version: 66.04
glider: 166
mission: 2
dive: 595
start: 9 3 109 13 7 5
data:
$ID,166
$MISSION,2
$DIVE,595
$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,-19001.092
$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,38
$R_STBD_OVSHOOT,66
$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
$GPS1,125824,2503.848,12345.864,40,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.5
$GPS2,130644,2503.903,12345.909,12,1.2,12,-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,208.8,155384,-13.9,-10.000
$D_GRID,2030
$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,17,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,106,0.00,0.00,-83.55,0.000,2,0.000,0.000,168,2104,2321
$GC,111,-0.93,-243.4,3.3,-6.9,13,169,9.32,2.10,-39.35,0.000,4,0.219,0.054,2503,3438,3940
$GC,342,-0.52,-243.4,73.6,-27.0,52,350,0.50,2.05,0.00,0.000,6,0.130,0.028,2651,2027,3941
$GC,688,-0.52,-243.4,122.5,-12.1,113,695,0.00,2.20,0.00,0.000,4,0.000,0.043,2646,3450,3943
$GC,727,-0.57,-243.4,126.5,-10.5,119,735,0.00,2.05,0.00,0.000,6,0.000,0.026,2648,2036,3944
$GC,1074,-0.57,-243.4,161.2,-9.4,180,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2036,3944
$GC,1419,-0.63,-243.4,191.6,-9.4,241,1425,0.00,2.17,0.00,0.000,4,0.000,0.043,2633,3440,3943
$GC,1499,-0.79,-243.4,198.9,-9.4,254,1506,0.20,2.03,0.00,0.000,6,0.045,0.027,2544,2039,3943
$GC,1851,-0.60,-243.4,264.2,-17.9,315,1859,0.22,2.08,0.00,0.000,4,0.125,0.035,2618,666,3943
$GC,1883,-0.60,-243.4,269.4,-13.1,320,1890,0.00,2.08,0.00,0.000,6,0.000,0.032,2601,2061,3943
$GC,2231,-0.66,-243.4,307.9,-12.0,376,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2062,3941
$GC,2552,-0.72,-243.4,340.6,-8.7,406,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2061,3939
$GC,2881,-0.79,-243.4,367.4,-7.9,437,2885,0.00,2.17,0.00,0.000,4,0.000,0.048,2598,3456,3937
$GC,2918,-0.92,-243.4,370.3,-6.8,440,2922,0.22,2.05,0.00,0.000,6,0.045,0.029,2487,2068,3937
$GC,3244,-0.66,-243.4,428.4,-19.9,470,3248,0.35,2.17,0.00,0.000,4,0.125,0.038,2601,664,3936
$GC,3309,-0.77,-243.4,435.8,-8.9,475,3313,0.00,2.12,0.00,0.000,6,0.000,0.035,2598,2061,3935
$GC,3641,-0.90,-243.4,463.5,-9.1,506,3645,0.17,2.20,0.00,0.000,4,0.048,0.048,2490,3459,3934
$GC,3738,-0.78,-243.4,478.3,-17.0,514,3743,0.25,2.08,0.00,0.000,6,0.123,0.031,2565,2069,3933
$GC,4083,-0.84,-243.4,515.2,-9.2,539,4087,0.00,2.17,0.00,0.000,4,0.000,0.042,2565,657,3931
$GC,4126,-0.90,-243.4,519.6,-9.2,540,4132,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,2069,3930
$GC,4444,-0.95,-243.4,547.1,-8.5,556,4445,0.12,0.00,0.00,0.000,6,0.062,0.000,2487,2069,3928
$GC,4758,-0.79,-243.4,590.3,-14.0,571,4763,0.22,2.22,0.00,0.000,4,0.121,0.052,2552,3462,3926
$GC,4803,-0.87,-243.4,595.3,-7.9,573,4807,0.00,2.10,0.00,0.000,6,0.000,0.032,2553,2069,3925
$GC,5144,-0.93,-243.4,622.9,-8.2,589,5147,0.00,2.20,0.00,0.000,4,0.000,0.046,2552,658,3923
$GC,5201,-0.98,-243.4,628.5,-8.3,591,5206,0.12,2.17,0.00,0.000,6,0.063,0.038,2482,2068,3922
$GC,5520,-0.87,-243.4,669.6,-13.5,606,5525,0.17,2.22,0.00,0.000,4,0.131,0.045,2540,664,3920
$GC,5563,-0.91,-243.4,674.6,-10.1,608,5571,0.00,2.17,0.00,0.000,6,0.000,0.041,2534,2063,3919
$GC,5902,-0.91,-243.4,709.9,-11.0,624,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2063,3917
$GC,6212,-0.94,-243.4,743.8,-10.8,639,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2063,3915
$GC,6518,-0.94,-243.4,772.8,-8.8,654,6521,0.00,2.22,0.00,0.000,4,0.000,0.049,2533,669,3912
$GC,6576,-0.94,-243.4,778.3,-9.6,656,6580,0.00,2.20,0.00,0.000,6,0.000,0.044,2530,2068,3911
$GC,6898,-0.94,-243.4,806.9,-9.2,671,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2069,3909
$GC,7204,-0.98,-243.4,835.8,-9.5,686,7208,0.00,2.28,0.00,0.000,4,0.000,0.061,2530,3462,3907
$GC,7232,-1.02,-243.4,838.2,-9.4,687,7237,0.12,2.17,0.00,0.000,6,0.062,0.037,2469,2053,3907
$GC,7564,-0.92,-243.4,881.2,-13.3,703,7569,0.17,2.25,0.00,0.000,4,0.128,0.050,2527,653,3905
$GC,7621,-0.95,-243.4,888.3,-10.6,705,7627,0.00,2.22,0.00,0.000,6,0.000,0.044,2519,2066,3905
$GC,7940,-0.95,-243.4,921.9,-10.6,721,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2066,3903
$GC,8247,-0.95,-243.4,953.0,-9.6,736,8251,0.00,2.30,0.00,0.000,4,0.000,0.063,2517,3464,3901
$GC,8289,-1.01,-243.4,956.8,-8.9,738,8293,0.00,2.20,0.00,0.000,6,0.000,0.038,2517,2043,3900
$GC,8626,-1.01,-243.4,986.2,-8.5,754,8630,0.00,2.20,0.00,0.000,4,0.000,0.051,2517,659,3899
$STATE,8662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8662,begin apogee
$GC,8672,-0.23,0.0,990.0,9.6,755,8890,0.68,0.00,214.38,1.474,6,0.102,0.000,2744,1706,2945
$STATE,8891,end apogee,CONTROL_FINISHED_OK
$STATE,8891,begin climb
$GC,8894,0.93,243.4,1000.8,0.0,766,9330,1.10,2.53,292.50,1.200,4,0.041,0.054,3128,3094,1951
$GC,9590,0.52,243.4,910.7,20.1,797,9595,0.52,2.20,0.00,0.000,6,0.155,0.042,2993,1699,1944
$GC,9924,0.44,243.4,872.5,11.2,813,9928,0.00,2.28,0.00,0.000,4,0.000,0.056,2993,3105,1943
$GC,10184,0.34,243.4,839.8,12.7,824,10191,0.20,2.20,0.00,0.000,6,0.125,0.043,2938,1714,1942
$GC,10505,0.53,345.2,815.2,7.2,840,10611,0.15,2.38,94.43,1.346,4,0.061,0.055,3013,3108,1536
$GC,10799,0.43,345.2,775.0,15.0,852,10804,0.22,2.15,0.00,0.000,6,0.134,0.042,2959,1723,1530
$GC,11127,0.56,386.2,744.0,8.9,868,11172,0.12,2.30,36.75,1.309,4,0.066,0.056,3026,3102,1370
$GC,11325,0.46,386.2,715.5,15.0,876,11333,0.20,2.10,0.00,0.000,6,0.127,0.042,2972,1759,1367
$GC,11646,0.63,462.9,688.3,7.9,892,11731,0.15,2.22,73.53,1.255,4,0.059,0.054,3053,3100,1056
$GC,11938,0.52,462.9,641.6,17.6,904,11943,0.25,2.05,0.00,0.000,6,0.132,0.041,2989,1775,1054
$GC,12270,0.59,462.9,602.1,12.1,920,12274,0.00,2.12,0.00,0.000,4,0.000,0.054,2989,3103,1052
$GC,12343,0.67,462.9,592.5,13.8,923,12348,0.12,2.05,0.00,0.000,6,0.061,0.041,3057,1784,1052
$GC,12683,0.55,462.9,530.3,18.5,939,12687,0.20,2.12,0.00,0.000,4,0.134,0.052,2992,3104,1051
$GC,12870,0.64,462.9,505.7,11.4,947,12873,0.00,2.00,0.00,0.000,6,0.000,0.040,2995,1817,1051
$GC,13203,0.72,462.9,470.6,10.2,976,13207,0.15,2.08,0.00,0.000,4,0.058,0.051,3075,3111,1051
$GC,13310,0.58,462.9,452.2,17.6,985,13317,0.28,1.98,0.00,0.000,6,0.134,0.039,3005,1834,1051
$GC,13636,0.66,462.9,418.2,10.1,1016,13640,0.00,2.03,0.00,0.000,4,0.000,0.050,3006,3106,1051
$GC,13721,0.77,468.4,409.1,9.8,1023,13731,0.15,1.95,5.20,0.806,6,0.055,0.038,3084,1839,1034
$GC,14058,0.63,468.4,347.3,20.4,1055,14063,0.17,2.47,0.00,0.000,4,0.137,0.048,3037,287,1033
$GC,14077,0.53,468.4,343.6,19.2,1056,14082,0.17,2.45,0.00,0.000,6,0.115,0.038,2986,1862,1033
$GC,14403,0.72,482.8,311.0,9.6,1086,14423,0.17,1.95,14.55,0.930,4,0.051,0.056,3088,3109,976
$GC,14587,0.59,482.8,278.0,18.0,1111,14593,0.30,1.90,0.00,0.000,6,0.128,0.035,3007,1860,976
$GC,14934,0.83,560.1,244.8,7.9,1172,15009,0.20,2.05,68.60,0.913,4,0.048,0.046,3126,3112,660
$GC,15102,0.68,560.1,214.3,20.6,1200,15109,0.25,1.92,0.00,0.000,6,0.127,0.034,3043,1864,660
$GC,15448,0.82,560.1,175.7,10.2,1261,15455,0.12,1.95,0.00,0.000,4,0.062,0.044,3128,3117,660
$GC,15508,0.72,560.1,165.6,18.8,1271,15515,0.20,1.90,0.00,0.000,6,0.120,0.033,3056,1877,660
$GC,15859,0.86,560.1,127.6,10.1,1332,15865,0.10,0.00,0.00,0.000,6,0.068,0.000,3133,1876,660
$GC,16205,0.86,560.1,71.7,16.2,1393,16212,0.12,1.95,0.00,0.000,4,0.120,0.041,3098,3111,660
$GC,16328,1.05,560.1,57.2,10.1,1414,16336,0.12,1.88,0.00,0.000,6,0.038,0.031,3204,1872,660
$GC,16679,1.01,560.1,5.0,14.3,1475,16686,0.20,2.47,0.00,0.000,4,0.127,0.041,3151,285,660
$STATE,16691,end climb,SURFACE_DEPTH_REACHED
$STATE,16691,begin surface coast
$FINISH,0.9,1.021217
$STATE,16709,end surface coast,CONTROL_FINISHED_OK
$STATE,16709,begin surface
$SM_CCo,16794,0.00,0.000,0,0,658,561.00
$SM_GC,1.74,8.02,0.00,0.00,0.034,0.000,0.000,166,2095,658,-8.27,0.99,561.00
$IRIDIUM_FIX,2458.45,12346.02,281198,080850
$TT8_MAMPS,0.027612
$HUMID,1729
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.90
$XPDR_PINGS,173
$24V_AH,20.3,137.822
$10V_AH,10.5,87.635
$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,26.875,133.125,799.925,0.000,0.000,22.410,31.095,246.059,51.250,0.000,0.000,12.544,2644.842,9087.004,905.725,3729.033,905.559,0.000,2451.354,0.000,3697.740,0.000,54.425,0.000
$DEVICE_MAMPS,219.362,62.894,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.714,1021.743,2221.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81859,1480
$CAP_FILE_SIZE,180760,0
$CFSIZE,260165632,185774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.178, 68.3,1
$GPS,030909,174807,2501.719,12346.932,29,0.9,29,-3.7