version: 66.04
glider: 166
mission: 2
dive: 100
start: 6 6 109 20 45 21
data:
$ID,166
$MISSION,2
$DIVE,100
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7152.7163
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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,1
$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
$GPS1,203755,2524.010,12333.963,44,1.1,44,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.2
$GPS2,204501,2524.081,12333.935,34,1.8,34,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,190.7,21256,-17.1,-11.000
$D_GRID,1801
$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,14,-0.94,-194.7,0.0,0.0,0,103,0.00,0.00,-86.10,0.000,2,0.000,0.000,203,1523,2359
$GC,105,-0.94,-194.7,3.1,-5.6,13,158,8.82,2.03,-37.47,0.000,4,0.234,0.058,2430,191,3657
$GC,266,-0.10,-194.7,50.8,-36.8,40,274,0.88,1.92,0.00,0.000,6,0.161,0.030,2698,1491,3657
$GC,612,-0.90,-194.7,82.7,-10.9,101,619,0.62,2.05,0.00,0.000,4,0.070,0.034,2442,2909,3659
$GC,653,-0.72,-194.7,87.8,-12.7,108,661,0.10,2.08,0.00,0.000,6,0.151,0.031,2496,1500,3659
$GC,998,-0.42,-194.7,156.3,-16.6,169,1005,0.30,1.90,0.00,0.000,4,0.143,0.041,2594,210,3659
$GC,1074,-0.56,-194.7,165.2,-10.3,182,1081,0.00,1.85,0.00,0.000,6,0.000,0.028,2582,1496,3659
$GC,1419,-0.78,-194.7,193.0,-7.7,243,1428,0.22,2.05,0.00,0.000,4,0.051,0.038,2460,2883,3659
$GC,1490,-0.63,-194.7,202.0,-14.3,255,1497,0.20,2.00,0.00,0.000,6,0.138,0.031,2539,1496,3659
$GC,1834,-0.63,-194.7,243.0,-12.5,316,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1496,3659
$GC,2177,-0.68,-194.7,281.5,-10.6,377,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1496,3659
$GC,2510,-0.77,-194.7,317.2,-9.8,423,2514,0.00,2.08,0.00,0.000,4,0.000,0.041,2519,2893,3659
$GC,2537,-0.92,-194.7,319.8,-9.1,425,2544,0.22,2.05,0.00,0.000,6,0.050,0.033,2418,1478,3659
$GC,2863,-0.59,-194.7,372.5,-16.8,456,2867,0.38,1.88,0.00,0.000,4,0.144,0.045,2541,213,3659
$GC,2902,-0.68,-194.7,377.2,-9.4,459,2906,0.00,1.83,0.00,0.000,6,0.000,0.030,2539,1490,3659
$GC,3233,-0.90,-194.7,399.4,-6.8,490,3238,0.22,2.08,0.00,0.000,4,0.053,0.042,2431,2897,3658
$GC,3306,-0.76,-194.7,408.0,-13.6,496,3311,0.20,2.03,0.00,0.000,6,0.139,0.035,2491,1506,3657
$GC,3636,-0.76,-194.7,439.9,-8.6,527,3639,0.00,2.08,0.00,0.000,4,0.000,0.045,2490,2895,3654
$GC,3705,-0.87,-194.7,445.3,-7.7,533,3709,0.00,2.03,0.00,0.000,6,0.000,0.036,2491,1509,3654
$GC,4035,-0.87,-194.7,477.8,-10.8,564,4038,0.00,2.08,0.00,0.000,4,0.000,0.047,2490,2892,3652
$GC,4114,-1.04,-194.7,485.3,-9.0,571,4119,0.25,2.03,0.00,0.000,6,0.051,0.044,2381,1513,3652
$GC,4434,-0.69,-194.7,539.4,-17.9,590,4436,0.43,0.00,0.00,0.000,6,0.149,0.000,2512,1513,3651
$GC,4741,-0.88,-194.7,567.3,-8.7,605,4746,0.17,2.10,0.00,0.000,4,0.061,0.048,2422,2898,3649
$GC,4818,-0.80,-194.7,576.9,-12.9,608,4825,0.15,2.08,0.00,0.000,6,0.133,0.039,2474,1519,3648
$GC,5134,-0.85,-194.7,609.3,-9.5,624,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1519,3646
$GC,5444,-0.92,-194.7,637.6,-9.1,639,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1519,3644
$GC,5752,-0.99,-194.7,668.1,-10.1,654,5756,0.15,2.00,0.00,0.000,4,0.067,0.054,2406,201,3641
$GC,5797,-0.75,-194.7,674.3,-15.1,656,5806,0.32,1.92,0.00,0.000,6,0.146,0.037,2498,1509,3641
$GC,6134,-0.93,-194.7,702.9,-7.8,672,6138,0.17,2.10,0.00,0.000,4,0.061,0.051,2410,2904,3638
$GC,6190,-0.87,-194.7,709.2,-12.0,674,6197,0.17,2.05,0.00,0.000,6,0.140,0.041,2462,1517,3638
$GC,6505,-0.87,-194.7,740.7,-9.7,690,6508,0.00,2.10,0.00,0.000,4,0.000,0.052,2462,2898,3635
$GC,6572,-0.99,-194.7,746.5,-8.3,693,6577,0.12,2.05,0.00,0.000,6,0.068,0.041,2402,1524,3635
$GC,6906,-0.82,-194.7,788.2,-12.5,709,6910,0.20,2.00,0.00,0.000,4,0.147,0.056,2468,200,3633
$GC,6989,-0.82,-194.7,796.7,-9.5,713,6993,0.00,1.95,0.00,0.000,6,0.000,0.038,2467,1519,3632
$GC,7323,-0.88,-194.7,825.0,-9.0,729,7328,0.00,2.10,0.00,0.000,4,0.000,0.054,2466,2905,3630
$GC,7350,-1.00,-194.7,827.4,-8.7,730,7355,0.08,2.10,0.00,0.000,6,0.037,0.043,2398,1523,3630
$GC,7676,-0.82,-194.7,869.0,-12.9,746,7678,0.25,0.00,0.00,0.000,6,0.145,0.000,2474,1523,3629
$GC,7987,-0.94,-194.7,894.4,-8.0,761,7988,0.12,0.00,0.00,0.000,6,0.076,0.000,2417,1522,3627
$GC,8295,-0.83,-194.7,929.2,-11.6,776,8299,0.17,2.03,0.00,0.000,4,0.147,0.058,2474,204,3625
$GC,8328,-0.88,-194.7,932.7,-9.9,777,8332,0.00,2.00,0.00,0.000,6,0.000,0.040,2473,1528,3626
$GC,8650,-1.00,-194.7,959.6,-8.5,793,8652,0.15,0.00,0.00,0.000,6,0.068,0.000,2405,1528,3624
$STATE,8915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8915,begin apogee
$GC,8919,-0.20,0.0,992.2,12.1,806,9085,0.82,0.00,162.32,1.481,6,0.137,0.000,2667,1757,2863
$STATE,9086,end apogee,CONTROL_FINISHED_OK
$STATE,9086,begin climb
$GC,9088,0.94,194.7,998.4,0.0,814,9271,1.05,2.47,174.70,1.437,4,0.039,0.056,3073,340,2067
$GC,9317,0.27,194.7,968.1,23.3,825,9323,0.90,2.28,0.00,0.000,6,0.176,0.041,2832,1741,2064
$GC,9632,0.50,245.5,937.0,9.1,840,9684,0.20,2.38,44.72,1.381,4,0.054,0.057,2940,341,1861
$GC,9712,0.31,245.5,925.1,16.6,843,9719,0.30,2.25,0.00,0.000,6,0.142,0.041,2840,1747,1859
$GC,10028,0.55,282.6,893.1,9.6,859,10074,0.22,2.28,35.97,1.305,4,0.054,0.057,2948,345,1709
$GC,10096,0.38,282.6,882.3,16.9,862,10101,0.25,2.20,0.00,0.000,6,0.142,0.041,2863,1732,1707
$GC,10423,0.53,285.4,845.6,10.9,878,10428,0.15,2.20,0.00,0.000,4,0.064,0.055,2942,336,1703
$GC,10455,0.41,285.4,840.8,15.3,879,10462,0.20,2.15,0.00,0.000,6,0.141,0.041,2879,1725,1702
$GC,10771,0.50,285.4,801.9,12.4,895,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1726,1702
$GC,11080,0.59,285.4,764.1,12.1,910,11085,0.15,2.15,0.00,0.000,4,0.065,0.055,2955,343,1701
$GC,11157,0.41,285.4,751.2,17.7,913,11164,0.25,2.10,0.00,0.000,6,0.142,0.042,2871,1716,1700
$GC,11474,0.56,299.7,716.3,10.5,929,11493,0.15,0.00,14.95,1.258,6,0.065,0.000,2939,1716,1641
$GC,11802,0.44,299.7,666.5,15.6,945,11804,0.20,0.00,0.00,0.000,6,0.148,0.000,2883,1716,1638
$GC,12111,0.55,315.5,632.6,10.4,960,12135,0.10,2.17,15.12,1.209,4,0.078,0.056,2945,338,1575
$GC,12219,0.46,315.5,616.6,15.7,964,12228,0.20,2.12,0.00,0.000,6,0.140,0.042,2889,1730,1573
$GC,12535,0.60,332.8,582.4,10.3,980,12558,0.12,0.00,16.50,1.180,6,0.068,0.000,2947,1732,1505
$GC,12864,0.48,332.8,530.6,16.3,996,12866,0.20,0.00,0.00,0.000,6,0.147,0.000,2892,1732,1501
$GC,13176,0.62,332.8,491.9,12.8,1014,13180,0.15,2.17,0.00,0.000,4,0.061,0.054,2972,335,1499
$GC,13219,0.45,332.8,484.6,18.1,1017,13226,0.25,2.12,0.00,0.000,6,0.141,0.041,2882,1722,1499
$GC,13543,0.66,345.8,448.0,10.5,1048,13558,0.20,0.00,11.98,1.055,6,0.054,0.000,2973,1723,1453
$GC,13872,0.49,345.8,387.9,17.1,1079,13877,0.25,2.15,0.00,0.000,4,0.149,0.052,2907,336,1449
$GC,13903,0.49,345.8,382.8,14.5,1081,13910,0.00,2.10,0.00,0.000,6,0.000,0.039,2906,1713,1449
$GC,14230,0.63,370.7,348.4,10.1,1112,14258,0.10,2.15,22.98,1.012,4,0.074,0.051,2973,342,1350
$GC,14297,0.52,370.7,338.6,16.5,1117,14304,0.22,2.08,0.00,0.000,6,0.142,0.038,2910,1698,1347
$GC,14621,0.68,370.7,299.3,12.4,1148,14629,0.15,0.00,0.00,0.000,6,0.061,0.000,2983,1699,1345
$GC,14967,0.54,370.7,233.0,17.8,1209,14974,0.22,2.10,0.00,0.000,4,0.146,0.050,2925,330,1345
$GC,15002,0.64,370.7,227.7,14.3,1215,15008,0.00,2.00,0.00,0.000,6,0.000,0.036,2924,1689,1346
$GC,15346,0.84,407.3,189.3,9.6,1276,15386,0.20,2.15,31.77,0.873,4,0.052,0.048,3043,339,1201
$GC,15432,0.57,407.3,172.6,21.5,1290,15439,0.32,2.03,0.00,0.000,6,0.139,0.035,2926,1678,1198
$GC,15777,1.02,494.3,143.4,7.7,1351,15861,0.35,2.17,74.40,0.826,4,0.041,0.048,3096,345,846
$GC,15947,0.74,494.3,105.6,24.7,1379,15954,0.40,2.03,0.00,0.000,6,0.139,0.033,2977,1668,842
$GC,16291,1.12,546.4,65.4,9.0,1440,16343,0.30,2.12,43.80,0.739,4,0.041,0.048,3133,340,633
$GC,16439,0.87,546.4,31.6,24.8,1465,16447,0.35,1.95,0.00,0.000,6,0.133,0.031,3020,1644,631
$STATE,16660,end climb,SURFACE_DEPTH_REACHED
$STATE,16660,begin surface coast
$FINISH,1.0,1.010909
$STATE,16688,end surface coast,CONTROL_FINISHED_OK
$STATE,16688,begin surface
$SM_CCo,16763,0.00,0.000,0,0,630,547.75
$SM_GC,1.62,7.53,0.00,0.00,0.041,0.000,0.000,153,1490,630,-8.03,-0.28,547.75
$IRIDIUM_FIX,2517.50,12332.14,310898,161628
$TT8_MAMPS,0.026845
$HUMID,1491
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,24.10
$XPDR_PINGS,107
$24V_AH,23.3,23.912
$10V_AH,10.7,14.582
$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,31.575,121.200,649.225,0.000,0.000,23.298,39.090,230.518,34.750,0.000,0.000,34.582,2658.443,10283.150,786.056,2961.588,487.234,0.000,2122.833,0.000,2908.728,0.000,54.420,0.000
$DEVICE_MAMPS,233.935,58.292,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.500,1028.082,1730.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88402,1509
$CAP_FILE_SIZE,170356,0
$CFSIZE,260165632,227106816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.178, 75.3,1
$GPS,070609,012600,2521.629,12335.031,39,1.4,44,-3.8