version: 66.04
glider: 166
mission: 2
dive: 604
start: 9 5 109 11 59 29
data:
$ID,166
$MISSION,2
$DIVE,604
$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,-19150.889
$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,63
$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
$GPS1,115054,2442.840,12356.633,38,1.0,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.3
$GPS2,115908,2442.884,12356.592,15,1.0,15,-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,200.6,114754,-13.9,-10.000
$D_GRID,1670
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,106,0.00,0.00,-83.80,0.000,2,0.000,0.000,157,2104,2320
$GC,110,-0.93,-243.4,3.1,-4.9,13,168,9.20,2.28,-40.67,0.000,4,0.214,0.046,2509,642,3941
$GC,342,-0.49,-243.4,72.1,-28.9,52,349,0.52,2.10,0.00,0.000,6,0.123,0.031,2659,2046,3942
$GC,689,-0.49,-243.4,116.3,-10.2,113,696,0.00,2.17,0.00,0.000,4,0.000,0.044,2658,3460,3943
$GC,772,-0.61,-243.4,123.6,-8.6,127,780,0.12,2.08,0.00,0.000,6,0.058,0.026,2592,2036,3944
$GC,1122,-0.47,-243.4,182.1,-16.7,188,1128,0.22,2.08,0.00,0.000,4,0.121,0.035,2664,672,3944
$GC,1166,-0.56,-243.4,187.8,-10.8,195,1174,0.00,2.10,0.00,0.000,6,0.000,0.030,2657,2085,3943
$GC,1516,-0.68,-243.4,218.0,-7.9,256,1523,0.15,2.15,0.00,0.000,4,0.052,0.043,2550,3456,3943
$GC,1587,-0.60,-243.4,227.1,-13.4,268,1594,0.15,2.03,0.00,0.000,6,0.109,0.026,2620,2087,3943
$GC,1936,-0.60,-243.4,265.6,-11.2,329,1941,0.00,2.15,0.00,0.000,4,0.000,0.037,2618,674,3942
$GC,1990,-0.66,-243.4,271.4,-10.7,338,1996,0.00,2.15,0.00,0.000,6,0.000,0.032,2598,2082,3942
$GC,2338,-0.69,-243.4,306.7,-9.6,394,2342,0.00,2.15,0.00,0.000,4,0.000,0.047,2597,3464,3941
$GC,2377,-0.77,-243.4,310.3,-9.5,397,2381,0.00,2.03,0.00,0.000,6,0.000,0.028,2599,2084,3941
$GC,2712,-0.82,-243.4,346.9,-11.2,428,2718,0.12,0.00,0.00,0.000,6,0.062,0.000,2527,2084,3939
$GC,3043,-0.67,-243.4,401.2,-16.0,459,3047,0.22,2.17,0.00,0.000,4,0.121,0.040,2601,675,3937
$GC,3155,-0.77,-243.4,413.3,-9.7,468,3159,0.00,2.12,0.00,0.000,6,0.000,0.035,2597,2075,3937
$GC,3488,-0.88,-243.4,442.3,-8.3,499,3493,0.17,2.20,0.00,0.000,4,0.051,0.048,2504,3471,3935
$GC,3530,-0.79,-243.4,447.2,-13.2,502,3535,0.20,2.08,0.00,0.000,6,0.116,0.029,2564,2076,3935
$GC,3856,-0.79,-243.4,483.7,-11.1,532,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2076,3933
$GC,4184,-0.82,-243.4,517.5,-10.0,555,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2077,3931
$GC,4490,-0.90,-243.4,544.5,-7.9,570,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2076,3929
$GC,4803,-0.97,-243.4,572.7,-9.8,585,4805,0.17,0.00,0.00,0.000,6,0.053,0.000,2475,2076,3927
$GC,5108,-0.81,-243.4,623.3,-16.1,600,5113,0.25,2.25,0.00,0.000,4,0.123,0.044,2556,667,3924
$GC,5166,-0.87,-243.4,629.9,-9.7,602,5175,0.00,2.22,0.00,0.000,6,0.000,0.039,2548,2079,3924
$GC,5486,-0.91,-243.4,660.9,-9.9,618,5490,0.00,2.22,0.00,0.000,4,0.000,0.054,2538,3471,3922
$GC,5517,-0.97,-243.4,664.0,-9.8,619,5520,0.00,2.10,0.00,0.000,6,0.000,0.033,2538,2086,3921
$GC,5850,-1.00,-243.4,698.0,-10.0,635,5855,0.12,2.22,0.00,0.000,4,0.062,0.045,2470,667,3918
$GC,5913,-0.85,-243.4,706.6,-13.9,637,5920,0.28,2.22,0.00,0.000,6,0.119,0.042,2544,2091,3918
$GC,6236,-0.92,-243.4,731.3,-7.3,653,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2091,3915
$GC,6542,-0.98,-243.4,754.3,-7.7,668,6543,0.12,0.00,0.00,0.000,6,0.061,0.000,2477,2091,3912
$GC,6851,-0.87,-243.4,792.1,-12.8,683,6856,0.17,2.30,0.00,0.000,4,0.129,0.048,2535,666,3910
$GC,6946,-0.91,-243.4,801.6,-9.6,687,6950,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2074,3910
$GC,7286,-0.95,-243.4,834.6,-9.7,703,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2074,3908
$GC,7591,-0.98,-243.4,865.5,-9.9,718,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2075,3906
$GC,7901,-1.01,-243.4,896.0,-9.8,733,7906,0.12,2.28,0.00,0.000,4,0.063,0.049,2464,663,3904
$GC,7952,-0.89,-243.4,903.3,-14.7,735,7957,0.28,2.25,0.00,0.000,6,0.120,0.045,2536,2077,3903
$GC,8273,-0.95,-243.4,933.8,-9.2,750,8277,0.00,2.28,0.00,0.000,4,0.000,0.063,2533,3463,3902
$GC,8302,-1.03,-243.4,936.9,-9.1,751,8307,0.12,2.15,0.00,0.000,6,0.061,0.038,2470,2069,3901
$GC,8631,-0.93,-243.4,979.4,-13.5,767,8635,0.17,2.28,0.00,0.000,4,0.128,0.050,2528,656,3899
$STATE,8717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8717,begin apogee
$GC,8728,-0.23,0.0,990.6,11.7,771,8954,0.62,0.00,222.65,1.473,6,0.094,0.000,2744,1706,2945
$STATE,8955,end apogee,CONTROL_FINISHED_OK
$STATE,8955,begin climb
$GC,8958,0.93,243.4,1007.8,0.0,782,9397,1.10,2.62,293.50,1.208,4,0.040,0.053,3137,296,1950
$GC,9613,0.57,243.4,937.0,20.5,811,9618,0.50,2.38,0.00,0.000,6,0.155,0.042,3009,1690,1945
$GC,9946,0.46,243.4,894.7,12.8,827,9951,0.15,2.38,0.00,0.000,4,0.142,0.055,2966,3111,1943
$GC,10207,0.42,243.4,864.5,11.5,838,10211,0.00,2.20,0.00,0.000,6,0.000,0.041,2974,1728,1941
$GC,10529,0.39,243.4,832.0,10.1,853,10533,0.00,2.28,0.00,0.000,4,0.000,0.056,2975,3111,1940
$GC,10745,0.33,243.4,808.8,11.0,862,10750,0.20,2.17,0.00,0.000,6,0.137,0.041,2932,1743,1939
$GC,11068,0.48,298.5,782.7,8.5,877,11135,0.12,2.38,52.28,1.317,4,0.068,0.054,2997,3101,1727
$GC,11260,0.42,298.5,758.7,13.2,885,11265,0.20,2.12,0.00,0.000,6,0.130,0.041,2952,1759,1725
$GC,11581,0.56,363.0,730.7,8.2,900,11651,0.15,2.35,61.50,1.313,4,0.061,0.054,3035,3108,1463
$GC,11845,0.48,363.0,692.8,14.9,911,11850,0.25,2.10,0.00,0.000,6,0.128,0.041,2974,1779,1459
$GC,12165,0.55,375.2,661.0,9.7,926,12190,0.00,2.17,13.45,1.014,4,0.000,0.054,2974,3109,1414
$GC,12322,0.61,380.3,644.3,9.9,932,12334,0.08,2.10,6.30,1.002,6,0.052,0.041,3036,1799,1394
$GC,12665,0.53,380.3,596.9,14.0,949,12670,0.15,2.15,0.00,0.000,4,0.133,0.053,2993,3113,1393
$GC,12845,0.53,380.3,576.6,10.9,957,12849,0.00,2.03,0.00,0.000,6,0.000,0.040,3000,1828,1393
$GC,13183,0.53,380.3,540.1,10.7,973,13186,0.00,2.08,0.00,0.000,4,0.000,0.053,3001,3106,1392
$GC,13312,0.53,380.3,525.0,10.2,978,13322,0.00,2.00,0.00,0.000,6,0.000,0.040,3008,1852,1392
$GC,13632,0.53,380.3,489.6,11.6,998,13636,0.00,2.03,0.00,0.000,4,0.000,0.051,3009,3108,1392
$GC,13757,0.53,380.3,474.7,11.9,1009,13761,0.00,1.95,0.00,0.000,6,0.000,0.038,3018,1856,1391
$GC,14093,0.53,380.3,436.5,11.2,1040,14096,0.00,2.03,0.00,0.000,4,0.000,0.051,3017,3116,1391
$GC,14200,0.53,380.3,423.0,12.1,1049,14206,0.12,1.95,0.00,0.000,6,0.128,0.037,2992,1860,1391
$GC,14526,0.61,380.3,389.6,10.6,1080,14530,0.00,2.00,0.00,0.000,4,0.000,0.049,2992,3106,1391
$GC,14584,0.68,380.3,383.3,10.1,1085,14589,0.12,1.92,0.00,0.000,6,0.059,0.036,3063,1863,1391
$GC,14916,0.60,380.3,332.8,15.9,1116,14920,0.17,2.03,0.00,0.000,4,0.130,0.047,3005,3116,1391
$GC,14976,0.66,380.3,325.6,11.4,1121,14980,0.00,1.92,0.00,0.000,6,0.000,0.035,3012,1870,1391
$GC,15310,0.73,402.1,292.9,9.4,1158,15338,0.12,2.05,21.35,0.933,4,0.064,0.048,3084,3118,1305
$GC,15453,0.63,402.1,270.7,17.1,1182,15461,0.17,1.90,0.00,0.000,6,0.123,0.035,3024,1898,1304
$GC,15806,0.78,474.8,238.1,8.0,1243,15879,0.15,1.98,65.15,0.898,4,0.059,0.044,3117,3109,1008
$GC,15925,0.64,474.8,220.9,16.3,1262,15933,0.30,1.90,0.00,0.000,6,0.120,0.033,3031,1907,1008
$GC,16274,0.86,541.5,185.8,8.2,1323,16337,0.17,0.00,58.53,0.838,6,0.051,0.000,3142,1906,737
$GC,16683,0.75,541.5,108.9,19.1,1393,16690,0.25,1.92,0.00,0.000,4,0.120,0.041,3060,3122,735
$GC,16789,1.02,594.6,97.5,8.5,1411,16841,0.17,1.90,46.83,0.759,6,0.032,0.031,3170,1894,520
$GC,17183,1.02,594.6,36.6,14.5,1479,17189,0.00,1.92,0.00,0.000,4,0.000,0.040,3171,3109,519
$GC,17270,1.02,594.6,24.3,12.1,1494,17278,0.10,1.85,0.00,0.000,6,0.117,0.031,3149,1908,519
$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17469,begin surface coast
$FINISH,0.9,1.021364
$STATE,17498,end surface coast,CONTROL_FINISHED_OK
$STATE,17498,begin surface
$SM_CCo,17581,0.00,0.000,0,0,517,595.34
$SM_GC,1.59,8.15,0.00,0.00,0.038,0.000,0.000,165,2113,517,-8.28,1.47,595.34
$IRIDIUM_FIX,2434.69,12353.25,301198,060603
$TT8_MAMPS,0.026845
$HUMID,1703
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,157
$24V_AH,21.1,140.619
$10V_AH,10.5,89.332
$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,26.475,131.725,841.525,0.000,0.000,23.589,33.622,231.330,47.250,0.000,0.000,15.722,2702.948,9620.169,929.362,3877.061,922.921,0.000,2538.539,0.000,3863.460,0.000,54.412,0.000
$DEVICE_MAMPS,213.993,62.894,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.794,1020.632,2266.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85357,1534
$CAP_FILE_SIZE,186531,0
$CFSIZE,260165632,184909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.077, 23.1,1
$GPS,050909,165336,2440.718,12356.879,27,1.5,27,-3.6