version: 66.04
glider: 166
mission: 2
dive: 583
start: 8 31 109 22 35 52
data:
$ID,166
$MISSION,2
$DIVE,583
$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,-18796.795
$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,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
$GPS1,222454,2514.371,12317.819,27,1.0,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.3
$GPS2,223531,2514.579,12318.147,9,1.1,14,-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,240.9,90974,-13.9,-10.000
$D_GRID,1595
$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,-243.4,0.0,0.0,0,97,0.00,0.00,-78.53,0.000,2,0.000,0.000,157,2107,2201
$GC,102,-0.93,-243.4,3.1,-6.3,12,162,9.57,2.12,-44.38,0.000,4,0.226,0.056,2495,3439,3940
$GC,419,-0.46,-243.4,94.5,-28.1,66,426,0.55,2.05,0.00,0.000,6,0.142,0.027,2664,2011,3941
$GC,765,-0.56,-243.4,128.6,-8.5,127,771,0.00,2.22,0.00,0.000,4,0.000,0.044,2648,3441,3943
$GC,826,-0.73,-243.4,133.1,-7.5,137,833,0.20,2.03,0.00,0.000,6,0.044,0.027,2560,2041,3943
$GC,1173,-0.56,-243.4,193.7,-16.1,198,1180,0.22,0.00,0.00,0.000,6,0.123,0.000,2633,2038,3943
$GC,1521,-0.67,-243.4,225.2,-8.8,259,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2038,3943
$GC,1870,-0.80,-243.4,254.6,-6.6,320,1878,0.15,2.20,0.00,0.000,4,0.054,0.046,2531,3434,3941
$GC,1966,-0.75,-243.4,265.2,-11.4,336,1974,0.15,2.03,0.00,0.000,6,0.122,0.028,2574,2077,3940
$GC,2316,-0.79,-243.4,297.3,-9.0,397,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2077,3939
$GC,2646,-0.82,-243.4,331.2,-11.3,430,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2077,3937
$GC,2976,-0.88,-243.4,365.7,-9.5,461,2980,0.12,2.17,0.00,0.000,4,0.065,0.050,2504,3435,3934
$GC,3004,-0.83,-243.4,369.3,-12.1,463,3011,0.17,2.00,0.00,0.000,6,0.123,0.030,2554,2088,3934
$GC,3330,-0.83,-243.4,402.3,-9.3,494,3334,0.00,2.20,0.00,0.000,4,0.000,0.043,2554,666,3932
$GC,3376,-0.83,-243.4,407.1,-10.3,498,3380,0.00,2.12,0.00,0.000,6,0.000,0.038,2554,2053,3931
$GC,3712,-0.87,-243.4,437.7,-8.7,529,3715,0.00,2.22,0.00,0.000,4,0.000,0.053,2550,3460,3928
$GC,3752,-0.94,-243.4,441.3,-7.8,532,3762,0.00,2.10,0.00,0.000,6,0.000,0.031,2551,2078,3928
$GC,4080,-0.98,-243.4,468.1,-8.6,563,4086,0.15,0.00,0.00,0.000,6,0.055,0.000,2465,2078,3927
$GC,4406,-0.80,-243.4,516.9,-15.4,589,4411,0.30,2.22,0.00,0.000,4,0.127,0.044,2560,669,3924
$GC,4496,-0.86,-243.4,526.1,-9.0,593,4499,0.00,2.17,0.00,0.000,6,0.000,0.039,2553,2074,3923
$GC,4836,-0.93,-243.4,557.8,-9.8,609,4840,0.00,2.25,0.00,0.000,4,0.000,0.058,2546,3462,3920
$GC,4865,-1.00,-243.4,561.4,-9.9,610,4870,0.15,2.12,0.00,0.000,6,0.055,0.034,2472,2053,3920
$GC,5187,-0.86,-243.4,609.0,-14.9,626,5189,0.22,0.00,0.00,0.000,6,0.125,0.000,2540,2053,3917
$GC,5503,-0.90,-243.4,639.8,-9.6,641,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2053,3915
$GC,5807,-0.94,-243.4,668.7,-8.8,656,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2053,3912
$GC,6118,-0.99,-243.4,694.7,-8.3,671,6120,0.12,0.00,0.00,0.000,6,0.063,0.000,2477,2054,3910
$GC,6425,-0.88,-243.4,732.7,-12.6,686,6430,0.17,2.22,0.00,0.000,4,0.132,0.050,2534,667,3908
$GC,6487,-0.91,-243.4,739.3,-9.2,688,6498,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2056,3907
$GC,6805,-0.91,-243.4,767.7,-9.1,704,6809,0.00,2.30,0.00,0.000,4,0.000,0.062,2530,3468,3905
$GC,6834,-0.96,-243.4,769.9,-8.7,705,6838,0.00,2.17,0.00,0.000,6,0.000,0.038,2530,2057,3905
$GC,7173,-0.99,-243.4,799.4,-8.7,721,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2057,3903
$GC,7478,-1.03,-243.4,827.2,-8.9,736,7480,0.12,0.00,0.00,0.000,6,0.064,0.000,2467,2057,3902
$GC,7788,-0.91,-243.4,867.0,-13.2,751,7790,0.20,0.00,0.00,0.000,6,0.129,0.000,2527,2057,3900
$GC,8096,-0.94,-243.4,895.9,-9.1,766,8100,0.00,2.35,0.00,0.000,4,0.000,0.063,2519,3468,3898
$GC,8131,-0.98,-243.4,899.2,-9.5,767,8137,0.00,2.20,0.00,0.000,6,0.000,0.039,2518,2050,3898
$GC,8454,-0.98,-243.4,928.3,-9.0,783,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2050,3896
$GC,8757,-0.98,-243.4,956.1,-8.8,798,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2050,3895
$GC,9070,-0.98,-243.4,983.1,-8.8,813,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2050,3894
$STATE,9148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9148,begin apogee
$GC,9156,-0.23,0.0,990.2,8.7,817,9371,0.70,0.00,211.35,1.487,6,0.101,0.000,2746,1699,2945
$STATE,9372,end apogee,CONTROL_FINISHED_OK
$STATE,9372,begin climb
$GC,9376,0.93,243.4,1002.4,0.0,828,9807,1.08,2.60,292.20,1.213,4,0.041,0.057,3139,3096,1951
$GC,9907,0.50,243.4,944.0,20.5,852,9912,0.62,2.28,0.00,0.000,6,0.157,0.043,2981,1695,1946
$GC,10235,0.48,253.1,911.3,9.7,868,10249,0.00,2.30,9.10,1.221,4,0.000,0.060,2981,3099,1913
$GC,10450,0.43,253.1,888.1,11.4,877,10454,0.00,2.15,0.00,0.000,6,0.000,0.044,2988,1707,1910
$GC,10779,0.39,256.2,855.7,9.9,893,10789,0.15,2.28,4.07,0.880,4,0.140,0.058,2947,3100,1900
$GC,10976,0.46,313.2,838.6,8.4,901,11043,0.00,2.12,55.25,1.351,6,0.000,0.043,2954,1729,1667
$GC,11362,0.61,381.4,807.8,8.1,920,11432,0.17,2.25,62.80,1.362,4,0.056,0.058,3048,3100,1389
$GC,11632,0.46,381.4,761.3,17.6,931,11638,0.30,2.10,0.00,0.000,6,0.140,0.044,2972,1743,1385
$GC,11953,0.53,381.4,725.1,11.2,947,11957,0.00,2.20,0.00,0.000,4,0.000,0.056,2972,3111,1382
$GC,12068,0.59,381.4,709.9,13.3,952,12072,0.00,2.10,0.00,0.000,6,0.000,0.042,2980,1758,1382
$GC,12406,0.64,381.4,667.6,12.5,968,12410,0.15,2.17,0.00,0.000,4,0.059,0.055,3056,3105,1381
$GC,12577,0.47,381.4,635.5,18.7,975,12584,0.32,2.08,0.00,0.000,6,0.138,0.043,2974,1774,1381
$GC,12900,0.59,417.5,603.4,9.0,991,12946,0.12,2.22,32.83,1.237,4,0.066,0.057,3042,3107,1242
$GC,13094,0.49,417.5,572.2,16.2,999,13099,0.25,2.03,0.00,0.000,6,0.132,0.042,2978,1790,1241
$GC,13414,0.58,417.5,538.1,10.9,1014,13418,0.00,2.10,0.00,0.000,4,0.000,0.055,2977,3106,1239
$GC,13522,0.66,417.5,526.2,10.0,1018,13531,0.10,2.03,0.00,0.000,6,0.048,0.041,3044,1819,1239
$GC,13845,0.55,417.5,478.1,15.0,1040,13850,0.17,2.08,0.00,0.000,4,0.137,0.054,2993,3103,1239
$GC,13970,0.59,417.5,463.8,11.2,1050,13978,0.00,2.00,0.00,0.000,6,0.000,0.041,3000,1836,1238
$GC,14300,0.63,417.5,427.7,11.6,1081,14304,0.00,2.05,0.00,0.000,4,0.000,0.054,2999,3111,1238
$GC,14340,0.63,417.5,421.8,12.5,1084,14347,0.00,1.98,0.00,0.000,6,0.000,0.040,3008,1854,1238
$GC,14667,0.63,417.5,381.0,11.7,1115,14670,0.00,2.00,0.00,0.000,4,0.000,0.052,3009,3103,1238
$GC,14740,0.63,417.5,372.1,11.6,1121,14746,0.00,1.92,0.00,0.000,6,0.000,0.039,3015,1859,1238
$GC,15066,0.63,417.5,332.3,12.3,1152,15070,0.00,2.00,0.00,0.000,4,0.000,0.051,3016,3111,1238
$GC,15227,0.63,417.5,312.1,12.2,1166,15231,0.00,1.88,0.00,0.000,6,0.000,0.038,3025,1890,1238
$GC,15569,0.63,417.5,269.8,12.3,1218,15575,0.00,1.98,0.00,0.000,4,0.000,0.051,3026,3108,1238
$GC,15679,0.63,417.5,256.3,11.9,1237,15684,0.00,1.85,0.00,0.000,6,0.000,0.038,3033,1900,1238
$GC,16026,0.66,441.3,216.3,9.3,1298,16057,0.00,1.95,22.30,0.907,4,0.000,0.049,3039,3106,1144
$GC,16246,0.70,441.3,192.0,10.8,1336,16254,0.00,1.83,0.00,0.000,6,0.000,0.036,3042,1918,1144
$GC,16595,0.74,441.3,153.0,10.8,1397,16601,0.00,1.90,0.00,0.000,4,0.000,0.046,3043,3110,1143
$GC,16736,0.89,509.9,139.8,8.1,1421,16802,0.12,1.80,59.85,0.836,6,0.042,0.035,3131,1931,866
$GC,17144,0.85,509.9,75.8,12.5,1491,17151,0.15,1.85,0.00,0.000,4,0.128,0.043,3085,3129,865
$GC,17215,1.10,601.4,68.7,7.5,1503,17298,0.20,1.80,78.05,0.756,6,0.034,0.033,3200,1939,493
$STATE,17629,end climb,SURFACE_DEPTH_REACHED
$STATE,17630,begin surface coast
$FINISH,1.0,0.999052
$STATE,17648,end surface coast,CONTROL_FINISHED_OK
$STATE,17648,begin surface
$SM_CCo,17729,0.00,0.000,0,0,487,602.70
$SM_GC,1.66,8.12,0.00,0.00,0.039,0.000,0.000,135,2108,487,-8.29,1.33,602.70
$IRIDIUM_FIX,2503.20,12316.31,251198,171752
$TT8_MAMPS,0.027612
$HUMID,1722
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.50
$XPDR_PINGS,188
$24V_AH,21.2,134.150
$10V_AH,10.5,85.365
$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,25.350,114.325,827.800,0.000,0.000,24.057,32.186,376.636,55.000,0.000,0.000,14.439,2742.559,9727.402,961.837,3862.776,1049.689,0.000,2511.885,0.000,3852.605,0.000,54.401,0.000
$DEVICE_MAMPS,226.265,62.894,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.436,1044.957,2350.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88362,1578
$CAP_FILE_SIZE,184276,0
$CFSIZE,260165632,186925056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,0
$CURRENT,0.383, 52.9,1
$GPS,010909,033236,2514.725,12319.086,36,0.9,36,-3.7