version: 66.04
glider: 166
mission: 2
dive: 590
start: 9 2 109 11 14 59
data:
$ID,166
$MISSION,2
$DIVE,590
$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,-18901.018
$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,35
$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
$GPS1,110626,2511.146,12338.729,36,2.3,55,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.3
$GPS2,111438,2511.221,12338.882,16,1.5,16,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,216.6,170885,-13.9,-10.000
$D_GRID,2052
$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,20,-0.93,-243.4,0.0,0.0,0,92,0.00,0.00,-70.20,0.000,2,0.000,0.000,167,2119,2313
$GC,97,-0.93,-243.4,3.2,-6.0,10,155,9.18,2.30,-40.30,0.000,4,0.213,0.048,2511,638,3943
$GC,355,-0.52,-243.4,77.3,-30.2,54,362,0.50,2.15,0.00,0.000,6,0.124,0.031,2651,2088,3941
$GC,702,-0.52,-243.4,128.2,-11.5,115,709,0.00,2.12,0.00,0.000,4,0.000,0.044,2647,3458,3943
$GC,776,-0.63,-243.4,135.4,-9.5,127,784,0.00,2.08,0.00,0.000,6,0.000,0.027,2648,2032,3944
$GC,1125,-0.68,-243.4,172.3,-11.0,188,1132,0.15,0.00,0.00,0.000,6,0.054,0.000,2563,2031,3943
$GC,1473,-0.52,-243.4,230.7,-15.2,249,1479,0.28,2.28,0.00,0.000,4,0.124,0.044,2629,3463,3943
$GC,1512,-0.61,-243.4,235.0,-8.3,255,1519,0.00,2.05,0.00,0.000,6,0.000,0.027,2631,2064,3944
$GC,1861,-0.75,-243.4,258.2,-7.6,316,1868,0.15,0.00,0.00,0.000,6,0.054,0.000,2538,2064,3942
$GC,2208,-0.61,-243.4,313.2,-14.6,370,2210,0.28,0.00,0.00,0.000,6,0.121,0.000,2622,2062,3941
$GC,2529,-0.77,-243.4,339.8,-8.0,400,2534,0.15,2.22,0.00,0.000,4,0.054,0.046,2531,3461,3939
$GC,2597,-0.72,-243.4,347.8,-12.8,405,2604,0.20,2.05,0.00,0.000,6,0.115,0.028,2591,2069,3939
$GC,2925,-0.81,-243.4,376.5,-7.6,436,2929,0.00,2.20,0.00,0.000,4,0.000,0.048,2587,3456,3937
$GC,2965,-0.93,-243.4,379.5,-6.8,439,2973,0.20,2.03,0.00,0.000,6,0.047,0.028,2488,2083,3936
$GC,3291,-0.73,-243.4,431.0,-15.9,470,3293,0.30,0.00,0.00,0.000,6,0.123,0.000,2580,2081,3935
$GC,3614,-0.83,-243.4,458.0,-7.9,500,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2081,3934
$GC,3945,-0.93,-243.4,484.7,-7.8,531,3949,0.17,2.22,0.00,0.000,4,0.051,0.051,2471,3461,3930
$GC,3986,-0.79,-243.4,489.9,-14.1,534,3991,0.30,2.08,0.00,0.000,6,0.119,0.031,2562,2074,3930
$GC,4317,-0.86,-243.4,519.0,-8.2,554,4320,0.00,2.20,0.00,0.000,4,0.000,0.044,2563,666,3927
$GC,4364,-0.94,-243.4,523.2,-8.9,556,4369,0.15,2.17,0.00,0.000,6,0.055,0.039,2484,2073,3927
$GC,4694,-0.81,-243.4,572.0,-14.9,572,4696,0.25,0.00,0.00,0.000,6,0.127,0.000,2559,2073,3925
$GC,5007,-0.89,-243.4,600.8,-8.3,587,5011,0.00,2.25,0.00,0.000,4,0.000,0.052,2559,667,3923
$GC,5042,-0.96,-243.4,604.4,-8.9,588,5047,0.12,2.17,0.00,0.000,6,0.060,0.041,2487,2072,3922
$GC,5367,-0.87,-243.4,643.3,-12.1,603,5369,0.17,0.00,0.00,0.000,6,0.130,0.000,2538,2073,3919
$GC,5668,-0.91,-243.4,670.5,-8.4,618,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2073,3917
$GC,5979,-0.96,-243.4,696.6,-8.5,633,5983,0.00,2.25,0.00,0.000,4,0.000,0.048,2539,660,3914
$GC,6020,-1.00,-243.4,700.7,-9.6,634,6029,0.08,2.22,0.00,0.000,6,0.051,0.043,2475,2063,3913
$GC,6340,-0.89,-243.4,741.4,-13.2,650,6342,0.20,0.00,0.00,0.000,6,0.130,0.000,2534,2063,3911
$GC,6649,-0.93,-243.4,770.0,-9.1,665,6653,0.00,2.30,0.00,0.000,4,0.000,0.060,2530,3474,3909
$GC,6707,-1.01,-243.4,775.7,-9.7,667,6715,0.10,2.15,0.00,0.000,6,0.067,0.037,2474,2076,3909
$GC,7027,-0.91,-243.4,820.0,-14.5,683,7032,0.17,2.28,0.00,0.000,4,0.130,0.051,2526,657,3906
$GC,7087,-0.94,-243.4,828.0,-12.4,685,7093,0.00,2.22,0.00,0.000,6,0.000,0.044,2519,2069,3906
$GC,7404,-0.94,-243.4,863.9,-11.4,701,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3904
$GC,7713,-0.94,-243.4,897.1,-10.4,716,7716,0.00,2.28,0.00,0.000,4,0.000,0.052,2519,658,3903
$GC,7776,-0.94,-243.4,904.1,-11.0,718,7784,0.00,2.28,0.00,0.000,6,0.000,0.047,2517,2067,3902
$GC,8092,-0.94,-243.4,936.5,-10.1,734,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2068,3900
$GC,8405,-0.94,-243.4,968.1,-10.3,749,8409,0.00,2.28,0.00,0.000,4,0.000,0.052,2517,659,3899
$GC,8454,-0.94,-243.4,973.5,-10.3,751,8458,0.00,2.28,0.00,0.000,6,0.000,0.048,2517,2073,3898
$STATE,8616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8616,begin apogee
$GC,8624,-0.23,0.0,990.8,10.4,759,8841,0.70,0.00,212.93,1.486,6,0.099,0.000,2746,1693,2945
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8842,begin climb
$GC,8846,0.93,243.4,1005.1,0.0,770,9116,1.12,0.00,246.60,1.400,6,0.044,0.000,3129,1693,1951
$GC,9416,0.56,243.4,937.0,18.4,797,9422,0.43,2.35,0.00,0.000,4,0.161,0.057,3003,3107,1943
$GC,9655,0.44,243.4,907.2,11.6,807,9662,0.17,2.17,0.00,0.000,6,0.142,0.043,2964,1717,1941
$GC,9979,0.51,304.7,880.2,8.3,823,10047,0.00,2.33,57.22,1.359,4,0.000,0.058,2964,3098,1702
$GC,10207,0.54,327.6,859.0,9.4,833,10233,0.00,2.12,21.48,1.331,6,0.000,0.042,2973,1726,1609
$GC,10552,0.59,364.3,828.0,9.0,850,10592,0.10,2.28,34.50,1.354,4,0.074,0.059,3028,3112,1459
$GC,10773,0.48,364.3,798.2,14.0,859,10780,0.22,2.12,0.00,0.000,6,0.138,0.043,2974,1736,1456
$GC,11097,0.52,370.6,767.8,9.8,875,11108,0.00,2.17,6.47,1.081,4,0.000,0.057,2974,3108,1433
$GC,11276,0.52,370.6,747.8,11.4,883,11280,0.00,2.08,0.00,0.000,6,0.000,0.043,2982,1779,1432
$GC,11613,0.52,370.6,710.4,10.7,899,11617,0.00,2.15,0.00,0.000,4,0.000,0.057,2982,3109,1431
$GC,11775,0.52,370.6,691.4,10.8,906,11779,0.00,2.05,0.00,0.000,6,0.000,0.042,2992,1800,1431
$GC,12109,0.52,370.6,655.5,10.5,922,12113,0.00,2.12,0.00,0.000,4,0.000,0.056,2993,3109,1431
$GC,12275,0.52,370.6,636.3,12.0,929,12278,0.00,2.03,0.00,0.000,6,0.000,0.041,3003,1818,1431
$GC,12611,0.52,370.6,596.0,12.2,945,12615,0.00,2.10,0.00,0.000,4,0.000,0.055,3002,3111,1431
$GC,12778,0.52,370.6,574.6,12.4,952,12782,0.00,1.98,0.00,0.000,6,0.000,0.041,3013,1846,1431
$GC,13107,0.52,370.6,535.6,12.1,968,13111,0.00,2.05,0.00,0.000,4,0.000,0.055,3012,3110,1430
$GC,13313,0.52,370.6,510.7,11.4,977,13317,0.00,1.92,0.00,0.000,6,0.000,0.041,3019,1877,1430
$GC,13646,0.52,370.6,473.9,12.4,1003,13650,0.00,1.98,0.00,0.000,4,0.000,0.054,3020,3106,1430
$GC,13811,0.49,370.6,454.2,12.2,1017,13815,0.17,1.88,0.00,0.000,6,0.128,0.040,2977,1900,1430
$GC,14142,0.64,420.3,424.1,8.6,1048,14193,0.15,2.03,45.62,1.088,4,0.058,0.052,3056,3114,1231
$GC,14279,0.55,420.3,405.1,15.0,1059,14283,0.22,1.85,0.00,0.000,6,0.129,0.038,2998,1903,1230
$GC,14612,0.63,422.0,370.1,10.0,1090,14616,0.00,1.92,0.00,0.000,4,0.000,0.050,2999,3117,1228
$GC,14664,0.70,422.0,364.5,10.4,1094,14671,0.08,1.85,0.00,0.000,6,0.051,0.037,3060,1922,1227
$GC,14992,0.63,422.0,315.5,15.2,1125,14996,0.15,1.90,0.00,0.000,4,0.137,0.048,3017,3112,1227
$GC,15190,0.68,422.0,292.2,11.1,1148,15197,0.00,1.80,0.00,0.000,6,0.000,0.036,3025,1945,1227
$GC,15538,0.72,422.0,256.8,10.3,1209,15544,0.00,1.85,0.00,0.000,4,0.000,0.047,3027,3117,1227
$GC,15603,0.76,422.0,249.7,10.7,1220,15610,0.08,1.80,0.00,0.000,6,0.055,0.035,3088,1947,1227
$GC,15951,0.66,422.0,195.8,16.9,1281,15958,0.17,1.85,0.00,0.000,4,0.132,0.045,3029,3114,1227
$GC,16011,0.71,422.0,187.9,11.1,1291,16017,0.00,1.77,0.00,0.000,6,0.000,0.034,3036,1953,1227
$GC,16359,0.79,433.3,152.4,9.7,1352,16380,0.10,1.80,13.07,0.781,4,0.071,0.043,3097,3112,1177
$GC,16509,0.70,433.3,131.9,14.7,1377,16517,0.17,1.77,0.00,0.000,6,0.119,0.033,3048,1943,1177
$GC,16857,0.94,538.2,98.7,7.1,1438,16953,0.17,1.85,89.55,0.775,4,0.051,0.042,3155,3124,751
$GC,16981,0.81,538.2,79.6,19.2,1457,16988,0.20,1.80,0.00,0.000,6,0.122,0.031,3083,1941,751
$GC,17329,1.16,632.2,47.7,7.4,1518,17400,0.25,2.62,61.70,0.713,4,0.039,0.042,3234,279,454
$GC,17440,1.09,632.2,29.8,18.0,1535,17447,0.22,2.58,0.00,0.000,6,0.120,0.032,3165,1980,452
$STATE,17642,end climb,SURFACE_DEPTH_REACHED
$STATE,17642,begin surface coast
$FINISH,1.0,1.020936
$STATE,17666,end surface coast,CONTROL_FINISHED_OK
$STATE,17666,begin surface
$SM_CCo,17749,0.00,0.000,0,0,451,611.78
$SM_GC,1.52,7.95,0.00,0.00,0.030,0.000,0.000,155,2107,451,-8.29,1.30,611.78
$IRIDIUM_FIX,2503.20,12338.76,271198,050526
$TT8_MAMPS,0.027612
$HUMID,1702
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.90
$XPDR_PINGS,165
$24V_AH,21.1,136.293
$10V_AH,10.5,86.702
$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,25.950,126.750,789.150,0.000,0.000,23.318,36.773,230.543,49.250,0.000,0.000,17.074,2784.958,9815.541,831.847,3879.847,906.055,0.000,2385.758,0.000,3860.702,0.000,54.409,0.000
$DEVICE_MAMPS,213.226,59.826,1486.446,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.754,1069.247,2333.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88378,1575
$CAP_FILE_SIZE,185117,0
$CFSIZE,260165632,186241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.292, 58.8,1
$GPS,020909,161206,2509.927,12340.456,39,0.9,39,-3.7