version: 66.04
glider: 166
mission: 2
dive: 109
start: 6 8 109 15 32 5
data:
$ID,166
$MISSION,2
$DIVE,109
$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,-7291.8911
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,152136,2506.246,12333.876,35,1.0,35,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.9
$GPS2,153143,2506.277,12333.990,11,1.0,11,-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,226.9,115391,-17.1,-11.000
$D_GRID,2031
$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,-194.7,0.0,0.0,0,88,0.00,0.00,-71.68,0.000,2,0.000,0.000,179,1492,2365
$GC,91,-0.94,-194.7,3.1,-5.2,11,143,9.05,2.03,-38.08,0.000,4,0.241,0.059,2424,197,3658
$GC,223,-0.06,-194.7,37.2,-36.0,33,232,0.93,1.95,0.00,0.000,6,0.161,0.034,2712,1492,3658
$GC,568,-0.93,-194.7,70.1,-10.2,94,575,0.70,2.10,0.00,0.000,4,0.068,0.040,2440,2916,3658
$GC,598,-1.11,-194.7,73.8,-12.2,99,605,0.17,2.10,0.00,0.000,6,0.063,0.032,2374,1471,3658
$GC,945,-0.45,-194.7,171.4,-28.0,160,953,0.65,1.88,0.00,0.000,4,0.156,0.044,2586,207,3660
$GC,1099,-0.65,-194.7,190.4,-9.5,187,1106,0.10,1.85,0.00,0.000,6,0.052,0.029,2508,1484,3661
$GC,1444,-0.60,-194.7,236.3,-13.7,248,1452,0.12,2.08,0.00,0.000,4,0.142,0.042,2538,2895,3662
$GC,1481,-0.77,-194.7,240.4,-10.6,254,1488,0.15,2.08,0.00,0.000,6,0.060,0.034,2464,1465,3662
$GC,1825,-0.57,-194.7,295.6,-15.2,315,1832,0.25,2.12,0.00,0.000,4,0.140,0.043,2542,2889,3661
$GC,1863,-0.78,-194.7,299.2,-8.6,321,1870,0.15,2.08,0.00,0.000,6,0.058,0.034,2464,1462,3661
$GC,2195,-0.62,-194.7,341.2,-12.9,353,2199,0.22,1.88,0.00,0.000,4,0.138,0.048,2540,205,3661
$GC,2228,-0.68,-194.7,344.6,-9.1,356,2232,0.00,1.80,0.00,0.000,6,0.000,0.031,2537,1458,3660
$GC,2559,-0.86,-194.7,371.6,-8.9,387,2563,0.17,2.12,0.00,0.000,4,0.059,0.044,2446,2893,3659
$GC,2632,-0.79,-194.7,380.9,-13.6,393,2637,0.12,2.08,0.00,0.000,6,0.143,0.035,2482,1474,3659
$GC,2957,-0.79,-194.7,425.8,-14.5,423,2961,0.00,2.12,0.00,0.000,4,0.000,0.047,2481,2889,3657
$GC,2990,-0.85,-194.7,430.5,-13.2,426,2994,0.00,2.08,0.00,0.000,6,0.000,0.036,2481,1480,3657
$GC,3321,-0.85,-194.7,471.9,-10.9,457,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1479,3655
$GC,3649,-0.85,-194.7,504.6,-10.0,486,3652,0.00,2.12,0.00,0.000,4,0.000,0.049,2481,2889,3653
$GC,3687,-0.95,-194.7,508.3,-8.5,487,3694,0.12,2.10,0.00,0.000,6,0.069,0.040,2420,1469,3653
$GC,4004,-0.72,-194.7,554.1,-14.8,503,4006,0.28,0.00,0.00,0.000,6,0.143,0.000,2504,1468,3651
$GC,4312,-0.85,-194.7,584.1,-9.6,518,4314,0.12,0.00,0.00,0.000,6,0.073,0.000,2443,1468,3649
$GC,4622,-0.76,-194.7,622.4,-12.2,533,4624,0.17,0.00,0.00,0.000,6,0.141,0.000,2494,1468,3647
$GC,4930,-0.90,-194.7,645.0,-7.2,548,4935,0.15,2.17,0.00,0.000,4,0.067,0.050,2424,2895,3645
$GC,4957,-0.90,-194.7,647.4,-10.2,549,4961,0.00,2.12,0.00,0.000,6,0.000,0.040,2424,1471,3645
$GC,5279,-0.77,-194.7,688.4,-14.1,565,5281,0.22,0.00,0.00,0.000,6,0.140,0.000,2492,1471,3642
$GC,5587,-0.92,-194.7,719.6,-9.9,580,5592,0.15,2.17,0.00,0.000,4,0.066,0.051,2422,2895,3640
$GC,5629,-0.92,-194.7,724.9,-12.6,582,5636,0.00,2.15,0.00,0.000,6,0.000,0.041,2422,1474,3640
$GC,5956,-0.81,-194.7,771.5,-14.5,598,5958,0.17,0.00,0.00,0.000,6,0.143,0.000,2473,1473,3638
$GC,6268,-0.90,-194.7,804.2,-10.0,613,6271,0.00,2.17,0.00,0.000,4,0.000,0.054,2473,2896,3635
$GC,6313,-1.07,-194.7,808.5,-9.1,615,6318,0.22,2.12,0.00,0.000,6,0.054,0.043,2374,1477,3635
$GC,6642,-0.80,-194.7,858.1,-15.0,631,6646,0.30,1.95,0.00,0.000,4,0.152,0.057,2471,201,3633
$GC,6759,-0.86,-194.7,871.2,-10.0,636,6763,0.00,1.90,0.00,0.000,6,0.000,0.040,2466,1463,3632
$GC,7081,-0.94,-194.7,900.1,-8.8,652,7084,0.00,2.20,0.00,0.000,4,0.000,0.055,2465,2910,3630
$GC,7108,-1.06,-194.7,902.4,-8.6,653,7112,0.20,2.15,0.00,0.000,6,0.056,0.042,2376,1468,3630
$GC,7435,-0.80,-194.7,948.2,-14.4,669,7439,0.30,1.92,0.00,0.000,4,0.152,0.058,2472,203,3629
$GC,7480,-0.89,-194.7,953.3,-10.5,671,7483,0.00,1.90,0.00,0.000,6,0.000,0.041,2472,1479,3629
$GC,7812,-1.00,-194.7,980.9,-8.3,687,7817,0.17,2.17,0.00,0.000,4,0.064,0.054,2394,2905,3627
$GC,7858,-0.91,-194.7,985.7,-11.6,689,7863,0.17,2.17,0.00,0.000,6,0.148,0.044,2444,1461,3626
$STATE,7913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7913,begin apogee
$GC,7918,-0.20,0.0,991.7,10.1,692,8084,0.70,0.00,162.88,1.474,6,0.123,0.000,2673,1765,2863
$STATE,8085,end apogee,CONTROL_FINISHED_OK
$STATE,8085,begin climb
$GC,8087,0.94,194.7,998.3,0.0,700,8268,1.00,2.35,172.98,1.430,4,0.043,0.056,3052,3151,2069
$GC,8297,0.33,194.7,973.7,22.4,710,8302,0.80,2.28,0.00,0.000,6,0.174,0.043,2851,1745,2065
$GC,8623,0.51,254.3,942.7,8.7,726,8681,0.15,2.33,52.72,1.382,4,0.066,0.059,2929,342,1825
$GC,8710,0.39,254.3,931.8,13.9,730,8715,0.22,2.22,0.00,0.000,6,0.145,0.042,2869,1752,1823
$GC,9036,0.52,274.3,897.9,10.2,746,9061,0.12,2.35,18.52,1.320,4,0.071,0.058,2937,330,1743
$GC,9099,0.40,274.3,888.7,15.2,748,9107,0.20,2.22,0.00,0.000,6,0.141,0.042,2875,1743,1741
$GC,9415,0.51,278.4,853.5,10.8,764,9424,0.00,2.22,4.75,0.955,4,0.000,0.058,2884,332,1727
$GC,9483,0.61,278.4,845.7,11.6,767,9488,0.15,2.15,0.00,0.000,6,0.067,0.041,2950,1739,1726
$GC,9810,0.43,278.4,796.1,14.8,783,9812,0.25,0.00,0.00,0.000,6,0.150,0.000,2880,1742,1725
$GC,10118,0.55,298.6,764.3,10.2,798,10143,0.12,2.30,19.30,1.292,4,0.071,0.058,2949,330,1644
$GC,10171,0.43,298.6,756.7,15.4,800,10176,0.20,2.17,0.00,0.000,6,0.137,0.042,2876,1726,1643
$GC,10498,0.57,302.2,720.9,10.9,816,10505,0.15,0.00,4.50,0.903,6,0.064,0.000,2943,1728,1630
$GC,10808,0.45,302.2,670.8,16.7,831,10809,0.20,0.00,0.00,0.000,6,0.145,0.000,2888,1729,1629
$GC,11116,0.61,328.9,635.8,10.0,846,11148,0.15,2.25,24.92,1.231,4,0.063,0.057,2968,345,1522
$GC,11182,0.47,328.9,626.2,16.3,849,11187,0.28,2.12,0.00,0.000,6,0.143,0.042,2890,1720,1520
$GC,11509,0.62,333.2,590.6,10.8,865,11519,0.15,2.22,4.75,0.876,4,0.062,0.054,2958,3149,1503
$GC,11568,0.52,333.2,581.4,16.4,867,11575,0.22,2.20,0.00,0.000,6,0.150,0.041,2906,1706,1503
$GC,11884,0.60,333.2,541.8,12.8,883,11888,0.00,2.10,0.00,0.000,4,0.000,0.054,2914,345,1502
$GC,11962,0.69,333.2,531.8,12.4,886,11967,0.12,2.05,0.00,0.000,6,0.074,0.041,2971,1706,1502
$GC,12288,0.53,333.2,478.9,16.2,907,12292,0.17,2.10,0.00,0.000,4,0.151,0.051,2925,343,1502
$GC,12371,0.60,333.2,467.9,12.5,914,12375,0.00,2.03,0.00,0.000,6,0.000,0.040,2925,1702,1502
$GC,12700,0.60,333.2,426.8,13.2,945,12704,0.00,2.17,0.00,0.000,4,0.000,0.051,2925,3147,1502
$GC,12734,0.65,333.2,422.2,13.2,948,12738,0.00,2.17,0.00,0.000,6,0.000,0.040,2936,1690,1501
$GC,13065,0.65,333.2,376.6,12.3,979,13069,0.00,2.05,0.00,0.000,4,0.000,0.053,2946,338,1501
$GC,13125,0.65,333.2,368.8,12.7,984,13132,0.00,2.03,0.00,0.000,6,0.000,0.038,2946,1686,1501
$GC,13452,0.65,333.2,328.2,13.1,1015,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1687,1501
$GC,13775,0.65,333.2,280.3,14.0,1057,13781,0.00,2.05,0.00,0.000,4,0.000,0.050,2961,342,1501
$GC,13810,0.65,333.2,275.4,14.9,1063,13816,0.00,2.00,0.00,0.000,6,0.000,0.039,2961,1704,1501
$GC,14153,0.65,333.2,229.3,12.4,1124,14159,0.00,2.08,0.00,0.000,4,0.000,0.049,2969,330,1502
$GC,14198,0.65,333.2,223.1,13.7,1132,14204,0.00,2.03,0.00,0.000,6,0.000,0.036,2969,1690,1502
$GC,14540,0.65,333.2,174.1,15.1,1193,14546,0.00,2.08,0.00,0.000,4,0.000,0.048,2978,342,1502
$GC,14580,0.65,333.2,168.0,15.5,1200,14586,0.00,1.98,0.00,0.000,6,0.000,0.034,2978,1682,1502
$GC,14923,0.71,387.7,125.8,8.9,1261,14975,0.00,2.15,46.72,0.813,4,0.000,0.048,2987,340,1282
$GC,15067,0.76,387.7,109.6,12.2,1285,15073,0.00,1.98,0.00,0.000,6,0.000,0.034,2988,1656,1279
$GC,15412,0.86,387.7,63.4,12.7,1346,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1657,1277
$GC,15757,1.07,405.2,26.6,10.3,1407,15784,0.22,2.05,15.77,0.682,4,0.048,0.045,3112,340,1209
$STATE,15891,end climb,SURFACE_DEPTH_REACHED
$STATE,15891,begin surface coast
$FINISH,1.0,1.022251
$STATE,15907,end surface coast,CONTROL_FINISHED_OK
$STATE,15907,begin surface
$SM_CCo,15924,15.75,0.659,0,0,1129,425.10
$SM_GC,1.56,0.00,0.00,15.75,0.000,0.000,0.659,154,1519,1129,-8.08,0.54,425.10
$IRIDIUM_FIX,2456.07,12330.85,020998,151505
$TT8_MAMPS,0.026845
$HUMID,1492
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.00
$XPDR_PINGS,118
$24V_AH,23.3,26.089
$10V_AH,10.7,15.895
$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,29.075,134.525,527.825,15.750,0.000,48.236,72.223,305.432,37.500,0.000,0.000,11.156,2570.380,9817.912,658.031,2849.619,641.413,0.000,1949.440,0.000,2821.874,0.000,54.409,0.000
$DEVICE_MAMPS,240.838,59.059,1474.174,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,976.203,975.097,1638.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82133,1433
$CAP_FILE_SIZE,167554,0
$CFSIZE,260165632,226304000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.149, 87.0,1
$GPS,080609,195900,2504.471,12333.041,40,1.1,40,-3.7