version: 66.04
glider: 166
mission: 2
dive: 105
start: 6 7 109 20 16 41
data:
$ID,166
$MISSION,2
$DIVE,105
$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,-4
$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,-7230.8428
$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,40
$R_STBD_OVSHOOT,61
$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
$GPS1,200936,2512.291,12337.687,28,0.9,28,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.5
$GPS2,201619,2512.380,12337.707,11,1.0,16,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,233.7,128126,-17.1,-11.000
$D_GRID,1990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,90,0.00,0.00,-72.20,0.000,2,0.000,0.000,218,1516,2466
$GC,92,-0.94,-194.7,3.4,-6.2,11,139,8.98,2.08,-32.08,0.000,4,0.241,0.059,2430,197,3657
$GC,253,-0.07,-194.7,50.9,-33.9,38,260,0.93,1.92,0.00,0.000,6,0.162,0.033,2712,1481,3658
$GC,599,-0.89,-194.7,83.9,-10.7,99,606,0.65,2.10,0.00,0.000,4,0.065,0.038,2442,2907,3659
$GC,664,-0.60,-194.7,93.2,-18.2,110,671,0.25,2.05,0.00,0.000,6,0.143,0.033,2540,1500,3659
$GC,1010,-0.46,-194.7,146.4,-14.5,171,1016,0.17,0.00,0.00,0.000,6,0.138,0.000,2596,1499,3660
$GC,1355,-0.70,-194.7,176.9,-8.7,232,1361,0.20,0.00,0.00,0.000,6,0.055,0.000,2498,1499,3662
$GC,1698,-0.46,-194.7,235.6,-16.2,293,1705,0.28,0.00,0.00,0.000,6,0.141,0.000,2585,1499,3662
$GC,2043,-0.71,-194.7,260.8,-7.4,354,2049,0.17,0.00,0.00,0.000,6,0.058,0.000,2493,1499,3662
$GC,2388,-0.54,-194.7,310.2,-14.8,410,2393,0.20,2.10,0.00,0.000,4,0.143,0.044,2536,2905,3661
$GC,2429,-0.73,-194.7,314.6,-9.5,413,2434,0.12,2.05,0.00,0.000,6,0.064,0.035,2478,1504,3661
$GC,2759,-0.61,-194.7,363.4,-13.7,444,2763,0.20,1.95,0.00,0.000,4,0.140,0.048,2537,198,3660
$GC,2820,-0.73,-194.7,370.5,-10.7,449,2827,0.00,1.88,0.00,0.000,6,0.000,0.031,2531,1502,3660
$GC,3144,-0.92,-194.7,399.3,-8.0,480,3149,0.22,2.08,0.00,0.000,4,0.054,0.044,2424,2903,3659
$GC,3217,-0.76,-194.7,408.7,-13.4,486,3222,0.22,2.05,0.00,0.000,6,0.139,0.036,2491,1503,3660
$GC,3541,-0.76,-194.7,442.3,-10.1,516,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1502,3657
$GC,3861,-0.76,-194.7,477.1,-11.1,546,3864,0.00,2.10,0.00,0.000,4,0.000,0.048,2490,2893,3656
$GC,3899,-0.89,-194.7,481.2,-9.8,549,3908,0.12,2.05,0.00,0.000,6,0.067,0.037,2428,1500,3655
$GC,4219,-0.68,-194.7,529.1,-15.2,571,4221,0.30,0.00,0.00,0.000,6,0.141,0.000,2521,1500,3653
$GC,4528,-0.87,-194.7,555.9,-8.7,586,4530,0.17,0.00,0.00,0.000,6,0.060,0.000,2439,1500,3653
$GC,4837,-0.74,-194.7,599.1,-14.5,601,4842,0.20,2.12,0.00,0.000,4,0.142,0.050,2502,2893,3650
$GC,4921,-0.99,-194.7,607.2,-8.7,605,4926,0.22,2.05,0.00,0.000,6,0.051,0.038,2397,1510,3649
$GC,5248,-0.76,-194.7,656.1,-15.0,621,5253,0.28,2.10,0.00,0.000,4,0.144,0.051,2487,2892,3648
$GC,5291,-0.95,-194.7,660.9,-8.7,623,5296,0.15,2.03,0.00,0.000,6,0.060,0.039,2416,1522,3647
$GC,5620,-0.80,-194.7,702.5,-12.6,639,5624,0.20,2.00,0.00,0.000,4,0.144,0.053,2480,200,3645
$GC,5771,-0.87,-194.7,717.7,-9.7,645,5778,0.00,1.90,0.00,0.000,6,0.000,0.037,2479,1500,3644
$GC,6087,-0.99,-194.7,745.4,-8.9,661,6091,0.17,2.12,0.00,0.000,4,0.064,0.051,2392,2905,3642
$GC,6158,-0.85,-194.7,754.2,-13.2,664,6163,0.20,2.10,0.00,0.000,6,0.140,0.041,2459,1517,3641
$GC,6480,-0.89,-194.7,785.3,-9.5,680,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1516,3639
$GC,6791,-0.95,-194.7,814.7,-9.5,695,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1517,3637
$GC,7098,-1.00,-194.7,844.6,-9.7,710,7103,0.12,2.12,0.00,0.000,4,0.074,0.054,2404,2899,3635
$GC,7153,-0.93,-194.7,851.0,-12.2,712,7157,0.12,2.10,0.00,0.000,6,0.152,0.043,2438,1501,3635
$GC,7475,-0.93,-194.7,886.4,-10.6,728,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1501,3633
$GC,7784,-0.93,-194.7,920.5,-11.0,743,7787,0.00,2.00,0.00,0.000,4,0.000,0.059,2438,196,3630
$GC,7816,-0.87,-194.7,924.5,-12.4,744,7822,0.00,2.00,0.00,0.000,6,0.000,0.041,2437,1514,3631
$GC,8136,-0.87,-194.7,960.7,-11.5,760,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1513,3629
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8408,-0.20,0.0,990.1,10.9,773,8575,0.73,0.00,163.43,1.476,6,0.127,0.000,2673,1755,2863
$STATE,8576,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8577,0.94,194.7,997.4,0.0,781,8759,1.00,2.38,173.20,1.434,4,0.041,0.057,3056,3143,2068
$GC,8794,0.34,194.7,973.0,21.8,791,8799,0.80,2.25,0.00,0.000,6,0.176,0.044,2854,1749,2065
$GC,9122,0.49,243.7,940.8,9.1,807,9173,0.12,2.35,43.55,1.379,4,0.073,0.058,2921,345,1868
$GC,9240,0.39,243.7,925.4,15.5,812,9245,0.20,2.17,0.00,0.000,6,0.144,0.043,2867,1738,1864
$GC,9556,0.53,279.5,894.2,9.6,827,9599,0.12,2.35,32.42,1.362,4,0.071,0.058,2935,335,1722
$GC,9626,0.41,279.5,884.3,16.0,830,9631,0.22,2.20,0.00,0.000,6,0.142,0.042,2872,1738,1720
$GC,9953,0.52,279.5,846.5,11.8,846,9958,0.10,2.20,0.00,0.000,4,0.078,0.056,2931,342,1716
$GC,9979,0.52,279.5,842.7,14.5,847,9984,0.00,2.15,0.00,0.000,6,0.000,0.041,2931,1730,1716
$GC,10301,0.42,279.5,792.1,15.9,863,10306,0.20,2.20,0.00,0.000,4,0.151,0.056,2870,3150,1715
$GC,10372,0.54,279.5,783.0,11.8,866,10377,0.08,2.17,0.00,0.000,6,0.061,0.044,2927,1736,1714
$GC,10694,0.45,279.5,736.5,14.1,882,10698,0.15,2.15,0.00,0.000,4,0.152,0.056,2895,345,1714
$GC,10759,0.45,279.5,728.3,12.5,885,10764,0.00,2.12,0.00,0.000,6,0.000,0.041,2895,1737,1713
$GC,11086,0.45,279.5,691.9,11.2,901,11090,0.00,2.17,0.00,0.000,4,0.000,0.057,2906,339,1713
$GC,11130,0.45,279.5,686.5,12.3,903,11134,0.00,2.10,0.00,0.000,6,0.000,0.044,2905,1729,1713
$GC,11462,0.45,279.5,644.7,12.6,919,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1729,1713
$GC,11771,0.45,279.5,605.4,12.9,934,11775,0.00,2.17,0.00,0.000,4,0.000,0.054,2906,3150,1712
$GC,11798,0.45,279.5,601.8,13.1,935,11803,0.08,2.17,0.00,0.000,6,0.149,0.042,2890,1724,1710
$GC,12127,0.57,307.8,568.4,9.9,951,12157,0.00,2.20,24.30,1.193,4,0.000,0.056,2899,352,1607
$GC,12196,0.67,309.0,561.0,11.0,954,12201,0.10,2.12,0.00,0.000,6,0.054,0.041,2967,1722,1605
$GC,12523,0.50,309.0,507.5,16.5,970,12528,0.20,2.20,0.00,0.000,4,0.153,0.052,2905,3151,1603
$GC,12577,0.58,309.0,499.9,12.1,972,12584,0.00,2.20,0.00,0.000,6,0.000,0.041,2914,1719,1602
$GC,12903,0.58,309.0,459.8,11.9,1003,12907,0.00,2.12,0.00,0.000,4,0.000,0.054,2924,333,1602
$GC,12974,0.58,309.0,450.0,13.7,1009,12982,0.00,2.10,0.00,0.000,6,0.000,0.040,2924,1714,1602
$GC,13300,0.58,309.0,408.1,12.4,1040,13304,0.00,2.10,0.00,0.000,4,0.000,0.053,2935,336,1602
$GC,13356,0.58,309.0,400.8,13.7,1045,13360,0.00,2.05,0.00,0.000,6,0.000,0.039,2934,1711,1602
$GC,13686,0.58,309.0,357.1,14.1,1076,13690,0.00,2.10,0.00,0.000,4,0.000,0.052,2945,341,1602
$GC,13713,0.58,309.0,353.2,14.4,1078,13720,0.00,2.05,0.00,0.000,6,0.000,0.038,2945,1705,1602
$GC,14039,0.58,309.0,305.4,14.1,1109,14043,0.00,2.08,0.00,0.000,4,0.000,0.051,2955,341,1602
$GC,14140,0.53,309.0,291.5,12.9,1123,14147,0.17,1.98,0.00,0.000,6,0.146,0.038,2906,1689,1602
$GC,14484,0.77,378.3,261.0,8.4,1184,14552,0.20,2.17,59.58,0.940,4,0.054,0.050,3019,343,1319
$GC,14621,0.53,378.3,236.9,20.4,1207,14628,0.38,2.00,0.00,0.000,6,0.143,0.036,2911,1664,1315
$GC,14966,0.77,378.3,199.2,11.2,1268,14973,0.17,2.05,0.00,0.000,4,0.055,0.049,3008,333,1314
$GC,15013,0.60,378.3,190.9,20.6,1276,15021,0.20,1.98,0.00,0.000,6,0.130,0.035,2932,1652,1314
$GC,15358,0.79,391.6,148.9,10.5,1337,15379,0.17,2.05,12.00,0.782,4,0.055,0.049,3038,342,1265
$GC,15453,0.55,391.6,132.8,18.0,1353,15461,0.35,1.95,0.00,0.000,6,0.136,0.034,2914,1648,1264
$GC,15800,1.11,527.8,111.1,5.8,1414,15926,0.45,2.12,114.88,0.790,4,0.036,0.052,3130,342,709
$GC,15966,0.78,527.8,64.7,30.3,1441,15974,0.40,1.98,0.00,0.000,6,0.138,0.031,2994,1639,707
$GC,16314,1.25,591.3,23.1,8.6,1502,16372,0.35,2.10,52.25,0.700,4,0.038,0.045,3172,334,454
$STATE,16399,end climb,SURFACE_DEPTH_REACHED
$STATE,16399,begin surface coast
$FINISH,0.9,1.000137
$STATE,16413,end surface coast,CONTROL_FINISHED_OK
$STATE,16413,begin surface
$SM_CCo,16490,0.00,0.000,0,0,449,591.91
$SM_GC,1.66,8.07,0.00,0.00,0.042,0.000,0.000,159,1512,449,-8.01,0.34,591.91
$IRIDIUM_FIX,2503.20,12338.76,010998,151551
$TT8_MAMPS,0.026845
$HUMID,1484
$INTERNAL_PRESSURE,9.80965
$TCM_TEMP,23.90
$XPDR_PINGS,119
$24V_AH,23.3,25.151
$10V_AH,10.7,15.303
$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,29.900,130.225,675.600,0.000,0.000,26.336,28.581,233.669,37.750,0.000,0.000,16.491,2662.615,9923.925,744.561,3047.073,504.976,0.000,2140.851,0.000,3014.315,0.000,55.344,0.000
$DEVICE_MAMPS,240.838,59.059,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.385,1037.226,1742.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88483,1518
$CAP_FILE_SIZE,169077,0
$CFSIZE,260165632,226660352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.150, 82.3,1
$GPS,080609,005236,2510.892,12336.472,32,1.0,32,-3.7