version: 66.04
glider: 166
mission: 2
dive: 119
start: 6 10 109 18 26 34
data:
$ID,166
$MISSION,2
$DIVE,119
$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,-7457.2124
$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,51
$R_STBD_OVSHOOT,48
$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
$GPS1,181037,2447.342,12323.728,32,1.1,32,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.2
$GPS2,182613,2447.201,12323.846,15,1.2,32,-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,175.7,76610,-16.8,-10.000
$D_GRID,1782
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.90,-170.3,0.0,0.0,0,81,0.00,0.00,-64.07,0.000,2,0.000,0.000,160,1476,2362
$GC,83,-0.90,-170.3,3.1,-5.6,10,136,9.10,2.17,-35.15,0.000,4,0.235,0.051,2425,2900,3560
$GC,216,-0.13,-170.3,36.8,-34.6,32,224,0.85,2.08,0.00,0.000,6,0.159,0.031,2694,1505,3560
$GC,562,-0.55,-170.3,67.3,-5.1,93,569,0.32,2.08,0.00,0.000,4,0.038,0.036,2536,2911,3561
$GC,592,-0.55,-170.3,70.4,-11.9,98,598,0.00,2.03,0.00,0.000,6,0.000,0.031,2541,1508,3561
$GC,935,-0.36,-170.3,135.3,-16.9,159,942,0.25,1.95,0.00,0.000,4,0.133,0.042,2617,210,3562
$GC,1099,-0.56,-170.3,152.0,-9.8,188,1108,0.15,1.85,0.00,0.000,6,0.045,0.028,2534,1505,3562
$GC,1446,-0.48,-170.3,197.2,-11.3,249,1452,0.17,2.03,0.00,0.000,4,0.133,0.039,2584,2892,3563
$GC,1516,-0.81,-170.3,202.6,-6.9,261,1523,0.30,2.05,0.00,0.000,6,0.041,0.031,2442,1469,3563
$GC,1860,-0.46,-170.3,267.4,-19.8,322,1866,0.43,0.00,0.00,0.000,6,0.140,0.000,2582,1469,3563
$GC,2203,-0.71,-170.3,294.2,-5.9,383,2210,0.17,2.10,0.00,0.000,4,0.057,0.040,2483,2887,3563
$GC,2243,-0.71,-170.3,298.0,-10.3,390,2250,0.00,2.03,0.00,0.000,6,0.000,0.034,2484,1490,3562
$GC,2575,-0.58,-170.3,338.9,-12.4,423,2580,0.20,1.92,0.00,0.000,4,0.134,0.046,2548,197,3561
$GC,2624,-0.69,-170.3,343.9,-9.4,427,2631,0.00,1.83,0.00,0.000,6,0.000,0.029,2547,1477,3560
$GC,2949,-0.86,-170.3,368.9,-7.5,458,2954,0.20,2.10,0.00,0.000,4,0.054,0.041,2444,2900,3559
$GC,3012,-0.70,-170.3,375.6,-11.9,463,3017,0.22,2.08,0.00,0.000,6,0.137,0.034,2513,1480,3559
$GC,3338,-0.70,-170.3,407.3,-9.9,493,3342,0.00,2.12,0.00,0.000,4,0.000,0.043,2511,2899,3557
$GC,3367,-0.79,-170.3,410.0,-9.6,495,3373,0.00,2.05,0.00,0.000,6,0.000,0.034,2511,1495,3556
$GC,3692,-0.85,-170.3,438.6,-9.3,526,3696,0.12,1.92,0.00,0.000,4,0.067,0.048,2448,207,3555
$GC,3727,-0.62,-170.3,442.9,-13.6,529,3732,0.30,1.85,0.00,0.000,6,0.141,0.031,2535,1492,3554
$GC,4057,-0.79,-170.3,467.6,-7.0,560,4062,0.15,2.10,0.00,0.000,4,0.061,0.044,2456,2908,3552
$GC,4100,-0.74,-170.3,472.0,-10.3,563,4107,0.10,2.10,0.00,0.000,6,0.135,0.036,2492,1494,3552
$GC,4435,-0.74,-170.3,505.0,-10.2,593,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1494,3550
$GC,4744,-0.74,-170.3,535.9,-9.9,608,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1494,3548
$GC,5053,-0.74,-170.3,565.1,-8.9,623,5057,0.00,2.12,0.00,0.000,4,0.000,0.049,2492,2896,3546
$GC,5092,-0.85,-170.3,568.5,-8.9,624,5100,0.00,2.08,0.00,0.000,6,0.000,0.038,2492,1513,3545
$GC,5407,-0.90,-170.3,599.6,-10.3,640,5415,0.12,1.98,0.00,0.000,4,0.068,0.051,2431,204,3543
$GC,5443,-0.68,-170.3,604.6,-14.1,641,5448,0.28,1.92,0.00,0.000,6,0.134,0.035,2518,1497,3543
$GC,5766,-0.84,-170.3,629.0,-6.1,657,5771,0.15,2.10,0.00,0.000,4,0.063,0.048,2439,2899,3541
$GC,5839,-0.84,-170.3,635.5,-9.3,660,5843,0.10,2.08,0.00,0.000,6,0.146,0.039,2466,1496,3540
$GC,6159,-0.84,-170.3,661.6,-8.1,676,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1496,3539
$GC,6468,-0.84,-170.3,691.1,-10.1,691,6472,0.00,1.98,0.00,0.000,4,0.000,0.054,2466,195,3536
$GC,6517,-0.76,-170.3,696.8,-10.9,693,6522,0.00,1.95,0.00,0.000,6,0.000,0.036,2465,1500,3535
$GC,6845,-0.76,-170.3,725.0,-8.4,709,6850,0.00,2.12,0.00,0.000,4,0.000,0.051,2466,2909,3533
$GC,6928,-0.85,-170.3,732.3,-8.8,712,6936,0.00,2.10,0.00,0.000,6,0.000,0.041,2466,1519,3533
$GC,7243,-0.85,-170.3,763.0,-9.7,728,7247,0.00,2.00,0.00,0.000,4,0.000,0.056,2466,203,3531
$GC,7411,-0.85,-170.3,781.2,-11.0,735,7414,0.00,1.92,0.00,0.000,6,0.000,0.039,2466,1503,3531
$GC,7732,-0.85,-170.3,811.8,-9.2,751,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1503,3528
$GC,8041,-0.85,-170.3,839.6,-8.6,766,8044,0.00,2.12,0.00,0.000,4,0.000,0.054,2467,2900,3527
$GC,8113,-0.96,-170.3,845.4,-7.6,769,8117,0.10,2.12,0.00,0.000,6,0.075,0.044,2416,1481,3527
$GC,8441,-0.81,-170.3,881.5,-11.3,785,8445,0.17,1.98,0.00,0.000,4,0.146,0.058,2473,198,3525
$GC,8517,-0.81,-170.3,889.8,-9.4,788,8522,0.00,1.95,0.00,0.000,6,0.000,0.041,2469,1485,3524
$GC,8839,-0.81,-170.3,918.5,-8.8,804,8842,0.00,2.17,0.00,0.000,4,0.000,0.056,2466,2908,3523
$GC,8911,-0.93,-170.3,924.6,-8.9,807,8915,0.00,2.12,0.00,0.000,6,0.000,0.044,2467,1497,3522
$GC,9239,-0.98,-170.3,954.2,-9.2,823,9243,0.12,2.00,0.00,0.000,4,0.070,0.058,2408,200,3521
$GC,9277,-0.73,-170.3,959.0,-13.3,824,9285,0.30,1.98,0.00,0.000,6,0.144,0.040,2497,1503,3520
$GC,9593,-0.90,-170.3,983.3,-7.4,840,9597,0.15,2.15,0.00,0.000,4,0.067,0.055,2427,2904,3519
$GC,9635,-0.90,-170.3,987.6,-10.0,842,9640,0.00,2.15,0.00,0.000,6,0.000,0.044,2428,1500,3519
$STATE,9672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9672,begin apogee
$GC,9677,-0.20,0.0,991.5,11.0,844,9820,0.75,0.00,140.55,1.494,6,0.129,0.000,2667,1754,2863
$STATE,9821,end apogee,CONTROL_FINISHED_OK
$STATE,9821,begin climb
$GC,9823,0.90,170.3,996.6,0.0,851,9983,0.98,2.40,151.62,1.439,4,0.041,0.058,3042,3140,2167
$GC,10035,0.32,170.3,974.3,18.9,860,10044,0.75,2.22,0.00,0.000,6,0.171,0.043,2850,1751,2163
$GC,10351,0.44,203.6,945.4,8.7,876,10395,0.00,2.30,31.83,1.313,4,0.000,0.060,2858,347,2032
$GC,10490,0.52,203.6,932.0,10.1,882,10495,0.15,2.12,0.00,0.000,6,0.067,0.042,2927,1728,2029
$GC,10816,0.37,203.6,887.7,13.8,898,10820,0.20,2.22,0.00,0.000,4,0.146,0.055,2865,3156,2026
$GC,10882,0.42,203.6,880.0,11.6,901,10886,0.00,2.17,0.00,0.000,6,0.000,0.044,2872,1729,2026
$GC,11209,0.42,203.6,843.2,11.5,917,11212,0.00,2.15,0.00,0.000,4,0.000,0.058,2883,345,2025
$GC,11336,0.42,203.6,827.6,12.1,922,11343,0.00,2.12,0.00,0.000,6,0.000,0.043,2883,1724,2025
$GC,11652,0.42,203.6,793.5,10.3,938,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1725,2024
$GC,11962,0.42,203.6,762.2,10.1,953,11966,0.00,2.15,0.00,0.000,4,0.000,0.058,2893,344,2023
$GC,12039,0.42,203.6,753.7,10.5,956,12043,0.00,2.10,0.00,0.000,6,0.000,0.042,2893,1717,2023
$GC,12360,0.42,203.6,719.3,10.6,972,12364,0.00,2.15,0.00,0.000,4,0.000,0.058,2903,336,2022
$GC,12398,0.37,203.6,715.3,10.4,973,12405,0.12,2.12,0.00,0.000,6,0.143,0.043,2863,1729,2022
$GC,12715,0.53,253.2,689.4,8.0,989,12760,0.15,0.00,42.33,1.302,6,0.063,0.000,2936,1729,1830
$GC,13063,0.43,253.2,642.5,14.4,1006,13068,0.20,2.17,0.00,0.000,4,0.143,0.054,2883,345,1823
$GC,13112,0.55,253.2,636.4,10.7,1008,13116,0.00,2.12,0.00,0.000,6,0.000,0.041,2883,1722,1823
$GC,13434,0.65,270.2,605.7,9.3,1024,13455,0.17,0.00,14.88,1.190,6,0.058,0.000,2965,1723,1762
$GC,13762,0.46,270.2,557.1,16.0,1040,13764,0.25,0.00,0.00,0.000,6,0.144,0.000,2893,1724,1759
$GC,14072,0.56,270.2,520.6,12.3,1055,14076,0.00,2.12,0.00,0.000,4,0.000,0.055,2901,343,1758
$GC,14110,0.64,270.2,515.6,12.7,1056,14119,0.10,2.12,0.00,0.000,6,0.054,0.041,2957,1733,1758
$GC,14433,0.51,270.2,464.8,14.9,1082,14435,0.20,0.00,0.00,0.000,6,0.142,0.000,2900,1735,1758
$GC,14751,0.60,272.7,431.4,9.9,1112,14756,0.10,2.15,0.00,0.000,4,0.075,0.054,2965,330,1758
$GC,14828,0.48,272.7,421.1,13.7,1118,14836,0.20,2.12,0.00,0.000,6,0.135,0.040,2900,1734,1758
$GC,15154,0.59,272.7,388.0,10.2,1149,15158,0.00,2.12,0.00,0.000,4,0.000,0.053,2908,341,1758
$GC,15237,0.69,272.7,378.1,12.0,1156,15245,0.12,2.08,0.00,0.000,6,0.050,0.038,2977,1720,1758
$GC,15561,0.55,272.7,331.4,13.6,1187,15566,0.20,2.17,0.00,0.000,4,0.143,0.048,2913,3160,1758
$GC,15605,0.67,298.0,326.6,9.0,1190,15636,0.10,2.20,24.70,0.991,6,0.072,0.039,2981,1678,1647
$GC,15958,0.55,298.0,280.5,14.0,1235,15965,0.20,2.05,0.00,0.000,4,0.140,0.049,2926,338,1644
$GC,16027,0.65,298.0,272.4,10.9,1247,16033,0.00,2.05,0.00,0.000,6,0.000,0.038,2927,1718,1644
$GC,16371,0.76,310.2,237.1,9.5,1308,16391,0.15,2.15,11.65,0.855,4,0.059,0.050,3019,345,1598
$GC,16448,0.55,310.2,224.8,19.4,1321,16455,0.35,2.03,0.00,0.000,6,0.137,0.036,2916,1714,1597
$GC,16791,0.83,368.2,191.0,7.7,1382,16844,0.22,0.00,49.15,0.866,6,0.048,0.000,3034,1715,1362
$GC,17183,0.69,368.2,140.5,11.4,1450,17190,0.22,2.12,0.00,0.000,4,0.136,0.046,2972,330,1355
$GC,17250,0.87,387.2,133.8,9.2,1461,17276,0.12,2.03,17.10,0.780,6,0.064,0.033,3041,1714,1282
$GC,17617,0.87,387.2,86.7,13.0,1525,17623,0.00,2.10,0.00,0.000,4,0.000,0.046,3054,327,1280
$GC,17686,0.80,387.2,77.0,12.5,1537,17693,0.20,2.00,0.00,0.000,6,0.131,0.032,2995,1684,1280
$GC,18031,1.14,433.7,45.2,8.2,1598,18078,0.25,2.15,39.38,0.716,4,0.044,0.044,3138,329,1094
$GC,18118,0.90,433.7,30.2,19.9,1612,18126,0.35,2.00,0.00,0.000,6,0.133,0.030,3032,1675,1092
$STATE,18372,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,1.0,1.008738
$STATE,18406,end surface coast,CONTROL_FINISHED_OK
$STATE,18406,begin surface
$SM_CCo,18482,0.00,0.000,0,0,1088,435.41
$SM_GC,1.73,7.55,0.00,0.00,0.036,0.000,0.000,161,1475,1088,-8.01,-0.71,435.41
$IRIDIUM_FIX,2437.06,12325.61,040998,181818
$TT8_MAMPS,0.026845
$HUMID,1461
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,114
$24V_AH,23.4,28.317
$10V_AH,10.7,17.494
$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,28.925,154.500,523.175,0.000,0.000,100.191,130.518,369.600,36.500,0.000,0.000,32.237,2970.210,11518.018,681.489,3370.218,862.457,0.000,2180.301,0.000,3317.349,0.000,54.433,0.000
$DEVICE_MAMPS,235.469,59.826,1494.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.545,1132.780,1905.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94916,1663
$CAP_FILE_SIZE,194074,0
$CFSIZE,260165632,225304576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,314.9,1
$GPS,100609,233537,2445.568,12322.941,28,1.4,28,-3.6