version: 66.04
glider: 166
mission: 2
dive: 573
start: 8 29 109 18 51 48
data:
$ID,166
$MISSION,2
$DIVE,573
$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,-18638.988
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,184325,2509.038,12307.417,39,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.7
$GPS2,185126,2509.281,12307.690,15,1.9,15,-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,237.6,23432,-13.9,-10.000
$D_GRID,1660
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,94,0.00,0.00,-71.88,0.000,2,0.000,0.000,153,2105,2088
$GC,98,-0.93,-243.4,3.0,-5.6,11,162,9.32,2.30,-48.92,0.000,4,0.216,0.048,2512,639,3940
$GC,306,-0.53,-243.4,58.6,-28.2,46,313,0.47,2.10,0.00,0.000,6,0.127,0.033,2643,2051,3941
$GC,655,-0.57,-243.4,102.3,-8.4,107,662,0.00,2.17,0.00,0.000,4,0.000,0.044,2629,3472,3943
$GC,727,-0.67,-243.4,108.2,-8.5,119,734,0.10,2.10,0.00,0.000,6,0.069,0.027,2582,2024,3943
$GC,1074,-0.51,-243.4,169.4,-17.7,180,1080,0.22,0.00,0.00,0.000,6,0.125,0.000,2650,2021,3943
$GC,1422,-0.68,-243.4,193.4,-5.2,241,1430,0.12,0.00,0.00,0.000,6,0.059,0.000,2563,2021,3943
$GC,1771,-0.61,-243.4,235.9,-14.4,302,1778,0.17,2.28,0.00,0.000,4,0.122,0.043,2612,3468,3943
$GC,1826,-0.78,-243.4,241.7,-8.6,311,1832,0.12,2.05,0.00,0.000,6,0.057,0.028,2536,2061,3943
$GC,2173,-0.67,-243.4,292.8,-13.5,372,2180,0.20,2.12,0.00,0.000,4,0.123,0.038,2602,672,3941
$GC,2222,-0.77,-243.4,297.6,-7.6,380,2228,0.00,2.08,0.00,0.000,6,0.000,0.032,2601,2062,3941
$GC,2557,-0.90,-243.4,317.4,-6.1,414,2561,0.20,2.17,0.00,0.000,4,0.046,0.046,2490,3457,3938
$GC,2586,-0.85,-243.4,320.2,-10.9,416,2591,0.20,2.05,0.00,0.000,6,0.123,0.028,2550,2056,3938
$GC,2912,-0.85,-243.4,356.2,-11.6,446,2916,0.00,2.10,0.00,0.000,4,0.000,0.039,2550,675,3936
$GC,2960,-0.85,-243.4,362.1,-12.8,450,2964,0.00,2.10,0.00,0.000,6,0.000,0.035,2548,2066,3936
$GC,3291,-0.85,-243.4,399.5,-10.9,481,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2066,3935
$GC,3613,-0.85,-243.4,433.6,-10.8,511,3616,0.00,2.15,0.00,0.000,4,0.000,0.041,2548,670,3932
$GC,3660,-0.85,-243.4,439.4,-12.1,515,3664,0.00,2.12,0.00,0.000,6,0.000,0.037,2546,2061,3932
$GC,3992,-0.85,-243.4,475.1,-9.9,546,3996,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,670,3928
$GC,4032,-0.85,-243.4,479.6,-10.8,549,4039,0.00,2.12,0.00,0.000,6,0.000,0.038,2546,2062,3928
$GC,4369,-0.89,-243.4,512.1,-9.7,575,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2061,3926
$GC,4675,-0.93,-243.4,542.3,-9.4,590,4679,0.00,2.22,0.00,0.000,4,0.000,0.055,2542,3457,3924
$GC,4739,-1.01,-243.4,547.7,-8.5,592,4748,0.10,2.10,0.00,0.000,6,0.046,0.034,2473,2077,3923
$GC,5058,-0.88,-243.4,591.0,-14.0,608,5063,0.17,2.22,0.00,0.000,4,0.131,0.047,2531,658,3920
$GC,5144,-0.88,-243.4,600.2,-9.6,611,5150,0.00,2.17,0.00,0.000,6,0.000,0.041,2530,2063,3919
$GC,5463,-0.88,-243.4,630.8,-9.9,627,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2063,3917
$GC,5771,-0.88,-243.4,661.8,-10.0,642,5775,0.00,2.22,0.00,0.000,4,0.000,0.049,2530,660,3915
$GC,5843,-0.88,-243.4,669.2,-10.9,645,5847,0.00,2.20,0.00,0.000,6,0.000,0.044,2530,2059,3914
$GC,6176,-0.88,-243.4,702.9,-9.8,661,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2060,3911
$GC,6487,-0.88,-243.4,731.7,-9.0,676,6490,0.00,2.22,0.00,0.000,4,0.000,0.051,2530,663,3909
$GC,6543,-0.88,-243.4,737.1,-9.5,678,6547,0.00,2.20,0.00,0.000,6,0.000,0.045,2530,2057,3909
$GC,6861,-0.88,-243.4,764.8,-8.7,693,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2057,3907
$GC,7169,-0.91,-243.4,792.7,-9.1,708,7173,0.00,2.30,0.00,0.000,4,0.000,0.062,2531,3462,3905
$GC,7211,-0.98,-243.4,796.2,-9.2,710,7215,0.00,2.15,0.00,0.000,6,0.000,0.038,2530,2063,3905
$GC,7552,-1.02,-243.4,825.5,-8.8,726,7557,0.12,2.25,0.00,0.000,4,0.064,0.051,2469,657,3903
$GC,7574,-0.96,-243.4,828.8,-10.8,727,7579,0.17,2.22,0.00,0.000,6,0.133,0.045,2511,2067,3903
$GC,7897,-0.96,-243.4,861.6,-10.1,743,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2067,3902
$GC,8206,-0.96,-243.4,893.1,-10.3,758,8210,0.00,2.28,0.00,0.000,4,0.000,0.053,2511,660,3900
$GC,8316,-0.96,-243.4,905.0,-11.4,763,8320,0.00,2.22,0.00,0.000,6,0.000,0.047,2506,2051,3899
$GC,8646,-0.96,-243.4,940.2,-10.3,779,8650,0.00,2.22,0.00,0.000,4,0.000,0.053,2507,663,3898
$GC,8686,-0.93,-243.4,944.9,-11.2,780,8695,0.00,2.25,0.00,0.000,6,0.000,0.049,2506,2048,3897
$GC,9005,-0.93,-243.4,976.7,-9.9,796,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2049,3896
$STATE,9146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9146,begin apogee
$GC,9154,-0.23,0.0,990.9,10.0,803,9375,0.75,0.00,211.62,1.475,6,0.107,0.000,2747,1690,2945
$STATE,9375,end apogee,CONTROL_FINISHED_OK
$STATE,9375,begin climb
$GC,9379,0.93,243.4,1003.9,0.0,814,9649,1.05,2.67,240.75,1.401,4,0.038,0.057,3139,3098,1948
$GC,9903,0.49,243.4,927.8,22.8,837,9908,0.62,2.20,0.00,0.000,6,0.160,0.044,2979,1684,1942
$GC,10229,0.49,243.4,891.1,10.5,853,10233,0.00,2.30,0.00,0.000,4,0.000,0.059,2979,3112,1941
$GC,10353,0.44,243.4,876.6,11.0,858,10362,0.00,2.20,0.00,0.000,6,0.000,0.042,2987,1711,1940
$GC,10671,0.41,243.4,841.0,11.3,874,10675,0.12,2.25,0.00,0.000,4,0.143,0.057,2953,3105,1939
$GC,10820,0.42,252.2,825.8,9.8,880,10834,0.00,2.17,7.12,1.149,6,0.000,0.043,2960,1707,1916
$GC,11145,0.45,271.8,794.1,9.5,896,11176,0.00,2.30,21.40,1.223,4,0.000,0.058,2959,3098,1837
$GC,11371,0.45,271.8,772.0,10.2,906,11374,0.00,2.10,0.00,0.000,6,0.000,0.043,2970,1743,1834
$GC,11706,0.49,305.8,741.3,9.1,922,11751,0.00,2.28,34.12,1.262,4,0.000,0.057,2970,3105,1698
$GC,11957,0.53,340.5,718.0,9.0,933,11994,0.00,2.08,32.50,1.296,6,0.000,0.043,2977,1770,1556
$GC,12312,0.63,381.7,686.7,8.9,949,12357,0.15,2.17,38.33,1.278,4,0.059,0.057,3052,3109,1387
$GC,12482,0.48,381.7,660.5,16.3,956,12487,0.30,2.05,0.00,0.000,6,0.137,0.043,2976,1780,1385
$GC,12804,0.66,459.9,633.3,7.8,971,12884,0.17,2.25,71.95,1.249,4,0.056,0.058,3070,3109,1070
$GC,13049,0.48,459.9,591.6,18.5,982,13054,0.35,2.03,0.00,0.000,6,0.136,0.042,2978,1802,1067
$GC,13383,0.69,521.9,562.9,8.3,998,13451,0.20,2.17,56.88,1.192,4,0.051,0.058,3081,3104,816
$GC,13603,0.55,521.9,519.4,20.5,1007,13610,0.32,2.00,0.00,0.000,6,0.136,0.042,2995,1811,815
$GC,13929,0.67,521.9,481.1,11.1,1030,13933,0.12,2.08,0.00,0.000,4,0.062,0.053,3066,3111,813
$GC,14033,0.59,521.9,462.0,18.2,1039,14037,0.22,1.98,0.00,0.000,6,0.134,0.041,3008,1837,813
$GC,14365,0.65,521.9,419.0,12.4,1070,14368,0.00,2.05,0.00,0.000,4,0.000,0.053,3007,3115,813
$GC,14484,0.73,521.9,403.1,12.1,1080,14491,0.08,1.98,0.00,0.000,6,0.051,0.040,3066,1856,813
$GC,14812,0.66,521.9,339.7,18.9,1111,14816,0.12,2.03,0.00,0.000,4,0.145,0.052,3032,3114,813
$GC,14983,0.66,521.9,315.0,12.5,1126,14986,0.00,1.90,0.00,0.000,6,0.000,0.039,3039,1879,813
$GC,15322,0.66,521.9,271.0,12.9,1176,15328,0.00,2.00,0.00,0.000,4,0.000,0.051,3041,3106,813
$GC,15426,0.69,521.9,256.9,13.0,1194,15432,0.00,1.90,0.00,0.000,6,0.000,0.038,3046,1891,813
$GC,15772,0.69,521.9,208.5,14.6,1255,15778,0.00,1.95,0.00,0.000,4,0.000,0.050,3050,3115,813
$GC,15900,0.75,521.9,189.0,14.1,1277,15907,0.00,1.85,0.00,0.000,6,0.000,0.037,3055,1922,813
$GC,16246,0.82,521.9,148.4,10.7,1338,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1922,813
$GC,16593,1.01,558.3,111.2,9.0,1399,16631,0.20,1.85,32.40,0.803,4,0.044,0.044,3166,3111,668
$GC,16777,0.90,558.3,77.2,18.1,1430,16783,0.17,1.83,0.00,0.000,6,0.120,0.034,3101,1909,668
$GC,17125,1.23,687.3,47.1,6.4,1491,17178,0.28,2.60,46.22,0.725,4,0.038,0.044,3253,278,454
$GC,17227,1.10,687.3,29.9,19.3,1507,17234,0.28,2.53,0.00,0.000,6,0.130,0.034,3171,1937,453
$STATE,17442,end climb,SURFACE_DEPTH_REACHED
$STATE,17442,begin surface coast
$FINISH,1.0,1.014956
$STATE,17472,end surface coast,CONTROL_FINISHED_OK
$STATE,17472,begin surface
$SM_CCo,17553,0.00,0.000,0,0,451,611.78
$SM_GC,1.74,7.97,0.00,0.00,0.035,0.000,0.000,145,2122,451,-8.27,1.72,611.78
$IRIDIUM_FIX,2500.82,12304.43,231198,131325
$TT8_MAMPS,0.026845
$HUMID,1702
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,167
$24V_AH,21.4,131.035
$10V_AH,10.5,83.515
$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,25.225,134.150,793.300,0.000,0.000,25.259,32.696,229.839,49.750,0.000,0.000,15.982,2756.693,9803.377,834.248,3753.573,866.283,0.000,2411.004,0.000,3720.021,0.000,54.402,0.000
$DEVICE_MAMPS,216.294,62.127,1474.941,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.166,1067.796,2176.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88502,1550
$CAP_FILE_SIZE,180740,0
$CFSIZE,260165632,187883520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.426, 39.6,1
$GPS,290809,234537,2509.887,12308.374,37,1.0,37,-3.7