version: 66.04
glider: 166
mission: 2
dive: 121
start: 6 11 109 4 55 53
data:
$ID,166
$MISSION,2
$DIVE,121
$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,-7504.624
$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
$GPS1,044907,2444.369,12322.899,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.1
$GPS2,045532,2444.334,12322.950,15,1.1,15,-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,176.0,71090,-16.8,-10.000
$D_GRID,1593
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-54.65,0.000,2,0.000,0.000,127,1475,2377
$GC,73,-0.90,-170.3,3.4,-6.7,9,120,8.93,1.98,-32.40,0.000,4,0.225,0.058,2441,204,3558
$GC,375,-0.11,-170.3,98.4,-34.6,61,382,0.80,1.92,0.00,0.000,6,0.147,0.028,2696,1518,3560
$GC,719,-0.98,-170.3,123.3,-8.8,122,727,0.73,1.95,0.00,0.000,4,0.070,0.044,2426,208,3562
$GC,870,-0.37,-170.3,157.3,-27.0,148,877,0.55,1.90,0.00,0.000,6,0.137,0.032,2613,1500,3562
$GC,1215,-0.71,-170.3,187.0,-6.7,209,1222,0.25,2.05,0.00,0.000,4,0.046,0.039,2488,2900,3563
$GC,1318,-0.60,-170.3,198.3,-11.0,227,1326,0.17,2.03,0.00,0.000,6,0.136,0.031,2544,1522,3563
$GC,1662,-0.60,-170.3,236.5,-12.2,288,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1522,3563
$GC,2006,-0.67,-170.3,270.2,-8.8,349,2012,0.00,1.98,0.00,0.000,4,0.000,0.047,2543,197,3563
$GC,2040,-0.67,-170.3,273.6,-10.1,355,2047,0.00,1.90,0.00,0.000,6,0.000,0.029,2536,1523,3563
$GC,2380,-0.76,-170.3,307.0,-10.8,410,2382,0.12,0.00,0.00,0.000,6,0.071,0.000,2474,1525,3563
$GC,2699,-0.60,-170.3,352.3,-13.4,440,2701,0.22,0.00,0.00,0.000,6,0.138,0.000,2543,1525,3562
$GC,3019,-0.77,-170.3,379.0,-7.3,470,3023,0.15,2.05,0.00,0.000,4,0.063,0.044,2469,2902,3560
$GC,3045,-0.77,-170.3,381.6,-9.8,472,3052,0.00,2.08,0.00,0.000,6,0.000,0.034,2469,1513,3560
$GC,3371,-0.65,-170.3,424.7,-13.2,503,3373,0.20,0.00,0.00,0.000,6,0.134,0.000,2531,1513,3560
$GC,3689,-0.81,-170.3,453.0,-7.3,533,3694,0.15,2.10,0.00,0.000,4,0.064,0.045,2455,2903,3557
$GC,3717,-0.81,-170.3,455.4,-9.8,535,3721,0.00,2.05,0.00,0.000,6,0.000,0.035,2456,1508,3557
$GC,4048,-0.67,-170.3,495.5,-13.2,566,4052,0.20,1.98,0.00,0.000,4,0.134,0.050,2523,198,3556
$GC,4109,-0.76,-170.3,502.4,-10.3,570,4116,0.00,1.92,0.00,0.000,6,0.000,0.035,2522,1501,3555
$GC,4425,-0.92,-170.3,532.5,-9.1,586,4429,0.17,2.10,0.00,0.000,4,0.058,0.051,2427,2903,3553
$GC,4451,-0.85,-170.3,535.6,-12.6,587,4456,0.10,2.10,0.00,0.000,6,0.135,0.038,2461,1505,3553
$GC,4774,-0.77,-170.3,573.8,-11.4,603,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1505,3551
$GC,5081,-0.71,-170.3,608.9,-11.5,618,5086,0.15,2.12,0.00,0.000,4,0.141,0.049,2506,2900,3549
$GC,5108,-0.82,-170.3,611.5,-9.8,619,5112,0.00,2.05,0.00,0.000,6,0.000,0.038,2506,1519,3550
$GC,5430,-0.96,-170.3,639.3,-8.9,635,5434,0.17,2.00,0.00,0.000,4,0.058,0.052,2415,201,3547
$GC,5490,-0.68,-170.3,647.9,-15.0,637,5497,0.30,1.95,0.00,0.000,6,0.137,0.044,2522,1505,3547
$GC,5806,-0.90,-170.3,667.1,-5.4,653,5808,0.20,0.00,0.00,0.000,6,0.055,0.000,2429,1508,3544
$GC,6115,-0.77,-170.3,703.2,-11.7,668,6119,0.17,2.00,0.00,0.000,4,0.142,0.053,2486,202,3542
$GC,6186,-0.77,-170.3,711.1,-11.3,671,6190,0.00,1.95,0.00,0.000,6,0.000,0.037,2483,1505,3542
$GC,6514,-0.85,-170.3,742.0,-9.4,687,6518,0.00,2.12,0.00,0.000,4,0.000,0.052,2483,2910,3540
$GC,6554,-1.01,-170.3,745.7,-9.3,688,6561,0.20,2.10,0.00,0.000,6,0.054,0.041,2390,1494,3539
$GC,6870,-0.74,-170.3,792.3,-14.5,704,6874,0.32,1.98,0.00,0.000,4,0.146,0.055,2494,200,3537
$GC,6913,-0.83,-170.3,797.6,-10.2,706,6917,0.00,1.95,0.00,0.000,6,0.000,0.038,2495,1500,3537
$GC,7240,-0.96,-170.3,822.8,-6.7,722,7245,0.17,2.12,0.00,0.000,4,0.061,0.053,2413,2898,3534
$GC,7294,-0.87,-170.3,828.2,-11.1,724,7302,0.12,2.10,0.00,0.000,6,0.135,0.043,2457,1516,3534
$GC,7610,-0.87,-170.3,855.2,-8.6,740,7614,0.00,2.03,0.00,0.000,4,0.000,0.058,2456,195,3532
$GC,7672,-0.82,-170.3,861.1,-9.6,742,7678,0.00,1.98,0.00,0.000,6,0.000,0.041,2454,1499,3532
$GC,7986,-0.82,-170.3,889.4,-9.1,758,7990,0.00,2.15,0.00,0.000,4,0.000,0.055,2458,2908,3531
$GC,8100,-0.88,-170.3,898.9,-8.1,763,8104,0.00,2.10,0.00,0.000,6,0.000,0.044,2459,1515,3530
$GC,8431,-0.88,-170.3,929.4,-8.9,779,8435,0.00,2.03,0.00,0.000,4,0.000,0.059,2459,197,3528
$GC,8492,-0.83,-170.3,935.7,-10.5,781,8498,0.00,2.00,0.00,0.000,6,0.000,0.041,2458,1515,3528
$GC,8810,-0.83,-170.3,962.1,-7.9,797,8813,0.00,2.12,0.00,0.000,4,0.000,0.058,2454,2898,3527
$GC,8859,-0.91,-170.3,965.8,-6.7,799,8863,0.00,2.10,0.00,0.000,6,0.000,0.045,2454,1506,3527
$STATE,9186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9186,begin apogee
$GC,9191,-0.20,0.0,990.3,8.0,815,9336,0.68,0.00,141.80,1.490,6,0.121,0.000,2673,1754,2863
$STATE,9337,end apogee,CONTROL_FINISHED_OK
$STATE,9337,begin climb
$GC,9338,0.90,170.3,993.6,0.0,822,9498,0.95,2.40,151.35,1.435,4,0.038,0.058,3044,3154,2167
$GC,9542,0.30,170.3,969.4,21.5,831,9551,0.73,2.30,0.00,0.000,6,0.164,0.044,2842,1755,2164
$GC,9859,0.42,189.0,938.1,9.3,847,9890,0.10,2.35,19.27,1.221,4,0.080,0.059,2898,333,2091
$GC,9942,0.33,189.0,928.2,13.2,850,9949,0.20,2.20,0.00,0.000,6,0.144,0.042,2844,1751,2089
$GC,10257,0.47,208.8,898.2,9.2,866,10281,0.15,2.33,18.48,1.350,4,0.064,0.059,2927,338,2011
$GC,10309,0.30,208.8,891.6,13.3,868,10314,0.30,2.17,0.00,0.000,6,0.142,0.042,2841,1734,2009
$GC,10630,0.52,253.4,863.8,8.2,884,10676,0.20,2.30,40.33,1.384,4,0.055,0.056,2931,3152,1828
$GC,10703,0.36,253.4,854.0,15.3,887,10712,0.30,2.28,0.00,0.000,6,0.146,0.044,2859,1728,1824
$GC,11020,0.49,253.4,821.9,10.2,903,11024,0.12,2.20,0.00,0.000,4,0.068,0.058,2930,330,1821
$GC,11091,0.38,253.4,811.1,16.1,906,11096,0.20,2.15,0.00,0.000,6,0.136,0.043,2867,1718,1821
$GC,11412,0.49,253.4,775.3,10.7,922,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1720,1820
$GC,11722,0.61,253.4,743.4,10.1,937,11726,0.17,2.15,0.00,0.000,4,0.058,0.058,2964,342,1819
$GC,11771,0.37,253.4,735.6,18.1,939,11775,0.30,2.10,0.00,0.000,6,0.140,0.044,2856,1714,1819
$GC,12092,0.57,276.7,704.1,9.1,955,12119,0.17,2.22,20.20,1.282,4,0.058,0.058,2954,340,1735
$GC,12152,0.39,276.7,695.6,14.7,957,12159,0.25,2.10,0.00,0.000,6,0.137,0.043,2866,1694,1732
$GC,12468,0.57,284.5,663.7,9.7,973,12483,0.17,2.17,8.05,1.127,4,0.057,0.058,2962,342,1703
$GC,12521,0.39,284.5,655.7,16.7,975,12526,0.30,2.10,0.00,0.000,6,0.137,0.044,2867,1695,1702
$GC,12844,0.64,337.6,625.7,7.9,991,12895,0.17,0.00,48.60,1.249,6,0.058,0.000,2954,1696,1486
$GC,13194,0.50,337.6,575.7,15.6,1008,13196,0.20,0.00,0.00,0.000,6,0.144,0.000,2899,1697,1478
$GC,13503,0.61,337.6,539.4,11.8,1023,13508,0.12,2.12,0.00,0.000,4,0.067,0.056,2969,338,1478
$GC,13580,0.47,337.6,526.6,17.0,1026,13588,0.22,2.10,0.00,0.000,6,0.136,0.041,2896,1708,1477
$GC,13900,0.60,337.6,486.2,12.7,1047,13905,0.12,2.12,0.00,0.000,4,0.067,0.053,2966,330,1476
$GC,14001,0.48,337.6,468.8,16.5,1056,14006,0.25,2.03,0.00,0.000,6,0.137,0.041,2892,1685,1476
$GC,14325,0.66,337.6,431.0,10.5,1086,14327,0.17,0.00,0.00,0.000,6,0.056,0.000,2973,1687,1476
$GC,14645,0.52,337.6,379.1,16.9,1116,14650,0.20,2.08,0.00,0.000,4,0.146,0.051,2919,327,1476
$GC,14667,0.52,337.6,375.5,15.1,1118,14671,0.00,2.00,0.00,0.000,6,0.000,0.039,2919,1677,1476
$GC,14998,0.62,337.6,339.0,10.9,1149,15002,0.00,2.05,0.00,0.000,4,0.000,0.054,2929,339,1476
$GC,15044,0.70,337.6,334.0,10.9,1153,15048,0.10,1.95,0.00,0.000,6,0.083,0.038,2977,1667,1476
$GC,15373,0.59,337.6,287.4,14.7,1191,15380,0.17,2.03,0.00,0.000,4,0.144,0.051,2932,339,1476
$GC,15426,0.70,337.6,280.9,12.0,1200,15433,0.00,1.95,0.00,0.000,6,0.000,0.037,2932,1649,1476
$GC,15772,0.82,337.6,242.4,11.1,1261,15779,0.17,1.98,0.00,0.000,4,0.055,0.050,3043,338,1476
$GC,15813,0.51,337.6,235.6,19.5,1268,15820,0.38,1.92,0.00,0.000,6,0.139,0.035,2907,1642,1476
$GC,16159,0.89,418.5,204.8,6.8,1329,16234,0.28,0.00,68.15,0.881,6,0.044,0.000,3047,1643,1155
$GC,16573,0.73,418.5,130.0,16.9,1401,16580,0.20,2.33,0.00,0.000,4,0.141,0.042,2984,3163,1149
$GC,16604,0.73,418.5,124.6,16.4,1406,16610,0.00,2.33,0.00,0.000,6,0.000,0.035,2992,1607,1149
$GC,16947,0.94,418.5,81.9,12.2,1467,16955,0.12,1.92,0.00,0.000,4,0.062,0.047,3075,332,1149
$GC,16979,0.94,418.5,77.3,15.3,1472,16986,0.10,1.92,0.00,0.000,6,0.139,0.031,3043,1643,1148
$GC,17325,1.02,418.5,39.5,10.5,1533,17331,0.00,2.00,0.00,0.000,4,0.000,0.046,3051,340,1148
$GC,17366,1.14,439.5,35.2,9.2,1540,17393,0.10,1.90,18.15,0.693,6,0.054,0.030,3121,1645,1071
$STATE,17582,end climb,SURFACE_DEPTH_REACHED
$STATE,17582,begin surface coast
$FINISH,0.9,1.001489
$STATE,17602,end surface coast,CONTROL_FINISHED_OK
$STATE,17602,begin surface
$SM_CCo,17678,0.00,0.000,0,0,1066,440.56
$SM_GC,1.84,7.85,0.00,0.00,0.042,0.000,0.000,151,1477,1066,-8.03,-0.65,440.56
$IRIDIUM_FIX,2434.69,12324.30,040998,232312
$TT8_MAMPS,0.026845
$HUMID,1461
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.00
$XPDR_PINGS,109
$24V_AH,23.3,28.746
$10V_AH,10.7,17.807
$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,30.825,145.875,534.375,0.000,0.000,26.472,32.811,206.138,35.250,0.000,0.000,15.353,2838.476,10920.052,665.039,3131.170,493.299,0.000,2075.483,0.000,3098.759,0.000,54.421,0.000
$DEVICE_MAMPS,224.731,59.059,1490.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.818,1052.769,1770.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91390,1581
$CAP_FILE_SIZE,182140,0
$CFSIZE,260165632,225128448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,332.5,1
$GPS,110609,095137,2442.677,12322.950,33,1.1,33,-3.6