version: 66.04
glider: 166
mission: 2
dive: 609
start: 9 6 109 13 21 23
data:
$ID,166
$MISSION,2
$DIVE,609
$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,-19247.014
$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,28
$R_STBD_OVSHOOT,55
$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
$GPS1,130824,2438.561,12351.239,41,1.2,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.4
$GPS2,132102,2438.579,12351.244,15,1.3,15,-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,288.9,167939,-13.9,-10.000
$D_GRID,1837
$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,-243.4,0.0,0.0,0,101,0.00,0.00,-82.57,0.000,2,0.000,0.000,167,2105,2301
$GC,105,-0.93,-243.4,3.2,-5.5,12,165,9.98,2.20,-41.95,0.000,4,0.222,0.051,2501,3458,3938
$GC,287,-0.42,-243.4,57.4,-32.2,42,295,0.68,2.17,0.00,0.000,6,0.152,0.026,2679,2022,3939
$GC,635,-0.48,-243.4,108.0,-10.1,103,642,0.00,2.10,0.00,0.000,4,0.000,0.034,2679,660,3940
$GC,656,-0.54,-243.4,110.3,-10.6,106,663,0.12,2.12,0.00,0.000,6,0.060,0.028,2612,2061,3940
$GC,1006,-0.44,-243.4,163.8,-14.7,167,1012,0.20,2.22,0.00,0.000,4,0.124,0.040,2673,3455,3940
$GC,1067,-0.61,-243.4,169.5,-6.4,177,1075,0.15,2.08,0.00,0.000,6,0.048,0.025,2587,2059,3941
$GC,1415,-0.49,-243.4,220.4,-14.2,238,1422,0.20,2.17,0.00,0.000,4,0.121,0.033,2652,672,3940
$GC,1454,-0.56,-243.4,224.6,-10.1,244,1463,0.00,2.15,0.00,0.000,6,0.000,0.029,2652,2059,3940
$GC,1806,-0.67,-243.4,251.1,-8.1,305,1813,0.12,2.25,0.00,0.000,4,0.060,0.042,2561,3472,3939
$GC,1888,-0.63,-243.4,261.6,-12.9,319,1895,0.17,2.08,0.00,0.000,6,0.113,0.026,2619,2072,3939
$GC,2235,-0.67,-243.4,300.6,-10.9,380,2239,0.00,2.15,0.00,0.000,4,0.000,0.036,2612,684,3937
$GC,2261,-0.71,-243.4,303.4,-11.0,382,2265,0.00,2.17,0.00,0.000,6,0.000,0.031,2600,2095,3937
$GC,2596,-0.77,-243.4,338.9,-9.1,413,2600,0.00,2.17,0.00,0.000,4,0.000,0.046,2598,3464,3934
$GC,2637,-0.87,-243.4,342.9,-8.8,416,2645,0.15,2.08,0.00,0.000,6,0.036,0.028,2517,2096,3934
$GC,2963,-0.67,-243.4,395.3,-16.8,447,2967,0.22,2.22,0.00,0.000,4,0.126,0.044,2576,3459,3932
$GC,3000,-0.67,-243.4,400.1,-12.3,449,3006,0.00,2.05,0.00,0.000,6,0.000,0.028,2580,2095,3932
$GC,3326,-0.67,-243.4,435.2,-10.0,480,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2095,3931
$GC,3645,-0.67,-243.4,464.0,-9.1,510,3648,0.00,2.22,0.00,0.000,4,0.000,0.048,2565,3458,3928
$GC,3697,-0.73,-243.4,469.0,-9.2,514,3705,0.00,2.10,0.00,0.000,6,0.000,0.028,2566,2094,3928
$GC,4027,-0.76,-243.4,500.6,-8.3,545,4031,0.00,2.22,0.00,0.000,4,0.000,0.050,2560,3460,3926
$GC,4068,-0.84,-243.4,504.2,-8.1,546,4074,0.00,2.05,0.00,0.000,6,0.000,0.030,2561,2104,3926
$GC,4388,-0.88,-243.4,532.2,-9.5,562,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2104,3925
$GC,4697,-0.92,-243.4,563.7,-9.7,577,4699,0.12,0.00,0.00,0.000,6,0.061,0.000,2484,2104,3922
$GC,5009,-0.75,-243.4,611.4,-14.8,592,5014,0.28,2.33,0.00,0.000,4,0.120,0.042,2572,670,3919
$GC,5095,-0.84,-243.4,619.8,-7.4,596,5100,0.00,2.28,0.00,0.000,6,0.000,0.038,2564,2106,3919
$GC,5428,-0.93,-243.4,645.3,-8.8,612,5432,0.12,2.25,0.00,0.000,4,0.061,0.058,2489,3469,3916
$GC,5462,-0.88,-243.4,649.7,-12.9,613,5468,0.17,2.12,0.00,0.000,6,0.117,0.032,2541,2097,3916
$GC,5792,-0.91,-243.4,684.7,-11.0,629,5796,0.00,2.30,0.00,0.000,4,0.000,0.046,2541,660,3913
$GC,5836,-0.91,-243.4,690.1,-11.5,631,5841,0.00,2.30,0.00,0.000,6,0.000,0.041,2540,2100,3913
$GC,6170,-0.96,-243.4,723.6,-9.6,647,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2100,3910
$GC,6475,-1.01,-243.4,752.7,-9.4,662,6477,0.15,0.00,0.00,0.000,6,0.056,0.000,2463,2100,3908
$GC,6786,-0.86,-243.4,794.2,-13.0,677,6790,0.22,2.38,0.00,0.000,4,0.128,0.047,2536,672,3906
$GC,6821,-0.86,-243.4,798.0,-8.4,678,6825,0.00,2.33,0.00,0.000,6,0.000,0.042,2532,2112,3905
$GC,7144,-0.90,-243.4,821.8,-8.5,693,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2112,3903
$GC,7449,-0.93,-243.4,851.2,-10.1,708,7453,0.00,2.35,0.00,0.000,4,0.000,0.049,2532,669,3901
$GC,7495,-0.97,-243.4,856.5,-11.1,710,7500,0.00,2.33,0.00,0.000,6,0.000,0.044,2530,2099,3901
$GC,7827,-1.01,-243.4,891.0,-10.0,726,7828,0.10,0.00,0.00,0.000,6,0.071,0.000,2473,2099,3899
$GC,8138,-0.92,-243.4,929.8,-12.7,741,8143,0.17,2.38,0.00,0.000,4,0.129,0.049,2530,664,3897
$GC,8200,-0.96,-243.4,937.2,-10.4,743,8206,0.00,2.35,0.00,0.000,6,0.000,0.046,2530,2105,3896
$GC,8524,-1.00,-243.4,966.6,-9.1,759,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2106,3894
$STATE,8805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8805,begin apogee
$GC,8814,-0.23,0.0,991.2,8.1,773,9049,0.65,0.00,229.77,1.463,6,0.094,0.000,2743,1703,2945
$STATE,9049,end apogee,CONTROL_FINISHED_OK
$STATE,9049,begin climb
$GC,9054,0.93,243.4,1004.1,0.0,785,9508,1.12,2.72,303.48,1.197,4,0.034,0.054,3137,3099,1951
$GC,9764,0.49,243.4,908.4,20.8,816,9773,0.60,2.53,0.00,0.000,6,0.153,0.040,2985,1707,1945
$GC,10084,0.44,254.9,875.4,9.7,832,10110,0.00,2.58,13.75,1.073,4,0.000,0.054,2985,3108,1906
$GC,10361,0.35,254.9,845.0,10.8,844,10366,0.25,2.47,0.00,0.000,6,0.126,0.039,2932,1701,1903
$GC,10695,0.53,340.9,819.7,7.6,860,10859,0.17,2.70,108.68,1.159,4,0.055,0.053,3016,3099,1555
$GC,11079,0.42,340.9,766.1,14.8,877,11084,0.28,2.45,0.00,0.000,6,0.129,0.039,2960,1726,1551
$GC,11413,0.50,348.2,734.1,9.8,893,11427,0.00,2.50,8.07,1.102,4,0.000,0.053,2959,3099,1525
$GC,11604,0.54,348.2,711.5,12.4,901,11608,0.00,2.35,0.00,0.000,6,0.000,0.039,2967,1740,1524
$GC,11922,0.59,348.2,676.7,10.6,916,11927,0.12,2.40,0.00,0.000,4,0.061,0.052,3033,3100,1523
$GC,12062,0.48,348.2,655.1,16.0,922,12067,0.25,2.28,0.00,0.000,6,0.130,0.040,2978,1747,1524
$GC,12390,0.52,357.0,619.7,9.8,938,12404,0.00,2.35,10.05,1.117,4,0.000,0.052,2978,3103,1489
$GC,12545,0.52,357.0,602.7,11.1,944,12549,0.00,2.22,0.00,0.000,6,0.000,0.039,2985,1770,1488
$GC,12868,0.52,357.0,568.7,10.7,960,12872,0.00,2.30,0.00,0.000,4,0.000,0.051,2985,3108,1488
$GC,12914,0.52,357.0,563.0,11.8,962,12918,0.00,2.20,0.00,0.000,6,0.000,0.039,2995,1776,1488
$GC,13248,0.52,357.0,522.3,11.7,978,13252,0.00,2.28,0.00,0.000,4,0.000,0.051,2995,3110,1488
$GC,13412,0.52,357.0,504.5,10.2,985,13415,0.00,2.15,0.00,0.000,6,0.000,0.038,3005,1787,1488
$GC,13741,0.52,357.0,469.7,11.5,1014,13745,0.00,2.22,0.00,0.000,4,0.000,0.050,3005,3108,1488
$GC,13870,0.52,357.0,454.7,12.1,1025,13874,0.00,2.12,0.00,0.000,6,0.000,0.038,3014,1801,1487
$GC,14202,0.52,357.0,417.2,10.2,1056,14205,0.00,2.20,0.00,0.000,4,0.000,0.049,3014,3112,1487
$GC,14322,0.52,357.0,403.7,11.4,1066,14331,0.10,2.10,0.00,0.000,6,0.120,0.037,2991,1829,1488
$GC,14649,0.59,365.7,371.0,9.8,1097,14663,0.00,2.12,9.77,0.918,4,0.000,0.048,2991,3109,1454
$GC,14778,0.67,382.3,359.2,9.5,1108,14808,0.12,2.03,19.60,0.884,6,0.058,0.035,3059,1840,1385
$GC,15138,0.60,382.3,309.6,13.4,1141,15143,0.17,2.12,0.00,0.000,4,0.127,0.045,3009,3111,1384
$GC,15377,0.66,382.3,283.9,10.3,1175,15383,0.00,2.00,0.00,0.000,6,0.000,0.034,3016,1855,1384
$GC,15724,0.81,457.2,254.9,7.9,1236,15817,0.17,2.33,76.10,0.858,4,0.054,0.043,3120,3114,1082
$GC,15939,0.66,457.2,217.6,18.9,1272,15947,0.35,2.10,0.00,0.000,6,0.124,0.031,3036,1874,1082
$GC,16292,0.83,499.2,179.8,8.8,1333,16337,0.15,2.22,40.08,0.815,4,0.054,0.041,3129,3115,910
$GC,16405,0.69,499.2,161.4,19.3,1351,16412,0.35,2.05,0.00,0.000,6,0.120,0.030,3043,1879,909
$GC,16753,0.84,504.1,129.2,9.9,1412,16762,0.12,0.00,6.07,0.604,6,0.059,0.000,3129,1879,889
$GC,17103,0.84,504.1,78.0,11.2,1473,17110,0.15,2.03,0.00,0.000,4,0.115,0.039,3090,3122,889
$GC,17159,1.05,558.8,72.6,8.5,1482,17230,0.12,1.98,55.55,0.678,6,0.038,0.030,3184,1881,666
$GC,17573,0.99,558.8,13.1,13.4,1553,17580,0.17,2.03,0.00,0.000,4,0.122,0.037,3134,3123,666
$GC,17617,1.10,558.8,7.4,11.0,1560,17625,0.00,1.98,0.00,0.000,6,0.000,0.028,3142,1880,666
$STATE,17657,end climb,SURFACE_DEPTH_REACHED
$STATE,17657,begin surface coast
$FINISH,0.8,1.009557
$STATE,17692,end surface coast,CONTROL_FINISHED_OK
$STATE,17692,begin surface
$SM_CCo,17776,0.00,0.000,0,0,664,559.53
$SM_GC,1.60,8.40,0.00,0.00,0.037,0.000,0.000,166,2110,664,-8.29,1.39,559.53
$IRIDIUM_FIX,2429.95,12506.90,011298,131334
$TT8_MAMPS,0.026845
$HUMID,1711
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.30
$XPDR_PINGS,178
$24V_AH,20.1,142.201
$10V_AH,10.5,90.294
$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,27.200,143.725,880.975,0.000,0.000,49.993,97.471,340.851,52.500,0.000,0.000,15.204,2758.768,9508.964,1009.753,4100.847,1132.594,0.000,2675.445,0.000,4074.290,0.000,54.438,0.000
$DEVICE_MAMPS,221.663,57.525,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1064.540,1053.953,2470.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88274,1573
$CAP_FILE_SIZE,194122,0
$CFSIZE,260165632,184414208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,42,0
$CURRENT,0.180, 23.6,1
$GPS,060909,181900,2440.104,12348.636,42,1.1,42,-3.6