version: 66.04
glider: 166
mission: 2
dive: 579
start: 8 31 109 1 39 4
data:
$ID,166
$MISSION,2
$DIVE,579
$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,-18733.033
$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,55
$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
$GPS1,013037,2512.685,12313.904,41,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.8
$GPS2,013843,2512.939,12314.155,10,1.0,15,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,243.9,85204,-13.9,-10.000
$D_GRID,1526
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,104,0.00,0.00,-80.68,0.000,2,0.000,0.000,188,2102,2289
$GC,108,-0.93,-243.4,3.4,-6.8,13,166,9.38,2.12,-41.50,0.000,4,0.225,0.058,2511,3460,3939
$GC,339,-0.51,-243.4,68.4,-30.5,52,346,0.47,2.10,0.00,0.000,6,0.142,0.028,2650,2026,3941
$GC,686,-0.51,-243.4,115.0,-11.6,113,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2022,3943
$GC,1033,-0.55,-243.4,154.0,-9.6,174,1040,0.00,2.28,0.00,0.000,4,0.000,0.045,2641,3449,3943
$GC,1065,-0.63,-243.4,156.9,-9.4,179,1073,0.00,2.05,0.00,0.000,6,0.000,0.027,2646,2069,3943
$GC,1415,-0.75,-243.4,184.0,-7.8,240,1421,0.17,0.00,0.00,0.000,6,0.050,0.000,2542,2069,3943
$GC,1763,-0.57,-243.4,238.5,-17.0,301,1769,0.25,2.15,0.00,0.000,4,0.130,0.038,2619,676,3943
$GC,1784,-0.47,-243.4,241.4,-15.0,304,1792,0.20,2.10,0.00,0.000,6,0.102,0.034,2668,2075,3943
$GC,2132,-0.92,-243.4,270.7,-10.6,365,2139,0.38,2.17,0.00,0.000,4,0.071,0.047,2523,3465,3941
$GC,2175,-1.05,-243.4,274.6,-8.9,372,2188,0.12,2.03,0.00,0.000,6,0.060,0.029,2459,2080,3941
$GC,2515,-0.73,-243.4,344.6,-21.3,414,2520,0.35,2.20,0.00,0.000,4,0.136,0.041,2574,665,3939
$GC,2641,-0.78,-243.4,360.6,-10.3,424,2648,0.00,2.15,0.00,0.000,6,0.000,0.035,2562,2091,3938
$GC,2969,-0.82,-243.4,391.9,-10.1,455,2973,0.00,2.22,0.00,0.000,4,0.000,0.042,2561,669,3936
$GC,2998,-0.86,-243.4,395.4,-11.2,457,3004,0.00,2.15,0.00,0.000,6,0.000,0.036,2560,2075,3936
$GC,3325,-0.90,-243.4,429.4,-10.0,488,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2075,3934
$GC,3647,-0.96,-243.4,458.3,-7.8,518,3655,0.15,0.00,0.00,0.000,6,0.058,0.000,2477,2075,3931
$GC,3977,-0.82,-243.4,501.1,-13.0,549,3982,0.22,2.25,0.00,0.000,4,0.125,0.044,2552,664,3928
$GC,4068,-0.88,-243.4,509.5,-7.9,553,4072,0.00,2.17,0.00,0.000,6,0.000,0.039,2546,2068,3927
$GC,4407,-0.92,-243.4,538.5,-8.7,569,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2068,3924
$GC,4712,-0.97,-243.4,565.9,-9.0,584,4714,0.12,0.00,0.00,0.000,6,0.064,0.000,2478,2068,3923
$GC,5025,-0.84,-243.4,609.0,-14.5,599,5029,0.20,2.22,0.00,0.000,4,0.127,0.048,2544,676,3919
$GC,5083,-0.89,-243.4,616.5,-10.7,601,5087,0.00,2.17,0.00,0.000,6,0.000,0.041,2542,2072,3918
$GC,5411,-0.93,-243.4,647.3,-9.4,617,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2072,3916
$GC,5716,-0.98,-243.4,674.7,-9.4,632,5718,0.12,0.00,0.00,0.000,6,0.064,0.000,2478,2072,3913
$GC,6026,-0.87,-243.4,718.3,-14.1,647,6031,0.17,2.25,0.00,0.000,4,0.130,0.050,2537,679,3910
$GC,6084,-0.91,-243.4,725.7,-11.2,649,6088,0.00,2.17,0.00,0.000,6,0.000,0.044,2533,2064,3910
$GC,6408,-0.95,-243.4,757.3,-10.0,665,6413,0.00,2.30,0.00,0.000,4,0.000,0.061,2530,3477,3908
$GC,6437,-1.00,-243.4,760.5,-10.6,666,6441,0.00,2.15,0.00,0.000,6,0.000,0.037,2530,2071,3908
$GC,6763,-1.03,-243.4,791.9,-9.9,682,6768,0.12,2.25,0.00,0.000,4,0.064,0.050,2469,657,3906
$GC,6808,-0.91,-243.4,798.2,-14.5,684,6813,0.22,2.22,0.00,0.000,6,0.127,0.046,2526,2063,3905
$GC,7134,-0.91,-243.4,829.8,-9.5,700,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2064,3904
$GC,7442,-0.91,-243.4,859.6,-9.9,715,7446,0.00,2.33,0.00,0.000,4,0.000,0.063,2520,3474,3902
$GC,7487,-0.94,-243.4,864.3,-10.5,717,7491,0.00,2.17,0.00,0.000,6,0.000,0.038,2519,2066,3902
$GC,7817,-0.94,-243.4,896.5,-10.4,733,7821,0.00,2.25,0.00,0.000,4,0.000,0.051,2519,658,3900
$GC,7845,-0.94,-243.4,899.8,-10.7,734,7850,0.00,2.25,0.00,0.000,6,0.000,0.047,2522,2068,3900
$GC,8173,-0.94,-243.4,934.1,-10.7,750,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2068,3898
$GC,8485,-0.94,-243.4,965.9,-9.9,765,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2068,3897
$STATE,8728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8728,begin apogee
$GC,8737,-0.23,0.0,990.7,10.2,777,8951,0.70,0.00,210.32,1.488,6,0.104,0.000,2745,1698,2945
$STATE,8951,end apogee,CONTROL_FINISHED_OK
$STATE,8951,begin climb
$GC,8956,0.93,243.4,1005.9,0.0,788,9221,1.08,2.70,243.55,1.413,4,0.041,0.058,3141,3103,1951
$GC,9263,0.50,243.4,981.3,21.6,801,9270,0.68,2.42,0.00,0.000,6,0.160,0.041,2984,1699,1945
$GC,9586,0.47,250.5,948.3,9.8,817,9597,0.00,2.28,6.40,1.101,4,0.000,0.058,2984,3105,1922
$GC,9824,0.41,250.5,921.8,11.3,827,9830,0.15,2.17,0.00,0.000,6,0.145,0.043,2954,1711,1921
$GC,10147,0.53,314.5,895.5,8.2,843,10214,0.12,2.33,59.47,1.414,4,0.070,0.060,3014,3111,1661
$GC,10384,0.43,314.5,864.3,13.8,853,10389,0.22,2.15,0.00,0.000,6,0.140,0.044,2962,1722,1658
$GC,10705,0.52,335.3,834.0,9.4,868,10731,0.00,2.30,19.55,1.337,4,0.000,0.058,2962,3104,1576
$GC,10880,0.58,335.3,815.3,10.9,875,10885,0.10,2.10,0.00,0.000,6,0.072,0.042,3024,1751,1575
$GC,11200,0.50,335.3,770.7,14.0,890,11204,0.15,2.20,0.00,0.000,4,0.141,0.058,2983,3104,1574
$GC,11319,0.50,335.3,755.4,12.4,895,11323,0.00,2.08,0.00,0.000,6,0.000,0.042,2991,1776,1573
$GC,11643,0.50,335.3,719.2,10.8,911,11647,0.00,2.17,0.00,0.000,4,0.000,0.058,2990,3112,1573
$GC,11830,0.47,335.3,697.5,11.1,919,11834,0.00,2.05,0.00,0.000,6,0.000,0.041,3000,1795,1572
$GC,12160,0.47,335.3,661.8,11.0,935,12164,0.00,2.12,0.00,0.000,4,0.000,0.056,3000,3102,1571
$GC,12276,0.43,335.3,648.4,11.4,940,12281,0.17,2.03,0.00,0.000,6,0.136,0.041,2962,1811,1571
$GC,12614,0.63,406.6,621.1,8.0,956,12704,0.17,2.17,69.40,1.207,4,0.055,0.057,3056,3100,1286
$GC,12823,0.49,406.6,587.2,17.9,965,12827,0.30,1.98,0.00,0.000,6,0.137,0.041,2978,1823,1284
$GC,13156,0.61,424.8,553.0,9.5,981,13179,0.12,2.12,17.25,1.161,4,0.065,0.057,3046,3108,1213
$GC,13309,0.51,424.8,528.3,15.9,987,13316,0.25,1.95,0.00,0.000,6,0.134,0.041,2983,1840,1212
$GC,13631,0.65,443.4,497.1,9.5,1004,13656,0.15,2.05,18.58,1.133,4,0.058,0.055,3062,3112,1136
$GC,13786,0.53,443.4,471.7,17.1,1017,13790,0.28,1.92,0.00,0.000,6,0.133,0.041,2991,1857,1135
$GC,14117,0.64,443.4,435.0,10.3,1048,14121,0.10,2.00,0.00,0.000,4,0.072,0.054,3051,3111,1133
$GC,14178,0.56,443.4,425.4,16.6,1053,14185,0.20,1.92,0.00,0.000,6,0.132,0.039,2999,1859,1133
$GC,14504,0.63,443.4,387.1,11.8,1084,14508,0.00,2.00,0.00,0.000,4,0.000,0.053,3000,3104,1132
$GC,14618,0.70,443.4,374.6,10.1,1094,14623,0.12,1.92,0.00,0.000,6,0.061,0.039,3066,1879,1133
$GC,14953,0.61,443.4,322.0,17.0,1125,14957,0.17,1.98,0.00,0.000,4,0.138,0.052,3009,3103,1133
$GC,15098,0.66,443.4,303.7,10.8,1137,15104,0.00,1.88,0.00,0.000,6,0.000,0.038,3015,1885,1133
$GC,15442,0.71,443.4,266.7,10.9,1195,15449,0.10,1.95,0.00,0.000,4,0.071,0.048,3070,3106,1133
$GC,15547,0.61,443.4,249.3,16.7,1213,15554,0.22,1.85,0.00,0.000,6,0.130,0.037,3013,1901,1133
$GC,15894,0.70,443.4,209.0,10.4,1274,15903,0.00,1.95,0.00,0.000,4,0.000,0.048,3018,3111,1133
$GC,15991,0.79,443.7,199.4,10.0,1290,15998,0.10,1.83,0.00,0.000,6,0.044,0.036,3094,1927,1132
$GC,16340,0.70,443.7,147.2,14.2,1351,16347,0.17,1.88,0.00,0.000,4,0.136,0.045,3040,3108,1133
$GC,16449,0.87,503.5,136.3,8.3,1370,16508,0.12,1.80,52.47,0.841,6,0.040,0.035,3126,1934,891
$GC,16850,0.81,503.5,74.5,15.0,1439,16857,0.17,1.83,0.00,0.000,4,0.131,0.043,3068,3110,889
$GC,16877,0.84,503.5,70.9,13.2,1443,16883,0.00,1.80,0.00,0.000,6,0.000,0.032,3074,1927,889
$GC,17223,1.24,639.1,43.3,6.3,1504,17319,0.35,0.00,91.55,0.727,6,0.037,0.000,3250,1926,454
$STATE,17437,end climb,SURFACE_DEPTH_REACHED
$STATE,17437,begin surface coast
$FINISH,1.0,1.021184
$STATE,17455,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
$SM_CCo,17536,0.00,0.000,0,0,449,612.27
$SM_GC,1.63,8.15,0.00,0.00,0.034,0.000,0.000,135,2107,449,-8.29,1.30,612.27
$IRIDIUM_FIX,2503.20,12313.01,241198,202050
$TT8_MAMPS,0.029146
$HUMID,1729
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.30
$XPDR_PINGS,182
$24V_AH,21.3,132.913
$10V_AH,10.5,84.610
$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,27.325,127.575,788.550,0.000,0.000,23.933,35.847,233.076,53.500,0.000,0.000,15.412,2726.442,9734.346,841.111,3802.529,896.844,0.000,2366.273,0.000,3776.876,0.000,54.418,0.000
$DEVICE_MAMPS,224.731,62.894,1487.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.427,1052.133,2291.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88357,1543
$CAP_FILE_SIZE,184317,0
$CFSIZE,260165632,187310080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.433, 54.3,1
$GPS,310809,063237,2513.099,12315.205,39,0.9,39,-3.7