version: 66.04
glider: 166
mission: 2
dive: 605
start: 9 5 109 17 2 33
data:
$ID,166
$MISSION,2
$DIVE,605
$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,-19185.348
$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,68
$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
$GPS1,165336,2440.718,12356.879,27,1.5,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.2
$GPS2,170213,2440.784,12356.832,16,1.5,33,-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,186.8,110851,-13.9,-10.000
$D_GRID,1455
$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,17,-0.93,-243.4,0.0,0.0,0,100,0.00,0.00,-80.68,0.000,2,0.000,0.000,166,2113,2316
$GC,104,-0.93,-243.4,3.4,-6.8,12,164,9.40,2.30,-39.55,0.000,4,0.219,0.047,2509,651,3940
$GC,296,-0.44,-243.4,58.5,-32.2,44,305,0.60,2.08,0.00,0.000,6,0.133,0.031,2674,2041,3940
$GC,645,-0.44,-243.4,106.9,-11.0,105,651,0.00,2.22,0.00,0.000,4,0.000,0.042,2666,3463,3941
$GC,727,-0.56,-243.4,114.6,-8.2,119,734,0.00,2.12,0.00,0.000,6,0.000,0.026,2666,2036,3942
$GC,1075,-0.62,-243.4,150.3,-11.1,180,1084,0.15,2.22,0.00,0.000,4,0.052,0.039,2572,3462,3942
$GC,1115,-0.46,-243.4,156.4,-17.1,186,1122,0.28,2.05,0.00,0.000,6,0.114,0.025,2677,2069,3942
$GC,1464,-0.59,-243.4,185.2,-5.7,247,1470,0.15,0.00,0.00,0.000,6,0.057,0.000,2594,2069,3942
$GC,1810,-0.47,-243.4,229.4,-13.9,308,1818,0.20,0.00,0.00,0.000,6,0.119,0.000,2660,2067,3942
$GC,2159,-0.60,-243.4,256.4,-9.1,369,2166,0.12,2.20,0.00,0.000,4,0.061,0.042,2576,3459,3940
$GC,2186,-0.64,-243.4,259.6,-11.1,373,2193,0.12,2.03,0.00,0.000,6,0.119,0.026,2618,2073,3940
$GC,2533,-0.64,-243.4,301.4,-10.1,433,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2073,3940
$GC,2856,-0.68,-243.4,334.2,-9.9,463,2859,0.00,2.20,0.00,0.000,4,0.000,0.045,2593,3462,3938
$GC,2907,-0.77,-243.4,338.6,-8.2,467,2911,0.00,2.05,0.00,0.000,6,0.000,0.028,2598,2068,3938
$GC,3241,-0.82,-243.4,369.9,-9.6,498,3249,0.12,0.00,0.00,0.000,6,0.061,0.000,2523,2067,3936
$GC,3568,-0.66,-243.4,418.1,-14.7,529,3572,0.22,2.17,0.00,0.000,4,0.123,0.038,2597,664,3935
$GC,3632,-0.74,-243.4,424.8,-8.7,534,3637,0.00,2.15,0.00,0.000,6,0.000,0.034,2589,2078,3935
$GC,3966,-0.84,-243.4,451.3,-8.3,565,3971,0.12,2.17,0.00,0.000,4,0.061,0.047,2513,3460,3933
$GC,4011,-0.77,-243.4,456.6,-12.3,568,4020,0.20,2.05,0.00,0.000,6,0.114,0.029,2575,2077,3932
$GC,4339,-0.83,-243.4,487.0,-9.0,599,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2076,3930
$GC,4671,-0.90,-243.4,515.6,-7.8,622,4673,0.15,0.00,0.00,0.000,6,0.056,0.000,2492,2076,3927
$GC,4987,-0.74,-243.4,562.5,-15.3,637,4989,0.30,0.00,0.00,0.000,6,0.117,0.000,2585,2076,3926
$GC,5289,-0.87,-243.4,587.9,-7.8,652,5294,0.15,2.28,0.00,0.000,4,0.054,0.052,2502,3467,3923
$GC,5318,-0.87,-243.4,591.0,-11.3,653,5323,0.12,2.12,0.00,0.000,6,0.124,0.032,2538,2068,3923
$GC,5640,-0.87,-243.4,622.9,-9.7,668,5644,0.00,2.20,0.00,0.000,4,0.000,0.044,2538,664,3921
$GC,5688,-0.87,-243.4,628.3,-9.8,670,5691,0.00,2.17,0.00,0.000,6,0.000,0.039,2533,2062,3921
$GC,6025,-0.87,-243.4,661.8,-9.5,686,6029,0.00,2.28,0.00,0.000,4,0.000,0.061,2530,3462,3918
$GC,6054,-0.90,-243.4,664.8,-9.0,687,6057,0.00,2.12,0.00,0.000,6,0.000,0.033,2530,2067,3918
$GC,6388,-0.90,-243.4,695.9,-9.6,703,6392,0.00,2.22,0.00,0.000,4,0.000,0.049,2530,664,3915
$GC,6428,-0.90,-243.4,700.6,-10.0,704,6438,0.00,2.22,0.00,0.000,6,0.000,0.042,2530,2066,3915
$GC,6745,-0.90,-243.4,730.7,-9.4,720,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2066,3912
$GC,7058,-0.90,-243.4,757.1,-8.3,735,7062,0.00,2.25,0.00,0.000,4,0.000,0.048,2530,663,3910
$GC,7173,-0.90,-243.4,767.5,-8.8,740,7176,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2069,3909
$GC,7507,-0.90,-243.4,796.7,-9.1,756,7512,0.00,2.28,0.00,0.000,4,0.000,0.059,2529,3472,3906
$GC,7550,-0.98,-243.4,800.6,-9.1,758,7553,0.00,2.20,0.00,0.000,6,0.000,0.036,2529,2051,3906
$GC,7887,-1.01,-243.4,834.4,-10.6,774,7892,0.10,2.20,0.00,0.000,4,0.071,0.050,2470,658,3904
$GC,7927,-0.89,-243.4,840.0,-13.9,776,7932,0.25,2.22,0.00,0.000,6,0.117,0.044,2535,2064,3904
$GC,8264,-0.95,-243.4,872.3,-9.2,792,8268,0.00,2.28,0.00,0.000,4,0.000,0.061,2530,3462,3902
$GC,8322,-1.03,-243.4,877.8,-8.9,794,8327,0.12,2.15,0.00,0.000,6,0.060,0.038,2466,2063,3901
$GC,8647,-0.92,-243.4,919.4,-13.2,809,8651,0.17,2.25,0.00,0.000,4,0.127,0.050,2524,663,3899
$GC,8766,-0.92,-243.4,932.9,-10.4,814,8770,0.00,2.22,0.00,0.000,6,0.000,0.046,2517,2061,3898
$GC,9088,-0.92,-243.4,966.0,-10.6,830,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2061,3896
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9331,begin apogee
$GC,9341,-0.23,0.0,991.8,10.3,842,9576,0.70,0.00,224.90,1.466,6,0.094,0.000,2749,1695,2945
$STATE,9576,end apogee,CONTROL_FINISHED_OK
$STATE,9577,begin climb
$GC,9580,0.93,243.4,1007.3,0.0,854,10019,1.10,2.62,293.70,1.210,4,0.041,0.054,3140,298,1950
$GC,10176,0.56,243.4,939.2,20.0,880,10182,0.55,2.42,0.00,0.000,6,0.156,0.044,3002,1692,1946
$GC,10503,0.47,243.4,902.4,10.2,896,10508,0.12,2.40,0.00,0.000,4,0.146,0.055,2968,3101,1943
$GC,10764,0.42,243.4,877.1,10.0,907,10770,0.00,2.20,0.00,0.000,6,0.000,0.042,2976,1736,1941
$GC,11088,0.40,268.0,847.9,9.3,923,11131,0.00,2.33,26.73,1.184,4,0.000,0.056,2976,3106,1852
$GC,11331,0.36,268.0,822.5,10.8,933,11338,0.17,2.17,0.00,0.000,6,0.139,0.043,2940,1729,1849
$GC,11653,0.47,311.6,795.6,8.8,949,11729,0.00,2.40,50.38,1.181,4,0.000,0.055,2940,3109,1673
$GC,11885,0.56,328.3,772.9,9.5,959,11919,0.15,2.12,19.25,1.166,6,0.059,0.041,3019,1774,1605
$GC,12228,0.48,328.3,728.4,12.5,976,12233,0.15,2.20,0.00,0.000,4,0.135,0.055,2975,3105,1602
$GC,12398,0.48,328.3,708.9,10.5,983,12404,0.00,2.10,0.00,0.000,6,0.000,0.042,2983,1786,1601
$GC,12719,0.49,329.5,677.2,10.0,999,12722,0.00,2.17,0.00,0.000,4,0.000,0.054,2983,3104,1601
$GC,12885,0.49,329.5,658.5,10.6,1006,12889,0.00,2.08,0.00,0.000,6,0.000,0.041,2993,1802,1600
$GC,13214,0.49,329.5,622.1,11.1,1022,13218,0.00,2.15,0.00,0.000,4,0.000,0.055,2993,3108,1600
$GC,13339,0.49,329.5,607.7,11.8,1027,13343,0.00,2.05,0.00,0.000,6,0.000,0.041,3002,1816,1600
$GC,13666,0.49,329.5,566.5,12.6,1043,13669,0.00,2.12,0.00,0.000,4,0.000,0.053,3002,3114,1598
$GC,13796,0.49,329.5,548.9,12.4,1048,13803,0.10,2.03,0.00,0.000,6,0.125,0.040,2978,1851,1599
$GC,14117,0.58,358.1,518.6,9.2,1064,14160,0.00,2.12,29.55,1.108,4,0.000,0.053,2979,3105,1484
$GC,14218,0.68,384.4,508.4,9.3,1068,14253,0.15,2.00,25.40,1.134,6,0.054,0.040,3057,1843,1377
$GC,14572,0.58,384.4,453.5,15.7,1098,14576,0.17,2.08,0.00,0.000,4,0.133,0.051,3005,3115,1373
$GC,14748,0.58,384.4,431.8,11.2,1113,14752,0.00,1.95,0.00,0.000,6,0.000,0.038,3012,1866,1373
$GC,15079,0.58,384.4,398.4,10.4,1144,15083,0.00,2.00,0.00,0.000,4,0.000,0.050,3012,3106,1373
$GC,15192,0.58,384.4,386.4,10.3,1154,15196,0.00,1.92,0.00,0.000,6,0.000,0.038,3020,1890,1373
$GC,15526,0.58,384.4,350.9,11.0,1185,15529,0.00,1.98,0.00,0.000,4,0.000,0.049,3020,3116,1373
$GC,15598,0.58,384.4,342.9,11.2,1191,15601,0.00,1.90,0.00,0.000,6,0.000,0.035,3029,1887,1373
$GC,15931,0.58,384.4,304.6,11.9,1222,15934,0.00,1.95,0.00,0.000,4,0.000,0.048,3029,3111,1373
$GC,16005,0.58,384.4,295.1,12.4,1232,16012,0.08,1.90,0.00,0.000,6,0.123,0.035,3011,1903,1373
$GC,16353,0.73,439.1,261.5,8.5,1293,16416,0.12,2.03,51.28,0.893,4,0.064,0.045,3079,3109,1155
$GC,16509,0.65,439.1,241.0,14.7,1319,16516,0.20,1.85,0.00,0.000,6,0.123,0.034,3029,1911,1154
$GC,16858,0.76,459.4,207.9,9.4,1380,16881,0.10,0.00,19.25,0.836,6,0.072,0.000,3091,1910,1072
$GC,17226,0.71,459.4,156.3,13.6,1443,17233,0.15,1.92,0.00,0.000,4,0.124,0.042,3042,3124,1072
$GC,17326,0.85,490.6,145.9,9.1,1460,17359,0.10,1.85,27.92,0.798,6,0.041,0.032,3124,1925,945
$GC,17704,0.78,490.6,91.7,12.6,1525,17710,0.17,1.88,0.00,0.000,4,0.124,0.041,3065,3116,945
$GC,17774,0.93,508.0,82.9,9.5,1537,17795,0.10,1.83,16.62,0.719,6,0.040,0.031,3148,1922,874
$GC,18136,0.93,508.0,35.3,12.5,1600,18143,0.00,1.90,0.00,0.000,4,0.000,0.041,3150,3115,874
$GC,18322,0.93,508.0,13.2,11.9,1632,18329,0.12,1.77,0.00,0.000,6,0.105,0.030,3117,1951,874
$STATE,18456,end climb,SURFACE_DEPTH_REACHED
$STATE,18456,begin surface coast
$FINISH,0.9,1.010493
$STATE,18538,end surface coast,CONTROL_FINISHED_OK
$STATE,18538,begin surface
$SM_CCo,18621,0.00,0.000,0,0,872,508.51
$SM_GC,1.72,8.05,0.00,0.00,0.035,0.000,0.000,167,2101,872,-8.27,1.13,508.51
$IRIDIUM_FIX,2432.32,12358.51,301198,121253
$TT8_MAMPS,0.026845
$HUMID,1689
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.40
$XPDR_PINGS,174
$24V_AH,21.1,140.910
$10V_AH,10.5,89.531
$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,25.650,141.100,784.975,0.000,0.000,25.137,42.055,225.826,51.500,0.000,0.000,33.831,2945.863,10001.903,929.754,4278.341,958.966,0.000,2645.484,0.000,4235.291,0.000,54.421,0.000
$DEVICE_MAMPS,218.595,60.593,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.345,1137.481,2570.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91594,1670
$CAP_FILE_SIZE,197480,0
$CFSIZE,260165632,184791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,36,0
$CURRENT,0.037, 25.9,1
$GPS,050909,221407,2438.250,12357.561,33,1.2,33,-3.6