version: 66.04
glider: 166
mission: 2
dive: 580
start: 8 31 109 6 40 59
data:
$ID,166
$MISSION,2
$DIVE,580
$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,-18747.523
$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,59
$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
$GPS1,063237,2513.099,12315.205,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,064038,2513.265,12315.407,13,1.4,13,-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,243.2,87075,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,106,0.00,0.00,-83.88,0.000,2,0.000,0.000,148,2108,2337
$GC,110,-0.93,-243.4,3.3,-5.6,13,169,9.48,2.12,-39.03,0.000,4,0.223,0.057,2485,3444,3940
$GC,291,-0.54,-243.4,52.5,-27.8,43,299,0.50,2.08,0.00,0.000,6,0.136,0.028,2645,2018,3941
$GC,641,-0.54,-243.4,99.6,-12.5,104,647,0.00,2.03,0.00,0.000,4,0.000,0.035,2653,660,3943
$GC,674,-0.58,-243.4,103.5,-12.6,109,682,0.00,2.05,0.00,0.000,6,0.000,0.030,2651,2048,3943
$GC,1023,-0.63,-243.4,139.3,-8.6,170,1029,0.00,2.17,0.00,0.000,4,0.000,0.044,2642,3464,3944
$GC,1072,-0.75,-243.4,142.8,-6.1,178,1079,0.20,2.05,0.00,0.000,6,0.048,0.026,2550,2047,3944
$GC,1419,-0.57,-243.4,198.3,-16.0,239,1426,0.25,0.00,0.00,0.000,6,0.127,0.000,2628,2043,3944
$GC,1767,-0.66,-243.4,231.5,-9.3,300,1773,0.00,2.20,0.00,0.000,4,0.000,0.044,2602,3455,3943
$GC,1832,-0.79,-243.4,237.0,-8.0,311,1839,0.12,2.03,0.00,0.000,6,0.060,0.027,2535,2062,3943
$GC,2179,-0.67,-243.4,285.3,-14.1,372,2185,0.17,0.00,0.00,0.000,6,0.129,0.000,2596,2059,3941
$GC,2515,-0.75,-243.4,314.7,-8.1,417,2518,0.00,2.10,0.00,0.000,4,0.000,0.038,2589,680,3939
$GC,2564,-0.83,-243.4,318.9,-9.3,421,2568,0.10,2.08,0.00,0.000,6,0.071,0.033,2530,2060,3939
$GC,2895,-0.74,-243.4,363.1,-14.1,452,2897,0.17,0.00,0.00,0.000,6,0.125,0.000,2581,2060,3937
$GC,3214,-0.84,-243.4,387.2,-6.3,482,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2060,3935
$GC,3531,-0.94,-243.4,406.2,-6.2,512,3533,0.17,0.00,0.00,0.000,6,0.053,0.000,2489,2060,3934
$GC,3850,-0.78,-243.4,449.9,-14.8,542,3855,0.22,2.17,0.00,0.000,4,0.127,0.041,2563,684,3930
$GC,3923,-0.85,-243.4,457.8,-9.1,548,3930,0.00,2.10,0.00,0.000,6,0.000,0.038,2560,2058,3929
$GC,4250,-0.91,-243.4,487.5,-9.3,579,4255,0.10,2.25,0.00,0.000,4,0.070,0.053,2502,3466,3928
$GC,4282,-0.91,-243.4,490.9,-12.2,581,4286,0.00,2.10,0.00,0.000,6,0.000,0.032,2502,2071,3927
$GC,4622,-0.84,-243.4,538.5,-13.9,600,4626,0.15,2.25,0.00,0.000,4,0.127,0.044,2546,664,3924
$GC,4689,-0.88,-243.4,547.4,-11.1,603,4693,0.00,2.17,0.00,0.000,6,0.000,0.041,2542,2069,3923
$GC,5026,-0.92,-243.4,580.2,-9.4,619,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2069,3921
$GC,5327,-0.97,-243.4,606.7,-8.1,634,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2069,3919
$GC,5640,-1.01,-243.4,631.2,-7.8,649,5644,0.15,2.28,0.00,0.000,4,0.060,0.048,2466,660,3916
$GC,5696,-0.86,-243.4,638.4,-13.3,651,5701,0.30,2.20,0.00,0.000,6,0.121,0.043,2546,2066,3915
$GC,6016,-0.92,-243.4,663.7,-7.8,666,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2066,3913
$GC,6326,-0.98,-243.4,687.3,-7.5,681,6331,0.12,2.28,0.00,0.000,4,0.063,0.058,2472,3465,3910
$GC,6369,-0.89,-243.4,691.8,-11.0,683,6374,0.22,2.15,0.00,0.000,6,0.124,0.037,2538,2064,3910
$GC,6703,-0.93,-243.4,718.1,-8.0,699,6707,0.00,2.25,0.00,0.000,4,0.000,0.057,2538,656,3908
$GC,6743,-0.98,-243.4,722.0,-8.9,700,6752,0.00,2.25,0.00,0.000,6,0.000,0.044,2536,2063,3907
$GC,7064,-1.02,-243.4,747.2,-8.3,716,7066,0.12,0.00,0.00,0.000,6,0.065,0.000,2472,2063,3906
$GC,7373,-0.90,-243.4,785.9,-12.4,731,7378,0.17,2.28,0.00,0.000,4,0.132,0.051,2529,656,3904
$GC,7459,-0.90,-243.4,794.9,-9.0,734,7467,0.00,2.25,0.00,0.000,6,0.000,0.047,2529,2054,3904
$GC,7776,-0.93,-243.4,822.6,-8.7,750,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2054,3902
$GC,8088,-0.96,-243.4,850.6,-8.9,765,8092,0.00,2.33,0.00,0.000,4,0.000,0.063,2529,3469,3900
$GC,8128,-1.03,-243.4,854.5,-9.3,766,8137,0.10,2.20,0.00,0.000,6,0.048,0.039,2468,2067,3900
$GC,8448,-0.92,-243.4,895.4,-13.4,782,8453,0.20,2.28,0.00,0.000,4,0.130,0.051,2532,658,3899
$GC,8570,-0.95,-243.4,908.0,-9.2,787,8574,0.00,2.25,0.00,0.000,6,0.000,0.048,2531,2069,3898
$GC,8890,-0.99,-243.4,937.9,-9.2,802,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2069,3896
$GC,9198,-1.03,-243.4,966.6,-9.9,817,9200,0.12,0.00,0.00,0.000,6,0.066,0.000,2471,2069,3895
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9387,-0.23,0.0,990.0,13.2,826,9607,0.88,0.00,211.90,1.476,6,0.119,0.000,2742,1691,2945
$STATE,9608,end apogee,CONTROL_FINISHED_OK
$STATE,9608,begin climb
$GC,9613,0.93,243.4,1003.5,0.0,837,10040,1.08,2.50,285.75,1.219,4,0.042,0.057,3141,287,1949
$GC,10053,0.54,243.4,963.2,20.1,856,10058,0.57,2.40,0.00,0.000,6,0.163,0.044,2995,1698,1947
$GC,10374,0.46,243.4,925.9,11.6,871,10377,0.00,2.25,0.00,0.000,4,0.000,0.058,2995,3114,1943
$GC,10632,0.35,243.4,890.7,14.4,882,10637,0.25,2.15,0.00,0.000,6,0.143,0.043,2934,1724,1941
$GC,10955,0.46,268.9,860.4,9.3,897,10991,0.10,2.25,24.90,1.277,4,0.075,0.057,2982,3108,1847
$GC,11181,0.39,268.9,832.4,12.1,907,11186,0.17,2.12,0.00,0.000,6,0.143,0.042,2946,1734,1844
$GC,11514,0.56,351.2,804.9,7.7,923,11595,0.17,2.28,75.10,1.371,4,0.058,0.057,3033,3109,1514
$GC,11760,0.42,351.2,769.2,15.0,933,11764,0.30,2.10,0.00,0.000,6,0.140,0.042,2957,1752,1509
$GC,12089,0.63,445.8,743.0,7.4,949,12184,0.17,2.30,87.30,1.322,4,0.055,0.058,3051,3105,1126
$GC,12332,0.47,445.8,704.7,17.2,959,12339,0.30,2.08,0.00,0.000,6,0.137,0.043,2974,1766,1124
$GC,12654,0.66,517.6,677.7,8.0,975,12727,0.17,2.28,66.30,1.269,4,0.054,0.058,3068,3108,833
$GC,12857,0.50,517.6,640.5,19.2,984,12861,0.32,2.05,0.00,0.000,6,0.137,0.042,2983,1784,832
$GC,13183,0.63,517.6,604.6,10.5,1000,13187,0.12,2.12,0.00,0.000,4,0.064,0.054,3051,3109,829
$GC,13280,0.52,517.6,587.0,18.4,1004,13284,0.25,2.03,0.00,0.000,6,0.133,0.041,2988,1802,829
$GC,13602,0.62,517.6,547.9,11.4,1019,13605,0.00,2.10,0.00,0.000,4,0.000,0.055,2988,3114,829
$GC,13697,0.73,517.6,536.4,11.3,1023,13701,0.17,2.00,0.00,0.000,6,0.053,0.041,3075,1825,829
$GC,14026,0.58,517.6,469.2,21.0,1045,14030,0.20,2.08,0.00,0.000,4,0.142,0.055,3010,3104,829
$GC,14189,0.63,517.6,445.2,13.1,1059,14193,0.00,1.95,0.00,0.000,6,0.000,0.041,3015,1852,829
$GC,14521,0.66,517.6,400.6,12.0,1090,14525,0.00,2.03,0.00,0.000,4,0.000,0.054,3016,3114,828
$GC,14647,0.71,517.6,385.1,11.9,1101,14650,0.00,1.92,0.00,0.000,6,0.000,0.040,3024,1870,828
$GC,14977,0.71,517.6,344.0,12.5,1132,14981,0.00,1.98,0.00,0.000,4,0.000,0.052,3025,3106,828
$GC,15037,0.75,517.6,336.9,12.5,1137,15041,0.00,1.90,0.00,0.000,6,0.000,0.039,3031,1877,828
$GC,15366,0.75,517.6,292.6,14.4,1172,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1877,828
$GC,15713,0.79,517.6,246.4,12.5,1233,15720,0.10,1.98,0.00,0.000,4,0.073,0.049,3095,3114,828
$GC,15882,0.67,517.6,216.3,17.4,1262,15892,0.20,1.90,0.00,0.000,6,0.130,0.037,3037,1886,829
$GC,16233,0.77,517.6,175.3,11.0,1323,16240,0.00,1.95,0.00,0.000,4,0.000,0.048,3041,3102,828
$GC,16368,0.94,541.2,161.9,9.3,1346,16395,0.20,1.85,21.12,0.846,6,0.033,0.036,3146,1901,737
$GC,16740,0.79,541.2,87.4,17.5,1410,16747,0.22,1.90,0.00,0.000,4,0.137,0.044,3071,3117,737
$GC,16822,0.93,549.1,76.8,9.8,1424,16837,0.08,1.83,8.43,0.692,6,0.046,0.035,3143,1922,706
$GC,17182,1.00,555.6,28.3,9.8,1486,17194,0.00,0.00,7.47,0.624,6,0.000,0.000,3144,1922,678
$STATE,17466,end climb,SURFACE_DEPTH_REACHED
$STATE,17466,begin surface coast
$FINISH,1.0,1.008452
$STATE,17494,end surface coast,CONTROL_FINISHED_OK
$STATE,17494,begin surface
$SM_CCo,17575,0.00,0.000,0,0,677,556.59
$SM_GC,1.65,7.95,0.00,0.00,0.036,0.000,0.000,137,2101,677,-8.28,1.13,556.59
$IRIDIUM_FIX,2503.20,12313.01,251198,010124
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.30
$XPDR_PINGS,176
$24V_AH,21.2,133.222
$10V_AH,10.4,84.791
$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,27.175,120.000,788.275,0.000,0.000,22.630,37.284,229.604,52.000,0.000,0.000,13.859,2745.053,9696.177,882.281,3816.230,895.800,0.000,2455.038,0.000,3792.552,0.000,54.411,0.000
$DEVICE_MAMPS,223.197,62.894,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.190,1043.024,2274.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85267,1541
$CAP_FILE_SIZE,184570,0
$CFSIZE,260165632,187215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,0
$CURRENT,0.360, 43.6,1
$GPS,310809,113507,2513.712,12315.679,33,1.4,33,-3.7