version: 66.04
glider: 166
mission: 2
dive: 601
start: 9 4 109 20 12 53
data:
$ID,166
$MISSION,2
$DIVE,601
$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,-19100.654
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,200401,2449.950,12352.901,38,1.1,38,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.4
$GPS2,201232,2450.000,12352.991,16,1.2,16,-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,194.0,128341,-13.9,-10.000
$D_GRID,1880
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,103,0.00,0.00,-81.70,0.000,2,0.000,0.000,165,2123,2280
$GC,108,-0.93,-243.4,3.0,-3.7,12,172,9.38,2.30,-44.65,0.000,4,0.221,0.047,2514,644,3941
$GC,363,-0.49,-243.4,75.3,-27.9,55,370,0.52,2.12,0.00,0.000,6,0.126,0.030,2661,2078,3941
$GC,711,-0.49,-243.4,119.8,-10.1,116,717,0.00,2.12,0.00,0.000,4,0.000,0.042,2660,3465,3942
$GC,737,-0.49,-243.4,122.4,-10.7,120,743,0.00,2.10,0.00,0.000,6,0.000,0.026,2661,2020,3942
$GC,1085,-0.55,-243.4,156.5,-9.3,181,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2019,3943
$GC,1431,-0.64,-243.4,187.8,-7.7,242,1441,0.15,2.25,0.00,0.000,4,0.055,0.040,2565,3468,3943
$GC,1491,-0.53,-243.4,194.8,-13.9,251,1498,0.28,2.05,0.00,0.000,6,0.112,0.026,2651,2051,3943
$GC,1841,-0.63,-243.4,226.7,-8.5,312,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2051,3942
$GC,2187,-0.75,-243.4,254.6,-8.2,373,2194,0.17,2.22,0.00,0.000,4,0.054,0.043,2524,3460,3940
$GC,2241,-0.61,-243.4,262.0,-15.6,382,2249,0.28,2.03,0.00,0.000,6,0.114,0.027,2624,2070,3940
$GC,2592,-0.66,-243.4,298.2,-9.9,443,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2070,3939
$GC,2919,-0.72,-243.4,328.4,-8.9,475,2922,0.00,2.20,0.00,0.000,4,0.000,0.046,2600,3457,3937
$GC,2948,-0.80,-243.4,331.2,-9.5,477,2955,0.12,2.03,0.00,0.000,6,0.058,0.028,2534,2080,3937
$GC,3273,-0.67,-243.4,377.6,-13.6,508,3278,0.17,2.17,0.00,0.000,4,0.125,0.038,2599,673,3935
$GC,3318,-0.70,-243.4,383.0,-10.3,511,3324,0.00,2.12,0.00,0.000,6,0.000,0.034,2586,2074,3935
$GC,3645,-0.76,-243.4,412.9,-8.9,542,3648,0.00,2.17,0.00,0.000,4,0.000,0.048,2585,3466,3934
$GC,3726,-0.89,-243.4,419.8,-8.9,549,3730,0.15,2.05,0.00,0.000,6,0.054,0.028,2508,2078,3933
$GC,4057,-0.73,-243.4,467.6,-14.6,580,4062,0.22,2.20,0.00,0.000,4,0.120,0.041,2581,664,3931
$GC,4113,-0.82,-243.4,473.4,-8.5,584,4119,0.00,2.15,0.00,0.000,6,0.000,0.036,2574,2074,3931
$GC,4444,-0.90,-243.4,496.8,-7.9,615,4450,0.12,0.00,0.00,0.000,6,0.061,0.000,2499,2075,3929
$GC,4762,-0.77,-243.4,540.3,-14.8,632,4766,0.20,2.22,0.00,0.000,4,0.121,0.051,2558,3468,3926
$GC,4791,-0.77,-243.4,543.9,-11.9,633,4794,0.00,2.08,0.00,0.000,6,0.000,0.031,2558,2083,3926
$GC,5114,-0.83,-243.4,573.9,-9.4,649,5118,0.00,2.20,0.00,0.000,4,0.000,0.044,2558,667,3924
$GC,5184,-0.88,-243.4,581.2,-10.8,652,5187,0.00,2.17,0.00,0.000,6,0.000,0.038,2549,2075,3923
$GC,5518,-0.92,-243.4,617.2,-10.7,668,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2076,3921
$GC,5830,-0.98,-243.4,646.1,-8.9,683,5835,0.12,2.22,0.00,0.000,4,0.063,0.053,2468,3465,3917
$GC,5875,-0.87,-243.4,651.1,-12.6,685,5879,0.25,2.10,0.00,0.000,6,0.120,0.034,2544,2080,3917
$GC,6208,-0.92,-243.4,678.7,-7.5,701,6212,0.00,2.25,0.00,0.000,4,0.000,0.051,2544,663,3914
$GC,6312,-0.96,-243.4,687.7,-8.2,705,6316,0.00,2.20,0.00,0.000,6,0.000,0.042,2542,2070,3913
$GC,6640,-1.01,-243.4,715.8,-8.6,721,6642,0.15,0.00,0.00,0.000,6,0.058,0.000,2463,2070,3910
$GC,6945,-0.88,-243.4,757.4,-13.3,736,6950,0.20,2.28,0.00,0.000,4,0.128,0.048,2528,654,3909
$GC,6991,-0.88,-243.4,762.6,-9.9,738,6995,0.00,2.22,0.00,0.000,6,0.000,0.041,2521,2072,3909
$GC,7328,-0.88,-243.4,795.7,-9.2,754,7332,0.00,2.25,0.00,0.000,4,0.000,0.048,2520,663,3906
$GC,7376,-0.88,-243.4,800.5,-9.5,756,7380,0.00,2.22,0.00,0.000,6,0.000,0.044,2517,2068,3906
$GC,7713,-0.88,-243.4,831.9,-9.5,772,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2069,3904
$GC,8021,-0.88,-243.4,862.2,-10.4,787,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2069,3901
$GC,8327,-0.88,-243.4,893.7,-10.1,802,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2069,3899
$GC,8641,-0.88,-243.4,922.6,-9.0,817,8645,0.00,2.30,0.00,0.000,4,0.000,0.052,2517,657,3898
$GC,8698,-0.88,-243.4,928.4,-9.7,819,8704,0.00,2.25,0.00,0.000,6,0.000,0.046,2516,2061,3897
$GC,9019,-0.88,-243.4,956.7,-8.7,835,9023,0.00,2.25,0.00,0.000,4,0.000,0.052,2517,665,3895
$GC,9067,-0.88,-243.4,961.4,-10.0,837,9072,0.12,2.22,0.00,0.000,6,0.123,0.046,2542,2056,3895
$GC,9400,-0.96,-243.4,985.2,-7.2,853,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2056,3893
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9486,-0.23,0.0,991.4,7.5,857,9707,0.60,0.00,218.43,1.478,6,0.093,0.000,2746,1690,2945
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9708,begin climb
$GC,9712,0.93,243.4,1004.8,0.0,868,10149,1.12,2.60,293.08,1.207,4,0.044,0.055,3138,298,1950
$GC,10318,0.56,243.4,933.5,20.1,894,10327,0.47,2.40,0.00,0.000,6,0.156,0.044,3009,1700,1945
$GC,10638,0.45,243.4,893.0,12.1,910,10643,0.15,2.30,0.00,0.000,4,0.141,0.055,2964,3099,1943
$GC,10885,0.41,243.4,866.7,11.0,921,10889,0.00,2.20,0.00,0.000,6,0.000,0.042,2973,1717,1941
$GC,11225,0.38,243.4,830.7,10.8,937,11230,0.12,2.28,0.00,0.000,4,0.144,0.055,2938,3099,1941
$GC,11456,0.39,255.8,807.0,9.7,947,11471,0.00,2.15,10.73,1.262,6,0.000,0.042,2946,1736,1902
$GC,11796,0.52,331.6,779.3,7.9,964,11874,0.12,2.38,71.10,1.358,4,0.067,0.055,3017,3094,1592
$GC,12005,0.42,331.6,752.3,13.6,973,12010,0.25,2.12,0.00,0.000,6,0.129,0.041,2956,1747,1588
$GC,12333,0.63,443.9,726.9,6.9,989,12445,0.20,2.45,105.53,1.304,4,0.051,0.054,3058,3096,1135
$GC,12680,0.52,443.9,670.9,15.8,1004,12684,0.28,2.12,0.00,0.000,6,0.131,0.042,2989,1757,1131
$GC,13013,0.61,473.9,639.0,9.2,1020,13047,0.00,2.25,27.88,1.231,4,0.000,0.055,2989,3102,1013
$GC,13168,0.67,473.9,621.5,11.9,1026,13175,0.08,2.08,0.00,0.000,6,0.054,0.041,3052,1796,1011
$GC,13488,0.59,473.9,567.9,17.4,1042,13492,0.15,2.10,0.00,0.000,4,0.135,0.054,3008,3100,1010
$GC,13644,0.59,473.9,546.0,12.6,1048,13653,0.00,2.03,0.00,0.000,6,0.000,0.040,3015,1823,1010
$GC,13960,0.59,473.9,502.8,13.2,1064,13964,0.00,2.08,0.00,0.000,4,0.000,0.054,3016,3106,1009
$GC,14129,0.63,473.9,482.3,12.1,1077,14132,0.00,1.98,0.00,0.000,6,0.000,0.040,3024,1838,1009
$GC,14460,0.63,473.9,435.7,13.7,1108,14464,0.00,2.03,0.00,0.000,4,0.000,0.051,3024,3107,1009
$GC,14601,0.63,473.9,415.6,13.2,1120,14609,0.00,1.95,0.00,0.000,6,0.000,0.038,3032,1868,1009
$GC,14930,0.63,473.9,374.4,12.4,1151,14934,0.00,1.98,0.00,0.000,4,0.000,0.051,3033,3104,1009
$GC,15011,0.63,473.9,363.5,12.3,1158,15015,0.00,1.90,0.00,0.000,6,0.000,0.038,3041,1873,1009
$GC,15346,0.63,473.9,321.7,11.7,1189,15350,0.00,1.95,0.00,0.000,4,0.000,0.048,3042,3103,1009
$GC,15487,0.63,473.9,304.3,12.7,1201,15491,0.00,1.85,0.00,0.000,6,0.000,0.036,3050,1898,1009
$GC,15832,0.63,473.9,258.8,14.3,1259,15838,0.00,1.92,0.00,0.000,4,0.000,0.047,3050,3112,1009
$GC,15913,0.63,473.9,246.7,15.3,1273,15919,0.12,1.83,0.00,0.000,6,0.127,0.034,3025,1909,1009
$GC,16260,0.75,487.0,209.9,9.6,1334,16281,0.10,1.88,12.77,0.823,4,0.072,0.044,3086,3109,959
$GC,16382,0.69,487.0,192.1,15.0,1354,16389,0.15,1.83,0.00,0.000,6,0.115,0.034,3044,1921,959
$GC,16731,0.79,487.0,158.2,11.6,1415,16737,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1921,958
$GC,17078,1.00,533.6,123.5,8.7,1476,17124,0.22,0.00,41.47,0.788,6,0.042,0.000,3166,1921,769
$GC,17467,1.00,533.6,62.3,11.5,1543,17473,0.00,1.88,0.00,0.000,4,0.000,0.041,3167,3111,767
$GC,17566,1.00,533.6,50.1,12.0,1560,17574,0.10,1.77,0.00,0.000,6,0.117,0.031,3139,1935,768
$GC,17914,1.12,567.5,15.5,9.1,1621,17947,0.10,0.00,29.60,0.672,6,0.071,0.000,3212,1935,632
$STATE,18002,end climb,SURFACE_DEPTH_REACHED
$STATE,18002,begin surface coast
$FINISH,0.9,1.012581
$STATE,18023,end surface coast,CONTROL_FINISHED_OK
$STATE,18023,begin surface
$SM_CCo,18104,0.00,0.000,0,0,630,567.87
$SM_GC,1.59,8.20,0.00,0.00,0.037,0.000,0.000,166,2107,630,-8.27,1.30,567.87
$IRIDIUM_FIX,2444.18,12404.46,291198,151519
$TT8_MAMPS,0.026845
$HUMID,1689
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,175
$24V_AH,20.9,139.680
$10V_AH,10.5,88.770
$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,25.175,128.775,810.575,0.000,0.000,23.564,31.890,257.157,51.750,0.000,0.000,16.529,2885.549,9854.879,907.366,4002.031,944.020,0.000,2579.316,0.000,3969.972,0.000,54.411,0.000
$DEVICE_MAMPS,220.896,55.224,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.223,1121.446,2356.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91587,1639
$CAP_FILE_SIZE,188393,0
$CFSIZE,260165632,185184256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,26,0
$CURRENT,0.077, 70.8,1
$GPS,050909,011554,2447.374,12353.983,38,0.9,38,-3.6