version: 66.04
glider: 166
mission: 2
dive: 582
start: 8 31 109 17 15 34
data:
$ID,166
$MISSION,2
$DIVE,582
$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,610.797
$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,-18781.729
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,165706,2513.811,12316.745,36,1.4,41,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.8
$GPS2,171513,2514.291,12317.256,11,1.2,17,-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,241.5,89633,-13.9,-10.000
$D_GRID,1570
$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,-243.4,0.0,0.0,0,74,0.00,0.00,-55.53,0.000,2,0.000,0.000,168,2093,2231
$GC,78,-0.93,-243.4,3.1,-6.0,8,137,9.55,2.20,-43.30,0.000,4,0.227,0.055,2506,3474,3940
$GC,343,-0.52,-243.4,75.9,-27.6,53,350,0.50,2.10,0.00,0.000,6,0.142,0.028,2649,2036,3940
$GC,691,-0.56,-243.4,116.8,-8.5,114,699,0.00,2.22,0.00,0.000,4,0.000,0.044,2646,3462,3942
$GC,742,-0.68,-243.4,120.3,-6.7,122,750,0.15,2.05,0.00,0.000,6,0.054,0.027,2571,2048,3942
$GC,1093,-0.49,-243.4,179.9,-19.0,183,1100,0.28,2.10,0.00,0.000,4,0.124,0.038,2660,670,3942
$GC,1154,-0.63,-243.4,187.5,-9.3,193,1160,0.00,2.05,0.00,0.000,6,0.000,0.033,2647,2045,3943
$GC,1501,-0.79,-243.4,210.8,-4.7,254,1509,0.17,2.20,0.00,0.000,4,0.051,0.045,2532,3465,3941
$GC,1584,-0.70,-243.4,218.6,-10.7,268,1591,0.17,2.08,0.00,0.000,6,0.120,0.028,2597,2043,3941
$GC,1934,-0.74,-243.4,253.7,-10.4,329,1940,0.00,2.10,0.00,0.000,4,0.000,0.041,2589,663,3940
$GC,1995,-0.78,-243.4,260.3,-11.1,339,2001,0.00,2.10,0.00,0.000,6,0.000,0.035,2582,2059,3940
$GC,2341,-0.84,-243.4,295.3,-8.3,400,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2060,3937
$GC,2679,-0.91,-243.4,323.1,-8.2,436,2684,0.15,2.20,0.00,0.000,4,0.056,0.048,2490,3463,3935
$GC,2708,-0.82,-243.4,326.4,-11.9,438,2713,0.22,2.12,0.00,0.000,6,0.123,0.029,2558,2038,3935
$GC,3034,-0.82,-243.4,358.5,-9.3,468,3037,0.00,2.12,0.00,0.000,4,0.000,0.043,2558,660,3933
$GC,3074,-0.82,-243.4,362.6,-9.8,471,3080,0.00,2.10,0.00,0.000,6,0.000,0.036,2555,2043,3932
$GC,3399,-0.82,-243.4,397.6,-11.6,502,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2043,3929
$GC,3718,-0.82,-243.4,431.6,-9.9,532,3722,0.00,2.22,0.00,0.000,4,0.000,0.051,2545,3457,3927
$GC,3780,-0.87,-243.4,437.5,-10.3,537,3783,0.00,2.12,0.00,0.000,6,0.000,0.031,2545,2041,3926
$GC,4112,-0.87,-243.4,470.9,-10.5,568,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2041,3923
$GC,4434,-0.87,-243.4,500.1,-9.0,598,4437,0.00,2.15,0.00,0.000,4,0.000,0.046,2545,658,3921
$GC,4468,-0.87,-243.4,503.9,-9.8,599,4472,0.00,2.15,0.00,0.000,6,0.000,0.039,2542,2059,3921
$GC,4798,-0.87,-243.4,533.1,-9.2,615,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2059,3918
$GC,5100,-0.91,-243.4,561.3,-9.3,630,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2059,3916
$GC,5412,-0.94,-243.4,590.3,-9.7,645,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2060,3913
$GC,5720,-0.97,-243.4,621.3,-10.0,660,5724,0.10,2.22,0.00,0.000,4,0.072,0.048,2483,666,3910
$GC,5753,-0.86,-243.4,626.0,-13.9,661,5760,0.22,2.17,0.00,0.000,6,0.123,0.042,2540,2060,3910
$GC,6076,-0.91,-243.4,657.5,-9.6,677,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2060,3908
$GC,6379,-0.96,-243.4,686.1,-9.0,692,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2060,3906
$GC,6693,-1.01,-243.4,713.4,-8.7,707,6697,0.15,2.22,0.00,0.000,4,0.058,0.050,2467,669,3904
$GC,6726,-0.88,-243.4,717.8,-14.0,708,6731,0.28,2.17,0.00,0.000,6,0.123,0.044,2538,2050,3903
$GC,7050,-0.93,-243.4,744.9,-7.9,723,7054,0.00,2.30,0.00,0.000,4,0.000,0.061,2533,3469,3901
$GC,7100,-0.99,-243.4,749.3,-8.4,725,7105,0.00,2.20,0.00,0.000,6,0.000,0.038,2533,2042,3901
$GC,7442,-1.03,-243.4,777.6,-8.3,741,7443,0.12,0.00,0.00,0.000,6,0.062,0.000,2468,2042,3899
$GC,7743,-0.90,-243.4,817.2,-13.5,756,7747,0.17,2.22,0.00,0.000,4,0.133,0.051,2527,659,3897
$GC,7829,-0.90,-243.4,826.0,-9.5,760,7833,0.00,2.20,0.00,0.000,6,0.000,0.045,2520,2048,3896
$GC,8165,-0.90,-243.4,856.8,-9.2,776,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2049,3895
$GC,8475,-0.90,-243.4,885.5,-9.4,791,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2049,3893
$GC,8782,-0.90,-243.4,914.8,-9.6,806,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2049,3892
$GC,9093,-0.90,-243.4,941.5,-8.3,821,9097,0.00,2.28,0.00,0.000,4,0.000,0.054,2520,653,3891
$GC,9151,-0.90,-243.4,946.6,-8.3,823,9155,0.00,2.22,0.00,0.000,6,0.000,0.047,2517,2049,3890
$GC,9477,-0.90,-243.4,973.4,-8.4,839,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2050,3889
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9688,-0.23,0.0,991.4,8.8,849,9908,0.70,0.00,211.12,1.479,6,0.101,0.000,2746,1689,2945
$STATE,9908,end apogee,CONTROL_FINISHED_OK
$STATE,9908,begin climb
$GC,9912,0.93,243.4,1004.1,0.0,860,10176,1.08,2.62,244.40,1.409,4,0.041,0.056,3145,299,1951
$GC,10211,0.52,243.4,980.1,20.5,873,10217,0.62,2.47,0.00,0.000,6,0.163,0.043,2992,1702,1947
$GC,10544,0.43,243.4,940.6,11.2,889,10549,0.12,2.25,0.00,0.000,4,0.152,0.055,2960,3105,1944
$GC,10802,0.43,243.4,913.0,10.3,900,10809,0.00,2.17,0.00,0.000,6,0.000,0.044,2967,1733,1941
$GC,11121,0.44,251.1,881.9,9.8,916,11132,0.00,2.28,6.55,1.134,4,0.000,0.058,2968,3109,1921
$GC,11358,0.39,251.1,856.2,11.1,926,11366,0.10,2.15,0.00,0.000,6,0.141,0.042,2947,1745,1920
$GC,11677,0.48,292.1,828.2,8.9,942,11728,0.00,2.22,41.12,1.332,4,0.000,0.056,2948,3108,1753
$GC,11855,0.53,297.7,810.8,9.8,950,11866,0.10,2.10,6.20,1.078,6,0.072,0.043,3008,1753,1731
$GC,12185,0.44,297.7,767.4,13.4,966,12190,0.15,2.17,0.00,0.000,4,0.141,0.056,2966,3103,1729
$GC,12370,0.44,297.7,746.2,11.0,974,12374,0.00,2.08,0.00,0.000,6,0.000,0.042,2975,1771,1729
$GC,12694,0.45,302.4,714.6,9.9,990,12704,0.00,2.15,5.72,1.036,4,0.000,0.056,2974,3112,1711
$GC,12856,0.45,302.4,696.6,11.6,997,12859,0.00,2.05,0.00,0.000,6,0.000,0.042,2985,1790,1711
$GC,13181,0.45,302.4,662.3,10.9,1013,13185,0.00,2.12,0.00,0.000,4,0.000,0.056,2985,3106,1711
$GC,13295,0.42,302.4,648.6,11.9,1018,13300,0.15,2.05,0.00,0.000,6,0.142,0.042,2953,1798,1711
$GC,13635,0.56,360.2,619.3,8.4,1034,13695,0.15,2.17,53.75,1.262,4,0.061,0.057,3032,3102,1475
$GC,13884,0.43,360.2,581.4,16.2,1045,13889,0.28,2.00,0.00,0.000,6,0.136,0.042,2962,1811,1473
$GC,14218,0.61,434.9,551.8,7.9,1061,14293,0.17,2.15,68.22,1.200,4,0.054,0.054,3058,3102,1170
$GC,14446,0.45,434.9,512.4,17.9,1071,14450,0.35,1.98,0.00,0.000,6,0.134,0.041,2964,1828,1168
$GC,14771,0.65,474.8,481.1,8.9,1096,14816,0.20,2.08,36.17,1.133,4,0.048,0.054,3069,3110,1008
$GC,14879,0.50,474.8,461.7,19.7,1105,14884,0.32,1.95,0.00,0.000,6,0.135,0.041,2983,1847,1008
$GC,15206,0.63,474.8,424.4,10.2,1135,15210,0.12,2.03,0.00,0.000,4,0.063,0.052,3056,3114,1006
$GC,15263,0.54,474.8,415.6,17.0,1140,15268,0.22,1.95,0.00,0.000,6,0.132,0.040,2997,1852,1006
$GC,15595,0.61,474.8,377.8,11.1,1171,15599,0.00,2.00,0.00,0.000,4,0.000,0.052,2999,3105,1005
$GC,15675,0.70,474.8,368.4,11.8,1178,15680,0.12,1.92,0.00,0.000,6,0.061,0.039,3070,1859,1005
$GC,16009,0.58,474.8,308.8,18.1,1209,16014,0.20,2.00,0.00,0.000,4,0.138,0.051,3005,3106,1004
$GC,16160,0.66,474.8,289.7,11.6,1230,16168,0.00,1.92,0.00,0.000,6,0.000,0.038,3011,1873,1005
$GC,16510,0.77,501.1,251.6,9.3,1291,16544,0.15,2.00,23.98,0.940,4,0.056,0.049,3097,3109,901
$GC,16640,0.63,501.1,231.1,18.9,1312,16649,0.22,1.88,0.00,0.000,6,0.130,0.037,3030,1890,901
$GC,16993,0.71,501.1,190.3,10.7,1373,16999,0.00,2.55,0.00,0.000,4,0.000,0.048,3036,271,901
$GC,17038,0.87,503.2,185.8,9.9,1380,17045,0.17,2.53,0.00,0.000,6,0.049,0.037,3128,1912,900
$GC,17387,0.72,503.2,118.0,19.9,1441,17394,0.22,1.90,0.00,0.000,4,0.133,0.045,3055,3120,899
$GC,17546,0.81,503.2,99.1,11.5,1468,17553,0.00,1.88,0.00,0.000,6,0.000,0.035,3061,1899,900
$GC,17894,1.14,623.6,70.3,6.7,1529,17997,0.30,1.90,94.45,0.765,4,0.038,0.043,3210,3111,454
$GC,18107,1.06,623.6,33.0,19.5,1564,18114,0.17,1.83,0.00,0.000,6,0.125,0.032,3160,1901,451
$STATE,18360,end climb,SURFACE_DEPTH_REACHED
$STATE,18360,begin surface coast
$FINISH,1.0,1.021373
$STATE,18395,end surface coast,CONTROL_FINISHED_OK
$STATE,18395,begin surface
$SM_CCo,18478,0.00,0.000,0,0,450,612.02
$SM_GC,1.66,8.05,0.00,0.00,0.041,0.000,0.000,138,2106,450,-8.27,1.27,612.02
$IRIDIUM_FIX,2503.20,12316.31,251198,171752
$TT8_MAMPS,0.027612
$HUMID,1725
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.50
$XPDR_PINGS,185
$24V_AH,21.3,133.834
$10V_AH,10.5,85.179
$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,26.725,132.950,791.700,0.000,0.000,129.391,316.098,186.470,54.250,0.000,0.000,17.154,2874.482,10565.629,805.358,4020.329,1275.850,0.000,2388.759,0.000,3995.722,0.000,58.292,0.000
$DEVICE_MAMPS,227.032,60.593,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.480,1071.264,2414.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91594,1615
$CAP_FILE_SIZE,193717,0
$CFSIZE,260165632,186982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.342, 50.6,1
$GPS,310809,222454,2514.371,12317.819,27,1.0,44,-3.7