version: 66.04
glider: 166
mission: 2
dive: 117
start: 6 10 109 7 40 23
data:
$ID,166
$MISSION,2
$DIVE,117
$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,-7410.8491
$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,54
$R_STBD_OVSHOOT,49
$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
$GPS1,073336,2451.022,12325.767,34,1.5,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.2
$GPS2,074002,2450.964,12325.899,15,1.5,15,-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,196.3,84248,-16.8,-10.000
$D_GRID,1853
$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,-170.3,0.0,0.0,0,85,0.00,0.00,-67.80,0.000,2,0.000,0.000,165,1465,2454
$GC,87,-0.90,-170.3,3.3,-5.9,10,133,8.88,2.17,-29.75,0.000,4,0.225,0.051,2433,2916,3557
$GC,162,-0.10,-170.3,20.4,-32.5,22,169,0.93,2.08,0.00,0.000,6,0.161,0.031,2701,1504,3558
$GC,508,-0.50,-170.3,51.6,-6.8,83,514,0.30,2.08,0.00,0.000,4,0.040,0.035,2549,2911,3559
$GC,611,-0.35,-170.3,66.9,-17.5,101,618,0.25,2.05,0.00,0.000,6,0.133,0.031,2626,1497,3558
$GC,958,-0.52,-170.3,100.1,-9.6,162,965,0.17,2.08,0.00,0.000,4,0.058,0.036,2530,2906,3560
$GC,1000,-0.42,-170.3,105.2,-13.2,169,1007,0.20,2.03,0.00,0.000,6,0.129,0.030,2593,1521,3560
$GC,1345,-0.53,-170.3,140.1,-9.5,230,1351,0.00,1.98,0.00,0.000,4,0.000,0.042,2596,202,3561
$GC,1374,-0.67,-170.3,143.1,-9.8,235,1381,0.20,1.92,0.00,0.000,6,0.041,0.026,2497,1560,3561
$GC,1720,-0.45,-170.3,197.8,-14.5,296,1728,0.28,1.98,0.00,0.000,4,0.139,0.037,2583,2919,3562
$GC,1823,-0.76,-170.3,206.5,-7.4,314,1830,0.20,2.03,0.00,0.000,6,0.037,0.030,2472,1525,3561
$GC,2168,-0.52,-170.3,259.6,-15.1,375,2174,0.28,1.95,0.00,0.000,4,0.139,0.042,2564,202,3562
$GC,2208,-0.59,-170.3,264.8,-11.0,382,2215,0.00,1.92,0.00,0.000,6,0.000,0.028,2558,1538,3562
$GC,2554,-0.75,-170.3,293.2,-8.2,443,2561,0.17,1.98,0.00,0.000,4,0.058,0.039,2467,2893,3562
$GC,2601,-0.64,-170.3,298.7,-12.5,451,2607,0.20,1.98,0.00,0.000,6,0.136,0.031,2528,1519,3562
$GC,2932,-0.64,-170.3,331.5,-9.5,483,2936,0.00,2.03,0.00,0.000,4,0.000,0.041,2528,2892,3561
$GC,2959,-0.74,-170.3,334.0,-8.7,485,2965,0.00,1.98,0.00,0.000,6,0.000,0.031,2527,1522,3560
$GC,3285,-0.81,-170.3,365.0,-10.9,516,3289,0.15,1.95,0.00,0.000,4,0.061,0.044,2454,205,3559
$GC,3329,-0.53,-170.3,371.9,-16.7,520,3334,0.40,1.90,0.00,0.000,6,0.143,0.031,2569,1528,3559
$GC,3653,-0.81,-170.3,399.3,-7.8,550,3658,0.22,2.03,0.00,0.000,4,0.050,0.041,2455,2904,3558
$GC,3708,-0.73,-170.3,406.0,-13.1,554,3715,0.12,2.03,0.00,0.000,6,0.131,0.034,2500,1529,3557
$GC,4033,-0.73,-170.3,438.9,-9.3,585,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1529,3556
$GC,4352,-0.73,-170.3,468.0,-8.3,615,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1529,3554
$GC,4672,-0.73,-170.3,494.3,-8.2,645,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1529,3552
$GC,4981,-0.73,-170.3,520.8,-9.4,664,4985,0.00,2.00,0.00,0.000,4,0.000,0.051,2500,202,3551
$GC,5026,-0.73,-170.3,525.5,-10.4,666,5030,0.00,1.95,0.00,0.000,6,0.000,0.033,2499,1540,3550
$GC,5358,-0.73,-170.3,557.4,-9.6,682,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1540,3549
$GC,5667,-0.79,-170.3,588.9,-10.2,697,5671,0.00,2.03,0.00,0.000,4,0.000,0.051,2498,213,3546
$GC,5750,-0.79,-170.3,598.1,-10.9,700,5759,0.00,1.95,0.00,0.000,6,0.000,0.035,2497,1526,3546
$GC,6066,-0.85,-170.3,626.8,-8.6,716,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1526,3544
$GC,6377,-0.91,-170.3,653.6,-8.6,731,6382,0.15,2.08,0.00,0.000,4,0.067,0.050,2422,2905,3542
$GC,6433,-0.81,-170.3,660.4,-12.4,733,6437,0.20,2.03,0.00,0.000,6,0.139,0.039,2482,1537,3541
$GC,6754,-0.81,-170.3,691.5,-9.6,749,6758,0.00,2.03,0.00,0.000,4,0.000,0.054,2482,199,3540
$GC,6809,-0.81,-170.3,697.2,-9.8,751,6813,0.00,1.98,0.00,0.000,6,0.000,0.036,2481,1525,3540
$GC,7132,-0.86,-170.3,722.1,-6.9,767,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1525,3538
$GC,7441,-0.93,-170.3,745.0,-7.6,782,7445,0.12,2.03,0.00,0.000,4,0.073,0.053,2419,204,3536
$GC,7570,-0.69,-170.3,760.6,-13.3,787,7576,0.32,1.95,0.00,0.000,6,0.147,0.038,2510,1526,3535
$GC,7885,-0.89,-170.3,781.6,-6.5,803,7889,0.17,2.08,0.00,0.000,4,0.060,0.051,2428,2897,3533
$GC,7932,-0.84,-170.3,785.8,-9.9,805,7936,0.15,2.05,0.00,0.000,6,0.142,0.041,2472,1519,3533
$GC,8265,-0.89,-170.3,814.6,-8.4,821,8269,0.00,2.10,0.00,0.000,4,0.000,0.054,2470,2897,3532
$GC,8357,-1.02,-170.3,822.0,-8.0,825,8361,0.17,2.03,0.00,0.000,6,0.059,0.041,2390,1540,3531
$GC,8690,-0.79,-170.3,866.5,-14.1,841,8695,0.28,2.05,0.00,0.000,4,0.150,0.057,2478,203,3530
$GC,8824,-0.79,-170.3,881.4,-10.7,847,8828,0.00,2.00,0.00,0.000,6,0.000,0.039,2478,1527,3529
$GC,9150,-0.88,-170.3,914.0,-10.1,863,9154,0.00,2.05,0.00,0.000,4,0.000,0.058,2478,201,3527
$GC,9196,-0.88,-170.3,919.0,-11.9,865,9199,0.00,1.98,0.00,0.000,6,0.000,0.040,2478,1530,3526
$GC,9530,-0.97,-170.3,951.5,-9.2,881,9531,0.15,0.00,0.00,0.000,6,0.066,0.000,2409,1531,3526
$GC,9837,-0.82,-170.3,989.5,-12.3,896,9839,0.22,0.00,0.00,0.000,6,0.147,0.000,2475,1531,3524
$STATE,9856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9856,begin apogee
$GC,9861,-0.20,0.0,991.6,11.7,897,10006,0.60,0.00,141.73,1.482,6,0.118,0.000,2671,1759,2863
$STATE,10007,end apogee,CONTROL_FINISHED_OK
$STATE,10007,begin climb
$GC,10008,0.90,170.3,997.1,0.0,904,10170,0.98,2.40,151.57,1.432,4,0.041,0.058,3044,3147,2166
$GC,10231,0.30,170.3,971.8,20.9,914,10237,0.80,2.28,0.00,0.000,6,0.173,0.044,2838,1747,2163
$GC,10553,0.48,217.6,944.1,8.1,930,10609,0.17,2.35,43.95,1.341,4,0.062,0.059,2932,341,1975
$GC,10654,0.33,217.6,930.7,15.5,934,10662,0.30,2.20,0.00,0.000,6,0.144,0.041,2848,1748,1973
$GC,10969,0.47,223.7,899.2,9.8,950,10981,0.12,2.25,6.25,1.095,4,0.071,0.058,2915,333,1950
$GC,11042,0.39,223.7,889.3,14.5,953,11046,0.17,2.15,0.00,0.000,6,0.144,0.042,2867,1734,1949
$GC,11364,0.47,223.7,854.3,10.4,969,11367,0.00,2.20,0.00,0.000,4,0.000,0.058,2875,330,1947
$GC,11396,0.52,223.7,850.4,11.9,970,11400,0.00,2.17,0.00,0.000,6,0.000,0.042,2875,1737,1947
$GC,11718,0.58,223.7,817.2,10.0,986,11722,0.15,2.20,0.00,0.000,4,0.063,0.058,2956,330,1945
$GC,11766,0.35,223.7,810.2,15.7,988,11772,0.32,2.15,0.00,0.000,6,0.144,0.044,2854,1727,1945
$GC,12087,0.54,273.7,783.1,8.0,1004,12139,0.17,2.30,44.58,1.352,4,0.059,0.057,2940,3151,1745
$GC,12178,0.43,273.7,770.5,14.2,1008,12183,0.20,2.28,0.00,0.000,6,0.134,0.043,2879,1719,1742
$GC,12505,0.53,273.7,734.7,10.9,1024,12508,0.00,2.17,0.00,0.000,4,0.000,0.058,2887,334,1739
$GC,12610,0.61,273.7,721.8,12.1,1028,12619,0.10,2.10,0.00,0.000,6,0.054,0.042,2945,1698,1739
$GC,12926,0.50,273.7,672.7,14.9,1044,12930,0.17,2.12,0.00,0.000,4,0.146,0.056,2899,337,1739
$GC,12969,0.56,273.7,667.2,11.3,1046,12973,0.00,2.08,0.00,0.000,6,0.000,0.043,2899,1689,1739
$GC,13295,0.61,273.7,629.8,11.2,1062,13297,0.10,0.00,0.00,0.000,6,0.076,0.000,2954,1690,1737
$GC,13606,0.46,273.7,584.2,14.3,1077,13608,0.22,0.00,0.00,0.000,6,0.143,0.000,2889,1691,1737
$GC,13914,0.57,273.7,553.8,10.2,1092,13919,0.10,2.10,0.00,0.000,4,0.076,0.055,2953,333,1737
$GC,14076,0.47,273.7,530.7,14.6,1099,14081,0.22,2.05,0.00,0.000,6,0.138,0.042,2888,1707,1736
$GC,14392,0.58,273.7,497.1,11.0,1115,14394,0.12,0.00,0.00,0.000,6,0.065,0.000,2952,1708,1737
$GC,14712,0.49,273.7,450.7,14.2,1145,14717,0.20,2.20,0.00,0.000,4,0.138,0.051,2888,3153,1736
$GC,14738,0.56,273.7,447.2,11.6,1147,14745,0.00,2.25,0.00,0.000,6,0.000,0.040,2897,1670,1735
$GC,15064,0.68,273.7,414.3,11.7,1178,15069,0.17,2.05,0.00,0.000,4,0.054,0.054,3001,329,1736
$GC,15132,0.43,273.7,402.4,18.7,1184,15136,0.40,2.00,0.00,0.000,6,0.142,0.039,2881,1687,1735
$GC,15456,0.64,284.2,369.0,9.6,1214,15472,0.17,2.12,8.95,0.940,4,0.055,0.052,2984,332,1704
$GC,15500,0.44,284.2,362.8,16.4,1218,15505,0.35,2.00,0.00,0.000,6,0.136,0.038,2879,1683,1704
$GC,15824,0.72,322.1,332.1,8.5,1248,15865,0.25,0.00,33.62,0.996,6,0.047,0.000,2994,1685,1548
$GC,16191,0.56,322.1,273.4,18.3,1295,16198,0.22,2.08,0.00,0.000,4,0.140,0.053,2933,338,1545
$GC,16272,0.64,322.1,261.9,13.5,1309,16278,0.00,1.98,0.00,0.000,6,0.000,0.037,2934,1669,1544
$GC,16615,0.73,322.1,220.3,10.2,1370,16622,0.12,2.08,0.00,0.000,4,0.065,0.049,3016,337,1544
$GC,16657,0.54,322.1,214.2,16.3,1377,16663,0.35,1.95,0.00,0.000,6,0.133,0.035,2911,1669,1543
$GC,17002,0.80,330.8,182.9,9.7,1438,17016,0.20,2.10,8.52,0.769,4,0.050,0.048,3032,328,1513
$GC,17069,0.55,330.8,173.0,16.9,1449,17076,0.32,1.98,0.00,0.000,6,0.128,0.034,2915,1659,1513
$GC,17413,1.01,420.4,146.1,6.5,1510,17497,0.35,2.08,76.18,0.823,4,0.039,0.045,3092,336,1148
$GC,17520,0.72,420.4,128.9,18.1,1527,17527,0.40,2.03,0.00,0.000,6,0.137,0.032,2973,1689,1145
$GC,17866,0.97,420.4,91.7,10.8,1588,17874,0.20,2.08,0.00,0.000,4,0.048,0.046,3089,330,1142
$GC,17909,0.80,420.4,84.9,16.5,1595,17916,0.28,2.00,0.00,0.000,6,0.127,0.031,2997,1677,1142
$GC,18254,1.22,535.2,54.3,5.5,1656,18355,0.30,0.00,95.30,0.726,6,0.042,0.000,3152,1680,679
$STATE,18518,end climb,SURFACE_DEPTH_REACHED
$STATE,18518,begin surface coast
$FINISH,1.0,1.018182
$STATE,18529,end surface coast,CONTROL_FINISHED_OK
$STATE,18529,begin surface
$SM_CCo,18605,0.00,0.000,0,0,674,536.96
$SM_GC,1.68,8.05,0.00,0.00,0.041,0.000,0.000,165,1470,674,-8.02,-0.85,536.96
$IRIDIUM_FIX,2444.18,12328.23,040998,020211
$TT8_MAMPS,0.026845
$HUMID,1463
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.70
$XPDR_PINGS,110
$24V_AH,23.4,27.864
$10V_AH,10.7,17.162
$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,32.300,149.550,610.650,0.000,0.000,25.539,36.111,207.178,35.500,0.000,0.000,15.610,3044.494,11294.389,713.668,3404.738,520.001,0.000,2254.881,0.000,3375.344,0.000,55.478,0.000
$DEVICE_MAMPS,224.731,59.059,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1156.960,1178.994,1977.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97717,1703
$CAP_FILE_SIZE,193585,0
$CFSIZE,260165632,225501184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,324.7,1
$GPS,100609,125137,2449.214,12324.162,36,1.2,36,-3.6