version: 66.04
glider: 166
mission: 2
dive: 602
start: 9 5 109 1 28 4
data:
$ID,166
$MISSION,2
$DIVE,602
$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,-19117.701
$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,30
$R_STBD_OVSHOOT,72
$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
$GPS1,011554,2447.374,12353.983,38,0.9,38,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.7
$GPS2,012744,2447.285,12353.969,13,1.2,13,-3.6
$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,192.0,123185,-13.9,-10.000
$D_GRID,1834
$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,-243.4,0.0,0.0,0,92,0.00,0.00,-73.72,0.000,2,0.000,0.000,166,2107,2278
$GC,98,-0.93,-243.4,3.1,-5.2,11,156,9.30,2.25,-42.10,0.000,4,0.218,0.047,2511,638,3939
$GC,366,-0.53,-243.4,84.7,-26.2,57,375,0.47,2.10,0.00,0.000,6,0.115,0.031,2647,2042,3940
$GC,719,-0.53,-243.4,133.3,-12.5,118,725,0.00,2.17,0.00,0.000,4,0.000,0.043,2647,3462,3941
$GC,756,-0.57,-243.4,137.9,-11.3,124,762,0.00,2.10,0.00,0.000,6,0.000,0.026,2647,2023,3941
$GC,1104,-0.57,-243.4,178.6,-11.3,185,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2023,3941
$GC,1453,-0.64,-243.4,216.1,-8.8,246,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2023,3940
$GC,1801,-0.72,-243.4,244.8,-8.1,307,1808,0.17,2.28,0.00,0.000,4,0.053,0.042,2528,3469,3938
$GC,1900,-0.55,-243.4,259.0,-16.1,324,1907,0.28,2.10,0.00,0.000,6,0.114,0.027,2642,2065,3939
$GC,2248,-0.65,-243.4,288.6,-8.2,385,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2065,3938
$GC,2583,-0.76,-243.4,313.6,-7.7,429,2588,0.15,2.12,0.00,0.000,4,0.058,0.038,2549,677,3936
$GC,2612,-0.76,-243.4,316.2,-10.1,431,2617,0.15,2.12,0.00,0.000,6,0.125,0.034,2578,2080,3936
$GC,2939,-0.76,-243.4,356.4,-12.3,461,2942,0.00,2.15,0.00,0.000,4,0.000,0.048,2573,3461,3934
$GC,2987,-0.80,-243.4,361.8,-11.1,465,2991,0.00,2.05,0.00,0.000,6,0.000,0.028,2575,2078,3934
$GC,3318,-0.80,-243.4,398.6,-10.5,496,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2078,3932
$GC,3641,-0.80,-243.4,432.1,-9.9,526,3645,0.00,2.17,0.00,0.000,4,0.000,0.042,2576,672,3931
$GC,3678,-0.83,-243.4,435.8,-9.3,529,3681,0.00,2.15,0.00,0.000,6,0.000,0.035,2568,2079,3930
$GC,4010,-0.87,-243.4,466.1,-9.9,560,4013,0.00,2.17,0.00,0.000,4,0.000,0.050,2558,3462,3928
$GC,4106,-0.96,-243.4,475.1,-8.9,568,4113,0.15,2.05,0.00,0.000,6,0.054,0.029,2479,2072,3927
$GC,4435,-0.76,-243.4,528.9,-17.1,591,4437,0.30,0.00,0.00,0.000,6,0.121,0.000,2572,2072,3926
$GC,4738,-0.85,-243.4,557.6,-8.5,606,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2072,3924
$GC,5050,-0.94,-243.4,585.2,-8.5,621,5052,0.17,0.00,0.00,0.000,6,0.051,0.000,2474,2072,3921
$GC,5355,-0.76,-243.4,632.6,-15.4,636,5357,0.32,0.00,0.00,0.000,6,0.121,0.000,2574,2072,3918
$GC,5671,-0.88,-243.4,655.2,-6.9,651,5676,0.12,2.20,0.00,0.000,4,0.061,0.045,2505,676,3916
$GC,5721,-0.81,-243.4,660.8,-13.1,653,5726,0.22,2.20,0.00,0.000,6,0.114,0.039,2562,2090,3915
$GC,6055,-0.91,-243.4,689.4,-8.3,669,6057,0.12,0.00,0.00,0.000,6,0.059,0.000,2487,2090,3912
$GC,6361,-0.81,-243.4,730.6,-13.2,684,6362,0.22,0.00,0.00,0.000,6,0.120,0.000,2555,2090,3910
$GC,6674,-0.90,-243.4,754.2,-7.2,699,6678,0.00,2.28,0.00,0.000,4,0.000,0.048,2555,664,3908
$GC,6753,-0.99,-243.4,761.0,-8.1,702,6762,0.10,2.25,0.00,0.000,6,0.045,0.042,2480,2079,3907
$GC,7077,-0.88,-243.4,800.7,-12.4,718,7079,0.17,0.00,0.00,0.000,6,0.130,0.000,2531,2080,3905
$GC,7385,-0.92,-243.4,830.0,-8.6,733,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2080,3903
$GC,7690,-0.96,-243.4,856.5,-8.7,748,7694,0.00,2.28,0.00,0.000,4,0.000,0.050,2531,670,3901
$GC,7736,-0.96,-243.4,860.9,-9.7,750,7740,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2069,3900
$GC,8074,-1.00,-243.4,889.9,-8.1,766,8077,0.00,2.25,0.00,0.000,4,0.000,0.050,2529,667,3898
$GC,8122,-1.00,-243.4,894.2,-8.9,768,8125,0.00,2.22,0.00,0.000,6,0.000,0.044,2521,2071,3898
$GC,8458,-1.00,-243.4,921.8,-8.1,784,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2071,3896
$GC,8768,-1.00,-243.4,948.6,-8.9,799,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2071,3894
$GC,9074,-1.00,-243.4,978.6,-10.1,814,9078,0.00,2.25,0.00,0.000,4,0.000,0.051,2521,676,3892
$GC,9113,-1.00,-243.4,982.9,-11.5,815,9119,0.00,2.22,0.00,0.000,6,0.000,0.047,2517,2068,3892
$STATE,9181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9181,begin apogee
$GC,9191,-0.23,0.0,990.1,10.7,819,9412,0.70,0.00,218.35,1.472,6,0.100,0.000,2746,1699,2945
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9417,0.93,243.4,1006.9,0.0,830,9852,1.10,2.65,293.80,1.210,4,0.034,0.055,3139,3099,1950
$GC,9940,0.50,243.4,958.2,21.4,854,9949,0.57,2.42,0.00,0.000,6,0.151,0.041,2984,1704,1946
$GC,10261,0.44,243.4,921.3,11.4,870,10265,0.00,2.35,0.00,0.000,4,0.000,0.056,2984,3112,1944
$GC,10515,0.35,243.4,888.9,12.5,881,10520,0.20,2.20,0.00,0.000,6,0.135,0.041,2938,1716,1943
$GC,10836,0.45,282.9,859.8,8.9,896,10894,0.00,2.42,40.40,1.270,4,0.000,0.055,2938,3111,1791
$GC,11086,0.49,284.5,835.4,10.0,907,11090,0.00,2.15,0.00,0.000,6,0.000,0.041,2946,1745,1787
$GC,11426,0.58,312.6,803.6,9.2,923,11461,0.17,2.30,28.17,1.351,4,0.054,0.057,3038,3099,1669
$GC,11643,0.41,312.6,768.3,16.1,932,11651,0.28,2.12,0.00,0.000,6,0.133,0.041,2962,1764,1666
$GC,11964,0.48,330.2,736.2,9.5,948,11988,0.00,2.20,17.20,1.280,4,0.000,0.055,2962,3111,1597
$GC,12160,0.49,344.6,716.9,9.6,956,12187,0.00,2.08,16.55,1.116,6,0.000,0.041,2969,1784,1539
$GC,12513,0.57,370.8,684.9,9.3,973,12559,0.10,2.22,26.98,1.193,4,0.074,0.054,3033,3106,1433
$GC,12753,0.48,370.8,649.8,15.4,983,12757,0.22,2.03,0.00,0.000,6,0.132,0.041,2978,1808,1431
$GC,13072,0.52,370.8,615.7,10.5,998,13076,0.00,2.10,0.00,0.000,4,0.000,0.054,2978,3107,1429
$GC,13176,0.56,370.8,603.8,11.5,1002,13179,0.00,2.00,0.00,0.000,6,0.000,0.040,2985,1826,1429
$GC,13498,0.56,370.8,569.3,10.3,1018,13502,0.00,2.08,0.00,0.000,4,0.000,0.054,2985,3111,1429
$GC,13664,0.56,370.8,552.3,10.2,1025,13668,0.00,1.98,0.00,0.000,6,0.000,0.039,2994,1847,1429
$GC,14000,0.56,370.8,517.2,10.5,1041,14004,0.00,2.05,0.00,0.000,4,0.000,0.053,2994,3111,1429
$GC,14141,0.56,370.8,502.2,10.9,1047,14145,0.00,1.95,0.00,0.000,6,0.000,0.039,3002,1861,1429
$GC,14475,0.59,393.3,467.6,9.4,1077,14503,0.00,2.05,21.30,1.100,4,0.000,0.051,3002,3108,1341
$GC,14632,0.62,393.3,450.5,12.6,1090,14639,0.00,1.92,0.00,0.000,6,0.000,0.038,3011,1879,1340
$GC,14961,0.62,393.3,411.9,10.5,1121,14964,0.00,1.98,0.00,0.000,4,0.000,0.050,3011,3111,1339
$GC,15077,0.62,393.3,398.8,10.5,1131,15081,0.00,1.88,0.00,0.000,6,0.000,0.036,3020,1896,1339
$GC,15408,0.62,393.3,363.4,10.9,1162,15412,0.00,1.95,0.00,0.000,4,0.000,0.048,3020,3115,1339
$GC,15483,0.62,393.3,355.0,10.5,1168,15491,0.00,1.90,0.00,0.000,6,0.000,0.036,3029,1900,1339
$GC,15810,0.62,393.3,318.3,11.2,1199,15813,0.00,1.92,0.00,0.000,4,0.000,0.047,3029,3108,1339
$GC,15977,0.62,393.3,299.2,12.1,1213,15983,0.00,1.83,0.00,0.000,6,0.000,0.035,3037,1915,1339
$GC,16323,0.62,393.3,254.4,11.8,1274,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1915,1339
$GC,16671,0.63,400.1,213.1,9.8,1335,16684,0.00,1.92,7.80,0.753,4,0.000,0.045,3037,3109,1313
$GC,16833,0.68,400.1,195.9,11.2,1363,16839,0.00,1.80,0.00,0.000,6,0.000,0.033,3046,1940,1313
$GC,17182,0.78,442.8,160.6,8.8,1424,17228,0.00,1.85,38.88,0.826,4,0.000,0.043,3046,3118,1139
$GC,17288,0.86,442.8,150.3,10.1,1441,17295,0.08,1.80,0.00,0.000,6,0.047,0.032,3121,1941,1138
$GC,17640,0.80,442.8,99.4,14.7,1502,17648,0.15,1.85,0.00,0.000,4,0.127,0.041,3077,3129,1138
$GC,17783,0.89,456.7,84.2,9.6,1526,17803,0.00,1.80,13.35,0.706,6,0.000,0.031,3083,1947,1082
$GC,18147,1.25,601.7,56.9,6.0,1589,18275,0.35,0.00,123.18,0.716,6,0.035,0.000,3259,1946,492
$STATE,18416,end climb,SURFACE_DEPTH_REACHED
$STATE,18416,begin surface coast
$FINISH,0.9,0.997673
$STATE,18429,end surface coast,CONTROL_FINISHED_OK
$STATE,18429,begin surface
$SM_CCo,18511,0.00,0.000,0,0,487,602.95
$SM_GC,1.53,8.40,0.00,0.00,0.037,0.000,0.000,165,2115,487,-8.28,1.53,602.95
$IRIDIUM_FIX,2439.44,12354.57,301198,010153
$TT8_MAMPS,0.027612
$HUMID,1679
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,164
$24V_AH,21.0,139.989
$10V_AH,10.5,88.960
$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,24.775,118.900,845.950,0.000,0.000,49.626,73.071,311.948,49.000,0.000,0.000,16.417,2854.641,10301.101,978.825,3979.526,1082.500,0.000,2606.220,0.000,3950.575,0.000,54.421,0.000
$DEVICE_MAMPS,217.828,56.758,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.796,1089.669,2367.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91584,1636
$CAP_FILE_SIZE,188336,0
$CFSIZE,260165632,185085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,30,0
$CURRENT,0.101, 44.4,1
$GPS,050909,063754,2445.042,12355.109,40,1.3,40,-3.6