version: 66.04
glider: 166
mission: 2
dive: 603
start: 9 5 109 6 49 46
data:
$ID,166
$MISSION,2
$DIVE,603
$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,-19134.539
$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,29
$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
$GPS1,063754,2445.042,12355.109,40,1.3,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.3
$GPS2,064925,2445.081,12355.091,11,1.3,16,-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,192.9,118969,-13.9,-10.000
$D_GRID,1842
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-86.00,0.000,2,0.000,0.000,166,2115,2422
$GC,109,-0.93,-243.4,3.1,-3.5,13,162,9.25,2.33,-37.03,0.000,4,0.215,0.047,2514,633,3941
$GC,372,-0.53,-243.4,82.8,-29.8,58,381,0.47,2.15,0.00,0.000,6,0.121,0.030,2647,2085,3941
$GC,723,-0.53,-243.4,132.0,-11.8,119,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2085,3942
$GC,1070,-0.53,-243.4,167.8,-8.4,180,1078,0.00,2.10,0.00,0.000,4,0.000,0.042,2642,3460,3942
$GC,1109,-0.61,-243.4,171.3,-8.2,186,1117,0.00,2.08,0.00,0.000,6,0.000,0.026,2646,2036,3942
$GC,1460,-0.67,-243.4,205.8,-10.4,247,1465,0.12,0.00,0.00,0.000,6,0.061,0.000,2576,2036,3941
$GC,1810,-0.53,-243.4,259.1,-15.1,308,1816,0.20,0.00,0.00,0.000,6,0.122,0.000,2640,2035,3941
$GC,2157,-0.64,-243.4,288.8,-8.4,369,2163,0.00,2.25,0.00,0.000,4,0.000,0.044,2614,3465,3939
$GC,2188,-0.77,-243.4,291.6,-8.7,374,2196,0.15,2.05,0.00,0.000,6,0.052,0.027,2538,2061,3939
$GC,2520,-0.64,-243.4,341.8,-14.6,410,2522,0.22,0.00,0.00,0.000,6,0.121,0.000,2612,2059,3937
$GC,2840,-0.73,-243.4,368.2,-8.7,440,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2059,3936
$GC,3161,-0.84,-243.4,395.6,-8.0,470,3171,0.15,0.00,0.00,0.000,6,0.055,0.000,2519,2059,3934
$GC,3487,-0.72,-243.4,439.2,-13.2,501,3491,0.20,2.25,0.00,0.000,4,0.120,0.047,2581,3457,3932
$GC,3519,-0.72,-243.4,442.4,-9.6,503,3523,0.00,2.05,0.00,0.000,6,0.000,0.029,2581,2085,3932
$GC,3851,-0.80,-243.4,468.3,-7.4,534,3855,0.00,2.20,0.00,0.000,4,0.000,0.041,2582,661,3930
$GC,3887,-0.88,-243.4,470.9,-7.6,537,3892,0.12,2.15,0.00,0.000,6,0.059,0.036,2508,2072,3930
$GC,4220,-0.76,-243.4,514.5,-13.7,563,4222,0.22,0.00,0.00,0.000,6,0.117,0.000,2578,2072,3926
$GC,4525,-0.86,-243.4,535.9,-6.0,578,4527,0.12,0.00,0.00,0.000,6,0.061,0.000,2508,2072,3925
$GC,4838,-0.77,-243.4,570.9,-11.5,593,4840,0.20,0.00,0.00,0.000,6,0.117,0.000,2569,2072,3922
$GC,5143,-0.87,-243.4,594.2,-7.9,608,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2072,3920
$GC,5457,-0.97,-243.4,623.1,-9.8,623,5462,0.17,2.22,0.00,0.000,4,0.052,0.053,2460,3457,3917
$GC,5481,-0.93,-243.4,626.6,-11.7,624,5486,0.20,2.10,0.00,0.000,6,0.125,0.034,2519,2079,3917
$GC,5805,-0.93,-243.4,664.7,-11.5,640,5809,0.00,2.22,0.00,0.000,4,0.000,0.047,2519,662,3915
$GC,5903,-0.93,-243.4,675.8,-10.8,644,5907,0.00,2.25,0.00,0.000,6,0.000,0.046,2517,2074,3914
$GC,6229,-0.93,-243.4,708.1,-10.0,660,6233,0.00,2.25,0.00,0.000,4,0.000,0.047,2516,654,3911
$GC,6270,-0.93,-243.4,712.9,-10.6,661,6276,0.00,2.22,0.00,0.000,6,0.000,0.042,2517,2073,3911
$GC,6589,-0.93,-243.4,745.0,-10.1,677,6592,0.00,2.25,0.00,0.000,4,0.000,0.048,2516,657,3909
$GC,6622,-0.93,-243.4,749.0,-10.8,678,6627,0.00,2.22,0.00,0.000,6,0.000,0.042,2516,2074,3908
$GC,6946,-0.93,-243.4,779.9,-9.0,693,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2074,3906
$GC,7248,-0.93,-243.4,808.1,-9.5,708,7252,0.00,2.28,0.00,0.000,4,0.000,0.060,2513,3471,3904
$GC,7275,-0.93,-243.4,810.2,-9.0,709,7279,0.00,2.17,0.00,0.000,6,0.000,0.037,2513,2057,3904
$GC,7615,-0.93,-243.4,842.5,-9.7,725,7619,0.00,2.22,0.00,0.000,4,0.000,0.049,2513,658,3902
$GC,7672,-0.93,-243.4,849.4,-10.9,727,7676,0.00,2.22,0.00,0.000,6,0.000,0.044,2504,2066,3901
$GC,7992,-0.93,-243.4,882.2,-10.5,742,7995,0.00,2.25,0.00,0.000,4,0.000,0.051,2504,663,3899
$GC,8043,-0.93,-243.4,888.2,-11.4,744,8047,0.00,2.20,0.00,0.000,6,0.000,0.045,2495,2051,3899
$GC,8376,-0.90,-243.4,925.5,-11.5,760,8380,0.12,2.25,0.00,0.000,4,0.130,0.049,2532,657,3896
$GC,8432,-0.94,-243.4,932.1,-9.9,762,8442,0.00,2.25,0.00,0.000,6,0.000,0.047,2530,2048,3896
$GC,8753,-0.99,-243.4,961.4,-9.3,778,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2048,3894
$GC,9061,-1.04,-243.4,988.5,-8.4,793,9063,0.12,0.00,0.00,0.000,6,0.064,0.000,2465,2048,3892
$STATE,9075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9075,begin apogee
$GC,9083,-0.23,0.0,990.4,8.5,794,9308,0.88,0.00,220.52,1.474,6,0.107,0.000,2744,1699,2945
$STATE,9308,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9313,0.93,243.4,1002.9,0.0,805,9751,1.10,2.62,293.55,1.206,4,0.041,0.056,3127,3104,1951
$GC,9920,0.52,243.4,929.2,20.4,833,9925,0.57,2.38,0.00,0.000,6,0.155,0.041,2989,1702,1945
$GC,10255,0.46,252.2,893.7,9.8,849,10269,0.00,2.40,8.38,1.183,4,0.000,0.058,2989,3105,1916
$GC,10469,0.37,252.2,870.1,11.0,858,10474,0.20,2.22,0.00,0.000,6,0.133,0.043,2943,1706,1914
$GC,10792,0.53,351.1,846.4,7.3,873,10903,0.15,2.62,98.93,1.355,4,0.063,0.056,3019,3105,1512
$GC,11166,0.43,351.1,795.9,13.9,889,11171,0.25,2.20,0.00,0.000,6,0.133,0.043,2960,1729,1506
$GC,11494,0.59,431.0,769.7,7.8,905,11637,0.15,2.42,92.57,1.140,4,0.059,0.055,3040,3098,1188
$GC,11867,0.49,431.0,712.0,16.5,921,11872,0.25,2.12,0.00,0.000,6,0.132,0.042,2980,1753,1185
$GC,12187,0.55,431.0,678.6,10.3,936,12191,0.00,2.22,0.00,0.000,4,0.000,0.055,2979,3110,1184
$GC,12380,0.60,431.0,655.8,11.7,944,12384,0.00,2.10,0.00,0.000,6,0.000,0.041,2986,1781,1183
$GC,12703,0.65,431.0,618.4,11.4,960,12708,0.12,2.17,0.00,0.000,4,0.064,0.053,3053,3112,1183
$GC,12860,0.54,431.0,593.4,16.2,967,12865,0.25,2.08,0.00,0.000,6,0.133,0.041,2992,1791,1183
$GC,13195,0.58,431.0,556.0,10.6,983,13198,0.00,2.12,0.00,0.000,4,0.000,0.054,2992,3102,1182
$GC,13335,0.62,431.0,539.7,11.0,989,13338,0.00,2.00,0.00,0.000,6,0.000,0.040,2999,1830,1182
$GC,13675,0.66,431.0,503.1,10.3,1005,13679,0.00,2.08,0.00,0.000,4,0.000,0.053,2999,3111,1182
$GC,13802,0.69,431.0,488.5,11.7,1015,13806,0.10,1.98,0.00,0.000,6,0.068,0.038,3061,1848,1182
$GC,14133,0.60,431.0,439.7,15.2,1046,14137,0.17,2.05,0.00,0.000,4,0.134,0.051,3010,3107,1182
$GC,14288,0.63,431.0,422.5,10.7,1059,14294,0.00,1.92,0.00,0.000,6,0.000,0.038,3016,1868,1182
$GC,14613,0.63,431.0,388.6,10.3,1090,14617,0.00,2.00,0.00,0.000,4,0.000,0.050,3016,3115,1182
$GC,14698,0.67,442.6,379.9,9.7,1097,14717,0.00,1.92,11.27,0.969,6,0.000,0.038,3025,1872,1140
$GC,15037,0.67,442.6,341.1,12.1,1129,15041,0.00,1.98,0.00,0.000,4,0.000,0.049,3025,3112,1140
$GC,15118,0.67,442.6,331.2,11.7,1136,15121,0.00,1.88,0.00,0.000,6,0.000,0.036,3034,1889,1140
$GC,15451,0.67,442.6,290.9,12.3,1172,15457,0.00,1.98,0.00,0.000,4,0.000,0.048,3034,3108,1140
$GC,15551,0.67,442.6,277.8,13.7,1189,15556,0.00,1.85,0.00,0.000,6,0.000,0.035,3042,1895,1140
$GC,15896,0.67,442.6,235.4,11.5,1250,15904,0.00,1.98,0.00,0.000,4,0.000,0.045,3042,3113,1140
$GC,16007,0.67,442.6,222.5,13.0,1269,16012,0.00,1.83,0.00,0.000,6,0.000,0.034,3050,1918,1140
$GC,16353,0.67,442.6,182.4,11.0,1330,16361,0.00,1.92,0.00,0.000,4,0.000,0.044,3050,3113,1140
$GC,16447,0.71,442.6,171.2,12.2,1346,16455,0.00,1.83,0.00,0.000,6,0.000,0.033,3059,1932,1140
$GC,16797,0.78,473.9,133.5,9.1,1407,16839,0.00,0.00,31.45,0.761,6,0.000,0.000,3059,1932,1013
$GC,17185,0.96,556.2,94.8,7.7,1474,17263,0.17,1.98,71.78,0.766,4,0.048,0.041,3163,3120,676
$GC,17374,0.87,556.2,61.2,19.7,1505,17381,0.22,1.83,0.00,0.000,6,0.118,0.031,3083,1938,676
$GC,17723,1.37,723.9,37.2,5.4,1566,17783,0.40,2.67,47.60,0.701,4,0.032,0.041,3300,276,453
$GC,17844,1.10,723.9,12.2,22.8,1585,17851,0.43,2.55,0.00,0.000,6,0.138,0.031,3176,1960,452
$STATE,17889,end climb,SURFACE_DEPTH_REACHED
$STATE,17889,begin surface coast
$FINISH,1.0,1.021355
$STATE,17908,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
$SM_CCo,17991,0.00,0.000,0,0,450,612.02
$SM_GC,1.75,8.10,0.00,0.00,0.035,0.000,0.000,164,2104,450,-8.27,1.22,612.02
$IRIDIUM_FIX,2437.06,12356.54,301198,060646
$TT8_MAMPS,0.026845
$HUMID,1713
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,159
$24V_AH,21.1,140.313
$10V_AH,10.5,89.150
$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,25.600,125.800,876.050,0.000,0.000,45.446,67.962,311.717,47.750,0.000,0.000,16.210,2786.875,9876.675,995.043,3942.033,1058.306,0.000,2637.740,0.000,3924.312,0.000,54.417,0.000
$DEVICE_MAMPS,214.760,59.826,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.989,1087.813,2373.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88539,1596
$CAP_FILE_SIZE,186497,0
$CFSIZE,260165632,184999936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,36,0
$CURRENT,0.127, 57.9,1
$GPS,050909,115054,2442.840,12356.633,38,1.0,38,-3.6