version: 66.04
glider: 166
mission: 2
dive: 114
start: 6 9 109 16 20 47
data:
$ID,166
$MISSION,2
$DIVE,114
$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,-7368.1187
$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,58
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$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
$GPS1,160836,2457.606,12328.940,39,1.2,50,-3.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.5
$GPS2,162026,2457.605,12329.084,11,1.3,11,-3.6
$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,214.0,97567,-16.8,-10.000
$D_GRID,1998
$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,14,-0.90,-170.3,0.0,0.0,0,75,0.00,0.00,-58.12,0.000,2,0.000,0.000,157,1464,2441
$GC,77,-0.90,-170.3,3.3,-5.7,9,123,9.05,0.00,-32.85,0.000,6,0.236,0.000,2447,1463,3558
$GC,463,-0.35,-170.3,97.0,-22.7,76,469,0.52,0.00,0.00,0.000,6,0.138,0.000,2616,1463,3560
$GC,806,-0.65,-170.3,123.4,-7.3,137,813,0.20,2.15,0.00,0.000,4,0.054,0.041,2514,2908,3562
$GC,897,-0.65,-170.3,134.1,-12.0,153,904,0.00,2.05,0.00,0.000,6,0.000,0.034,2514,1506,3562
$GC,1241,-0.56,-170.3,178.0,-13.4,214,1248,0.15,1.98,0.00,0.000,4,0.137,0.047,2558,202,3562
$GC,1305,-0.65,-170.3,184.8,-10.2,225,1311,0.00,1.90,0.00,0.000,6,0.000,0.029,2557,1509,3562
$GC,1651,-0.80,-170.3,215.4,-9.4,286,1657,0.17,2.05,0.00,0.000,4,0.057,0.041,2466,2905,3562
$GC,1680,-0.74,-170.3,218.9,-12.5,291,1688,0.12,2.08,0.00,0.000,6,0.141,0.034,2502,1482,3562
$GC,2027,-0.67,-170.3,266.3,-13.9,352,2033,0.00,1.92,0.00,0.000,4,0.000,0.048,2502,211,3562
$GC,2073,-0.55,-170.3,273.2,-15.4,360,2080,0.12,1.88,0.00,0.000,6,0.131,0.031,2561,1497,3562
$GC,2422,-0.76,-170.3,301.4,-5.9,420,2427,0.20,2.08,0.00,0.000,4,0.054,0.043,2461,2903,3562
$GC,2455,-0.68,-170.3,304.4,-10.0,422,2463,0.15,2.08,0.00,0.000,6,0.126,0.035,2515,1500,3561
$GC,2780,-0.68,-170.3,334.6,-10.0,453,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1500,3560
$GC,3099,-0.68,-170.3,365.6,-9.9,483,3103,0.00,2.08,0.00,0.000,4,0.000,0.045,2514,2898,3559
$GC,3160,-0.83,-170.3,371.7,-8.9,488,3168,0.10,2.08,0.00,0.000,6,0.050,0.035,2451,1504,3558
$GC,3485,-0.63,-170.3,419.8,-14.9,519,3490,0.22,1.95,0.00,0.000,4,0.142,0.049,2525,200,3557
$GC,3541,-0.63,-170.3,426.3,-10.6,524,3545,0.00,1.88,0.00,0.000,6,0.000,0.031,2524,1500,3557
$GC,3872,-0.74,-170.3,455.3,-8.6,555,3876,0.00,2.05,0.00,0.000,4,0.000,0.045,2523,2894,3555
$GC,3910,-0.94,-170.3,458.6,-8.0,558,3917,0.25,2.10,0.00,0.000,6,0.049,0.037,2409,1486,3555
$GC,4233,-0.63,-170.3,510.7,-16.6,586,4237,0.38,1.92,0.00,0.000,4,0.143,0.050,2531,204,3553
$GC,4276,-0.73,-170.3,516.2,-10.9,588,4280,0.00,1.90,0.00,0.000,6,0.000,0.035,2530,1492,3553
$GC,4604,-0.91,-170.3,544.9,-8.5,604,4606,0.25,0.00,0.00,0.000,6,0.051,0.000,2419,1494,3551
$GC,4912,-0.67,-170.3,592.5,-16.2,619,4914,0.32,0.00,0.00,0.000,6,0.140,0.000,2518,1494,3550
$GC,5222,-0.83,-170.3,620.5,-8.4,634,5224,0.15,0.00,0.00,0.000,6,0.065,0.000,2447,1495,3548
$GC,5531,-0.72,-170.3,656.9,-11.5,649,5535,0.17,2.12,0.00,0.000,4,0.142,0.049,2504,2907,3546
$GC,5608,-0.91,-170.3,662.8,-6.3,652,5615,0.12,2.10,0.00,0.000,6,0.048,0.039,2430,1506,3546
$GC,5924,-0.76,-170.3,697.8,-11.8,668,5928,0.17,1.98,0.00,0.000,4,0.143,0.054,2487,202,3544
$GC,5984,-0.76,-170.3,704.4,-10.4,670,5991,0.00,1.92,0.00,0.000,6,0.000,0.035,2486,1497,3543
$GC,6300,-0.83,-170.3,736.2,-10.4,686,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1497,3542
$GC,6610,-0.92,-170.3,766.4,-9.8,701,6615,0.12,2.12,0.00,0.000,4,0.071,0.051,2423,2904,3540
$GC,6675,-0.86,-170.3,774.5,-12.0,704,6680,0.10,2.12,0.00,0.000,6,0.137,0.041,2457,1500,3539
$GC,7003,-0.86,-170.3,809.4,-10.6,720,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1500,3537
$GC,7312,-0.86,-170.3,839.0,-9.1,735,7315,0.00,2.12,0.00,0.000,4,0.000,0.054,2457,2893,3536
$GC,7403,-0.93,-170.3,846.3,-8.0,739,7406,0.00,2.08,0.00,0.000,6,0.000,0.043,2457,1509,3535
$GC,7736,-0.93,-170.3,875.0,-9.2,755,7739,0.00,2.00,0.00,0.000,4,0.000,0.058,2457,199,3533
$GC,7812,-0.93,-170.3,883.0,-10.4,758,7817,0.00,1.95,0.00,0.000,6,0.000,0.039,2452,1497,3533
$GC,8134,-0.93,-170.3,914.5,-10.0,774,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1497,3531
$GC,8445,-0.93,-170.3,945.9,-10.2,789,8449,0.00,2.00,0.00,0.000,4,0.000,0.060,2452,204,3530
$GC,8478,-0.88,-170.3,949.8,-11.4,790,8486,0.00,1.95,0.00,0.000,6,0.000,0.040,2448,1498,3529
$GC,8801,-0.88,-170.3,981.7,-9.7,806,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1499,3528
$STATE,8904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8904,begin apogee
$GC,8908,-0.20,0.0,991.6,9.4,811,9054,0.70,0.00,141.77,1.475,6,0.124,0.000,2675,1758,2863
$STATE,9054,end apogee,CONTROL_FINISHED_OK
$STATE,9054,begin climb
$GC,9056,0.90,170.3,996.3,0.0,818,9214,0.98,2.35,151.20,1.424,4,0.038,0.058,3048,3144,2167
$GC,9248,0.28,170.3,976.9,20.1,828,9254,0.82,2.25,0.00,0.000,6,0.173,0.042,2837,1748,2164
$GC,9575,0.47,214.5,947.5,8.3,844,9628,0.15,2.30,41.45,1.328,4,0.065,0.058,2915,344,1987
$GC,9684,0.38,214.5,934.3,14.0,849,9689,0.20,2.17,0.00,0.000,6,0.143,0.041,2861,1737,1984
$GC,10004,0.47,214.5,900.9,10.4,865,10008,0.00,2.20,0.00,0.000,4,0.000,0.058,2869,340,1981
$GC,10031,0.55,214.5,897.9,10.9,866,10036,0.10,2.17,0.00,0.000,6,0.058,0.041,2928,1744,1981
$GC,10357,0.41,214.5,852.7,13.8,882,10362,0.17,2.20,0.00,0.000,4,0.150,0.056,2883,338,1981
$GC,10400,0.41,214.5,847.3,11.8,884,10405,0.00,2.15,0.00,0.000,6,0.000,0.042,2884,1736,1980
$GC,10727,0.41,214.5,812.5,10.5,900,10730,0.00,2.17,0.00,0.000,4,0.000,0.057,2883,3150,1978
$GC,10759,0.41,214.5,808.7,11.8,901,10763,0.00,2.17,0.00,0.000,6,0.000,0.042,2893,1730,1978
$GC,11081,0.41,214.5,774.9,10.8,917,11084,0.00,2.15,0.00,0.000,4,0.000,0.057,2904,339,1977
$GC,11136,0.41,214.5,768.2,12.5,919,11141,0.12,2.10,0.00,0.000,6,0.153,0.042,2872,1739,1978
$GC,11451,0.50,217.9,736.9,9.9,934,11455,0.00,2.17,0.00,0.000,4,0.000,0.057,2880,335,1976
$GC,11467,0.57,219.7,735.2,9.9,934,11478,0.08,2.12,4.22,0.886,6,0.061,0.041,2932,1730,1966
$GC,11806,0.46,219.7,693.5,11.6,951,11811,0.17,2.17,0.00,0.000,4,0.149,0.054,2878,3150,1965
$GC,11840,0.51,219.7,689.7,10.4,952,11846,0.00,2.15,0.00,0.000,6,0.000,0.042,2886,1717,1964
$GC,12155,0.56,219.7,658.5,10.4,968,12160,0.10,2.12,0.00,0.000,4,0.076,0.055,2951,332,1964
$GC,12227,0.38,219.7,648.2,15.3,971,12232,0.30,2.10,0.00,0.000,6,0.142,0.042,2863,1734,1964
$GC,12549,0.56,247.4,618.4,8.9,987,12576,0.17,0.00,24.88,1.222,6,0.058,0.000,2943,1736,1854
$GC,12877,0.45,247.4,573.6,13.7,1003,12882,0.17,2.17,0.00,0.000,4,0.145,0.053,2897,338,1850
$GC,12917,0.52,247.4,568.9,11.1,1005,12920,0.00,2.10,0.00,0.000,6,0.000,0.041,2897,1726,1850
$GC,13249,0.57,247.4,536.0,10.3,1021,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1726,1849
$GC,13558,0.64,247.4,502.4,10.9,1036,13563,0.15,2.15,0.00,0.000,4,0.061,0.053,2981,328,1849
$GC,13618,0.42,247.4,493.0,16.9,1040,13625,0.30,2.10,0.00,0.000,6,0.140,0.041,2875,1713,1849
$GC,13944,0.66,300.8,462.9,7.9,1071,14001,0.20,2.25,45.83,1.106,4,0.054,0.053,2983,341,1634
$GC,14074,0.50,300.8,443.9,16.2,1082,14081,0.28,2.08,0.00,0.000,6,0.140,0.038,2904,1707,1632
$GC,14398,0.63,300.8,408.0,11.1,1113,14403,0.12,2.12,0.00,0.000,4,0.067,0.052,2975,336,1631
$GC,14443,0.49,300.8,401.4,15.1,1117,14448,0.28,2.05,0.00,0.000,6,0.138,0.038,2895,1708,1631
$GC,14768,0.68,319.8,367.7,9.3,1147,14793,0.17,2.12,16.90,0.989,4,0.057,0.051,2987,340,1558
$GC,14849,0.55,319.8,355.8,15.8,1154,14854,0.25,2.03,0.00,0.000,6,0.140,0.038,2915,1690,1556
$GC,15174,0.68,321.9,321.5,9.9,1184,15179,0.12,2.22,0.00,0.000,4,0.066,0.048,2977,3152,1555
$GC,15194,0.68,321.9,318.7,12.4,1185,15201,0.00,2.25,0.00,0.000,6,0.000,0.038,2988,1676,1554
$GC,15532,0.54,321.9,264.6,15.8,1235,15539,0.22,2.05,0.00,0.000,4,0.208,0.049,2927,327,1554
$GC,15592,0.64,321.9,257.0,10.9,1245,15598,0.00,2.00,0.00,0.000,6,0.000,0.036,2927,1685,1554
$GC,15935,0.75,321.9,216.7,11.3,1306,15942,0.15,2.05,0.00,0.000,4,0.059,0.048,3017,335,1554
$GC,15972,0.56,321.9,211.3,16.2,1312,15979,0.25,2.00,0.00,0.000,6,0.130,0.035,2923,1680,1554
$GC,16316,0.74,347.0,178.1,9.0,1373,16349,0.15,2.12,23.88,0.847,4,0.058,0.049,3011,332,1446
$GC,16368,0.59,347.0,171.4,15.2,1381,16375,0.28,2.03,0.00,0.000,6,0.133,0.035,2929,1706,1445
$GC,16713,0.83,362.5,134.2,9.4,1442,16734,0.17,0.00,13.98,0.774,6,0.053,0.000,3027,1707,1384
$GC,17073,0.72,362.5,81.5,14.3,1505,17080,0.17,2.08,0.00,0.000,4,0.140,0.046,2980,339,1382
$GC,17092,0.72,362.5,78.5,14.5,1508,17098,0.00,1.98,0.00,0.000,6,0.000,0.031,2980,1672,1382
$GC,17435,0.90,362.5,41.6,10.0,1569,17442,0.12,2.05,0.00,0.000,4,0.064,0.046,3057,343,1382
$GC,17460,0.90,362.5,38.8,12.5,1573,17466,0.05,1.98,0.00,0.000,6,0.124,0.031,3026,1687,1382
$STATE,17796,end climb,SURFACE_DEPTH_REACHED
$STATE,17796,begin surface coast
$FINISH,0.9,1.021252
$STATE,17827,end surface coast,CONTROL_FINISHED_OK
$STATE,17827,begin surface
$SM_CCo,17842,51.38,0.683,0,0,1130,425.10
$SM_GC,1.58,0.00,0.00,51.38,0.000,0.000,0.683,159,1467,1130,-8.07,-0.93,425.10
$IRIDIUM_FIX,2446.56,12329.54,030998,161614
$TT8_MAMPS,0.026845
$HUMID,1475
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.50
$XPDR_PINGS,143
$24V_AH,23.4,27.190
$10V_AH,10.7,16.686
$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,28.350,146.475,464.100,51.375,0.000,80.052,104.276,281.932,43.750,0.000,0.000,11.493,2932.491,11044.700,691.825,3221.407,699.716,0.000,2103.661,0.000,3191.438,0.000,54.424,0.000
$DEVICE_MAMPS,236.236,59.826,1474.941,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.003,1125.487,1892.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94642,1638
$CAP_FILE_SIZE,186422,0
$CFSIZE,260165632,225792000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078, 59.3,1
$GPS,090609,212007,2455.632,12328.043,31,1.2,31,-3.6