FIX,2458.45,12306.42,231198,080837
$TT8_MAMPS,0.027612
$HUMID,1753
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.10
$XPDR_PINGS,145
$24V_AH,21.4,130.425
$10V_AH,10.5,83.152
$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,28.850,126.675,791.050,0.000,0.000,73.233,151.411,341.240,44.250,0.000,0.000,15.482,2712.081,10237.830,863.205,3214.126,1120.614,0.000,2347.365,0.000,3175.706,0.000,54.409,0.000
$DEVICE_MAMPS,222.430,59.826,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.994,1023.046,1742.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88506,1512
$CAP_FILE_SIZE,178453,0
$CFSIZE,260165632,188080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.349, 45.0,1
$GPS,290809,132831,2508.458,12305.530,41,0.9,41,-3.7