version: 66.04
glider: 166
mission: 2
dive: 107
start: 6 8 109 5 51 59
data:
$ID,166
$MISSION,2
$DIVE,107
$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,-7264.2671
$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,38
$R_STBD_OVSHOOT,63
$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
$GPS1,054137,2509.052,12335.627,32,1.1,32,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.3
$GPS2,055138,2509.117,12335.630,16,1.1,16,-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,228.0,121262,-17.1,-11.000
$D_GRID,2041
$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,-194.7,0.0,0.0,0,89,0.00,0.00,-72.00,0.000,2,0.000,0.000,210,1513,2423
$GC,91,-0.94,-194.7,3.2,-6.4,11,143,9.00,2.00,-35.80,0.000,4,0.242,0.059,2431,200,3657
$GC,257,-0.27,-194.7,49.1,-29.4,39,264,0.70,1.92,0.00,0.000,6,0.156,0.032,2643,1490,3657
$GC,601,-0.68,-194.7,87.1,-8.8,100,609,0.30,2.10,0.00,0.000,4,0.042,0.041,2493,2909,3658
$GC,645,-0.57,-194.7,93.1,-16.3,107,652,0.15,2.05,0.00,0.000,6,0.143,0.034,2558,1503,3657
$GC,990,-0.49,-194.7,141.3,-16.0,168,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1503,3658
$GC,1336,-0.49,-194.7,192.3,-12.8,229,1342,0.00,1.98,0.00,0.000,4,0.000,0.048,2558,199,3659
$GC,1387,-0.49,-194.7,199.2,-13.0,238,1394,0.00,1.92,0.00,0.000,6,0.000,0.030,2558,1519,3659
$GC,1731,-0.56,-194.7,234.8,-9.8,299,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1521,3659
$GC,2073,-0.64,-194.7,267.4,-8.5,360,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1521,3659
$GC,2419,-0.76,-194.7,298.4,-10.3,421,2425,0.17,0.00,0.00,0.000,6,0.060,0.000,2473,1522,3659
$GC,2750,-0.53,-194.7,353.3,-15.8,453,2752,0.32,0.00,0.00,0.000,6,0.140,0.000,2566,1522,3658
$GC,3071,-0.76,-194.7,379.8,-7.9,483,3077,0.17,0.00,0.00,0.000,6,0.058,0.000,2469,1522,3658
$GC,3396,-0.64,-194.7,423.4,-12.7,514,3400,0.20,2.05,0.00,0.000,4,0.137,0.047,2528,2894,3655
$GC,3445,-0.91,-194.7,427.5,-5.9,518,3452,0.20,2.05,0.00,0.000,6,0.038,0.037,2407,1521,3655
$GC,3770,-0.60,-194.7,477.2,-17.6,549,3773,0.45,0.00,0.00,0.000,6,0.142,0.000,2547,1521,3654
$GC,4090,-0.88,-194.7,503.4,-7.6,577,4094,0.22,1.98,0.00,0.000,4,0.052,0.050,2434,203,3652
$GC,4128,-0.67,-194.7,508.4,-13.8,578,4135,0.25,1.92,0.00,0.000,6,0.137,0.039,2527,1503,3651
$GC,4443,-0.88,-194.7,531.6,-6.6,594,4448,0.20,2.08,0.00,0.000,4,0.054,0.047,2425,2897,3650
$GC,4486,-0.79,-194.7,536.1,-11.6,596,4491,0.15,2.05,0.00,0.000,6,0.130,0.037,2477,1520,3650
$GC,4815,-0.79,-194.7,566.5,-8.7,612,4819,0.00,2.08,0.00,0.000,4,0.000,0.049,2477,2894,3647
$GC,4853,-0.89,-194.7,569.7,-7.6,613,4859,0.00,2.05,0.00,0.000,6,0.000,0.038,2477,1509,3647
$GC,5170,-0.89,-194.7,597.7,-8.5,629,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1509,3645
$GC,5479,-0.95,-194.7,627.0,-9.7,644,5481,0.12,0.00,0.00,0.000,6,0.068,0.000,2418,1509,3644
$GC,5789,-0.80,-194.7,668.5,-13.5,659,5791,0.22,0.00,0.00,0.000,6,0.144,0.000,2485,1508,3641
$GC,6097,-0.91,-194.7,698.8,-10.0,674,6099,0.12,0.00,0.00,0.000,6,0.073,0.000,2426,1509,3640
$GC,6406,-0.81,-194.7,739.7,-13.2,689,6410,0.17,2.00,0.00,0.000,4,0.145,0.056,2482,198,3638
$GC,6507,-0.88,-194.7,750.7,-10.8,693,6511,0.00,1.95,0.00,0.000,6,0.000,0.038,2480,1521,3637
$GC,6829,-0.99,-194.7,780.1,-9.2,709,6833,0.17,2.08,0.00,0.000,4,0.064,0.052,2394,2895,3635
$GC,6861,-0.87,-194.7,784.1,-12.8,710,6868,0.17,2.05,0.00,0.000,6,0.140,0.041,2452,1535,3634
$GC,7176,-0.87,-194.7,816.1,-9.5,726,7180,0.00,2.08,0.00,0.000,4,0.000,0.055,2451,2895,3633
$GC,7221,-0.96,-194.7,820.1,-9.0,728,7225,0.00,2.03,0.00,0.000,6,0.000,0.042,2451,1535,3632
$GC,7553,-0.96,-194.7,854.0,-10.4,744,7557,0.00,2.05,0.00,0.000,4,0.000,0.058,2452,194,3631
$GC,7620,-0.96,-194.7,861.6,-12.3,747,7624,0.00,2.00,0.00,0.000,6,0.000,0.041,2450,1532,3630
$GC,7952,-0.96,-194.7,895.7,-9.8,763,7956,0.00,2.05,0.00,0.000,4,0.000,0.058,2450,201,3629
$GC,7991,-0.96,-194.7,900.1,-11.4,764,7999,0.00,2.00,0.00,0.000,6,0.000,0.040,2450,1525,3628
$GC,8306,-0.96,-194.7,929.8,-9.2,780,8309,0.00,2.10,0.00,0.000,4,0.000,0.056,2446,2904,3627
$GC,8374,-1.04,-194.7,935.9,-9.4,783,8378,0.12,2.08,0.00,0.000,6,0.071,0.044,2390,1521,3626
$GC,8706,-0.85,-194.7,978.8,-13.4,799,8711,0.22,2.03,0.00,0.000,4,0.151,0.058,2461,202,3625
$GC,8800,-0.85,-194.7,989.2,-10.8,803,8804,0.00,1.98,0.00,0.000,6,0.000,0.040,2454,1509,3624
$STATE,8810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8810,begin apogee
$GC,8814,-0.20,0.0,990.3,10.4,804,8980,0.68,0.00,162.48,1.476,6,0.120,0.000,2675,1756,2863
$STATE,8981,end apogee,CONTROL_FINISHED_OK
$STATE,8981,begin climb
$GC,8982,0.94,194.7,997.0,0.0,812,9164,0.98,2.38,173.35,1.431,4,0.039,0.056,3055,3150,2067
$GC,9270,0.35,194.7,956.6,21.9,825,9275,0.70,2.22,0.00,0.000,6,0.173,0.044,2857,1760,2062
$GC,9593,0.49,237.4,924.2,9.4,841,9638,0.12,2.38,37.22,1.370,4,0.072,0.058,2926,341,1894
$GC,9677,0.38,237.4,912.8,14.4,844,9684,0.20,2.22,0.00,0.000,6,0.137,0.041,2864,1745,1891
$GC,9993,0.50,256.6,879.3,10.3,860,10015,0.12,0.00,17.83,1.315,6,0.071,0.000,2922,1745,1816
$GC,10323,0.41,256.6,832.4,14.3,876,10327,0.17,2.22,0.00,0.000,4,0.147,0.056,2877,335,1812
$GC,10371,0.51,256.6,826.2,11.3,878,10376,0.00,2.17,0.00,0.000,6,0.000,0.042,2877,1741,1811
$GC,10693,0.61,271.3,791.9,10.4,894,10717,0.15,2.25,13.88,1.272,4,0.064,0.057,2947,3150,1754
$GC,10756,0.44,271.3,782.6,15.5,896,10763,0.22,2.15,0.00,0.000,6,0.148,0.043,2888,1757,1752
$GC,11072,0.51,276.5,746.7,10.8,912,11082,0.00,2.22,5.88,1.044,4,0.000,0.057,2896,335,1734
$GC,11143,0.51,276.5,738.1,12.3,915,11147,0.00,2.17,0.00,0.000,6,0.000,0.041,2896,1742,1734
$GC,11465,0.51,276.5,699.0,12.8,931,11469,0.00,2.17,0.00,0.000,4,0.000,0.057,2906,343,1733
$GC,11521,0.51,276.5,691.4,13.6,933,11525,0.00,2.12,0.00,0.000,6,0.000,0.042,2907,1748,1733
$GC,11841,0.51,276.5,650.9,12.2,949,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1748,1732
$GC,12151,0.52,283.9,616.4,10.7,964,12160,0.00,0.00,7.78,1.088,6,0.000,0.000,2906,1750,1705
$GC,12461,0.55,310.3,584.0,10.0,979,12490,0.00,2.28,24.38,1.200,4,0.000,0.057,2917,345,1597
$GC,12551,0.57,327.6,574.1,10.3,983,12573,0.00,2.15,16.62,1.148,6,0.000,0.042,2917,1727,1527
$GC,12893,0.57,327.6,531.5,13.8,1000,12897,0.00,2.17,0.00,0.000,4,0.000,0.054,2927,338,1522
$GC,12948,0.57,327.6,523.2,14.5,1002,12953,0.00,2.12,0.00,0.000,6,0.000,0.041,2927,1713,1522
$GC,13274,0.57,327.6,477.0,13.8,1025,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1713,1521
$GC,13593,0.57,327.6,435.1,13.6,1055,13597,0.00,2.12,0.00,0.000,4,0.000,0.054,2938,332,1521
$GC,13653,0.57,327.6,425.7,15.8,1060,13661,0.00,2.10,0.00,0.000,6,0.000,0.041,2937,1714,1521
$GC,13980,0.57,327.6,376.3,14.0,1091,13983,0.00,2.10,0.00,0.000,4,0.000,0.052,2948,340,1520
$GC,14013,0.57,327.6,371.3,14.9,1094,14016,0.00,2.05,0.00,0.000,6,0.000,0.040,2948,1717,1520
$GC,14344,0.52,327.6,328.2,12.9,1125,14346,0.15,0.00,0.00,0.000,6,0.150,0.000,2908,1720,1520
$GC,14663,0.67,327.6,292.4,13.2,1160,14670,0.15,2.10,0.00,0.000,4,0.063,0.051,2991,339,1520
$GC,14744,0.52,327.6,277.7,19.7,1174,14752,0.28,2.03,0.00,0.000,6,0.142,0.038,2910,1720,1520
$GC,15092,0.77,392.6,239.3,8.5,1235,15154,0.17,2.25,55.05,0.921,4,0.057,0.050,3016,333,1260
$GC,15238,0.61,392.6,214.7,18.3,1260,15245,0.28,2.08,0.00,0.000,6,0.140,0.035,2937,1713,1256
$GC,15582,0.81,392.6,171.8,11.2,1321,15588,0.17,0.00,0.00,0.000,6,0.055,0.000,3034,1714,1254
$GC,15927,0.63,392.6,112.0,17.2,1382,15935,0.28,2.10,0.00,0.000,4,0.141,0.046,2953,333,1254
$GC,16009,0.88,421.3,102.5,9.9,1396,16042,0.20,2.03,24.67,0.780,6,0.053,0.034,3054,1726,1143
$GC,16382,0.75,421.3,40.3,15.4,1461,16388,0.22,2.12,0.00,0.000,4,0.136,0.041,2981,3147,1140
$GC,16405,0.75,421.3,36.7,12.9,1465,16412,0.00,2.15,0.00,0.000,6,0.000,0.035,2989,1689,1140
$GC,16751,1.12,507.0,7.2,7.8,1526,16787,0.25,0.00,32.55,0.689,2,0.045,0.000,3120,1689,989
$STATE,16787,end climb,SURFACE_DEPTH_REACHED
$STATE,16787,begin surface coast
$FINISH,1.0,1.010351
$STATE,16805,end surface coast,CONTROL_FINISHED_OK
$STATE,16805,begin surface
$SM_CCo,16881,0.00,0.000,0,0,985,460.67
$SM_GC,1.86,7.88,0.00,0.00,0.044,0.000,0.000,153,1477,985,-8.02,-0.65,460.67
$IRIDIUM_FIX,2500.82,12330.18,020998,050512
$TT8_MAMPS,0.026845
$HUMID,1499
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.10
$XPDR_PINGS,114
$24V_AH,23.3,25.621
$10V_AH,10.7,15.603
$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,27.225,117.950,571.675,0.000,0.000,49.185,77.831,284.421,36.500,0.000,0.000,16.171,2719.803,10392.340,679.608,3039.865,637.944,0.000,2055.314,0.000,3010.982,0.000,54.399,0.000
$DEVICE_MAMPS,242.372,59.059,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.945,1038.492,1743.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88417,1534
$CAP_FILE_SIZE,169188,0
$CFSIZE,260165632,226476032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.182, 70.8,1
$GPS,080609,103436,2507.822,12335.077,38,1.4,43,-3.7