version: 66.04
glider: 166
mission: 2
dive: 110
start: 6 8 109 20 5 54
data:
$ID,166
$MISSION,2
$DIVE,110
$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,-7308.0386
$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,65
$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
$GPS1,195900,2504.471,12333.041,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.9
$GPS2,200532,2504.494,12333.135,15,1.1,15,-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,229.0,111800,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,73,0.00,0.00,-55.38,0.000,2,0.000,0.000,192,1521,2360
$GC,75,-0.94,-194.7,3.2,-5.5,8,127,9.05,2.03,-36.40,0.000,4,0.242,0.060,2414,196,3657
$GC,201,-0.15,-194.7,36.8,-33.7,29,209,0.85,1.92,0.00,0.000,6,0.160,0.034,2680,1475,3657
$GC,549,-1.05,-194.7,61.6,-9.4,90,556,0.73,2.12,0.00,0.000,4,0.062,0.038,2398,2917,3659
$GC,642,-0.46,-194.7,80.6,-28.2,106,649,0.47,2.10,0.00,0.000,6,0.150,0.035,2586,1512,3659
$GC,987,-0.51,-194.7,124.0,-13.0,167,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1512,3660
$GC,1329,-0.64,-194.7,159.7,-8.0,228,1337,0.15,1.98,0.00,0.000,4,0.064,0.048,2516,208,3661
$GC,1371,-0.41,-194.7,165.3,-15.7,235,1378,0.28,1.95,0.00,0.000,6,0.133,0.031,2604,1534,3661
$GC,1718,-0.77,-194.7,188.9,-5.0,296,1724,0.25,2.03,0.00,0.000,4,0.047,0.041,2470,2911,3661
$GC,1783,-0.68,-194.7,195.5,-11.4,307,1790,0.12,2.03,0.00,0.000,6,0.146,0.035,2518,1519,3661
$GC,2126,-0.62,-194.7,239.8,-13.3,368,2132,0.00,1.98,0.00,0.000,4,0.000,0.048,2529,210,3661
$GC,2167,-0.54,-194.7,245.4,-13.5,375,2173,0.17,1.92,0.00,0.000,6,0.140,0.031,2560,1549,3661
$GC,2512,-0.76,-194.7,273.4,-7.1,436,2518,0.17,0.00,0.00,0.000,6,0.058,0.000,2468,1551,3661
$GC,2852,-0.60,-194.7,321.4,-13.5,484,2854,0.25,0.00,0.00,0.000,6,0.137,0.000,2543,1551,3661
$GC,3172,-0.80,-194.7,346.9,-7.9,514,3174,0.17,0.00,0.00,0.000,6,0.059,0.000,2460,1552,3661
$GC,3489,-0.64,-194.7,391.5,-14.7,544,3493,0.20,2.00,0.00,0.000,4,0.142,0.044,2522,2897,3658
$GC,3528,-0.82,-194.7,395.9,-9.7,547,3534,0.12,2.00,0.00,0.000,6,0.064,0.035,2454,1529,3658
$GC,3852,-0.65,-194.7,444.2,-14.9,578,3854,0.25,0.00,0.00,0.000,6,0.135,0.000,2531,1529,3658
$GC,4171,-0.86,-194.7,467.4,-6.0,608,4176,0.20,2.05,0.00,0.000,4,0.056,0.045,2432,2895,3656
$GC,4198,-0.86,-194.7,470.0,-9.2,610,4206,0.08,2.03,0.00,0.000,6,0.143,0.037,2458,1545,3656
$GC,4522,-0.77,-194.7,508.2,-12.0,638,4526,0.10,2.03,0.00,0.000,4,0.157,0.050,2486,204,3655
$GC,4578,-0.77,-194.7,515.0,-11.9,640,4581,0.00,1.95,0.00,0.000,6,0.000,0.038,2486,1541,3654
$GC,4898,-0.77,-194.7,548.6,-10.0,656,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1541,3652
$GC,5208,-0.83,-194.7,578.4,-9.5,671,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1542,3651
$GC,5517,-0.90,-194.7,607.9,-9.3,686,5521,0.10,2.05,0.00,0.000,4,0.080,0.049,2433,2905,3649
$GC,5543,-0.90,-194.7,610.8,-11.1,687,5548,0.00,2.05,0.00,0.000,6,0.000,0.039,2433,1543,3649
$GC,5872,-0.78,-194.7,652.1,-12.3,703,5874,0.17,0.00,0.00,0.000,6,0.140,0.000,2485,1542,3647
$GC,6181,-0.89,-194.7,677.2,-7.8,718,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1542,3645
$GC,6489,-1.01,-194.7,699.7,-7.4,733,6491,0.20,0.00,0.00,0.000,6,0.058,0.000,2396,1542,3643
$GC,6798,-0.80,-194.7,741.6,-14.0,748,6800,0.28,0.00,0.00,0.000,6,0.143,0.000,2480,1542,3641
$GC,7108,-0.92,-194.7,770.3,-8.9,763,7112,0.12,2.05,0.00,0.000,4,0.074,0.055,2420,202,3639
$GC,7156,-0.74,-194.7,775.6,-13.2,765,7161,0.25,1.98,0.00,0.000,6,0.145,0.038,2496,1534,3639
$GC,7482,-0.92,-194.7,799.9,-6.7,781,7484,0.15,0.00,0.00,0.000,6,0.065,0.000,2426,1536,3636
$GC,7791,-0.85,-194.7,831.1,-10.3,796,7793,0.15,0.00,0.00,0.000,6,0.144,0.000,2469,1537,3635
$GC,8101,-0.94,-194.7,854.9,-7.7,811,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1537,3633
$GC,8410,-1.03,-194.7,880.1,-8.4,826,8414,0.17,2.08,0.00,0.000,4,0.064,0.058,2385,198,3632
$GC,8453,-0.75,-194.7,885.9,-14.4,828,8458,0.32,2.03,0.00,0.000,6,0.144,0.041,2498,1528,3632
$GC,8781,-0.97,-194.7,909.5,-6.9,844,8783,0.20,0.00,0.00,0.000,6,0.059,0.000,2410,1530,3630
$GC,9089,-0.85,-194.7,944.9,-11.5,859,9094,0.17,2.08,0.00,0.000,4,0.145,0.058,2468,194,3629
$GC,9155,-0.91,-194.7,951.5,-9.7,862,9159,0.00,2.03,0.00,0.000,6,0.000,0.041,2467,1544,3629
$GC,9483,-1.00,-194.7,978.0,-8.1,878,9487,0.15,2.08,0.00,0.000,4,0.069,0.055,2397,2902,3627
$GC,9532,-0.92,-194.7,983.2,-10.4,880,9536,0.15,2.08,0.00,0.000,6,0.150,0.044,2439,1523,3626
$STATE,9602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9602,begin apogee
$GC,9607,-0.20,0.0,990.5,10.0,884,9774,0.70,0.00,163.23,1.479,6,0.120,0.000,2669,1762,2863
$STATE,9774,end apogee,CONTROL_FINISHED_OK
$STATE,9774,begin climb
$GC,9776,0.94,194.7,996.8,0.0,892,9961,1.00,2.42,174.00,1.431,4,0.044,0.057,3048,3145,2068
$GC,10124,0.37,194.7,946.4,22.3,908,10129,0.73,2.17,0.00,0.000,6,0.172,0.044,2859,1749,2063
$GC,10451,0.53,249.7,916.2,8.9,924,10507,0.15,2.38,48.47,1.384,4,0.066,0.058,2937,339,1844
$GC,10586,0.40,249.7,897.2,15.9,930,10591,0.25,2.17,0.00,0.000,6,0.144,0.042,2867,1731,1840
$GC,10908,0.51,249.7,860.8,11.2,946,10912,0.12,2.20,0.00,0.000,4,0.071,0.057,2936,337,1838
$GC,10939,0.40,249.7,856.0,14.7,947,10947,0.17,2.15,0.00,0.000,6,0.141,0.043,2870,1725,1837
$GC,11257,0.53,263.3,820.9,10.5,963,11282,0.12,2.22,14.40,1.117,4,0.071,0.058,2938,326,1788
$GC,11333,0.41,263.3,810.3,14.9,966,11338,0.22,2.12,0.00,0.000,6,0.144,0.043,2875,1713,1788
$GC,11649,0.56,301.1,779.1,9.6,981,11692,0.15,2.22,35.03,1.332,4,0.064,0.057,2953,338,1634
$GC,11719,0.42,301.1,769.1,14.9,984,11724,0.22,2.17,0.00,0.000,6,0.140,0.042,2883,1710,1632
$GC,12046,0.53,301.1,731.0,11.9,1000,12050,0.00,2.25,0.00,0.000,4,0.000,0.055,2883,3159,1629
$GC,12095,0.64,301.1,724.6,12.2,1002,12100,0.12,2.25,0.00,0.000,6,0.051,0.043,2958,1708,1628
$GC,12416,0.49,301.1,668.2,18.1,1018,12421,0.20,2.25,0.00,0.000,4,0.151,0.054,2897,3153,1629
$GC,12459,0.58,301.1,661.6,14.3,1020,12463,0.00,2.15,0.00,0.000,6,0.000,0.043,2904,1730,1627
$GC,12786,0.63,301.1,619.6,12.2,1036,12790,0.10,2.15,0.00,0.000,4,0.078,0.055,2964,342,1626
$GC,12824,0.48,301.1,613.9,15.2,1038,12829,0.25,2.12,0.00,0.000,6,0.147,0.042,2892,1747,1626
$GC,13151,0.61,312.4,578.4,10.6,1054,13166,0.12,2.20,10.15,1.124,4,0.070,0.055,2961,341,1588
$GC,13190,0.49,312.4,573.2,13.7,1055,13195,0.22,2.12,0.00,0.000,6,0.146,0.041,2898,1739,1587
$GC,13517,0.60,312.4,536.5,11.1,1071,13521,0.10,2.15,0.00,0.000,4,0.079,0.054,2956,348,1586
$GC,13554,0.51,312.4,530.9,15.8,1072,13562,0.15,2.10,0.00,0.000,6,0.140,0.041,2908,1722,1586
$GC,13872,0.60,312.4,493.9,11.5,1090,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1723,1586
$GC,14190,0.67,312.4,456.0,13.1,1120,14195,0.15,2.17,0.00,0.000,4,0.064,0.051,2974,3148,1585
$GC,14227,0.53,312.4,449.7,17.7,1123,14234,0.25,2.17,0.00,0.000,6,0.154,0.041,2914,1703,1585
$GC,14552,0.62,312.4,404.8,12.0,1154,14556,0.00,2.08,0.00,0.000,4,0.000,0.053,2922,337,1585
$GC,14631,0.71,312.4,394.3,13.7,1161,14636,0.12,2.08,0.00,0.000,6,0.077,0.039,2980,1731,1585
$GC,14960,0.55,312.4,341.0,15.4,1192,14965,0.20,2.15,0.00,0.000,4,0.149,0.049,2917,3150,1585
$GC,15000,0.63,312.4,336.1,11.0,1195,15004,0.00,2.15,0.00,0.000,6,0.000,0.039,2926,1710,1585
$GC,15327,0.71,312.4,296.5,12.1,1228,15334,0.12,2.08,0.00,0.000,4,0.068,0.051,3002,341,1585
$GC,15441,0.51,312.4,276.2,18.0,1248,15448,0.30,2.05,0.00,0.000,6,0.141,0.038,2907,1709,1585
$GC,15786,0.75,357.2,239.9,9.3,1309,15831,0.17,2.20,38.80,0.920,4,0.058,0.049,3007,337,1405
$GC,15899,0.61,357.2,221.5,16.9,1328,15906,0.25,2.05,0.00,0.000,6,0.141,0.036,2936,1708,1402
$GC,16245,0.79,383.4,181.7,10.0,1389,16278,0.15,2.20,22.98,0.847,4,0.060,0.048,3021,332,1299
$GC,16297,0.63,383.4,173.8,17.3,1397,16304,0.28,2.05,0.00,0.000,6,0.141,0.034,2942,1705,1297
$GC,16642,0.89,433.1,134.2,9.1,1458,16688,0.20,0.00,43.00,0.810,6,0.049,0.000,3048,1706,1096
$GC,17028,0.78,433.1,68.8,15.7,1525,17035,0.17,2.10,0.00,0.000,4,0.143,0.046,3000,332,1092
$GC,17097,0.91,433.1,59.5,11.9,1537,17104,0.00,2.00,0.00,0.000,6,0.000,0.032,3000,1678,1090
$GC,17440,1.12,433.1,23.2,11.5,1598,17448,0.22,2.17,0.00,0.000,4,0.048,0.039,3121,3141,1091
$GC,17472,1.00,433.1,18.6,16.4,1603,17479,0.17,2.20,0.00,0.000,6,0.156,0.034,3063,1670,1091
$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,1.0,1.022203
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17673,0.00,0.000,0,0,1088,435.41
$SM_GC,1.77,7.60,0.00,0.00,0.044,0.000,0.000,154,1488,1088,-8.02,-0.34,435.41
$IRIDIUM_FIX,2458.45,12337.44,020998,151534
$TT8_MAMPS,0.026845
$HUMID,1487
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.20
$XPDR_PINGS,141
$24V_AH,23.2,26.313
$10V_AH,10.7,16.053
$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,31.725,131.075,550.050,0.000,0.000,24.692,33.864,219.034,43.250,0.000,0.000,15.519,2908.707,10787.396,655.859,3193.825,509.878,0.000,2076.156,0.000,3166.010,0.000,54.397,0.000
$DEVICE_MAMPS,241.605,59.826,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.133,1127.972,1894.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94777,1625
$CAP_FILE_SIZE,183390,0
$CFSIZE,260165632,226177024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.130, 89.9,1
$GPS,090609,010136,2502.635,12332.091,36,1.1,36,-3.7