version: 66.04
glider: 166
mission: 2
dive: 594
start: 9 3 109 8 0 54
data:
$ID,166
$MISSION,2
$DIVE,594
$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,-18987.92
$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,34
$R_STBD_OVSHOOT,50
$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
$GPS1,074524,2505.538,12345.253,27,1.5,45,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.2
$GPS2,080034,2505.593,12345.472,15,2.5,34,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$TGT_RADIUS,2000.000
$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,219.8,158592,-13.9,-10.000
$D_GRID,2065
$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,-84.47,0.000,2,0.000,0.000,166,2096,2350
$GC,108,-0.93,-243.4,3.1,-5.6,13,166,9.57,2.28,-38.75,0.000,4,0.228,0.048,2514,636,3940
$GC,343,-0.50,-243.4,74.8,-29.0,53,350,0.50,2.12,0.00,0.000,6,0.128,0.032,2653,2062,3942
$GC,691,-0.50,-243.4,120.6,-11.4,114,698,0.00,2.15,0.00,0.000,4,0.000,0.043,2648,3469,3941
$GC,759,-0.59,-243.4,127.8,-10.1,125,765,0.00,2.10,0.00,0.000,6,0.000,0.026,2648,2023,3941
$GC,1103,-0.59,-243.4,166.7,-11.0,186,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2023,3941
$GC,1451,-0.66,-243.4,197.6,-9.9,247,1459,0.12,2.25,0.00,0.000,4,0.061,0.042,2564,3463,3940
$GC,1475,-0.66,-243.4,200.5,-11.6,250,1482,0.15,2.08,0.00,0.000,6,0.123,0.027,2610,2045,3940
$GC,1824,-0.66,-243.4,249.4,-13.7,311,1832,0.00,2.22,0.00,0.000,4,0.000,0.045,2604,3463,3939
$GC,1851,-0.66,-243.4,253.1,-12.9,315,1858,0.00,2.05,0.00,0.000,6,0.000,0.027,2606,2057,3938
$GC,2200,-0.66,-243.4,289.9,-10.2,376,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2057,3937
$GC,2531,-0.66,-243.4,326.7,-11.8,415,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2057,3935
$GC,2851,-0.66,-243.4,362.2,-10.6,445,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2057,3933
$GC,3168,-0.66,-243.4,395.1,-10.3,475,3172,0.00,2.22,0.00,0.000,4,0.000,0.049,2582,3454,3931
$GC,3216,-0.74,-243.4,399.3,-8.2,479,3220,0.00,2.05,0.00,0.000,6,0.000,0.029,2583,2068,3930
$GC,3548,-0.81,-243.4,430.4,-8.4,510,3552,0.00,2.20,0.00,0.000,4,0.000,0.049,2580,3455,3928
$GC,3596,-0.93,-243.4,434.1,-6.9,514,3601,0.17,2.08,0.00,0.000,6,0.049,0.029,2491,2053,3927
$GC,3923,-0.75,-243.4,483.3,-16.1,544,3928,0.22,2.25,0.00,0.000,4,0.125,0.049,2555,3454,3926
$GC,4010,-0.83,-243.4,492.3,-8.6,551,4014,0.00,2.08,0.00,0.000,6,0.000,0.031,2555,2062,3925
$GC,4349,-0.87,-243.4,522.7,-8.5,571,4352,0.00,2.15,0.00,0.000,4,0.000,0.042,2555,668,3923
$GC,4384,-0.87,-243.4,526.0,-9.1,572,4388,0.00,2.15,0.00,0.000,6,0.000,0.038,2554,2069,3923
$GC,4710,-0.91,-243.4,552.2,-8.7,588,4714,0.00,2.20,0.00,0.000,4,0.000,0.053,2545,3462,3919
$GC,4757,-0.98,-243.4,556.6,-8.9,590,4761,0.12,2.08,0.00,0.000,6,0.059,0.031,2478,2074,3919
$GC,5095,-0.82,-243.4,605.8,-14.2,606,5099,0.22,2.20,0.00,0.000,4,0.124,0.044,2552,671,3916
$GC,5170,-0.88,-243.4,613.5,-8.1,609,5173,0.00,2.17,0.00,0.000,6,0.000,0.039,2545,2080,3915
$GC,5499,-0.93,-243.4,639.9,-8.2,625,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2080,3912
$GC,5802,-0.98,-243.4,666.6,-8.8,640,5807,0.12,2.25,0.00,0.000,4,0.061,0.046,2474,666,3910
$GC,5832,-0.90,-243.4,670.0,-12.9,641,5836,0.22,2.20,0.00,0.000,6,0.120,0.041,2532,2077,3909
$GC,6152,-0.94,-243.4,699.6,-9.0,656,6157,0.00,2.22,0.00,0.000,4,0.000,0.058,2530,3460,3907
$GC,6194,-1.00,-243.4,703.5,-8.9,657,6201,0.00,2.10,0.00,0.000,6,0.000,0.035,2530,2075,3906
$GC,6514,-1.00,-243.4,730.8,-8.5,673,6517,0.00,2.22,0.00,0.000,4,0.000,0.049,2529,664,3904
$GC,6583,-1.00,-243.4,737.4,-9.3,676,6588,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2077,3904
$GC,6916,-1.00,-243.4,767.3,-9.4,692,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2077,3901
$GC,7224,-1.03,-243.4,797.3,-9.9,707,7228,0.12,2.28,0.00,0.000,4,0.063,0.049,2462,658,3899
$GC,7288,-0.90,-243.4,806.6,-15.1,710,7293,0.25,2.25,0.00,0.000,6,0.120,0.045,2527,2080,3899
$GC,7618,-0.93,-243.4,841.9,-10.3,726,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2080,3896
$GC,7929,-0.97,-243.4,873.0,-9.9,741,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2080,3894
$GC,8235,-1.01,-243.4,902.7,-9.4,756,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2079,3892
$GC,8547,-1.04,-243.4,930.4,-8.9,771,8549,0.12,0.00,0.00,0.000,6,0.062,0.000,2465,2080,3890
$GC,8852,-0.92,-243.4,969.7,-12.9,786,8857,0.17,2.33,0.00,0.000,4,0.131,0.052,2522,657,3888
$GC,8919,-0.92,-243.4,976.4,-9.9,789,8923,0.00,2.25,0.00,0.000,6,0.000,0.047,2518,2068,3888
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9058,begin apogee
$GC,9067,-0.23,0.0,990.6,9.5,796,9289,0.70,0.00,213.10,1.473,6,0.100,0.000,2746,1699,2945
$STATE,9289,end apogee,CONTROL_FINISHED_OK
$STATE,9289,begin climb
$GC,9294,0.93,243.4,1004.5,0.0,807,9728,1.08,0.00,292.10,1.208,6,0.036,0.000,3131,1699,1952
$GC,10029,0.55,243.4,914.8,18.6,841,10034,0.45,2.33,0.00,0.000,4,0.159,0.057,2998,3111,1945
$GC,10263,0.42,243.4,886.8,11.5,851,10268,0.17,2.17,0.00,0.000,6,0.141,0.041,2959,1714,1943
$GC,10582,0.51,314.3,860.5,8.0,866,10659,0.00,2.38,66.18,1.360,4,0.000,0.057,2959,3118,1662
$GC,10868,0.51,314.5,833.8,10.0,878,10877,0.00,2.17,0.00,0.000,6,0.000,0.043,2968,1732,1658
$GC,11186,0.54,340.8,804.9,9.3,894,11223,0.00,2.28,26.27,1.254,4,0.000,0.057,2967,3105,1555
$GC,11413,0.54,340.8,781.2,11.2,904,11417,0.00,2.10,0.00,0.000,6,0.000,0.043,2978,1754,1552
$GC,11748,0.54,340.8,744.0,11.6,920,11752,0.00,2.17,0.00,0.000,4,0.000,0.056,2978,3103,1552
$GC,11955,0.54,340.8,718.8,12.6,929,11958,0.00,2.05,0.00,0.000,6,0.000,0.043,2987,1795,1551
$GC,12290,0.54,340.8,679.7,11.7,945,12294,0.00,2.12,0.00,0.000,4,0.000,0.056,2986,3108,1551
$GC,12476,0.54,340.8,657.7,11.7,953,12479,0.00,2.03,0.00,0.000,6,0.000,0.041,2997,1812,1551
$GC,12812,0.54,340.8,620.3,11.0,969,12815,0.00,2.10,0.00,0.000,4,0.000,0.054,2997,3111,1551
$GC,12942,0.51,340.8,603.7,12.6,974,12951,0.00,2.03,0.00,0.000,6,0.000,0.041,3007,1833,1551
$GC,13259,0.48,340.8,565.8,12.1,990,13263,0.12,2.08,0.00,0.000,4,0.138,0.053,2974,3111,1549
$GC,13332,0.52,340.8,557.8,10.1,993,13336,0.00,1.98,0.00,0.000,6,0.000,0.040,2981,1838,1549
$GC,13667,0.63,391.6,527.8,8.6,1009,13720,0.12,2.10,45.85,1.183,4,0.064,0.054,3048,3105,1347
$GC,13927,0.52,391.6,489.7,15.6,1023,13932,0.22,1.95,0.00,0.000,6,0.133,0.040,2990,1838,1345
$GC,14261,0.59,391.6,453.7,10.3,1054,14265,0.00,2.03,0.00,0.000,4,0.000,0.052,2991,3108,1343
$GC,14378,0.65,391.6,441.0,10.8,1064,14382,0.00,1.92,0.00,0.000,6,0.000,0.039,2998,1863,1343
$GC,14713,0.75,412.7,406.9,9.4,1095,14738,0.17,2.05,19.83,1.048,4,0.053,0.052,3089,3112,1261
$GC,14849,0.58,412.7,384.9,18.7,1106,14856,0.25,1.92,0.00,0.000,6,0.130,0.038,3003,1877,1260
$GC,15177,0.65,412.7,348.5,10.1,1137,15180,0.00,1.95,0.00,0.000,4,0.000,0.049,3008,3108,1259
$GC,15224,0.72,412.7,343.3,10.7,1141,15228,0.12,1.88,0.00,0.000,6,0.061,0.037,3077,1876,1259
$GC,15555,0.60,412.7,290.7,16.1,1176,15561,0.20,0.00,0.00,0.000,6,0.133,0.000,3015,1876,1259
$GC,15903,0.74,471.7,256.2,8.4,1237,15964,0.12,2.00,52.62,0.933,4,0.064,0.054,3083,3108,1021
$GC,16027,0.65,471.7,239.3,16.4,1257,16034,0.22,1.85,0.00,0.000,6,0.129,0.035,3023,1881,1021
$GC,16378,0.84,535.7,201.8,8.2,1318,16443,0.17,1.98,55.30,0.873,4,0.052,0.045,3131,3111,760
$GC,16564,0.68,535.7,164.1,20.0,1349,16571,0.28,1.85,0.00,0.000,6,0.121,0.034,3041,1899,760
$GC,16912,0.89,574.8,131.4,8.9,1410,16952,0.17,0.00,34.15,0.799,6,0.049,0.000,3150,1898,601
$GC,17294,0.89,574.8,64.5,12.4,1476,17301,0.17,1.90,0.00,0.000,4,0.116,0.041,3089,3118,600
$GC,17411,1.24,675.3,55.1,7.2,1496,17450,0.28,1.85,31.88,0.724,6,0.030,0.031,3253,1899,455
$STATE,17669,end climb,SURFACE_DEPTH_REACHED
$STATE,17669,begin surface coast
$FINISH,0.9,1.021221
$STATE,17688,end surface coast,CONTROL_FINISHED_OK
$STATE,17688,begin surface
$SM_CCo,17771,0.00,0.000,0,0,452,611.53
$SM_GC,1.55,8.32,0.00,0.00,0.037,0.000,0.000,166,2104,452,-8.27,1.22,611.53
$IRIDIUM_FIX,2456.07,12346.02,281198,080820
$TT8_MAMPS,0.026845
$HUMID,1756
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.50
$XPDR_PINGS,183
$24V_AH,20.8,137.515
$10V_AH,10.5,87.458
$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,25.500,123.425,837.275,0.000,0.000,69.420,112.522,373.786,53.750,0.000,0.000,35.802,2713.248,9936.439,920.689,3916.792,1170.365,0.000,2526.055,0.000,3863.842,0.000,54.429,0.000
$DEVICE_MAMPS,227.799,57.525,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.207,1033.285,2289.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85195,1544
$CAP_FILE_SIZE,186387,0
$CFSIZE,260165632,185864192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,29,0
$CURRENT,0.193, 61.5,1
$GPS,030909,125824,2503.848,12345.864,40,1.2,40,-3.7