version: 66.04
glider: 166
mission: 2
dive: 572
start: 8 29 109 13 36 52
data:
$ID,166
$MISSION,2
$DIVE,572
$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,-18622.377
$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,62
$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
$GPS1,132831,2508.458,12305.530,41,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.7
$GPS2,133632,2508.670,12305.816,10,1.4,10,-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,230.5,21995,-13.9,-10.000
$D_GRID,1627
$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,19,-0.93,-243.4,0.0,0.0,0,95,0.00,0.00,-72.95,0.000,2,0.000,0.000,160,2104,2082
$GC,99,-0.93,-243.4,3.2,-5.8,11,163,9.55,2.25,-47.40,0.000,4,0.225,0.050,2510,639,3939
$GC,171,-0.31,-243.4,18.1,-32.4,22,179,0.73,2.10,0.00,0.000,6,0.159,0.031,2712,2056,3940
$GC,520,-0.42,-243.4,62.8,-8.7,83,527,0.00,2.12,0.00,0.000,4,0.000,0.036,2706,642,3941
$GC,637,-0.59,-243.4,72.8,-7.5,103,644,0.20,2.12,0.00,0.000,6,0.047,0.030,2598,2089,3941
$GC,985,-0.49,-243.4,123.6,-13.2,164,991,0.17,0.00,0.00,0.000,6,0.132,0.000,2660,2089,3942
$GC,1330,-0.64,-243.4,150.0,-8.7,225,1338,0.12,2.08,0.00,0.000,4,0.061,0.041,2569,3456,3943
$GC,1370,-0.64,-243.4,154.3,-12.1,231,1377,0.10,2.10,0.00,0.000,6,0.113,0.026,2611,2021,3943
$GC,1718,-0.71,-243.4,188.9,-10.7,292,1724,0.00,2.22,0.00,0.000,4,0.000,0.043,2600,3460,3943
$GC,1755,-0.79,-243.4,193.0,-11.6,298,1763,0.08,2.05,0.00,0.000,6,0.050,0.027,2538,2065,3943
$GC,2106,-0.67,-243.4,250.0,-16.4,359,2112,0.17,2.10,0.00,0.000,4,0.130,0.034,2595,669,3942
$GC,2194,-0.75,-243.4,260.6,-9.8,374,2200,0.00,2.08,0.00,0.000,6,0.000,0.031,2594,2066,3942
$GC,2541,-0.83,-243.4,290.2,-9.4,435,2548,0.12,2.15,0.00,0.000,4,0.062,0.044,2517,3460,3940
$GC,2581,-0.76,-243.4,294.4,-12.7,441,2589,0.20,2.03,0.00,0.000,6,0.120,0.028,2577,2063,3940
$GC,2918,-0.82,-243.4,325.4,-9.0,476,2922,0.00,2.10,0.00,0.000,4,0.000,0.037,2577,666,3938
$GC,3005,-0.88,-243.4,333.9,-9.7,483,3011,0.12,2.10,0.00,0.000,6,0.061,0.033,2508,2072,3937
$GC,3331,-0.80,-243.4,377.2,-12.1,514,3333,0.17,0.00,0.00,0.000,6,0.126,0.000,2560,2072,3936
$GC,3649,-0.86,-243.4,403.7,-8.1,544,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2072,3934
$GC,3972,-0.92,-243.4,429.5,-7.9,574,3978,0.12,0.00,0.00,0.000,6,0.064,0.000,2489,2072,3931
$GC,4301,-0.82,-243.4,471.4,-13.2,605,4305,0.20,2.17,0.00,0.000,4,0.125,0.041,2554,684,3928
$GC,4402,-0.87,-243.4,481.2,-9.1,613,4406,0.00,2.12,0.00,0.000,6,0.000,0.038,2548,2074,3927
$GC,4735,-0.92,-243.4,512.3,-9.7,638,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2074,3924
$GC,5043,-0.97,-243.4,543.3,-10.3,653,5044,0.12,0.00,0.00,0.000,6,0.064,0.000,2476,2074,3922
$GC,5348,-0.85,-243.4,588.7,-14.7,668,5353,0.20,2.20,0.00,0.000,4,0.127,0.044,2542,686,3919
$GC,5445,-0.90,-243.4,599.6,-10.2,672,5453,0.00,2.15,0.00,0.000,6,0.000,0.041,2542,2070,3919
$GC,5773,-0.95,-243.4,629.7,-9.0,688,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2070,3916
$GC,6081,-1.00,-243.4,655.7,-8.3,703,6083,0.12,0.00,0.00,0.000,6,0.064,0.000,2475,2070,3913
$GC,6389,-0.89,-243.4,694.8,-12.9,718,6394,0.17,2.22,0.00,0.000,4,0.131,0.048,2533,685,3911
$GC,6517,-0.89,-243.4,707.3,-9.2,723,6523,0.00,2.17,0.00,0.000,6,0.000,0.044,2531,2071,3910
$GC,6834,-0.89,-243.4,736.5,-9.2,739,6838,0.00,2.22,0.00,0.000,4,0.000,0.050,2531,681,3908
$GC,6868,-0.89,-243.4,739.9,-9.3,740,6872,0.00,2.20,0.00,0.000,6,0.000,0.045,2532,2078,3908
$GC,7192,-0.89,-243.4,768.8,-8.9,756,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2078,3906
$GC,7503,-0.93,-243.4,795.9,-9.0,771,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2078,3904
$GC,7812,-0.97,-243.4,825.1,-9.6,786,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2079,3903
$GC,8123,-1.00,-243.4,855.5,-9.7,801,8125,0.10,0.00,0.00,0.000,6,0.074,0.000,2479,2079,3901
$GC,8429,-0.91,-243.4,895.2,-12.9,816,8433,0.15,2.28,0.00,0.000,4,0.134,0.052,2522,680,3899
$GC,8540,-0.91,-243.4,907.9,-11.1,821,8544,0.00,2.22,0.00,0.000,6,0.000,0.048,2522,2078,3899
$GC,8872,-0.91,-243.4,941.4,-10.6,837,8876,0.00,2.25,0.00,0.000,4,0.000,0.053,2522,684,3897
$GC,8928,-0.91,-243.4,948.2,-11.2,839,8932,0.00,2.22,0.00,0.000,6,0.000,0.049,2522,2076,3897
$GC,9250,-0.91,-243.4,982.9,-10.6,855,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2076,3895
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9340,-0.23,0.0,991.6,10.7,859,9553,0.68,0.00,209.50,1.481,6,0.103,0.000,2741,1723,2945
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9558,0.93,243.4,1007.2,0.0,870,9803,1.08,0.00,236.95,1.424,6,0.042,0.000,3135,1723,1951
$GC,10116,0.54,243.4,932.5,18.5,897,10121,0.47,2.25,0.00,0.000,4,0.167,0.059,3001,3104,1943
$GC,10377,0.43,247.7,903.6,9.9,908,10386,0.15,2.17,0.00,0.000,6,0.136,0.044,2965,1730,1941
$GC,10696,0.53,328.4,879.4,7.8,924,10786,0.00,2.35,78.95,1.369,4,0.000,0.059,2965,3106,1606
$GC,10957,0.57,328.4,853.1,11.2,935,10961,0.00,2.12,0.00,0.000,6,0.000,0.043,2972,1736,1602
$GC,11282,0.62,328.4,819.7,10.8,951,11287,0.12,2.20,0.00,0.000,4,0.064,0.057,3040,3103,1600
$GC,11465,0.46,328.4,790.2,16.8,959,11469,0.28,2.10,0.00,0.000,6,0.142,0.043,2973,1757,1600
$GC,11794,0.55,359.0,757.8,9.2,975,11841,0.00,2.22,32.15,1.190,4,0.000,0.058,2973,3102,1481
$GC,12035,0.59,359.0,732.3,11.1,985,12041,0.00,2.05,0.00,0.000,6,0.000,0.043,2979,1775,1478
$GC,12355,0.64,359.0,698.4,11.2,1001,12359,0.15,2.15,0.00,0.000,4,0.058,0.057,3054,3108,1477
$GC,12477,0.47,359.0,677.9,17.6,1006,12481,0.32,2.05,0.00,0.000,6,0.140,0.042,2973,1785,1477
$GC,12801,0.57,374.2,644.4,9.6,1022,12827,0.00,2.15,15.02,1.218,4,0.000,0.057,2973,3102,1418
$GC,12957,0.63,374.2,627.8,10.7,1028,12964,0.10,2.03,0.00,0.000,6,0.045,0.043,3043,1810,1417
$GC,13277,0.54,374.2,582.0,15.0,1044,13281,0.17,2.08,0.00,0.000,4,0.138,0.056,2986,3105,1416
$GC,13474,0.57,374.2,558.6,11.1,1052,13483,0.00,2.00,0.00,0.000,6,0.000,0.042,2992,1838,1416
$GC,13791,0.61,374.2,525.4,10.1,1068,13795,0.00,2.05,0.00,0.000,4,0.000,0.056,2991,3106,1415
$GC,13922,0.61,375.5,511.4,10.0,1073,13928,0.00,1.95,0.00,0.000,6,0.000,0.041,2999,1852,1415
$GC,14248,0.61,375.5,475.9,11.2,1099,14252,0.00,2.03,0.00,0.000,4,0.000,0.054,2999,3106,1415
$GC,14351,0.61,375.5,463.7,12.2,1108,14355,0.00,1.92,0.00,0.000,6,0.000,0.041,3007,1861,1415
$GC,14687,0.61,375.5,426.2,11.2,1139,14691,0.00,2.00,0.00,0.000,4,0.000,0.054,3007,3105,1414
$GC,14862,0.61,375.5,405.7,11.4,1154,14865,0.00,1.88,0.00,0.000,6,0.000,0.040,3014,1897,1415
$GC,15193,0.61,375.5,364.1,12.8,1185,15197,0.00,1.95,0.00,0.000,4,0.000,0.053,3016,3109,1415
$GC,15360,0.61,375.5,341.8,12.6,1199,15364,0.00,1.83,0.00,0.000,6,0.000,0.039,3024,1921,1415
$GC,15691,0.69,442.5,305.5,8.1,1230,15757,0.00,1.92,61.58,1.006,4,0.000,0.051,3028,3108,1140
$GC,15838,0.73,471.9,292.4,9.2,1249,15875,0.00,1.80,27.40,0.958,6,0.000,0.038,3029,1928,1020
$GC,16219,0.73,471.9,250.8,11.8,1315,16226,0.00,1.88,0.00,0.000,4,0.000,0.050,3031,3118,1018
$GC,16314,0.73,471.9,238.2,13.5,1331,16320,0.00,1.80,0.00,0.000,6,0.000,0.037,3038,1929,1018
$GC,16661,0.76,471.9,190.9,10.9,1392,16667,0.00,1.88,0.00,0.000,4,0.000,0.048,3042,3105,1017
$GC,16819,0.81,471.9,173.9,10.4,1419,16825,0.08,1.75,0.00,0.000,6,0.051,0.036,3106,1965,1016
$GC,17166,0.74,471.9,122.1,14.8,1480,17173,0.17,1.85,0.00,0.000,4,0.132,0.046,3046,3112,1017
$GC,17226,0.83,471.9,114.5,12.1,1490,17235,0.08,1.73,0.00,0.000,6,0.048,0.035,3116,1982,1017
$GC,17576,0.88,509.7,65.8,9.0,1551,17615,0.00,1.85,32.78,0.762,4,0.000,0.044,3115,3115,869
$GC,17777,0.98,528.3,45.3,9.5,1585,17803,0.00,1.73,17.70,0.708,6,0.000,0.032,3123,1977,790
$GC,18147,1.24,613.6,12.7,7.6,1649,18214,0.22,0.00,64.72,0.688,2,0.044,0.000,3242,1976,480
$STATE,18215,end climb,SURFACE_DEPTH_REACHED
$STATE,18215,begin surface coast
$FINISH,0.8,1.020396
$STATE,18233,end surface coast,CONTROL_FINISHED_OK
$STATE,18233,begin surface
$SM_CCo,18316,0.00,0.000,0,0,478,605.16
$SM_GC,1.66,8.25,0.00,0.00,0.035,0.000,0.000,157,2104,478,-8.29,1.24,605.16
$IRIDIUM_FIX,2500.82,12304.43,231198,080810
$TT8_MAMPS,0.027612
$HUMID,1727
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,160
$24V_AH,21.4,130.723
$10V_AH,10.5,83.339
$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,25.275,120.450,776.750,0.000,0.000,23.353,35.039,227.674,48.000,0.000,0.000,10.262,2910.626,10194.679,856.266,3918.976,894.929,0.000,2434.447,0.000,3900.330,0.000,58.228,0.000
$DEVICE_MAMPS,225.498,59.059,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.318,1152.712,2372.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94569,1662
$CAP_FILE_SIZE,185767,0
$CFSIZE,260165632,187965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.405, 43.7,1
$GPS,290809,184325,2509.038,12307.417,39,1.2,39,-3.7