version: 66.04
glider: 166
mission: 2
dive: 610
start: 9 6 109 18 31 35
data:
$ID,166
$MISSION,2
$DIVE,610
$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,-19264.451
$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,27
$R_STBD_OVSHOOT,70
$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
$GPS1,181900,2440.104,12348.636,42,1.1,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.8
$GPS2,183114,2440.223,12348.712,16,1.3,16,-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,270.8,162742,-13.9,-10.000
$D_GRID,1792
$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,-243.4,0.0,0.0,0,94,0.00,0.00,-75.22,0.000,2,0.000,0.000,166,2110,2367
$GC,98,-0.93,-243.4,3.3,-6.3,11,151,10.40,2.22,-37.10,0.000,4,0.229,0.051,2504,3438,3940
$GC,265,-0.43,-243.4,54.8,-35.2,38,273,0.65,2.17,0.00,0.000,6,0.140,0.026,2678,2020,3939
$GC,615,-0.47,-243.4,107.8,-10.3,99,621,0.00,2.12,0.00,0.000,4,0.000,0.033,2678,661,3941
$GC,658,-0.56,-243.4,112.4,-10.5,106,666,0.12,2.12,0.00,0.000,6,0.057,0.028,2609,2045,3941
$GC,1008,-0.44,-243.4,163.5,-14.0,167,1015,0.20,2.30,0.00,0.000,4,0.129,0.040,2671,3462,3942
$GC,1052,-0.56,-243.4,168.2,-8.1,174,1060,0.00,2.15,0.00,0.000,6,0.000,0.025,2671,2042,3942
$GC,1404,-0.69,-243.4,197.8,-8.7,235,1410,0.17,2.30,0.00,0.000,4,0.047,0.040,2568,3452,3942
$GC,1446,-0.56,-243.4,203.7,-15.4,242,1455,0.20,2.12,0.00,0.000,6,0.113,0.025,2630,2057,3942
$GC,1799,-0.61,-243.4,242.2,-8.7,303,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2057,3941
$GC,2145,-0.66,-243.4,278.1,-9.8,364,2153,0.00,2.30,0.00,0.000,4,0.000,0.042,2623,3450,3940
$GC,2191,-0.76,-243.4,282.3,-8.7,371,2197,0.15,2.08,0.00,0.000,6,0.051,0.026,2550,2074,3939
$GC,2526,-0.60,-243.4,330.2,-14.2,412,2530,0.25,2.28,0.00,0.000,4,0.123,0.043,2621,3452,3938
$GC,2578,-0.71,-243.4,335.7,-7.7,416,2582,0.00,2.05,0.00,0.000,6,0.000,0.027,2618,2087,3938
$GC,2912,-0.79,-243.4,366.8,-9.6,447,2917,0.15,2.25,0.00,0.000,4,0.054,0.044,2512,3456,3936
$GC,2942,-0.73,-243.4,370.5,-12.7,449,2947,0.20,2.08,0.00,0.000,6,0.117,0.028,2582,2088,3936
$GC,3270,-0.73,-243.4,411.8,-11.9,479,3274,0.00,2.22,0.00,0.000,4,0.000,0.038,2579,670,3934
$GC,3343,-0.73,-243.4,420.6,-11.2,485,3349,0.00,2.20,0.00,0.000,6,0.000,0.034,2564,2075,3933
$GC,3669,-0.73,-243.4,453.6,-9.3,516,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2075,3931
$GC,3991,-0.73,-243.4,486.5,-10.0,546,3995,0.00,2.25,0.00,0.000,4,0.000,0.049,2550,3459,3929
$GC,4006,-0.73,-243.4,488.2,-10.6,547,4011,0.12,2.12,0.00,0.000,6,0.112,0.029,2587,2072,3929
$GC,4337,-0.85,-243.4,514.2,-7.3,569,4342,0.12,2.25,0.00,0.000,4,0.060,0.041,2519,670,3927
$GC,4374,-0.80,-243.4,518.4,-12.4,570,4382,0.17,2.22,0.00,0.000,6,0.117,0.038,2566,2075,3926
$GC,4694,-0.87,-243.4,548.0,-9.2,586,4697,0.00,2.28,0.00,0.000,4,0.000,0.051,2557,3464,3923
$GC,4743,-0.95,-243.4,552.6,-8.7,588,4748,0.12,2.15,0.00,0.000,6,0.058,0.031,2490,2069,3923
$GC,5075,-0.80,-243.4,598.7,-14.3,604,5077,0.22,0.00,0.00,0.000,6,0.123,0.000,2557,2069,3921
$GC,5388,-0.86,-243.4,623.9,-6.9,619,5392,0.00,2.35,0.00,0.000,4,0.000,0.054,2547,3472,3918
$GC,5422,-0.94,-243.4,626.9,-7.4,620,5431,0.00,2.17,0.00,0.000,6,0.000,0.032,2548,2090,3917
$GC,5744,-0.98,-243.4,653.2,-8.8,636,5748,0.12,2.33,0.00,0.000,4,0.060,0.048,2477,662,3915
$GC,5790,-0.85,-243.4,659.5,-14.9,638,5795,0.25,2.28,0.00,0.000,6,0.117,0.041,2545,2076,3914
$GC,6123,-0.91,-243.4,690.6,-8.8,654,6127,0.00,2.33,0.00,0.000,4,0.000,0.056,2537,3468,3911
$GC,6191,-0.97,-243.4,696.6,-8.4,657,6194,0.00,2.15,0.00,0.000,6,0.000,0.034,2536,2088,3910
$GC,6532,-1.00,-243.4,726.8,-9.3,673,6534,0.12,0.00,0.00,0.000,6,0.061,0.000,2468,2088,3909
$GC,6833,-0.86,-243.4,769.6,-14.5,688,6838,0.22,2.35,0.00,0.000,4,0.126,0.046,2540,664,3906
$GC,6909,-0.91,-243.4,777.9,-9.9,691,6913,0.00,2.30,0.00,0.000,6,0.000,0.042,2533,2088,3906
$GC,7230,-0.95,-243.4,806.4,-8.6,706,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2088,3904
$GC,7539,-0.99,-243.4,831.3,-7.5,721,7543,0.00,2.33,0.00,0.000,4,0.000,0.060,2530,3465,3902
$GC,7585,-1.06,-243.4,835.0,-7.1,723,7590,0.15,2.17,0.00,0.000,6,0.053,0.036,2460,2083,3901
$GC,7913,-0.92,-243.4,874.9,-13.0,739,7919,0.20,2.35,0.00,0.000,4,0.129,0.049,2523,664,3900
$GC,8046,-0.92,-243.4,889.3,-10.0,744,8055,0.00,2.35,0.00,0.000,6,0.000,0.046,2517,2079,3898
$GC,8363,-0.92,-243.4,920.2,-9.5,760,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2080,3896
$GC,8676,-0.92,-243.4,947.9,-8.7,775,8680,0.00,2.38,0.00,0.000,4,0.000,0.063,2516,3468,3895
$GC,8705,-0.92,-243.4,950.8,-8.9,776,8709,0.00,2.20,0.00,0.000,6,0.000,0.038,2516,2079,3894
$GC,9031,-0.92,-243.4,979.3,-9.1,792,9035,0.00,2.35,0.00,0.000,4,0.000,0.051,2515,657,3893
$GC,9059,-0.92,-243.4,982.6,-10.1,793,9063,0.00,2.35,0.00,0.000,6,0.000,0.045,2507,2090,3892
$STATE,9147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9148,begin apogee
$GC,9156,-0.23,0.0,991.4,10.0,797,9570,0.75,0.00,284.33,1.253,6,0.100,0.000,2746,1684,2945
$STATE,9575,end apogee,CONTROL_FINISHED_OK
$STATE,9575,begin climb
$GC,9579,0.93,243.4,1020.7,0.0,818,10048,1.12,0.00,314.62,1.207,6,0.036,0.000,3129,1684,1951
$GC,10352,0.55,243.4,923.3,18.9,854,10358,0.52,2.72,0.00,0.000,4,0.159,0.054,3002,3105,1944
$GC,10615,0.42,243.4,888.9,12.7,865,10622,0.22,2.47,0.00,0.000,6,0.133,0.040,2958,1726,1943
$GC,10939,0.43,252.0,858.1,9.8,881,10953,0.00,2.58,8.77,1.180,4,0.000,0.055,2958,3097,1917
$GC,11152,0.43,252.0,834.8,10.5,890,11156,0.00,2.42,0.00,0.000,6,0.000,0.039,2966,1731,1915
$GC,11472,0.43,252.0,801.4,10.8,905,11476,0.00,2.50,0.00,0.000,4,0.000,0.054,2966,3102,1915
$GC,11587,0.38,252.0,788.2,10.5,910,11591,0.12,2.35,0.00,0.000,6,0.140,0.040,2948,1762,1914
$GC,11920,0.47,296.2,758.5,8.8,926,12010,0.00,2.58,57.88,1.134,4,0.000,0.052,2948,3105,1737
$GC,12264,0.50,296.2,723.9,10.6,941,12268,0.00,2.38,0.00,0.000,6,0.000,0.039,2955,1783,1734
$GC,12598,0.55,296.2,686.5,11.5,957,12602,0.12,2.40,0.00,0.000,4,0.061,0.052,3017,3102,1733
$GC,12737,0.43,296.2,665.7,15.4,963,12742,0.25,2.25,0.00,0.000,6,0.132,0.039,2966,1807,1732
$GC,13065,0.55,397.3,636.8,7.2,979,13266,0.10,2.58,130.60,1.067,4,0.072,0.051,3016,3100,1324
$GC,13440,0.50,397.3,593.2,12.4,995,13445,0.20,2.35,0.00,0.000,6,0.125,0.038,2979,1811,1321
$GC,13760,0.56,401.9,561.3,9.9,1010,13770,0.00,2.35,5.30,0.871,4,0.000,0.051,2979,3102,1305
$GC,13847,0.62,401.9,552.5,10.3,1014,13851,0.00,2.28,0.00,0.000,6,0.000,0.037,2987,1825,1305
$GC,14178,0.70,432.9,521.6,9.1,1030,14247,0.17,2.47,40.30,0.995,4,0.050,0.050,3065,3099,1180
$GC,14401,0.59,432.9,486.9,14.8,1042,14408,0.20,2.28,0.00,0.000,6,0.127,0.036,3010,1854,1178
$GC,14731,0.59,432.9,446.3,13.2,1073,14735,0.00,2.25,0.00,0.000,4,0.000,0.049,3010,3103,1177
$GC,14771,0.59,432.9,440.0,14.2,1076,14775,0.00,2.20,0.00,0.000,6,0.000,0.037,3017,1840,1177
$GC,15104,0.59,432.9,397.1,11.6,1107,15108,0.00,2.25,0.00,0.000,4,0.000,0.049,3016,3111,1176
$GC,15254,0.61,442.5,381.5,9.7,1119,15276,0.00,2.12,10.70,0.942,6,0.000,0.036,3026,1862,1141
$GC,15593,0.61,442.5,350.1,10.4,1151,15597,0.00,2.17,0.00,0.000,4,0.000,0.047,3026,3108,1142
$GC,15650,0.61,442.5,343.4,10.7,1156,15654,0.00,2.08,0.00,0.000,6,0.000,0.035,3034,1881,1141
$GC,15984,0.61,442.5,303.3,12.3,1187,15988,0.00,2.12,0.00,0.000,4,0.000,0.046,3035,3109,1141
$GC,16132,0.61,442.5,285.3,11.5,1211,16138,0.00,2.03,0.00,0.000,6,0.000,0.034,3043,1891,1141
$GC,16479,0.61,442.5,243.8,13.1,1272,16487,0.00,2.10,0.00,0.000,4,0.000,0.045,3044,3105,1141
$GC,16551,0.61,442.5,234.4,12.2,1284,16559,0.10,2.00,0.00,0.000,6,0.114,0.033,3020,1906,1141
$GC,16901,0.85,539.3,202.4,7.3,1345,17021,0.17,2.25,102.03,0.815,4,0.050,0.041,3118,3106,746
$GC,17138,0.75,539.3,162.9,16.9,1384,17146,0.22,2.10,0.00,0.000,6,0.113,0.031,3065,1927,746
$GC,17487,0.84,539.3,121.0,10.6,1445,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1927,744
$GC,17833,0.91,539.3,85.1,11.8,1506,17840,0.12,2.80,0.00,0.000,4,0.053,0.041,3154,285,744
$GC,17878,0.97,539.3,80.3,11.6,1513,17885,0.00,2.78,0.00,0.000,6,0.000,0.031,3152,1949,744
$GC,18227,0.84,539.3,28.7,15.9,1574,18233,0.22,1.95,0.00,0.000,4,0.115,0.038,3087,3115,744
$GC,18241,0.84,539.3,26.8,13.5,1576,18249,0.00,2.00,0.00,0.000,6,0.000,0.028,3095,1898,744
$GC,18590,1.29,689.6,7.6,5.8,1637,18629,0.35,0.00,36.35,0.656,2,0.034,0.000,3265,1895,592
$STATE,18630,end climb,SURFACE_DEPTH_REACHED
$STATE,18630,begin surface coast
$FINISH,1.0,1.011757
$STATE,18648,end surface coast,CONTROL_FINISHED_OK
$STATE,18648,begin surface
$SM_CCo,18731,0.00,0.000,0,0,588,578.17
$SM_GC,1.61,9.38,0.00,0.00,0.037,0.000,0.000,168,2106,588,-8.27,1.27,578.17
$IRIDIUM_FIX,2429.95,12346.67,011298,181857
$TT8_MAMPS,0.026845
$HUMID,1698
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,174
$24V_AH,19.5,142.545
$10V_AH,10.4,90.500
$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,28.725,160.075,990.875,0.000,0.000,53.091,71.792,344.153,51.500,0.000,0.000,16.808,2877.423,9871.822,1245.645,4305.771,1142.552,0.000,3035.893,0.000,4274.148,0.000,54.430,0.000
$DEVICE_MAMPS,229.333,62.894,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.118,1116.078,2606.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91514,1646
$CAP_FILE_SIZE,204267,0
$CFSIZE,260165632,184299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,74,0
$CURRENT,0.166, 53.8,1
$GPS,060909,234507,2440.543,12346.752,41,1.1,41,-3.6