version: 66.04
glider: 166
mission: 2
dive: 608
start: 9 6 109 8 10 52
data:
$ID,166
$MISSION,2
$DIVE,608
$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,-19231.18
$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,33
$R_STBD_OVSHOOT,57
$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
$GPS1,075731,2437.015,12353.776,42,1.7,42,-3.6
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.7
$GPS2,081031,2437.013,12353.722,11,1.2,11,-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,303.5,172984,-13.9,-10.000
$D_GRID,1616
$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,-243.4,0.0,0.0,0,102,0.00,0.00,-82.82,0.000,2,0.000,0.000,167,2096,2291
$GC,107,-0.93,-243.4,3.0,-5.1,12,165,9.75,2.20,-41.42,0.000,4,0.219,0.052,2502,3458,3939
$GC,203,-0.37,-243.4,27.8,-38.2,27,212,0.70,2.15,0.00,0.000,6,0.140,0.027,2695,2031,3939
$GC,555,-0.37,-243.4,82.2,-12.1,88,561,0.00,2.08,0.00,0.000,4,0.000,0.034,2695,667,3939
$GC,614,-0.50,-243.4,88.6,-10.0,98,621,0.08,2.10,0.00,0.000,6,0.048,0.028,2630,2048,3939
$GC,962,-0.42,-243.4,134.4,-13.8,159,970,0.17,2.22,0.00,0.000,4,0.122,0.041,2686,3455,3940
$GC,1043,-0.62,-243.4,141.1,-7.1,172,1050,0.20,2.08,0.00,0.000,6,0.043,0.025,2585,2040,3940
$GC,1391,-0.45,-243.4,201.0,-18.7,233,1397,0.25,2.10,0.00,0.000,4,0.120,0.032,2667,679,3939
$GC,1464,-0.60,-243.4,209.0,-8.5,245,1471,0.12,2.08,0.00,0.000,6,0.057,0.028,2595,2066,3939
$GC,1814,-0.53,-243.4,248.4,-12.5,306,1821,0.17,2.17,0.00,0.000,4,0.124,0.041,2647,3452,3939
$GC,1899,-0.70,-243.4,255.4,-7.5,320,1906,0.12,2.08,0.00,0.000,6,0.036,0.026,2561,2058,3939
$GC,2246,-0.56,-243.4,309.8,-15.0,375,2252,0.22,0.00,0.00,0.000,6,0.121,0.000,2633,2055,3937
$GC,2573,-0.67,-243.4,342.2,-10.1,406,2577,0.00,2.25,0.00,0.000,4,0.000,0.044,2610,3457,3935
$GC,2614,-0.81,-243.4,345.4,-8.6,409,2619,0.15,2.08,0.00,0.000,6,0.051,0.027,2535,2062,3935
$GC,2944,-0.69,-243.4,389.1,-12.7,439,2951,0.17,0.00,0.00,0.000,6,0.123,0.000,2597,2060,3933
$GC,3271,-0.76,-243.4,416.7,-8.5,470,3274,0.00,2.25,0.00,0.000,4,0.000,0.047,2585,3447,3932
$GC,3377,-0.88,-243.4,425.2,-8.6,479,3382,0.15,2.10,0.00,0.000,6,0.052,0.028,2510,2056,3931
$GC,3705,-0.72,-243.4,475.3,-16.8,509,3711,0.25,0.00,0.00,0.000,6,0.118,0.000,2586,2054,3928
$GC,4045,-0.83,-243.4,502.3,-5.7,539,4049,0.00,2.28,0.00,0.000,4,0.000,0.050,2584,3453,3926
$GC,4102,-0.98,-243.4,505.4,-5.3,541,4109,0.22,2.10,0.00,0.000,6,0.044,0.030,2477,2065,3926
$GC,4427,-0.79,-243.4,550.9,-15.9,557,4431,0.25,2.22,0.00,0.000,4,0.126,0.041,2559,669,3923
$GC,4500,-0.84,-243.4,561.3,-10.9,560,4504,0.00,2.17,0.00,0.000,6,0.000,0.037,2552,2063,3922
$GC,4823,-0.84,-243.4,596.4,-10.5,576,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2064,3920
$GC,5137,-0.88,-243.4,625.3,-8.8,591,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2063,3917
$GC,5442,-0.93,-243.4,649.4,-7.6,606,5447,0.00,2.28,0.00,0.000,4,0.000,0.055,2546,3457,3915
$GC,5490,-1.01,-243.4,653.2,-8.0,608,5495,0.15,2.15,0.00,0.000,6,0.054,0.034,2472,2072,3915
$GC,5818,-0.87,-243.4,703.4,-15.6,624,5823,0.20,2.30,0.00,0.000,4,0.124,0.046,2535,657,3912
$GC,5885,-0.91,-243.4,711.3,-11.2,627,5890,0.00,2.25,0.00,0.000,6,0.000,0.040,2533,2076,3911
$GC,6219,-0.91,-243.4,743.1,-9.7,643,6223,0.00,2.28,0.00,0.000,4,0.000,0.046,2533,662,3909
$GC,6276,-0.91,-243.4,749.6,-10.7,645,6281,0.00,2.22,0.00,0.000,6,0.000,0.041,2530,2063,3908
$GC,6603,-0.95,-243.4,784.7,-11.1,661,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2063,3906
$GC,6909,-0.98,-243.4,819.0,-10.6,676,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2063,3904
$GC,7219,-1.01,-243.4,849.1,-9.1,691,7224,0.10,2.30,0.00,0.000,4,0.071,0.048,2475,665,3902
$GC,7271,-0.91,-243.4,855.6,-13.1,693,7276,0.22,2.25,0.00,0.000,6,0.119,0.044,2530,2065,3901
$GC,7592,-0.95,-243.4,881.3,-7.2,708,7596,0.00,2.33,0.00,0.000,4,0.000,0.061,2530,3462,3899
$GC,7626,-1.01,-243.4,883.7,-5.8,709,7633,0.12,2.17,0.00,0.000,6,0.060,0.037,2468,2067,3898
$GC,7950,-0.90,-243.4,916.0,-10.6,725,7954,0.17,2.30,0.00,0.000,4,0.129,0.049,2525,658,3896
$GC,7993,-0.90,-243.4,920.2,-8.0,727,7997,0.00,2.28,0.00,0.000,6,0.000,0.045,2518,2068,3896
$GC,8333,-0.90,-243.4,948.0,-8.7,743,8337,0.00,2.30,0.00,0.000,4,0.000,0.051,2518,659,3894
$GC,8361,-0.90,-243.4,951.2,-9.7,744,8365,0.00,2.28,0.00,0.000,6,0.000,0.046,2517,2067,3893
$GC,8684,-0.90,-243.4,978.6,-8.5,759,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2068,3892
$STATE,8818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8818,begin apogee
$GC,8827,-0.23,0.0,991.2,8.8,766,9061,0.70,0.00,228.38,1.473,6,0.099,0.000,2743,1692,2945
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9062,begin climb
$GC,9066,0.93,243.4,1004.0,0.0,778,9517,1.12,2.72,300.55,1.202,4,0.038,0.054,3133,3096,1951
$GC,9586,0.51,243.4,945.8,22.3,801,9592,0.62,2.50,0.00,0.000,6,0.150,0.040,2989,1699,1948
$GC,9906,0.44,243.4,906.5,11.8,816,9910,0.00,2.53,0.00,0.000,4,0.000,0.054,2989,3106,1946
$GC,10080,0.34,243.4,885.1,12.6,823,10085,0.25,2.40,0.00,0.000,6,0.127,0.041,2934,1710,1945
$GC,10400,0.51,333.6,859.1,7.5,838,10574,0.15,2.67,112.82,1.169,4,0.062,0.054,3002,3097,1584
$GC,10835,0.44,333.6,806.4,12.3,857,10840,0.20,2.38,0.00,0.000,6,0.130,0.041,2963,1732,1580
$GC,11168,0.53,370.0,777.4,9.0,873,11234,0.00,2.53,43.45,1.167,4,0.000,0.054,2963,3098,1435
$GC,11490,0.58,370.0,745.8,10.2,887,11494,0.10,2.28,0.00,0.000,6,0.069,0.041,3021,1750,1433
$GC,11820,0.51,370.0,700.6,14.4,903,11824,0.12,2.38,0.00,0.000,4,0.137,0.054,2988,3110,1432
$GC,11999,0.51,370.0,676.7,13.1,911,12003,0.00,2.20,0.00,0.000,6,0.000,0.041,2996,1775,1432
$GC,12337,0.51,370.0,634.5,11.9,927,12341,0.00,2.25,0.00,0.000,4,0.000,0.054,2996,3100,1431
$GC,12478,0.51,370.0,616.0,13.6,933,12481,0.00,2.12,0.00,0.000,6,0.000,0.040,3005,1792,1431
$GC,12803,0.51,370.0,580.0,10.2,949,12807,0.00,2.22,0.00,0.000,4,0.000,0.053,3005,3108,1431
$GC,12957,0.51,370.0,561.0,12.2,955,12963,0.00,2.10,0.00,0.000,6,0.000,0.039,3014,1814,1431
$GC,13277,0.51,370.0,524.8,11.3,971,13281,0.00,2.17,0.00,0.000,4,0.000,0.051,3014,3108,1431
$GC,13312,0.48,370.0,520.0,11.3,972,13316,0.17,2.08,0.00,0.000,6,0.125,0.039,2977,1816,1431
$GC,13636,0.57,384.4,489.6,9.6,992,13663,0.00,2.20,16.08,0.978,4,0.000,0.051,2976,3103,1377
$GC,13798,0.65,386.1,473.1,10.0,1006,13802,0.12,2.05,0.00,0.000,6,0.059,0.039,3044,1837,1377
$GC,14130,0.58,386.1,429.7,13.1,1037,14135,0.15,2.12,0.00,0.000,4,0.129,0.048,3000,3103,1376
$GC,14310,0.58,386.1,409.8,10.3,1052,14314,0.00,1.98,0.00,0.000,6,0.000,0.038,3007,1867,1375
$GC,14645,0.63,426.1,376.3,8.9,1083,14706,0.00,2.20,44.92,0.961,4,0.000,0.048,3007,3102,1208
$GC,14870,0.68,426.1,354.1,10.4,1102,14874,0.00,1.98,0.00,0.000,6,0.000,0.036,3016,1884,1208
$GC,15205,0.68,426.1,317.4,11.8,1133,15209,0.00,2.03,0.00,0.000,4,0.000,0.047,3016,3111,1206
$GC,15257,0.71,426.1,310.5,12.2,1137,15263,0.00,1.92,0.00,0.000,6,0.000,0.035,3024,1898,1206
$GC,15597,0.78,450.5,270.0,9.3,1190,15630,0.12,2.03,24.17,0.912,4,0.065,0.044,3095,3107,1109
$GC,15666,0.64,450.5,260.6,15.4,1201,15673,0.30,1.95,0.00,0.000,6,0.127,0.034,3022,1907,1109
$GC,16015,0.81,531.5,228.3,7.8,1262,16102,0.17,2.17,76.75,0.881,4,0.053,0.046,3130,3115,778
$GC,16173,0.64,531.5,198.7,20.5,1288,16180,0.43,2.03,0.00,0.000,6,0.123,0.031,3024,1901,778
$GC,16521,0.93,616.1,165.2,7.7,1349,16604,0.22,2.12,75.03,0.814,4,0.041,0.042,3150,3105,455
$GC,16625,0.75,616.1,145.7,22.8,1365,16632,0.35,2.03,0.00,0.000,6,0.125,0.031,3066,1906,454
$GC,16974,1.07,745.0,112.1,6.4,1426,16983,0.25,2.67,0.00,0.000,4,0.039,0.041,3204,280,452
$GC,16998,1.13,749.0,109.4,9.9,1429,17004,0.00,2.67,0.00,0.000,6,0.000,0.032,3203,1953,452
$GC,17345,1.02,749.0,38.6,17.3,1490,17353,0.17,1.85,0.00,0.000,4,0.130,0.040,3149,3111,452
$GC,17468,1.11,749.0,24.6,12.3,1511,17474,0.00,1.85,0.00,0.000,6,0.000,0.029,3159,1930,451
$STATE,17666,end climb,SURFACE_DEPTH_REACHED
$STATE,17666,begin surface coast
$FINISH,0.9,1.018914
$STATE,17690,end surface coast,CONTROL_FINISHED_OK
$STATE,17690,begin surface
$SM_CCo,17772,0.00,0.000,0,0,451,611.78
$SM_GC,1.56,8.20,0.00,0.00,0.029,0.000,0.000,165,2104,451,-8.28,1.22,611.78
$IRIDIUM_FIX,2427.58,12353.89,011298,080826
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,162
$24V_AH,20.0,141.880
$10V_AH,10.5,90.099
$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,27.925,146.575,922.150,0.000,0.000,49.434,64.271,407.334,48.500,0.000,0.000,11.232,2731.985,9547.809,1064.559,4026.459,1157.474,0.000,2718.532,0.000,4006.564,0.000,54.438,0.000
$DEVICE_MAMPS,218.595,60.593,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.371,1048.435,2419.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85349,1550
$CAP_FILE_SIZE,195180,0
$CFSIZE,260165632,184516608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,43,0
$CURRENT,0.087, 31.9,1
$GPS,060909,130824,2438.561,12351.239,41,1.2,41,-3.6