version: 66.04
glider: 166
mission: 2
dive: 607
start: 9 6 109 3 0 53
data:
$ID,166
$MISSION,2
$DIVE,607
$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,-19219.318
$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,27
$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
$GPS1,025154,2436.209,12357.412,42,0.8,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-65.1
$GPS2,030032,2436.241,12357.293,16,1.6,16,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,303.2,178852,-13.9,-10.000
$D_GRID,982
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-85.40,0.000,2,0.000,0.000,166,2118,2376
$GC,109,-0.93,-243.4,3.0,-4.1,13,168,9.40,2.17,-39.62,0.000,4,0.216,0.054,2505,3469,3940
$GC,252,-0.40,-243.4,46.0,-38.2,36,259,0.57,2.15,0.00,0.000,6,0.142,0.026,2683,2023,3941
$GC,600,-0.40,-243.4,104.6,-10.3,97,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2021,3941
$GC,946,-0.50,-243.4,136.0,-7.2,158,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2021,3942
$GC,1295,-0.63,-243.4,164.1,-8.2,219,1302,0.17,2.30,0.00,0.000,4,0.050,0.040,2576,3486,3942
$GC,1361,-0.48,-243.4,173.4,-16.4,230,1369,0.30,2.08,0.00,0.000,6,0.115,0.025,2665,2066,3942
$GC,1712,-0.58,-243.4,204.4,-5.6,291,1718,0.12,0.00,0.00,0.000,6,0.063,0.000,2596,2066,3942
$GC,2058,-0.51,-243.4,252.0,-14.1,352,2064,0.17,0.00,0.00,0.000,6,0.118,0.000,2653,2065,3941
$GC,2406,-0.65,-243.4,274.2,-5.9,413,2412,0.12,2.25,0.00,0.000,4,0.061,0.043,2560,3475,3940
$GC,2448,-0.65,-243.4,278.2,-11.1,420,2455,0.12,2.05,0.00,0.000,6,0.119,0.027,2614,2081,3940
$GC,2794,-0.69,-243.4,317.8,-10.5,467,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2081,3939
$GC,3120,-0.73,-243.4,352.0,-11.2,498,3123,0.00,2.22,0.00,0.000,4,0.000,0.045,2587,3477,3937
$GC,3159,-0.81,-243.4,355.8,-10.4,501,3163,0.00,2.08,0.00,0.000,6,0.000,0.028,2591,2087,3936
$GC,3492,-0.87,-243.4,388.3,-9.6,532,3499,0.15,0.00,0.00,0.000,6,0.054,0.000,2503,2087,3935
$GC,3819,-0.68,-243.4,441.9,-17.0,563,3821,0.32,0.00,0.00,0.000,6,0.121,0.000,2604,2087,3933
$GC,4138,-0.81,-243.4,471.2,-7.9,593,4140,0.12,0.00,0.00,0.000,6,0.061,0.000,2527,2087,3931
$GC,4466,-0.71,-243.4,520.3,-15.8,618,4468,0.22,0.00,0.00,0.000,6,0.116,0.000,2595,2087,3929
$GC,4774,-0.84,-243.4,542.6,-6.0,633,4779,0.15,2.25,0.00,0.000,4,0.053,0.041,2515,664,3927
$GC,4821,-0.75,-243.4,547.4,-11.6,635,4826,0.25,2.22,0.00,0.000,6,0.112,0.037,2580,2100,3926
$GC,5149,-0.86,-243.4,573.0,-8.2,651,5154,0.12,2.20,0.00,0.000,4,0.058,0.051,2503,3468,3924
$GC,5194,-0.81,-243.4,577.9,-11.7,653,5199,0.20,2.10,0.00,0.000,6,0.112,0.031,2564,2087,3924
$GC,5527,-0.88,-243.4,610.3,-9.9,669,5530,0.00,2.25,0.00,0.000,4,0.000,0.053,2555,3469,3921
$GC,5557,-0.96,-243.4,614.1,-10.8,670,5561,0.12,2.10,0.00,0.000,6,0.058,0.032,2489,2086,3921
$GC,5883,-0.83,-243.4,664.3,-14.6,686,5888,0.17,2.28,0.00,0.000,4,0.127,0.044,2547,659,3919
$GC,5988,-0.88,-243.4,677.2,-11.6,690,5997,0.00,2.25,0.00,0.000,6,0.000,0.040,2542,2077,3917
$GC,6308,-0.92,-243.4,709.5,-9.0,706,6311,0.00,2.25,0.00,0.000,4,0.000,0.055,2540,3469,3915
$GC,6343,-0.99,-243.4,712.5,-7.5,707,6347,0.12,2.12,0.00,0.000,6,0.058,0.034,2474,2078,3915
$GC,6663,-0.86,-243.4,753.9,-14.9,722,6668,0.20,2.28,0.00,0.000,4,0.124,0.046,2541,654,3912
$GC,6760,-0.91,-243.4,766.7,-12.6,726,6765,0.00,2.25,0.00,0.000,6,0.000,0.041,2532,2088,3912
$GC,7083,-0.94,-243.4,801.6,-10.1,741,7087,0.00,2.30,0.00,0.000,4,0.000,0.048,2533,658,3909
$GC,7118,-0.97,-243.4,805.9,-10.6,742,7122,0.00,2.25,0.00,0.000,6,0.000,0.042,2530,2083,3909
$GC,7441,-1.01,-243.4,835.6,-9.1,757,7446,0.10,2.28,0.00,0.000,4,0.071,0.062,2461,3462,3907
$GC,7475,-0.91,-243.4,840.4,-13.2,758,7480,0.22,2.12,0.00,0.000,6,0.120,0.035,2528,2074,3906
$GC,7798,-0.95,-243.4,871.8,-10.2,773,7802,0.00,2.25,0.00,0.000,4,0.000,0.049,2529,662,3904
$GC,7868,-0.95,-243.4,880.1,-11.1,776,7872,0.00,2.28,0.00,0.000,6,0.000,0.045,2528,2091,3904
$GC,8206,-0.99,-243.4,914.1,-9.7,792,8210,0.00,2.33,0.00,0.000,4,0.000,0.054,2529,666,3901
$GC,8234,-1.03,-243.4,916.9,-9.9,793,8239,0.12,2.28,0.00,0.000,6,0.063,0.045,2468,2083,3901
$GC,8568,-0.93,-243.4,956.8,-11.5,809,8570,0.17,0.00,0.00,0.000,6,0.133,0.000,2519,2083,3899
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8858,-0.23,0.0,982.9,8.8,823,9095,0.68,0.00,228.38,1.449,6,0.096,0.000,2743,1705,2945
$STATE,9096,end apogee,CONTROL_FINISHED_OK
$STATE,9096,begin climb
$GC,9101,0.93,243.4,997.7,0.0,835,9548,1.10,2.70,296.75,1.196,4,0.037,0.056,3129,3094,1950
$GC,9801,0.52,243.4,906.8,20.9,866,9807,0.60,2.42,0.00,0.000,6,0.156,0.040,2990,1690,1945
$GC,10130,0.46,248.1,872.7,9.9,882,10139,0.00,2.45,4.40,0.884,4,0.000,0.054,2990,3102,1933
$GC,10394,0.37,248.1,842.4,11.0,893,10401,0.22,2.30,0.00,0.000,6,0.131,0.041,2939,1715,1932
$GC,10717,0.42,250.9,813.4,9.9,909,10726,0.00,2.33,4.05,0.851,4,0.000,0.055,2939,3101,1922
$GC,10912,0.42,250.9,789.2,11.8,917,10919,0.00,2.22,0.00,0.000,6,0.000,0.041,2947,1724,1922
$GC,11235,0.52,298.7,755.8,8.7,933,11325,0.12,2.45,57.62,1.138,4,0.066,0.052,3014,3100,1726
$GC,11486,0.42,298.7,725.6,14.1,944,11491,0.25,2.22,0.00,0.000,6,0.133,0.041,2957,1738,1724
$GC,11820,0.47,298.7,690.9,10.2,960,11824,0.00,2.28,0.00,0.000,4,0.000,0.054,2958,3102,1722
$GC,12007,0.50,325.6,671.2,9.3,968,12054,0.00,2.17,30.77,1.124,6,0.000,0.041,2965,1750,1616
$GC,12373,0.56,327.7,635.8,9.9,986,12377,0.10,2.25,0.00,0.000,4,0.072,0.054,3027,3106,1613
$GC,12536,0.47,327.7,612.9,14.2,993,12541,0.22,2.15,0.00,0.000,6,0.131,0.041,2976,1767,1613
$GC,12865,0.53,347.0,581.6,9.5,1009,12909,0.00,2.30,24.88,1.025,4,0.000,0.053,2976,3097,1529
$GC,13107,0.53,347.0,554.4,10.7,1019,13114,0.00,2.10,0.00,0.000,6,0.000,0.040,2983,1781,1528
$GC,13426,0.57,347.0,519.9,11.7,1035,13430,0.00,2.20,0.00,0.000,4,0.000,0.051,2984,3109,1527
$GC,13594,0.57,347.0,499.2,12.4,1042,13602,0.00,2.10,0.00,0.000,6,0.000,0.039,2993,1817,1526
$GC,13924,0.69,422.1,465.5,7.9,1073,14017,0.15,2.33,76.18,1.070,4,0.057,0.050,3071,3102,1223
$GC,14150,0.58,422.1,434.1,16.0,1093,14155,0.28,2.12,0.00,0.000,6,0.128,0.038,3006,1819,1221
$GC,14477,0.63,422.1,396.7,10.1,1123,14480,0.00,2.12,0.00,0.000,4,0.000,0.050,3006,3114,1218
$GC,14640,0.72,466.2,381.9,8.8,1137,14716,0.12,2.03,49.47,0.893,6,0.061,0.038,3076,1836,1044
$GC,15044,0.62,466.2,314.8,15.7,1174,15048,0.17,2.10,0.00,0.000,4,0.130,0.046,3020,3117,1043
$GC,15182,0.69,466.2,298.8,10.7,1186,15188,0.00,2.00,0.00,0.000,6,0.000,0.036,3027,1857,1042
$GC,15531,0.75,466.2,261.9,10.5,1247,15538,0.10,2.05,0.00,0.000,4,0.071,0.044,3089,3115,1042
$GC,15592,0.65,466.2,252.0,17.2,1257,15599,0.25,1.95,0.00,0.000,6,0.124,0.033,3029,1861,1042
$GC,15940,0.84,524.7,212.5,8.4,1318,16005,0.17,2.15,54.50,0.874,4,0.053,0.044,3135,3105,804
$GC,16042,0.67,524.7,195.2,18.9,1334,16049,0.40,2.03,0.00,0.000,6,0.123,0.033,3033,1863,804
$GC,16392,0.98,639.9,160.6,6.8,1395,16482,0.25,2.20,79.95,0.815,4,0.041,0.041,3163,3110,455
$GC,16549,0.81,639.9,126.8,25.7,1420,16556,0.28,2.08,0.00,0.000,6,0.124,0.031,3081,1874,454
$GC,16897,0.97,639.9,86.8,11.0,1481,16904,0.15,1.98,0.00,0.000,4,0.051,0.039,3169,3117,453
$GC,16942,0.91,639.9,80.4,14.8,1488,16949,0.15,1.95,0.03,0.285,6,0.123,0.030,3115,1864,453
$GC,17295,1.15,695.6,44.5,8.5,1549,17302,0.17,1.98,0.00,0.000,4,0.048,0.038,3224,3114,453
$GC,17332,1.08,695.6,39.2,14.9,1555,17340,0.17,1.92,0.00,0.000,6,0.127,0.030,3165,1871,453
$STATE,17610,end climb,SURFACE_DEPTH_REACHED
$STATE,17611,begin surface coast
$FINISH,0.9,1.006584
$STATE,17634,end surface coast,CONTROL_FINISHED_OK
$STATE,17634,begin surface
$SM_CCo,17716,0.00,0.000,0,0,452,611.53
$SM_GC,1.66,8.18,0.00,0.00,0.029,0.000,0.000,168,2095,452,-8.27,0.96,611.53
$IRIDIUM_FIX,2427.58,12357.18,301198,222253
$TT8_MAMPS,0.026845
$HUMID,1707
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.30
$XPDR_PINGS,181
$24V_AH,20.8,141.540
$10V_AH,10.5,89.906
$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,28.100,132.450,906.975,0.000,0.000,23.479,34.066,255.992,53.250,0.000,0.000,16.305,2830.698,9253.848,1053.437,4117.191,959.420,0.000,2757.168,0.000,4087.145,0.000,54.425,0.000
$DEVICE_MAMPS,215.527,62.127,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.472,1105.783,2456.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88408,1608
$CAP_FILE_SIZE,192979,0
$CFSIZE,260165632,184610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,42,0
$CURRENT,0.034,310.3,1
$GPS,060909,075731,2437.015,12353.776,42,1.7,42,-3.6