version: 66.04
glider: 166
mission: 2
dive: 113
start: 6 9 109 11 6 4
data:
$ID,166
$MISSION,2
$DIVE,113
$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,330
$T_MISSION,396
$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,175
$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,-7355.9961
$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,42
$ROLL_AD_RATE,375
$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
$GPS1,105854,2458.865,12330.558,32,1.1,49,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.8
$GPS2,110544,2458.882,12330.562,16,2.0,16,-3.7
$SPEED_LIMITS,0.173,0.279
$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,229.7,100570,-16.8,-10.000
$D_GRID,2052
$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,-0.90,-170.3,0.0,0.0,0,87,0.00,0.00,-69.80,0.000,2,0.000,0.000,157,1496,2351
$GC,89,-0.90,-170.3,3.1,-4.8,11,142,9.27,1.98,-36.22,0.000,4,0.245,0.058,2448,195,3557
$GC,266,-0.15,-170.3,47.8,-31.4,41,274,0.73,1.98,0.00,0.000,6,0.153,0.033,2686,1512,3558
$GC,613,-1.01,-170.3,74.8,-8.3,102,621,0.70,2.05,0.00,0.000,4,0.067,0.039,2421,2912,3560
$GC,679,-0.51,-170.3,86.1,-22.5,113,686,0.50,2.08,0.00,0.000,6,0.147,0.035,2576,1494,3560
$GC,1023,-0.51,-170.3,129.0,-11.5,174,1029,0.00,1.95,0.00,0.000,4,0.000,0.048,2576,208,3561
$GC,1046,-0.51,-170.3,131.9,-12.0,178,1052,0.00,1.90,0.00,0.000,6,0.000,0.030,2572,1509,3561
$GC,1389,-0.65,-170.3,165.8,-11.0,239,1396,0.12,2.08,0.00,0.000,4,0.068,0.041,2508,2896,3562
$GC,1426,-0.65,-170.3,170.6,-14.5,245,1433,0.00,2.03,0.00,0.000,6,0.000,0.034,2505,1503,3562
$GC,1768,-0.52,-170.3,220.3,-13.2,306,1774,0.17,0.00,0.00,0.000,6,0.137,0.000,2565,1503,3562
$GC,2112,-0.68,-170.3,244.6,-7.4,367,2117,0.15,0.00,0.00,0.000,6,0.064,0.000,2489,1503,3561
$GC,2454,-0.54,-170.3,290.6,-13.6,428,2462,0.20,2.08,0.00,0.000,4,0.140,0.044,2562,2893,3562
$GC,2486,-0.67,-170.3,293.9,-10.5,433,2493,0.10,2.05,0.00,0.000,6,0.071,0.035,2502,1493,3562
$GC,2820,-0.57,-170.3,336.1,-13.2,469,2822,0.17,0.00,0.00,0.000,6,0.137,0.000,2557,1493,3561
$GC,3140,-0.74,-170.3,360.9,-6.6,499,3141,0.15,0.00,0.00,0.000,6,0.064,0.000,2478,1493,3560
$GC,3459,-0.62,-170.3,397.9,-12.4,529,3460,0.20,0.00,0.00,0.000,6,0.137,0.000,2537,1493,3559
$GC,3776,-0.77,-170.3,425.0,-8.6,559,3778,0.15,0.00,0.00,0.000,6,0.064,0.000,2463,1493,3558
$GC,4093,-0.63,-170.3,468.3,-14.3,589,4095,0.25,0.00,0.00,0.000,6,0.135,0.000,2537,1493,3556
$GC,4413,-0.83,-170.3,496.4,-8.4,619,4417,0.17,1.92,0.00,0.000,4,0.060,0.054,2447,207,3554
$GC,4457,-0.63,-170.3,502.0,-13.5,623,4461,0.30,1.88,0.00,0.000,6,0.137,0.034,2533,1499,3554
$GC,4790,-0.83,-170.3,527.6,-6.9,639,4795,0.17,2.10,0.00,0.000,4,0.057,0.047,2449,2903,3552
$GC,4867,-0.83,-170.3,535.6,-11.7,642,4874,0.00,2.10,0.00,0.000,6,0.000,0.037,2449,1504,3551
$GC,5183,-0.70,-170.3,574.8,-12.5,658,5188,0.17,2.12,0.00,0.000,4,0.137,0.049,2507,2902,3550
$GC,5244,-0.90,-170.3,580.7,-8.8,660,5253,0.12,2.08,0.00,0.000,6,0.046,0.038,2432,1518,3550
$GC,5559,-0.73,-170.3,622.5,-13.2,676,5563,0.20,2.00,0.00,0.000,4,0.143,0.051,2497,194,3548
$GC,5603,-0.78,-170.3,627.3,-9.8,678,5607,0.00,1.95,0.00,0.000,6,0.000,0.035,2494,1521,3547
$GC,5935,-0.86,-170.3,656.6,-8.8,694,5939,0.00,2.08,0.00,0.000,4,0.000,0.051,2492,2904,3545
$GC,5963,-1.00,-170.3,659.2,-9.4,695,5967,0.20,2.08,0.00,0.000,6,0.054,0.039,2399,1503,3545
$GC,6290,-0.74,-170.3,707.2,-15.8,711,6294,0.30,1.98,0.00,0.000,4,0.143,0.053,2495,200,3543
$GC,6316,-0.74,-170.3,710.8,-11.9,712,6321,0.00,1.95,0.00,0.000,6,0.000,0.037,2493,1500,3543
$GC,6638,-0.85,-170.3,736.9,-8.1,728,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1500,3541
$GC,6947,-0.98,-170.3,761.1,-7.9,743,6949,0.20,0.00,0.00,0.000,6,0.060,0.000,2404,1502,3539
$GC,7256,-0.77,-170.3,798.7,-12.2,758,7258,0.28,0.00,0.00,0.000,6,0.145,0.000,2486,1502,3538
$GC,7566,-0.89,-170.3,823.8,-8.2,773,7570,0.00,2.12,0.00,0.000,4,0.000,0.054,2486,2899,3535
$GC,7605,-1.07,-170.3,827.0,-8.4,774,7612,0.20,2.12,0.00,0.000,6,0.044,0.043,2386,1502,3535
$GC,7920,-0.81,-170.3,870.7,-14.0,790,7922,0.30,0.00,0.00,0.000,6,0.148,0.000,2477,1502,3533
$GC,8230,-0.89,-170.3,896.8,-8.2,805,8234,0.00,2.15,0.00,0.000,4,0.000,0.057,2477,2900,3531
$GC,8277,-1.06,-170.3,900.3,-7.1,807,8282,0.22,2.10,0.00,0.000,6,0.054,0.043,2379,1503,3531
$GC,8603,-0.78,-170.3,946.2,-14.3,823,8607,0.32,2.00,0.00,0.000,4,0.150,0.058,2482,200,3530
$GC,8680,-0.84,-170.3,954.5,-9.4,826,8687,0.00,1.98,0.00,0.000,6,0.000,0.041,2481,1502,3530
$GC,8996,-0.95,-170.3,980.4,-8.0,842,9000,0.15,2.15,0.00,0.000,4,0.068,0.055,2411,2907,3528
$GC,9051,-0.87,-170.3,986.0,-10.6,844,9060,0.15,2.10,0.00,0.000,6,0.146,0.044,2453,1505,3528
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9097,begin apogee
$GC,9101,-0.20,0.0,990.7,10.0,847,9254,0.68,0.00,144.05,1.463,6,0.121,0.000,2674,1759,2863
$STATE,9254,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9256,0.90,170.3,996.4,0.0,854,9415,0.95,2.35,150.93,1.427,4,0.038,0.057,3046,3141,2167
$GC,9454,0.27,170.3,975.8,20.6,863,9460,0.77,2.25,0.00,0.000,6,0.174,0.042,2834,1754,2164
$GC,9777,0.47,223.9,948.4,7.9,879,9831,0.17,2.30,47.97,1.397,4,0.061,0.058,2921,343,1948
$GC,9906,0.33,223.9,932.0,14.3,885,9911,0.25,2.17,0.00,0.000,6,0.143,0.042,2852,1733,1945
$GC,10234,0.48,241.7,900.2,9.3,901,10256,0.12,2.22,15.70,1.323,4,0.071,0.057,2920,336,1877
$GC,10280,0.37,241.7,894.4,12.7,903,10284,0.22,2.17,0.00,0.000,6,0.143,0.042,2858,1737,1876
$GC,10608,0.49,251.1,862.4,9.6,919,10622,0.12,2.22,9.50,1.233,4,0.070,0.058,2926,341,1839
$GC,10661,0.37,251.1,855.2,13.8,921,10666,0.20,2.15,0.00,0.000,6,0.140,0.043,2864,1721,1838
$GC,10983,0.52,278.0,825.6,8.9,937,11023,0.12,0.00,27.40,1.268,6,0.070,0.000,2923,1722,1728
$GC,11331,0.43,278.0,779.9,12.7,954,11335,0.17,2.17,0.00,0.000,4,0.147,0.056,2878,341,1724
$GC,11393,0.52,278.0,773.0,10.9,957,11397,0.00,2.12,0.00,0.000,6,0.000,0.042,2878,1734,1724
$GC,11726,0.63,294.8,740.9,9.3,973,11756,0.17,2.28,17.70,1.154,4,0.058,0.058,2968,340,1660
$GC,12008,0.42,294.8,696.9,15.5,985,12015,0.28,2.08,0.00,0.000,6,0.143,0.042,2872,1687,1658
$GC,12325,0.62,336.1,670.8,8.4,1001,12369,0.20,2.25,37.42,1.270,4,0.055,0.056,2976,330,1492
$GC,12462,0.43,336.1,648.6,17.2,1007,12467,0.32,2.12,0.00,0.000,6,0.143,0.041,2882,1705,1488
$GC,12788,0.59,336.1,613.3,10.4,1023,12793,0.15,2.15,0.00,0.000,4,0.062,0.056,2962,332,1486
$GC,12896,0.47,336.1,596.6,16.3,1028,12900,0.25,2.03,0.00,0.000,6,0.140,0.042,2889,1673,1485
$GC,13221,0.62,336.1,561.3,10.5,1044,13226,0.15,2.08,0.00,0.000,4,0.061,0.055,2968,338,1485
$GC,13292,0.49,336.1,549.6,17.5,1047,13297,0.20,2.00,0.00,0.000,6,0.139,0.041,2902,1654,1485
$GC,13614,0.60,336.1,511.5,11.6,1063,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1655,1485
$GC,13929,0.73,346.5,477.7,9.6,1087,13944,0.17,2.08,9.40,1.032,4,0.058,0.055,3000,343,1450
$GC,14034,0.49,346.5,460.0,17.3,1096,14042,0.30,1.98,0.00,0.000,6,0.136,0.041,2892,1643,1448
$GC,14359,0.67,356.4,429.2,9.6,1127,14375,0.17,2.03,10.48,1.004,4,0.058,0.054,2990,339,1409
$GC,14481,0.48,356.4,408.2,18.1,1137,14488,0.32,1.92,0.00,0.000,6,0.140,0.039,2894,1630,1407
$GC,14806,0.68,356.4,375.4,10.4,1168,14810,0.17,2.00,0.00,0.000,4,0.056,0.052,2992,332,1406
$GC,14856,0.52,356.4,367.2,17.2,1172,14865,0.22,1.92,0.00,0.000,6,0.134,0.038,2906,1617,1406
$GC,15181,0.69,356.4,331.2,10.4,1203,15185,0.17,2.33,0.00,0.000,4,0.056,0.047,2997,3150,1406
$GC,15226,0.54,356.4,324.6,17.1,1207,15231,0.32,2.33,0.00,0.000,6,0.148,0.039,2913,1592,1406
$GC,15556,0.70,358.2,288.1,9.9,1247,15563,0.15,1.92,0.00,0.000,4,0.058,0.051,3000,325,1406
$GC,15669,0.54,358.2,268.7,18.2,1267,15676,0.30,1.90,0.00,0.000,6,0.137,0.043,2910,1621,1406
$GC,16015,0.74,358.2,233.0,10.2,1328,16023,0.17,1.95,0.00,0.000,4,0.135,0.049,3012,335,1406
$GC,16063,0.54,358.2,225.1,18.6,1336,16071,0.28,1.88,0.00,0.000,6,0.134,0.035,2906,1605,1406
$GC,16410,0.78,358.2,190.7,10.0,1397,16417,0.20,1.95,0.00,0.000,4,0.050,0.050,3024,338,1407
$GC,16464,0.56,358.2,182.5,16.5,1406,16471,0.28,1.85,0.00,0.000,6,0.135,0.035,2924,1596,1407
$GC,16808,0.79,375.3,144.3,9.3,1467,16836,0.17,2.40,18.08,0.807,4,0.054,0.044,3025,3152,1330
$GC,16855,0.66,375.3,138.1,15.0,1474,16862,0.28,2.38,0.00,0.000,6,0.139,0.036,2955,1558,1329
$GC,17199,0.86,375.3,104.6,10.9,1535,17206,0.17,2.42,0.00,0.000,4,0.052,0.041,3054,3163,1328
$GC,17228,0.78,375.3,100.1,15.0,1540,17237,0.25,2.35,0.00,0.000,6,0.146,0.035,2991,1566,1328
$GC,17575,0.92,375.3,54.1,11.0,1601,17582,0.12,1.85,0.00,0.000,4,0.063,0.047,3069,325,1328
$GC,17618,0.76,375.3,48.1,14.5,1608,17626,0.22,1.83,0.00,0.000,6,0.134,0.032,2979,1572,1328
$GC,17964,1.04,406.0,13.1,8.8,1669,17996,0.22,0.00,26.75,0.689,6,0.047,0.000,3097,1573,1206
$STATE,18023,end climb,SURFACE_DEPTH_REACHED
$STATE,18023,begin surface coast
$FINISH,1.2,1.022381
$STATE,18036,end surface coast,CONTROL_FINISHED_OK
$STATE,18036,begin surface
$SM_CCo,18052,15.00,0.647,0,0,1130,425.10
$SM_GC,1.61,0.00,0.00,15.00,0.000,0.000,0.647,155,1465,1130,-8.08,-0.99,425.10
$IRIDIUM_FIX,2451.31,12332.83,030998,050503
$TT8_MAMPS,0.027612
$HUMID,1489
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.30
$XPDR_PINGS,138
$24V_AH,23.4,26.978
$10V_AH,10.7,16.525
$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,34.350,141.975,515.375,15.000,0.000,23.180,49.100,218.208,42.500,0.000,0.000,16.477,3025.242,10828.404,695.934,3387.417,526.239,0.000,2200.906,0.000,3350.093,0.000,54.413,0.000
$DEVICE_MAMPS,245.440,70.564,1462.669,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.653,1155.583,1943.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97928,1681
$CAP_FILE_SIZE,193537,0
$CFSIZE,260165632,225886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.097, 58.9,1
$GPS,090609,160836,2457.606,12328.940,39,1.2,50,-3.6