version: 66.04
glider: 166
mission: 2
dive: 612
start: 9 7 109 5 1 5
data:
$ID,166
$MISSION,2
$DIVE,612
$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,-19295.195
$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,45
$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
$GPS1,045126,2441.174,12344.609,38,3.2,57,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.1
$GPS2,050044,2441.247,12344.672,15,1.3,15,-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,278.2,155971,-13.9,-10.000
$D_GRID,1802
$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,-243.4,0.0,0.0,0,106,0.00,0.00,-86.07,0.000,2,0.000,0.000,166,2093,2396
$GC,110,-0.93,-243.4,3.3,-5.1,12,168,12.02,2.58,-37.15,0.000,4,0.215,0.048,2505,3454,3938
$GC,259,-0.42,-243.4,45.7,-36.5,36,267,0.75,2.47,0.00,0.000,6,0.143,0.025,2678,2035,3941
$GC,608,-0.47,-243.4,98.0,-9.0,97,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2033,3941
$GC,956,-0.55,-243.4,125.2,-8.5,158,963,0.12,2.38,0.00,0.000,4,0.059,0.031,2625,661,3942
$GC,1006,-0.50,-243.4,131.3,-13.8,166,1015,0.15,2.40,0.00,0.000,6,0.119,0.028,2658,2069,3942
$GC,1357,-0.55,-243.4,167.7,-9.2,227,1363,0.00,2.42,0.00,0.000,4,0.000,0.041,2658,3459,3942
$GC,1440,-0.70,-243.4,174.1,-6.8,241,1447,0.20,2.30,0.00,0.000,6,0.041,0.024,2577,2059,3942
$GC,1790,-0.56,-243.4,225.2,-14.8,302,1799,0.20,2.38,0.00,0.000,4,0.119,0.031,2634,683,3941
$GC,1835,-0.60,-243.4,230.9,-9.7,309,1842,0.00,2.38,0.00,0.000,6,0.000,0.028,2634,2097,3941
$GC,2180,-0.66,-243.4,261.4,-10.2,370,2187,0.00,2.35,0.00,0.000,4,0.000,0.041,2628,3462,3940
$GC,2237,-0.79,-243.4,266.6,-8.8,379,2244,0.20,2.22,0.00,0.000,6,0.043,0.025,2547,2093,3940
$GC,2584,-0.62,-243.4,320.7,-16.1,429,2588,0.22,2.40,0.00,0.000,4,0.120,0.032,2612,672,3939
$GC,2648,-0.67,-243.4,328.5,-9.6,434,2652,0.00,2.40,0.00,0.000,6,0.000,0.029,2595,2108,3938
$GC,2979,-0.70,-243.4,355.3,-8.7,464,2983,0.00,2.33,0.00,0.000,4,0.000,0.044,2586,3460,3937
$GC,3002,-0.74,-243.4,357.9,-8.7,465,3008,0.00,2.20,0.00,0.000,6,0.000,0.025,2591,2105,3936
$GC,3330,-0.78,-243.4,390.1,-9.1,496,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2105,3935
$GC,3657,-0.84,-243.4,418.9,-9.2,527,3662,0.12,2.42,0.00,0.000,4,0.058,0.035,2526,663,3932
$GC,3690,-0.78,-243.4,422.6,-12.9,529,3695,0.20,2.42,0.00,0.000,6,0.115,0.033,2571,2114,3933
$GC,4018,-0.82,-243.4,453.7,-8.2,559,4022,0.00,2.33,0.00,0.000,4,0.000,0.046,2562,3472,3931
$GC,4060,-0.88,-243.4,457.0,-8.2,562,4064,0.00,2.20,0.00,0.000,6,0.000,0.027,2562,2117,3931
$GC,4386,-0.92,-243.4,488.3,-10.5,592,4387,0.12,0.00,0.00,0.000,6,0.058,0.000,2498,2117,3928
$GC,4705,-0.80,-243.4,534.6,-15.1,611,4707,0.22,0.00,0.00,0.000,6,0.120,0.000,2559,2115,3926
$GC,5007,-0.86,-243.4,566.0,-9.2,626,5011,0.00,2.45,0.00,0.000,4,0.000,0.040,2559,677,3924
$GC,5054,-0.92,-243.4,570.6,-10.0,628,5059,0.00,2.42,0.00,0.000,6,0.000,0.035,2552,2117,3924
$GC,5380,-0.96,-243.4,603.3,-9.8,644,5382,0.12,0.00,0.00,0.000,6,0.057,0.000,2486,2118,3921
$GC,5691,-0.85,-243.4,643.2,-12.8,659,5695,0.20,2.35,0.00,0.000,4,0.123,0.051,2536,3459,3918
$GC,5720,-0.85,-243.4,647.1,-10.3,660,5724,0.00,2.20,0.00,0.000,6,0.000,0.031,2536,2121,3918
$GC,6045,-0.85,-243.4,676.1,-9.4,675,6049,0.00,2.47,0.00,0.000,4,0.000,0.047,2536,675,3915
$GC,6084,-0.85,-243.4,680.7,-10.2,676,6093,0.00,2.45,0.00,0.000,6,0.000,0.039,2530,2098,3915
$GC,6401,-0.85,-243.4,710.5,-9.2,692,6405,0.00,2.45,0.00,0.000,4,0.000,0.044,2530,673,3912
$GC,6480,-0.85,-243.4,718.6,-10.3,695,6487,0.00,2.45,0.00,0.000,6,0.000,0.041,2530,2108,3912
$GC,6800,-0.85,-243.4,745.4,-7.7,711,6804,0.00,2.40,0.00,0.000,4,0.000,0.057,2530,3471,3910
$GC,6858,-0.92,-243.4,750.0,-7.3,713,6865,0.00,2.25,0.00,0.000,6,0.000,0.033,2530,2109,3909
$GC,7183,-0.95,-243.4,776.0,-8.7,729,7187,0.00,2.50,0.00,0.000,4,0.000,0.046,2530,659,3907
$GC,7246,-0.98,-243.4,782.6,-9.9,732,7251,0.00,2.50,0.00,0.000,6,0.000,0.042,2530,2111,3906
$GC,7576,-1.02,-243.4,813.7,-10.1,748,7580,0.12,2.40,0.00,0.000,4,0.061,0.056,2458,3465,3904
$GC,7610,-0.92,-243.4,818.4,-13.6,749,7616,0.22,2.28,0.00,0.000,6,0.120,0.035,2520,2093,3904
$GC,7932,-0.92,-243.4,851.8,-10.0,765,7936,0.00,2.47,0.00,0.000,4,0.000,0.048,2520,663,3902
$GC,7988,-0.92,-243.4,858.2,-10.5,767,7994,0.00,2.47,0.00,0.000,6,0.000,0.043,2517,2101,3901
$GC,8307,-0.92,-243.4,889.2,-10.0,783,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2101,3900
$GC,8614,-0.92,-243.4,921.7,-10.9,798,8618,0.00,2.53,0.00,0.000,4,0.000,0.048,2517,664,3898
$GC,8654,-0.92,-243.4,926.4,-11.8,800,8658,0.00,2.50,0.00,0.000,6,0.000,0.044,2517,2100,3897
$GC,8982,-0.92,-243.4,961.0,-10.1,816,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2100,3895
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9299,-0.23,0.0,990.9,9.4,831,9741,0.75,0.00,302.05,1.244,6,0.095,0.000,2743,1692,2945
$STATE,9745,end apogee,CONTROL_FINISHED_OK
$STATE,9746,begin climb
$GC,9749,0.93,243.4,1019.7,0.0,853,10236,1.17,2.88,326.10,1.204,4,0.031,0.053,3145,295,1950
$GC,10414,0.55,243.4,940.2,20.1,882,10422,0.55,2.70,0.00,0.000,6,0.153,0.041,3003,1689,1945
$GC,10736,0.47,243.4,903.4,11.2,898,10741,0.12,2.70,0.00,0.000,4,0.140,0.052,2974,3105,1942
$GC,10967,0.41,243.4,878.0,11.1,908,10971,0.00,2.55,0.00,0.000,6,0.000,0.039,2983,1720,1941
$GC,11289,0.37,243.4,845.4,10.4,923,11294,0.17,2.62,0.00,0.000,4,0.133,0.052,2942,3112,1941
$GC,11482,0.42,286.3,826.7,8.8,931,11569,0.00,2.53,55.20,1.180,6,0.000,0.038,2950,1720,1778
$GC,11891,0.53,340.1,791.9,8.5,951,12004,0.12,2.90,74.80,1.141,4,0.059,0.051,3002,3104,1558
$GC,12255,0.49,340.1,745.3,13.4,967,12260,0.15,2.58,0.00,0.000,6,0.129,0.038,2980,1751,1554
$GC,12588,0.49,340.1,706.5,10.7,983,12592,0.00,2.62,0.00,0.000,4,0.000,0.051,2980,3109,1554
$GC,12754,0.49,340.1,687.5,10.5,990,12758,0.00,2.45,0.00,0.000,6,0.000,0.037,2988,1781,1553
$GC,13076,0.49,340.1,653.0,10.8,1006,13081,0.00,2.53,0.00,0.000,4,0.000,0.051,2988,3107,1552
$GC,13173,0.49,340.1,641.6,10.7,1010,13178,0.00,2.42,0.00,0.000,6,0.000,0.038,2997,1789,1553
$GC,13492,0.49,340.1,606.3,10.9,1025,13497,0.00,2.50,0.00,0.000,4,0.000,0.051,2997,3111,1552
$GC,13634,0.49,340.1,589.2,12.2,1031,13638,0.00,2.40,0.00,0.000,6,0.000,0.038,3007,1795,1552
$GC,13951,0.49,340.1,550.2,12.6,1046,13955,0.00,2.47,0.00,0.000,4,0.000,0.051,3007,3106,1552
$GC,14124,0.46,340.1,528.0,12.1,1053,14129,0.20,2.33,0.00,0.000,6,0.122,0.037,2969,1826,1552
$GC,14444,0.57,374.6,499.1,9.0,1068,14509,0.12,2.60,43.78,0.996,4,0.060,0.049,3027,3113,1418
$GC,14672,0.53,374.6,468.9,13.3,1087,14679,0.17,2.38,0.00,0.000,6,0.123,0.035,2997,1855,1416
$GC,15000,0.57,374.6,435.5,10.3,1118,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1855,1415
$GC,15330,0.61,374.6,397.9,11.4,1149,15334,0.00,2.40,0.00,0.000,4,0.000,0.047,2997,3113,1414
$GC,15505,0.66,374.6,377.8,10.6,1164,15509,0.00,2.33,0.00,0.000,6,0.000,0.035,3004,1854,1414
$GC,15832,0.71,379.6,344.2,9.9,1194,15845,0.12,2.40,6.60,0.803,4,0.056,0.045,3058,3115,1396
$GC,15951,0.64,379.6,329.2,12.9,1204,15956,0.17,2.28,0.00,0.000,6,0.128,0.033,3027,1872,1396
$GC,16280,0.64,379.6,293.3,10.2,1240,16286,0.00,2.33,0.00,0.000,4,0.000,0.044,3027,3114,1396
$GC,16368,0.65,386.4,284.7,9.8,1255,16387,0.00,2.22,9.43,0.824,6,0.000,0.032,3034,1884,1369
$GC,16728,0.65,386.4,248.9,10.2,1318,16734,0.00,2.30,0.00,0.000,4,0.000,0.043,3035,3110,1368
$GC,16849,0.65,386.4,235.9,11.2,1339,16855,0.00,2.17,0.00,0.000,6,0.000,0.031,3043,1907,1368
$GC,17196,0.65,386.4,198.8,12.8,1400,17202,0.00,2.22,0.00,0.000,4,0.000,0.041,3044,3109,1368
$GC,17351,0.65,386.4,180.9,10.3,1427,17357,0.00,2.10,0.00,0.000,6,0.000,0.030,3052,1928,1368
$GC,17698,0.72,417.1,146.6,9.2,1488,17761,0.00,0.00,40.25,0.685,6,0.000,0.000,3052,1928,1243
$GC,18106,0.81,417.1,112.4,10.0,1558,18112,0.00,2.22,0.00,0.000,4,0.000,0.038,3054,3111,1243
$GC,18161,0.92,423.1,106.5,9.8,1567,18175,0.17,2.15,7.72,0.621,6,0.042,0.028,3134,1919,1220
$GC,18519,0.90,433.6,63.9,9.7,1629,18545,0.00,2.28,15.02,0.576,4,0.000,0.036,3137,3116,1176
$GC,18634,0.94,469.4,53.3,9.0,1648,18707,0.00,2.15,44.35,0.601,6,0.000,0.027,3145,1930,1032
$GC,19049,1.00,484.6,13.5,9.6,1720,19081,0.00,2.25,19.25,0.560,4,0.000,0.035,3151,3111,970
$GC,19113,1.03,484.6,7.7,10.4,1730,19120,0.00,2.20,0.00,0.000,6,0.000,0.026,3159,1929,970
$STATE,19152,end climb,SURFACE_DEPTH_REACHED
$STATE,19152,begin surface coast
$FINISH,0.8,1.021204
$STATE,19187,end surface coast,CONTROL_FINISHED_OK
$STATE,19187,begin surface
$SM_CCo,19271,0.00,0.000,0,0,969,484.71
$SM_GC,1.68,9.75,0.00,0.00,0.031,0.000,0.000,168,2098,969,-8.27,1.05,484.71
$IRIDIUM_FIX,2432.32,12346.67,011298,232302
$TT8_MAMPS,0.026845
$HUMID,1673
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.70
$XPDR_PINGS,181
$24V_AH,19.4,143.226
$10V_AH,10.5,90.904
$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,29.000,169.250,944.550,0.000,0.000,33.165,58.022,264.611,53.250,0.000,0.000,15.331,3015.516,10123.001,1274.606,4364.429,1029.031,0.000,3089.619,0.000,4339.886,0.000,54.431,0.000
$DEVICE_MAMPS,214.760,56.758,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.378,1207.585,2657.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97778,1743
$CAP_FILE_SIZE,204008,0
$CFSIZE,260165632,184102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,79,0
$CURRENT,0.116, 48.9,1
$GPS,070909,102337,2441.591,12342.156,41,1.3,41,-3.6