version: 66.04
glider: 166
mission: 2
dive: 111
start: 6 9 109 1 8 36
data:
$ID,166
$MISSION,2
$DIVE,111
$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,-7322.5317
$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,45
$R_STBD_OVSHOOT,56
$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
$GPS1,010136,2502.635,12332.091,36,1.1,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.0
$GPS2,010814,2502.646,12332.180,13,1.7,13,-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,225.6,108045,-17.1,-11.000
$D_GRID,2060
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-57.90,0.000,2,0.000,0.000,213,1488,2387
$GC,77,-0.94,-194.7,3.2,-5.6,9,130,8.90,1.95,-36.70,0.000,4,0.237,0.061,2428,204,3656
$GC,200,-0.14,-194.7,34.0,-32.6,29,207,0.85,1.92,0.00,0.000,6,0.164,0.034,2688,1486,3657
$GC,543,-0.61,-194.7,60.8,-5.9,90,551,0.32,2.10,0.00,0.000,4,0.043,0.040,2527,2905,3657
$GC,624,-0.53,-194.7,72.7,-16.2,104,632,0.08,2.08,0.00,0.000,6,0.146,0.035,2562,1513,3657
$GC,969,-0.45,-194.7,127.9,-15.7,165,975,0.10,0.00,0.00,0.000,6,0.159,0.000,2590,1513,3659
$GC,1313,-0.63,-194.7,164.5,-7.9,226,1320,0.17,0.00,0.00,0.000,6,0.058,0.000,2500,1513,3659
$GC,1658,-0.43,-194.7,214.3,-15.2,287,1664,0.30,0.00,0.00,0.000,6,0.136,0.000,2597,1513,3659
$GC,2001,-0.72,-194.7,241.7,-8.0,348,2007,0.22,0.00,0.00,0.000,6,0.051,0.000,2486,1513,3660
$GC,2345,-0.51,-194.7,298.4,-16.7,409,2351,0.25,1.95,0.00,0.000,4,0.138,0.047,2566,204,3660
$GC,2379,-0.51,-194.7,303.3,-13.3,413,2383,0.00,1.92,0.00,0.000,6,0.000,0.030,2566,1552,3660
$GC,2710,-0.72,-194.7,334.4,-9.5,444,2714,0.15,2.00,0.00,0.000,4,0.062,0.043,2468,2908,3659
$GC,2766,-0.72,-194.7,341.7,-13.9,449,2770,0.12,2.03,0.00,0.000,6,0.139,0.034,2505,1516,3659
$GC,3095,-0.72,-194.7,379.7,-10.0,480,3099,0.00,2.08,0.00,0.000,4,0.000,0.045,2503,2906,3659
$GC,3130,-0.84,-194.7,382.5,-7.7,483,3135,0.12,2.03,0.00,0.000,6,0.065,0.035,2441,1518,3658
$GC,3459,-0.63,-194.7,427.4,-13.7,514,3464,0.28,1.98,0.00,0.000,4,0.138,0.049,2533,200,3656
$GC,3537,-0.76,-194.7,434.8,-9.1,520,3543,0.00,1.95,0.00,0.000,6,0.000,0.031,2529,1525,3656
$GC,3863,-0.95,-194.7,457.7,-7.6,551,3867,0.22,2.05,0.00,0.000,4,0.052,0.045,2418,2906,3654
$GC,3935,-0.78,-194.7,467.0,-14.8,557,3941,0.22,2.03,0.00,0.000,6,0.141,0.037,2485,1527,3654
$GC,4260,-0.78,-194.7,503.4,-11.7,587,4264,0.00,2.08,0.00,0.000,4,0.000,0.051,2484,2904,3652
$GC,4299,-0.90,-194.7,507.6,-10.1,588,4306,0.08,2.05,0.00,0.000,6,0.056,0.040,2434,1534,3652
$GC,4614,-0.73,-194.7,553.4,-14.6,604,4616,0.22,0.00,0.00,0.000,6,0.142,0.000,2501,1534,3650
$GC,4924,-0.85,-194.7,584.0,-8.9,619,4926,0.12,0.00,0.00,0.000,6,0.072,0.000,2440,1534,3649
$GC,5232,-0.72,-194.7,621.8,-12.2,634,5234,0.22,0.00,0.00,0.000,6,0.139,0.000,2508,1534,3647
$GC,5542,-0.90,-194.7,645.2,-7.3,649,5544,0.17,0.00,0.00,0.000,6,0.061,0.000,2427,1534,3644
$GC,5851,-0.76,-194.7,685.3,-13.5,664,5855,0.20,2.03,0.00,0.000,4,0.143,0.054,2492,203,3643
$GC,5900,-0.85,-194.7,691.4,-11.1,666,5904,0.00,1.98,0.00,0.000,6,0.000,0.036,2491,1526,3642
$GC,6227,-0.99,-194.7,723.1,-9.2,682,6231,0.17,2.08,0.00,0.000,4,0.061,0.051,2404,2903,3640
$GC,6310,-0.89,-194.7,733.0,-12.2,686,6315,0.17,2.03,0.00,0.000,6,0.141,0.041,2455,1540,3639
$GC,6642,-0.89,-194.7,767.2,-10.2,702,6645,0.00,2.08,0.00,0.000,4,0.000,0.053,2452,2904,3637
$GC,6675,-0.96,-194.7,770.5,-9.6,703,6678,0.00,2.03,0.00,0.000,6,0.000,0.041,2452,1544,3637
$GC,6996,-0.96,-194.7,803.1,-10.5,719,7000,0.00,2.05,0.00,0.000,4,0.000,0.056,2453,201,3635
$GC,7028,-0.96,-194.7,807.0,-12.2,720,7033,0.00,2.03,0.00,0.000,6,0.000,0.038,2450,1544,3635
$GC,7349,-0.96,-194.7,842.5,-11.3,736,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1544,3633
$GC,7662,-0.96,-194.7,877.1,-10.8,751,7666,0.00,2.08,0.00,0.000,4,0.000,0.058,2450,200,3631
$GC,7688,-0.96,-194.7,880.6,-12.1,752,7693,0.00,2.03,0.00,0.000,6,0.000,0.039,2447,1538,3631
$GC,8016,-0.96,-194.7,914.3,-9.9,768,8019,0.00,2.08,0.00,0.000,4,0.000,0.058,2447,194,3630
$GC,8042,-0.96,-194.7,917.2,-10.9,769,8047,0.00,2.03,0.00,0.000,6,0.000,0.040,2447,1533,3629
$GC,8370,-0.96,-194.7,948.6,-9.6,785,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1534,3628
$GC,8679,-0.96,-194.7,978.7,-9.7,800,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1534,3626
$STATE,8800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8800,begin apogee
$GC,8805,-0.20,0.0,991.0,10.0,806,8971,0.68,0.00,162.55,1.473,6,0.121,0.000,2668,1759,2863
$STATE,8971,end apogee,CONTROL_FINISHED_OK
$STATE,8971,begin climb
$GC,8973,0.94,194.7,997.4,0.0,814,9156,1.05,2.47,173.48,1.428,4,0.041,0.057,3071,348,2068
$GC,9184,0.29,194.7,973.4,21.6,824,9189,0.82,2.30,0.00,0.000,6,0.175,0.042,2838,1741,2065
$GC,9501,0.53,273.1,945.3,8.0,839,9574,0.20,0.00,70.32,1.397,6,0.058,0.000,2926,1742,1749
$GC,9868,0.42,273.1,893.2,14.4,857,9873,0.17,2.22,0.00,0.000,4,0.150,0.056,2887,337,1742
$GC,9900,0.42,273.1,888.8,12.4,858,9909,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,1748,1741
$GC,10215,0.42,273.1,852.8,11.5,874,10219,0.00,2.20,0.00,0.000,4,0.000,0.057,2897,344,1740
$GC,10238,0.42,273.1,850.1,12.1,875,10242,0.00,2.15,0.00,0.000,6,0.000,0.042,2897,1753,1740
$GC,10570,0.42,273.1,810.2,11.9,891,10574,0.00,2.20,0.00,0.000,4,0.000,0.056,2908,336,1738
$GC,10601,0.42,273.1,806.0,12.0,892,10607,0.10,2.15,0.00,0.000,6,0.142,0.042,2876,1737,1739
$GC,10924,0.58,317.6,774.6,9.3,908,10970,0.15,2.30,39.10,1.329,4,0.064,0.057,2954,346,1567
$GC,10992,0.43,317.6,765.1,15.5,911,10997,0.28,2.15,0.00,0.000,6,0.143,0.042,2876,1721,1565
$GC,11319,0.56,317.6,730.8,11.1,927,11324,0.12,2.15,0.00,0.000,4,0.069,0.056,2945,344,1561
$GC,11364,0.47,317.6,723.8,17.6,929,11369,0.20,2.08,0.00,0.000,6,0.145,0.042,2890,1705,1561
$GC,11690,0.57,317.6,680.7,13.6,945,11694,0.00,2.22,0.00,0.000,4,0.000,0.054,2890,3153,1560
$GC,11717,0.67,317.6,676.9,13.7,946,11722,0.10,2.25,0.00,0.000,6,0.054,0.043,2973,1691,1559
$GC,12044,0.47,317.6,613.2,19.9,962,12049,0.25,2.08,0.00,0.000,4,0.153,0.054,2904,341,1559
$GC,12087,0.54,317.6,605.8,14.8,964,12092,0.00,2.08,0.00,0.000,6,0.000,0.041,2904,1704,1559
$GC,12414,0.59,317.6,563.5,12.0,980,12418,0.00,2.12,0.00,0.000,4,0.000,0.056,2914,332,1559
$GC,12441,0.64,317.6,560.3,12.0,981,12445,0.00,2.05,0.00,0.000,6,0.000,0.041,2914,1685,1559
$GC,12768,0.64,317.6,523.0,11.4,997,12771,0.00,2.22,0.00,0.000,4,0.000,0.052,2914,3145,1558
$GC,12794,0.64,317.6,519.5,12.1,998,12799,0.00,2.20,0.00,0.000,6,0.000,0.041,2924,1697,1557
$GC,13116,0.64,317.6,479.7,12.7,1021,13119,0.00,2.22,0.00,0.000,4,0.000,0.051,2925,3150,1558
$GC,13138,0.64,317.6,476.9,12.2,1023,13142,0.00,2.20,0.00,0.000,6,0.000,0.041,2935,1684,1558
$GC,13469,0.64,317.6,433.5,13.7,1054,13472,0.00,2.05,0.00,0.000,4,0.000,0.053,2945,339,1557
$GC,13570,0.64,317.6,419.3,13.5,1063,13574,0.00,2.00,0.00,0.000,6,0.000,0.039,2945,1687,1557
$GC,13901,0.60,317.6,372.2,14.6,1094,13905,0.00,2.05,0.00,0.000,4,0.000,0.052,2955,341,1557
$GC,13946,0.55,317.6,365.1,15.4,1098,13950,0.15,1.98,0.00,0.000,6,0.147,0.038,2914,1686,1557
$GC,14276,0.63,317.6,325.3,12.1,1129,14279,0.00,2.20,0.00,0.000,4,0.000,0.048,2915,3147,1558
$GC,14309,0.74,317.6,321.0,12.9,1132,14314,0.15,2.22,0.00,0.000,6,0.059,0.039,3006,1648,1557
$GC,14646,0.52,317.6,262.3,17.1,1181,14652,0.32,1.98,0.00,0.000,4,0.173,0.049,2914,338,1557
$GC,14759,0.68,332.2,249.4,10.4,1201,14785,0.12,1.92,14.70,0.785,6,0.071,0.041,2978,1661,1507
$GC,15123,0.60,332.2,187.7,17.7,1265,15129,0.17,2.03,0.00,0.000,4,0.143,0.048,2930,329,1506
$GC,15165,0.69,332.2,181.3,13.6,1272,15172,0.00,1.98,0.00,0.000,6,0.000,0.035,2931,1657,1506
$GC,15510,0.91,401.8,144.6,8.4,1333,15576,0.25,2.12,59.22,0.832,4,0.047,0.047,3067,339,1224
$GC,15630,0.62,401.8,123.4,18.6,1352,15637,0.38,1.98,0.00,0.000,6,0.139,0.034,2939,1640,1221
$GC,15974,0.92,408.5,88.1,10.7,1413,15990,0.25,2.00,6.55,0.639,4,0.045,0.047,3073,339,1196
$GC,16008,0.80,408.5,82.5,18.5,1418,16017,0.20,1.92,0.00,0.000,6,0.142,0.032,2995,1633,1195
$GC,16354,1.00,434.3,36.1,10.0,1479,16381,0.17,0.00,23.15,0.713,6,0.053,0.000,3089,1634,1091
$STATE,16548,end climb,SURFACE_DEPTH_REACHED
$STATE,16549,begin surface coast
$FINISH,1.1,1.022105
$STATE,16565,end surface coast,CONTROL_FINISHED_OK
$STATE,16565,begin surface
$SM_CCo,16640,0.00,0.000,0,0,1085,436.14
$SM_GC,1.77,7.75,0.00,0.00,0.046,0.000,0.000,156,1490,1085,-8.02,-0.28,436.14
$IRIDIUM_FIX,2456.07,12334.15,020998,202031
$TT8_MAMPS,0.026845
$HUMID,1505
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,23.70
$XPDR_PINGS,123
$24V_AH,23.3,26.536
$10V_AH,10.7,16.200
$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,27.750,133.825,549.075,0.000,0.000,23.302,32.896,225.708,38.750,0.000,0.000,13.865,2701.127,10186.089,656.646,2982.296,498.956,0.000,1989.361,0.000,2954.692,0.000,54.409,0.000
$DEVICE_MAMPS,237.003,60.593,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.668,1048.574,1762.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88468,1516
$CAP_FILE_SIZE,167915,0
$CFSIZE,260165632,226111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131, 99.8,1
$GPS,090609,054706,2500.380,12331.317,37,1.1,37,-3.7