version: 66.04
glider: 166
mission: 2
dive: 108
start: 6 8 109 10 41 29
data:
$ID,166
$MISSION,2
$DIVE,108
$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,-7280.1079
$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,57
$R_STBD_OVSHOOT,59
$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
$GPS1,103436,2507.822,12335.077,38,1.4,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.6
$GPS2,104107,2507.893,12335.062,15,1.5,15,-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,230.5,118806,-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,-194.7,0.0,0.0,0,81,0.00,0.00,-64.32,0.000,2,0.000,0.000,212,1475,2415
$GC,83,-0.94,-194.7,3.3,-6.0,10,136,9.02,1.95,-35.10,0.000,4,0.242,0.062,2432,222,3658
$GC,277,-0.14,-194.7,61.5,-32.5,43,284,0.82,1.90,0.00,0.000,6,0.158,0.034,2688,1487,3659
$GC,621,-1.06,-194.7,81.9,-8.2,104,628,0.73,2.10,0.00,0.000,4,0.064,0.039,2389,2915,3660
$GC,690,-0.58,-194.7,93.4,-21.4,116,698,0.45,2.03,0.00,0.000,6,0.153,0.035,2547,1517,3660
$GC,1037,-0.48,-194.7,150.7,-15.4,177,1045,0.12,1.95,0.00,0.000,4,0.140,0.047,2584,205,3661
$GC,1084,-0.55,-194.7,157.3,-13.2,185,1091,0.00,1.90,0.00,0.000,6,0.000,0.029,2584,1507,3661
$GC,1429,-0.73,-194.7,193.3,-7.5,246,1437,0.20,2.08,0.00,0.000,4,0.055,0.041,2466,2895,3663
$GC,1505,-0.59,-194.7,202.5,-12.9,259,1512,0.22,2.03,0.00,0.000,6,0.137,0.035,2553,1504,3663
$GC,1848,-0.65,-194.7,236.8,-11.0,320,1854,0.00,1.95,0.00,0.000,4,0.000,0.048,2553,211,3663
$GC,1877,-0.65,-194.7,240.0,-11.5,325,1883,0.00,1.88,0.00,0.000,6,0.000,0.030,2549,1519,3663
$GC,2220,-0.76,-194.7,278.9,-10.7,386,2228,0.15,2.03,0.00,0.000,4,0.064,0.043,2456,2896,3663
$GC,2256,-0.65,-194.7,283.5,-14.1,392,2263,0.20,2.05,0.00,0.000,6,0.130,0.035,2527,1512,3663
$GC,2598,-0.76,-194.7,315.2,-9.5,439,2602,0.12,1.95,0.00,0.000,4,0.070,0.048,2464,204,3663
$GC,2631,-0.57,-194.7,319.5,-13.7,442,2635,0.30,1.88,0.00,0.000,6,0.140,0.031,2554,1509,3662
$GC,2961,-0.84,-194.7,346.3,-7.8,473,2965,0.20,2.05,0.00,0.000,4,0.054,0.043,2452,2895,3661
$GC,3015,-0.78,-194.7,352.9,-13.0,478,3020,0.12,2.03,0.00,0.000,6,0.140,0.035,2489,1512,3661
$GC,3345,-0.78,-194.7,394.2,-12.3,509,3349,0.00,2.08,0.00,0.000,4,0.000,0.046,2488,2898,3660
$GC,3368,-0.78,-194.7,397.2,-13.7,511,3372,0.00,2.03,0.00,0.000,6,0.000,0.036,2489,1515,3660
$GC,3697,-0.78,-194.7,436.8,-11.2,542,3701,0.00,2.08,0.00,0.000,4,0.000,0.048,2488,2898,3659
$GC,3720,-0.84,-194.7,439.1,-10.5,544,3724,0.00,2.05,0.00,0.000,6,0.000,0.037,2489,1504,3658
$GC,4050,-0.84,-194.7,476.5,-11.7,575,4054,0.00,1.95,0.00,0.000,4,0.000,0.055,2489,204,3657
$GC,4083,-0.84,-194.7,480.7,-13.5,578,4087,0.00,1.90,0.00,0.000,6,0.000,0.032,2488,1514,3656
$GC,4410,-0.84,-194.7,520.5,-12.0,601,4413,0.00,2.08,0.00,0.000,4,0.000,0.051,2487,2902,3655
$GC,4476,-0.99,-194.7,527.8,-10.2,604,4481,0.20,2.05,0.00,0.000,6,0.054,0.041,2398,1515,3654
$GC,4803,-0.69,-194.7,581.5,-16.1,620,4808,0.35,1.98,0.00,0.000,4,0.146,0.051,2511,203,3653
$GC,4846,-0.79,-194.7,586.8,-9.7,622,4850,0.00,1.95,0.00,0.000,6,0.000,0.035,2508,1516,3652
$GC,5173,-0.95,-194.7,612.0,-7.5,638,5178,0.17,2.08,0.00,0.000,4,0.061,0.048,2412,2904,3650
$GC,5235,-0.83,-194.7,618.4,-10.8,641,5239,0.20,2.05,0.00,0.000,6,0.140,0.040,2471,1519,3649
$GC,5568,-0.89,-194.7,646.9,-8.5,657,5571,0.00,2.00,0.00,0.000,4,0.000,0.055,2471,198,3648
$GC,5669,-0.89,-194.7,656.9,-9.9,661,5673,0.00,1.95,0.00,0.000,6,0.000,0.037,2471,1527,3647
$GC,5990,-0.96,-194.7,686.3,-9.5,677,5994,0.12,2.08,0.00,0.000,4,0.074,0.050,2410,2906,3645
$GC,6068,-0.86,-194.7,695.7,-12.8,680,6072,0.12,2.08,0.00,0.000,6,0.135,0.039,2453,1528,3644
$GC,6389,-0.86,-194.7,730.2,-10.6,696,6393,0.00,2.03,0.00,0.000,4,0.000,0.056,2454,197,3642
$GC,6494,-0.86,-194.7,742.0,-11.0,700,6501,0.00,1.98,0.00,0.000,6,0.000,0.038,2452,1514,3642
$GC,6810,-0.86,-194.7,773.9,-10.4,716,6813,0.00,2.10,0.00,0.000,4,0.000,0.053,2451,2903,3639
$GC,6848,-0.95,-194.7,777.9,-9.8,717,6854,0.00,2.08,0.00,0.000,6,0.000,0.042,2451,1513,3639
$GC,7163,-0.95,-194.7,814.1,-11.7,733,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1513,3637
$GC,7472,-0.95,-194.7,848.7,-11.0,748,7476,0.00,2.00,0.00,0.000,4,0.000,0.058,2451,204,3635
$GC,7521,-0.95,-194.7,854.5,-11.8,750,7526,0.00,1.98,0.00,0.000,6,0.000,0.039,2450,1514,3634
$GC,7848,-0.95,-194.7,890.8,-10.9,766,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1515,3633
$GC,8158,-0.95,-194.7,923.9,-10.7,781,8161,0.00,2.12,0.00,0.000,4,0.000,0.057,2450,2906,3631
$GC,8196,-1.05,-194.7,927.7,-9.4,782,8205,0.15,2.12,0.00,0.000,6,0.065,0.044,2382,1515,3631
$GC,8511,-0.84,-194.7,971.3,-14.1,798,8516,0.25,2.03,0.00,0.000,4,0.149,0.059,2462,200,3630
$GC,8573,-0.84,-194.7,978.3,-10.7,801,8577,0.00,1.95,0.00,0.000,6,0.000,0.041,2454,1512,3629
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8702,-0.20,0.0,990.1,9.4,807,8868,0.68,0.00,163.12,1.473,6,0.120,0.000,2674,1756,2863
$STATE,8869,end apogee,CONTROL_FINISHED_OK
$STATE,8869,begin climb
$GC,8870,0.94,194.7,996.8,0.0,815,9052,0.98,2.38,172.88,1.425,4,0.038,0.061,3056,3147,2068
$GC,9103,0.34,194.7,967.3,21.8,826,9108,0.80,2.25,0.00,0.000,6,0.175,0.049,2853,1744,2064
$GC,9429,0.49,235.0,934.3,9.5,842,9474,0.15,2.33,35.45,1.370,4,0.066,0.059,2931,354,1903
$GC,9535,0.36,235.0,918.9,16.2,846,9544,0.22,2.17,0.00,0.000,6,0.143,0.041,2862,1726,1900
$GC,9851,0.47,244.4,884.7,10.6,862,9862,0.00,0.00,9.02,1.203,6,0.000,0.000,2863,1727,1866
$GC,10160,0.64,283.7,853.6,9.5,877,10205,0.20,2.25,36.25,1.358,4,0.057,0.057,2965,344,1705
$GC,10221,0.43,283.7,844.6,15.4,879,10228,0.25,2.22,0.00,0.000,6,0.146,0.043,2880,1736,1703
$GC,10538,0.58,324.9,812.1,9.4,895,10582,0.15,2.35,37.45,1.339,4,0.066,0.057,2955,338,1537
$GC,10628,0.44,324.9,799.7,15.7,899,10633,0.25,2.17,0.00,0.000,6,0.146,0.043,2887,1728,1534
$GC,10961,0.55,328.7,764.8,10.9,915,10965,0.00,2.22,0.00,0.000,4,0.000,0.056,2887,3157,1530
$GC,10999,0.66,328.7,760.1,11.8,916,11007,0.12,2.22,0.00,0.000,6,0.051,0.043,2963,1723,1530
$GC,11315,0.47,328.7,704.0,18.9,932,11320,0.22,2.15,0.00,0.000,4,0.154,0.054,2903,336,1529
$GC,11346,0.47,328.7,698.8,14.9,933,11354,0.00,2.15,0.00,0.000,6,0.000,0.042,2903,1736,1529
$GC,11663,0.54,328.7,658.4,12.3,949,11667,0.00,2.17,0.00,0.000,4,0.000,0.056,2914,335,1528
$GC,11689,0.54,328.7,654.8,12.3,950,11694,0.00,2.15,0.00,0.000,6,0.000,0.043,2914,1733,1528
$GC,12016,0.54,328.7,614.1,11.9,966,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1735,1528
$GC,12326,0.54,328.7,577.3,11.8,981,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1735,1527
$GC,12635,0.54,328.7,539.6,11.9,996,12638,0.00,2.12,0.00,0.000,4,0.000,0.054,2924,344,1527
$GC,12683,0.54,328.7,533.3,12.5,998,12688,0.00,2.12,0.00,0.000,6,0.000,0.041,2924,1738,1527
$GC,13002,0.54,328.7,494.3,13.1,1015,13005,0.00,2.15,0.00,0.000,4,0.000,0.053,2924,3154,1526
$GC,13035,0.54,328.7,489.8,12.7,1018,13039,0.00,2.12,0.00,0.000,6,0.000,0.041,2934,1730,1526
$GC,13364,0.54,328.7,443.0,14.7,1049,13368,0.00,2.12,0.00,0.000,4,0.000,0.054,2945,335,1526
$GC,13477,0.54,328.7,426.2,15.5,1059,13481,0.12,2.08,0.00,0.000,6,0.150,0.040,2912,1729,1526
$GC,13806,0.62,328.7,387.8,11.1,1090,13809,0.00,2.15,0.00,0.000,4,0.000,0.051,2912,3154,1526
$GC,13844,0.73,328.7,383.1,11.5,1093,13851,0.12,2.15,0.00,0.000,6,0.048,0.039,2999,1727,1526
$GC,14169,0.50,328.7,321.9,19.9,1124,14173,0.30,2.10,0.00,0.000,4,0.149,0.050,2914,345,1526
$GC,14241,0.64,328.7,311.2,12.0,1130,14244,0.00,2.03,0.00,0.000,6,0.000,0.038,2915,1713,1526
$GC,14578,0.78,345.8,274.5,10.4,1182,14603,0.17,2.12,17.70,0.935,4,0.058,0.051,3022,341,1452
$GC,14711,0.53,345.8,248.1,21.8,1205,14718,0.38,2.03,0.00,0.000,6,0.142,0.038,2912,1707,1450
$GC,15057,0.79,393.3,209.9,9.2,1266,15107,0.20,2.17,41.15,0.892,4,0.054,0.048,3029,351,1257
$GC,15170,0.58,393.3,189.2,20.5,1285,15177,0.35,2.03,0.00,0.000,6,0.139,0.036,2927,1702,1254
$GC,15515,0.88,415.1,150.3,10.2,1346,15542,0.22,2.12,19.75,0.815,4,0.050,0.048,3051,336,1168
$GC,15578,0.63,415.1,139.2,21.2,1356,15585,0.35,2.00,0.00,0.000,6,0.139,0.034,2948,1663,1166
$GC,15923,0.90,452.8,99.1,9.6,1417,15964,0.20,2.05,32.35,0.777,4,0.049,0.047,3063,346,1017
$GC,16038,0.70,452.8,77.5,20.2,1436,16045,0.25,1.98,0.00,0.000,6,0.131,0.033,2969,1652,1015
$GC,16384,1.12,510.5,40.5,8.8,1497,16443,0.32,2.08,48.92,0.722,4,0.041,0.046,3136,352,780
$GC,16479,0.79,510.5,21.0,23.6,1512,16486,0.40,1.95,0.00,0.000,6,0.137,0.031,2997,1642,778
$STATE,16631,end climb,SURFACE_DEPTH_REACHED
$STATE,16631,begin surface coast
$FINISH,1.0,1.021482
$STATE,16664,end surface coast,CONTROL_FINISHED_OK
$STATE,16664,begin surface
$SM_CCo,16739,0.00,0.000,0,0,776,511.94
$SM_GC,1.74,7.53,0.00,0.00,0.044,0.000,0.000,150,1493,776,-8.03,-0.20,511.94
$IRIDIUM_FIX,2458.45,12340.74,020998,050542
$TT8_MAMPS,0.026845
$HUMID,1504
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,23.90
$XPDR_PINGS,144
$24V_AH,23.3,25.860
$10V_AH,10.7,15.754
$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,29.200,157.900,614.050,0.000,0.000,24.357,30.623,218.643,44.000,0.000,0.000,15.211,2754.075,10053.083,715.119,3101.031,495.630,0.000,2145.091,0.000,3069.838,0.000,54.402,0.000
$DEVICE_MAMPS,242.372,62.127,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.595,1060.449,1779.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88214,1545
$CAP_FILE_SIZE,177690,0
$CFSIZE,260165632,226373632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.140, 84.1,1
$GPS,080609,152136,2506.246,12333.876,35,1.0,35,-3.7