version: 66.04
glider: 166
mission: 2
dive: 611
start: 9 6 109 23 54 12
data:
$ID,166
$MISSION,2
$DIVE,611
$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,-19279.236
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,234507,2440.543,12346.752,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.1
$GPS2,235350,2440.522,12346.796,14,1.4,14,-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,276.7,159706,-13.9,-10.000
$D_GRID,1770
$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,-243.4,0.0,0.0,0,95,0.00,0.00,-76.20,0.000,2,0.000,0.000,167,2105,2303
$GC,100,-0.93,-243.4,3.1,-4.5,11,159,10.77,2.38,-42.40,0.000,4,0.216,0.049,2506,3453,3941
$GC,218,-0.45,-243.4,33.8,-34.7,30,225,0.62,2.30,0.00,0.000,6,0.137,0.025,2666,2031,3941
$GC,566,-0.45,-243.4,85.6,-13.2,91,572,0.00,2.40,0.00,0.000,4,0.000,0.041,2661,3451,3942
$GC,616,-0.50,-243.4,92.2,-12.8,99,622,0.00,2.20,0.00,0.000,6,0.000,0.025,2655,2056,3942
$GC,962,-0.50,-243.4,132.5,-10.0,160,968,0.00,2.25,0.00,0.000,4,0.000,0.033,2652,660,3943
$GC,994,-0.55,-243.4,135.8,-10.8,165,1003,0.00,2.22,0.00,0.000,6,0.000,0.028,2652,2059,3943
$GC,1345,-0.63,-243.4,171.7,-9.3,226,1352,0.00,2.30,0.00,0.000,4,0.000,0.041,2658,3456,3943
$GC,1405,-0.79,-243.4,177.1,-8.6,236,1412,0.28,2.17,0.00,0.000,6,0.038,0.025,2531,2056,3943
$GC,1753,-0.57,-243.4,237.5,-15.4,297,1760,0.35,0.00,0.00,0.000,6,0.120,0.000,2628,2052,3943
$GC,2101,-0.65,-243.4,266.8,-10.3,358,2107,0.00,2.35,0.00,0.000,4,0.000,0.042,2622,3455,3942
$GC,2160,-0.80,-243.4,272.6,-9.3,368,2167,0.22,2.15,0.00,0.000,6,0.041,0.025,2531,2069,3941
$GC,2501,-0.63,-243.4,325.3,-14.7,413,2506,0.28,2.38,0.00,0.000,4,0.117,0.043,2601,3463,3940
$GC,2567,-0.74,-243.4,331.7,-7.4,418,2571,0.00,2.15,0.00,0.000,6,0.000,0.026,2602,2088,3940
$GC,2899,-0.81,-243.4,361.2,-9.8,449,2901,0.12,0.00,0.00,0.000,6,0.058,0.000,2535,2088,3938
$GC,3217,-0.71,-243.4,405.5,-13.6,479,3222,0.17,2.33,0.00,0.000,4,0.119,0.035,2588,667,3936
$GC,3262,-0.77,-243.4,410.7,-10.2,482,3270,0.00,2.33,0.00,0.000,6,0.000,0.032,2584,2091,3936
$GC,3591,-0.83,-243.4,440.4,-9.6,513,3595,0.00,2.30,0.00,0.000,4,0.000,0.047,2583,3465,3934
$GC,3660,-0.96,-243.4,446.9,-9.0,518,3667,0.20,2.17,0.00,0.000,6,0.031,0.028,2483,2103,3934
$GC,3988,-0.79,-243.4,499.8,-16.9,549,3996,0.25,2.38,0.00,0.000,4,0.122,0.038,2560,661,3931
$GC,4031,-0.79,-243.4,505.8,-10.4,551,4038,0.00,2.33,0.00,0.000,6,0.000,0.035,2554,2095,3931
$GC,4352,-0.83,-243.4,533.9,-8.0,567,4356,0.00,2.30,0.00,0.000,4,0.000,0.050,2545,3465,3928
$GC,4381,-0.87,-243.4,536.5,-8.1,568,4385,0.00,2.17,0.00,0.000,6,0.000,0.030,2546,2085,3928
$GC,4707,-0.87,-243.4,565.6,-9.3,584,4711,0.00,2.35,0.00,0.000,4,0.000,0.051,2542,3462,3926
$GC,4748,-0.92,-243.4,569.9,-9.5,586,4753,0.00,2.17,0.00,0.000,6,0.000,0.030,2542,2097,3926
$GC,5088,-0.92,-243.4,604.1,-10.4,602,5092,0.00,2.38,0.00,0.000,4,0.000,0.043,2542,663,3923
$GC,5121,-0.92,-243.4,608.3,-10.2,603,5127,0.00,2.38,0.00,0.000,6,0.000,0.038,2543,2106,3922
$GC,5440,-0.92,-243.4,641.8,-10.9,619,5444,0.00,2.33,0.00,0.000,4,0.000,0.054,2542,3469,3919
$GC,5537,-0.99,-243.4,651.8,-10.1,623,5542,0.12,2.17,0.00,0.000,6,0.058,0.032,2479,2109,3919
$GC,5858,-0.90,-243.4,693.8,-13.3,638,5863,0.17,2.42,0.00,0.000,4,0.122,0.044,2529,661,3915
$GC,5998,-0.90,-243.4,709.6,-10.9,644,6002,0.00,2.42,0.00,0.000,6,0.000,0.046,2528,2113,3914
$GC,6320,-0.90,-243.4,743.5,-10.6,660,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2113,3912
$GC,6633,-0.90,-243.4,774.7,-9.8,675,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2114,3910
$GC,6939,-0.93,-243.4,802.4,-8.9,690,6943,0.00,2.47,0.00,0.000,4,0.000,0.047,2528,670,3908
$GC,7015,-0.93,-243.4,809.5,-9.7,693,7019,0.00,2.42,0.00,0.000,6,0.000,0.043,2528,2112,3906
$GC,7335,-0.97,-243.4,838.4,-9.3,708,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2112,3905
$GC,7645,-1.00,-243.4,867.2,-9.8,723,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2112,3903
$GC,7953,-1.04,-243.4,900.7,-11.1,738,7958,0.15,2.50,0.00,0.000,4,0.058,0.049,2456,672,3901
$GC,7981,-0.95,-243.4,905.0,-15.2,739,7986,0.25,2.40,0.00,0.000,6,0.122,0.044,2516,2100,3900
$GC,8302,-0.95,-243.4,941.3,-10.8,754,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2100,3898
$GC,8610,-0.95,-243.4,971.0,-9.1,769,8614,0.00,2.45,0.00,0.000,4,0.000,0.050,2516,670,3897
$GC,8663,-0.95,-243.4,976.5,-10.1,771,8668,0.00,2.42,0.00,0.000,6,0.000,0.047,2517,2101,3896
$STATE,8834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8834,begin apogee
$GC,8843,-0.23,0.0,991.8,8.8,779,9277,0.73,0.00,295.85,1.249,6,0.095,0.000,2743,1698,2945
$STATE,9281,end apogee,CONTROL_FINISHED_OK
$STATE,9281,begin climb
$GC,9285,0.93,243.4,1019.6,0.0,801,9765,1.17,2.85,321.67,1.203,4,0.036,0.054,3141,297,1951
$GC,9801,0.56,243.4,970.5,21.2,824,9806,0.60,2.70,0.00,0.000,6,0.153,0.041,3005,1698,1948
$GC,10133,0.47,243.4,928.4,12.8,840,10138,0.12,2.67,0.00,0.000,4,0.140,0.051,2976,3104,1946
$GC,10393,0.41,243.4,897.2,11.8,851,10400,0.15,2.55,0.00,0.000,6,0.138,0.039,2953,1716,1944
$GC,10715,0.45,276.4,867.5,9.1,867,10781,0.00,2.80,42.17,1.191,4,0.000,0.051,2952,3111,1818
$GC,10995,0.50,320.9,841.4,8.8,879,11088,0.00,2.58,61.97,1.157,6,0.000,0.038,2961,1734,1636
$GC,11400,0.58,343.5,804.6,9.4,898,11448,0.15,2.80,30.52,1.147,4,0.053,0.051,3025,3105,1544
$GC,11704,0.49,343.5,761.1,12.9,911,11709,0.25,2.53,0.00,0.000,6,0.128,0.038,2979,1761,1541
$GC,12024,0.54,364.4,730.6,9.4,926,12069,0.00,2.65,28.38,1.111,4,0.000,0.051,2978,3106,1459
$GC,12323,0.62,405.8,702.0,8.9,939,12415,0.12,2.47,58.33,1.078,6,0.055,0.038,3035,1791,1290
$GC,12741,0.56,405.8,647.3,14.5,959,12746,0.15,2.58,0.00,0.000,4,0.128,0.049,2999,3108,1288
$GC,12939,0.56,405.8,619.8,13.8,968,12943,0.00,2.42,0.00,0.000,6,0.000,0.038,3007,1804,1287
$GC,13273,0.56,405.8,570.5,14.6,984,13277,0.00,2.47,0.00,0.000,4,0.000,0.049,3007,3104,1285
$GC,13405,0.56,405.8,551.6,13.8,990,13409,0.00,2.35,0.00,0.000,6,0.000,0.038,3016,1822,1285
$GC,13732,0.56,405.8,512.1,11.8,1006,13736,0.00,2.40,0.00,0.000,4,0.000,0.049,3016,3108,1285
$GC,13863,0.56,405.8,496.0,12.2,1012,13871,0.00,2.28,0.00,0.000,6,0.000,0.037,3024,1862,1285
$GC,14189,0.56,405.8,455.8,12.2,1043,14193,0.00,2.30,0.00,0.000,4,0.000,0.048,3024,3106,1284
$GC,14298,0.56,405.8,440.8,13.5,1052,14302,0.12,2.17,0.00,0.000,6,0.127,0.036,3005,1872,1284
$GC,14629,0.65,429.5,406.3,9.3,1083,14678,0.00,2.38,29.67,0.913,4,0.000,0.047,3005,3105,1194
$GC,14783,0.79,484.5,392.8,8.5,1096,14894,0.20,2.22,73.45,0.877,6,0.044,0.035,3089,1884,969
$GC,15216,0.69,484.5,317.5,17.5,1135,15221,0.17,2.33,0.00,0.000,4,0.127,0.043,3042,3111,968
$GC,15306,0.69,484.5,303.4,13.5,1142,15314,0.00,2.22,0.00,0.000,6,0.000,0.033,3048,1901,968
$GC,15649,0.69,484.5,260.5,12.7,1200,15656,0.00,2.25,0.00,0.000,4,0.000,0.043,3050,3102,968
$GC,15734,0.73,484.5,249.9,12.7,1214,15742,0.00,2.15,0.00,0.000,6,0.000,0.032,3058,1909,968
$GC,16085,0.73,484.5,199.5,13.1,1275,16091,0.00,2.17,0.00,0.000,4,0.000,0.041,3058,3111,968
$GC,16172,0.78,484.5,187.8,13.1,1290,16179,0.00,2.08,0.00,0.000,6,0.000,0.031,3067,1916,968
$GC,16520,0.83,484.5,145.5,12.0,1351,16527,0.00,2.12,0.00,0.000,4,0.000,0.041,3069,3111,968
$GC,16563,0.88,484.5,140.1,11.5,1358,16570,0.00,2.03,0.00,0.000,6,0.000,0.030,3075,1927,968
$GC,16912,1.03,553.9,105.3,8.1,1419,17041,0.20,3.10,84.97,0.648,4,0.043,0.039,3183,285,686
$GC,17068,0.95,553.9,79.2,16.9,1444,17075,0.22,3.05,0.00,0.000,6,0.112,0.029,3129,1958,686
$GC,17417,1.15,610.6,40.2,8.4,1505,17524,0.17,2.22,70.28,0.581,4,0.046,0.037,3213,3118,455
$GC,17607,1.06,610.6,8.0,18.7,1536,17614,0.25,2.12,0.00,0.000,6,0.124,0.026,3164,1923,453
$STATE,17635,end climb,SURFACE_DEPTH_REACHED
$STATE,17635,begin surface coast
$FINISH,0.9,1.005661
$STATE,17653,end surface coast,CONTROL_FINISHED_OK
$STATE,17653,begin surface
$SM_CCo,17737,0.00,0.000,0,0,451,611.78
$SM_GC,1.54,9.52,0.00,0.00,0.031,0.000,0.000,166,2092,451,-8.29,0.88,611.78
$IRIDIUM_FIX,2429.95,12348.64,011298,181828
$TT8_MAMPS,0.026845
$HUMID,1694
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,183
$24V_AH,19.6,142.905
$10V_AH,10.5,90.695
$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,28.300,157.825,1097.275,0.000,0.000,23.662,33.413,265.470,53.750,0.000,0.000,14.156,2661.566,9126.103,1373.477,4129.780,945.166,0.000,3158.875,0.000,4092.180,0.000,54.428,0.000
$DEVICE_MAMPS,216.294,54.457,1248.676,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.327,1060.672,2451.333,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85296,1544
$CAP_FILE_SIZE,191238,0
$CFSIZE,260165632,184225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,93,0
$CURRENT,0.147, 32.8,1
$GPS,070909,045126,2441.174,12344.609,38,3.2,57,-3.6