version: 66.04
glider: 166
mission: 2
dive: 106
start: 6 8 109 0 59 42
data:
$ID,166
$MISSION,2
$DIVE,106
$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,-7247.4663
$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,35
$R_STBD_OVSHOOT,55
$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
$GPS1,005236,2510.892,12336.472,32,1.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.7
$GPS2,005920,2510.960,12336.559,15,1.7,15,-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,228.8,125001,-17.1,-11.000
$D_GRID,2045
$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,-194.7,0.0,0.0,0,106,0.00,0.00,-89.47,0.000,2,0.000,0.000,218,1512,2436
$GC,108,-0.94,-194.7,3.4,-6.2,14,161,8.93,2.05,-34.03,0.000,4,0.239,0.059,2432,197,3658
$GC,281,-0.20,-194.7,51.8,-29.5,43,289,0.75,1.92,0.00,0.000,6,0.154,0.031,2672,1493,3658
$GC,627,-0.63,-194.7,77.2,-6.5,104,634,0.30,2.08,0.00,0.000,4,0.044,0.038,2517,2908,3660
$GC,690,-0.57,-194.7,85.4,-14.9,115,698,0.00,2.05,0.00,0.000,6,0.000,0.032,2528,1497,3660
$GC,1038,-0.39,-194.7,143.0,-15.9,176,1045,0.25,1.92,0.00,0.000,4,0.138,0.044,2608,204,3661
$GC,1091,-0.55,-194.7,149.5,-10.2,185,1098,0.10,1.92,0.00,0.000,6,0.051,0.029,2531,1523,3663
$GC,1437,-0.47,-194.7,197.2,-13.5,246,1444,0.17,0.00,0.00,0.000,6,0.137,0.000,2586,1525,3663
$GC,1781,-0.69,-194.7,228.7,-8.9,307,1788,0.17,0.00,0.00,0.000,6,0.057,0.000,2496,1525,3663
$GC,2125,-0.50,-194.7,279.0,-14.7,368,2132,0.22,1.98,0.00,0.000,4,0.143,0.048,2568,213,3662
$GC,2167,-0.60,-194.7,283.9,-10.3,375,2174,0.00,1.85,0.00,0.000,6,0.000,0.031,2566,1497,3662
$GC,2503,-0.80,-194.7,316.0,-9.9,421,2507,0.20,2.08,0.00,0.000,4,0.055,0.044,2442,2901,3662
$GC,2572,-0.67,-194.7,325.2,-14.7,427,2577,0.25,2.03,0.00,0.000,6,0.135,0.035,2525,1513,3662
$GC,2897,-0.77,-194.7,357.8,-8.8,457,2902,0.12,1.95,0.00,0.000,4,0.071,0.048,2460,207,3661
$GC,2935,-0.57,-194.7,362.6,-13.5,460,2942,0.25,1.90,0.00,0.000,6,0.135,0.032,2552,1498,3660
$GC,3260,-0.85,-194.7,387.0,-7.7,491,3265,0.22,2.08,0.00,0.000,4,0.051,0.044,2441,2899,3660
$GC,3309,-0.77,-194.7,392.9,-12.3,495,3318,0.12,2.05,0.00,0.000,6,0.133,0.035,2485,1516,3659
$GC,3634,-0.77,-194.7,431.3,-11.4,526,3638,0.00,2.08,0.00,0.000,4,0.000,0.048,2484,2898,3657
$GC,3668,-0.83,-194.7,435.0,-11.2,529,3671,0.00,2.05,0.00,0.000,6,0.000,0.044,2485,1511,3657
$GC,3998,-0.83,-194.7,471.2,-10.4,560,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1510,3656
$GC,4316,-0.83,-194.7,502.8,-9.7,589,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1510,3653
$GC,4625,-0.83,-194.7,532.5,-10.3,604,4629,0.00,2.10,0.00,0.000,4,0.000,0.049,2484,2895,3652
$GC,4686,-0.97,-194.7,539.2,-10.3,606,4693,0.17,2.08,0.00,0.000,6,0.059,0.041,2405,1518,3652
$GC,5002,-0.72,-194.7,596.1,-18.1,622,5006,0.30,2.00,0.00,0.000,4,0.146,0.051,2503,197,3649
$GC,5045,-0.80,-194.7,602.1,-11.7,624,5049,0.00,1.95,0.00,0.000,6,0.000,0.035,2502,1511,3649
$GC,5372,-0.96,-194.7,630.5,-8.0,640,5377,0.17,2.08,0.00,0.000,4,0.061,0.049,2410,2896,3647
$GC,5457,-0.85,-194.7,640.6,-13.2,644,5462,0.17,2.05,0.00,0.000,6,0.141,0.040,2461,1513,3647
$GC,5783,-0.85,-194.7,673.6,-9.2,660,5787,0.00,2.00,0.00,0.000,4,0.000,0.055,2461,195,3645
$GC,5816,-0.85,-194.7,677.0,-10.6,661,5820,0.00,1.95,0.00,0.000,6,0.000,0.036,2454,1502,3644
$GC,6137,-0.85,-194.7,709.0,-10.5,677,6141,0.00,2.00,0.00,0.000,4,0.000,0.055,2454,195,3642
$GC,6214,-0.85,-194.7,717.6,-10.9,680,6219,0.00,1.95,0.00,0.000,6,0.000,0.038,2452,1495,3642
$GC,6536,-0.85,-194.7,748.0,-8.9,696,6540,0.00,1.98,0.00,0.000,4,0.000,0.057,2452,204,3640
$GC,6569,-0.81,-194.7,751.1,-9.7,697,6572,0.00,1.92,0.00,0.000,6,0.000,0.039,2451,1505,3640
$GC,6890,-0.81,-194.7,779.7,-8.8,713,6894,0.00,2.10,0.00,0.000,4,0.000,0.054,2451,2897,3637
$GC,6951,-0.89,-194.7,784.9,-8.5,715,6958,0.00,2.08,0.00,0.000,6,0.000,0.042,2451,1505,3637
$GC,7266,-0.89,-194.7,813.7,-9.4,731,7270,0.00,2.12,0.00,0.000,4,0.000,0.055,2451,2895,3635
$GC,7305,-0.98,-194.7,817.4,-8.9,732,7311,0.00,2.10,0.00,0.000,6,0.000,0.044,2450,1515,3635
$GC,7620,-0.98,-194.7,848.4,-10.1,748,7624,0.00,2.03,0.00,0.000,4,0.000,0.059,2451,192,3633
$GC,7675,-0.98,-194.7,854.6,-11.4,750,7679,0.00,1.98,0.00,0.000,6,0.000,0.041,2446,1500,3632
$GC,7996,-0.98,-194.7,888.7,-10.4,766,8000,0.00,2.12,0.00,0.000,4,0.000,0.056,2447,2902,3631
$GC,8035,-1.06,-194.7,892.5,-9.7,767,8043,0.15,2.10,0.00,0.000,6,0.065,0.044,2380,1501,3630
$GC,8351,-0.83,-194.7,935.8,-14.1,783,8355,0.28,2.00,0.00,0.000,4,0.156,0.058,2468,197,3629
$GC,8445,-0.88,-194.7,946.1,-10.4,787,8449,0.00,1.98,0.00,0.000,6,0.000,0.042,2465,1500,3628
$GC,8769,-0.96,-194.7,975.1,-9.0,803,8771,0.10,0.00,0.00,0.000,6,0.083,0.000,2417,1502,3627
$STATE,8908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8908,begin apogee
$GC,8912,-0.20,0.0,991.4,11.6,810,9079,0.80,0.00,163.32,1.480,6,0.130,0.000,2674,1764,2863
$STATE,9080,end apogee,CONTROL_FINISHED_OK
$STATE,9080,begin climb
$GC,9081,0.94,194.7,997.7,0.0,818,9264,1.00,2.38,174.18,1.437,4,0.041,0.058,3056,3148,2068
$GC,9398,0.33,194.7,947.4,24.0,832,9406,0.73,2.22,0.00,0.000,6,0.172,0.044,2851,1752,2062
$GC,9715,0.47,220.4,913.6,10.0,848,9745,0.12,2.33,22.77,1.343,4,0.072,0.059,2919,344,1964
$GC,9817,0.35,220.4,899.0,15.3,852,9825,0.20,2.20,0.00,0.000,6,0.139,0.044,2858,1737,1961
$GC,10134,0.48,240.1,865.8,10.3,868,10155,0.12,0.00,18.10,1.319,6,0.071,0.000,2915,1738,1884
$GC,10463,0.40,240.1,821.0,13.7,884,10464,0.17,0.00,0.00,0.000,6,0.147,0.000,2868,1739,1879
$GC,10772,0.53,260.6,789.2,10.2,899,10804,0.12,2.28,20.65,1.203,4,0.071,0.058,2937,341,1799
$GC,10826,0.40,260.6,781.4,15.6,901,10830,0.20,2.20,0.00,0.000,6,0.138,0.044,2865,1738,1798
$GC,11148,0.55,275.1,746.5,10.4,917,11170,0.15,2.28,13.95,1.251,4,0.064,0.057,2933,3154,1740
$GC,11238,0.46,275.1,732.5,16.5,921,11243,0.20,2.17,0.00,0.000,6,0.153,0.044,2889,1742,1738
$GC,11565,0.53,275.1,690.7,12.6,937,11569,0.00,2.17,0.00,0.000,4,0.000,0.057,2897,343,1737
$GC,11637,0.58,275.1,680.6,13.8,940,11641,0.00,2.15,0.00,0.000,6,0.000,0.042,2897,1757,1737
$GC,11965,0.63,275.1,640.5,11.3,956,11969,0.12,2.17,0.00,0.000,4,0.069,0.055,2969,345,1736
$GC,11987,0.55,275.1,637.6,13.0,957,11992,0.20,2.10,0.00,0.000,6,0.156,0.042,2914,1737,1736
$GC,12307,0.55,275.1,599.4,12.0,973,12311,0.00,2.17,0.00,0.000,4,0.000,0.056,2914,3158,1735
$GC,12356,0.55,275.1,592.8,12.8,975,12360,0.00,2.17,0.00,0.000,6,0.000,0.043,2921,1737,1734
$GC,12683,0.55,275.1,551.8,12.3,991,12687,0.00,2.15,0.00,0.000,4,0.000,0.056,2932,338,1734
$GC,12743,0.55,275.1,543.5,13.4,993,12750,0.00,2.12,0.00,0.000,6,0.000,0.042,2932,1731,1734
$GC,13060,0.48,275.1,500.8,14.2,1009,13062,0.15,0.00,0.00,0.000,6,0.153,0.000,2892,1732,1734
$GC,13379,0.66,318.5,468.0,9.4,1038,13424,0.17,2.22,37.33,1.124,4,0.059,0.053,2990,357,1563
$GC,13448,0.44,318.5,457.8,17.5,1044,13453,0.38,2.12,0.00,0.000,6,0.143,0.040,2881,1736,1561
$GC,13772,0.68,340.3,424.6,10.2,1074,13795,0.22,0.00,19.73,1.053,6,0.051,0.000,2980,1738,1475
$GC,14110,0.53,340.3,362.0,18.6,1106,14112,0.25,0.00,0.00,0.000,6,0.143,0.000,2909,1738,1471
$GC,14430,0.67,340.3,323.8,11.6,1136,14434,0.15,2.15,0.00,0.000,4,0.061,0.051,2994,344,1470
$GC,14540,0.51,340.3,304.3,17.3,1145,14548,0.30,2.10,0.00,0.000,6,0.138,0.038,2904,1753,1470
$GC,14882,0.80,405.4,271.2,8.5,1203,14945,0.22,2.25,55.70,0.949,4,0.050,0.048,3033,340,1208
$GC,15063,0.58,405.4,234.0,21.9,1234,15070,0.38,2.05,0.00,0.000,6,0.139,0.036,2925,1701,1205
$GC,15408,0.87,430.4,192.1,10.1,1295,15436,0.22,2.17,22.10,0.852,4,0.050,0.049,3046,345,1107
$GC,15499,0.63,430.4,175.2,20.7,1310,15506,0.35,2.03,0.00,0.000,6,0.137,0.035,2942,1703,1104
$GC,15845,0.93,459.9,136.7,9.9,1371,15879,0.22,2.12,25.95,0.805,4,0.047,0.047,3067,337,987
$GC,15936,0.71,459.9,118.3,21.1,1386,15943,0.32,2.00,0.00,0.000,6,0.140,0.033,2971,1664,985
$GC,16282,0.88,459.9,74.8,13.1,1447,16291,0.15,2.00,0.00,0.000,4,0.057,0.047,3058,345,984
$GC,16315,0.83,459.9,69.2,17.7,1452,16322,0.15,1.92,0.00,0.000,6,0.138,0.031,3009,1651,984
$GC,16659,1.08,500.6,22.7,9.5,1513,16699,0.17,2.08,34.85,0.706,4,0.052,0.045,3115,343,821
$STATE,16760,end climb,SURFACE_DEPTH_REACHED
$STATE,16760,begin surface coast
$FINISH,1.0,1.019194
$STATE,16773,end surface coast,CONTROL_FINISHED_OK
$STATE,16774,begin surface
$SM_CCo,16850,0.00,0.000,0,0,816,502.13
$SM_GC,1.72,7.82,0.00,0.00,0.043,0.000,0.000,159,1513,816,-8.01,0.37,502.13
$IRIDIUM_FIX,2500.82,12335.46,010998,202006
$TT8_MAMPS,0.026845
$HUMID,1510
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,23.90
$XPDR_PINGS,119
$24V_AH,23.2,25.388
$10V_AH,10.7,15.453
$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,29.225,141.250,608.625,0.000,0.000,33.258,47.635,207.704,37.750,0.000,0.000,15.997,2727.059,10188.889,735.094,3089.502,502.892,0.000,2143.417,0.000,3052.696,0.000,55.338,0.000
$DEVICE_MAMPS,239.304,59.059,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.909,1039.000,1746.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88478,1532
$CAP_FILE_SIZE,176517,0
$CFSIZE,260165632,226562048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.137, 91.4,1
$GPS,080609,054137,2509.052,12335.627,32,1.1,32,-3.7