version: 66.04
glider: 166
mission: 2
dive: 122
start: 6 11 109 9 59 4
data:
$ID,166
$MISSION,2
$DIVE,122
$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,-7520.2485
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,095137,2442.677,12322.950,33,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.6
$GPS2,095844,2442.624,12322.988,14,1.1,14,-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,181.4,68047,-16.8,-10.000
$D_GRID,1343
$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,-170.3,0.0,0.0,0,76,0.00,0.00,-58.85,0.000,2,0.000,0.000,167,1477,2414
$GC,78,-0.90,-170.3,3.3,-6.1,10,125,9.20,1.90,-31.08,0.000,4,0.239,0.058,2441,214,3558
$GC,379,-0.12,-170.3,103.4,-31.1,62,386,0.80,1.90,0.00,0.000,6,0.145,0.029,2694,1507,3560
$GC,722,-1.02,-170.3,129.8,-8.1,123,729,0.73,2.03,0.00,0.000,4,0.071,0.035,2408,2908,3562
$GC,752,-0.95,-170.3,133.1,-11.2,128,759,0.00,2.08,0.00,0.000,6,0.000,0.030,2414,1501,3562
$GC,1097,-0.40,-170.3,211.0,-22.4,189,1103,0.60,1.92,0.00,0.000,4,0.148,0.043,2597,205,3563
$GC,1121,-0.17,-170.3,215.4,-18.4,193,1128,0.28,1.85,0.00,0.000,6,0.107,0.028,2688,1505,3563
$GC,1465,-1.04,-170.3,247.0,-9.5,254,1473,0.75,2.03,0.00,0.000,4,0.067,0.038,2402,2898,3564
$GC,1502,-0.85,-170.3,251.0,-11.3,260,1509,0.20,2.03,0.00,0.000,6,0.152,0.033,2462,1500,3564
$GC,1847,-0.60,-170.3,298.7,-13.8,321,1853,0.22,1.92,0.00,0.000,4,0.138,0.045,2542,204,3564
$GC,1909,-0.60,-170.3,305.2,-9.1,327,1916,0.00,1.85,0.00,0.000,6,0.000,0.028,2543,1484,3564
$GC,2235,-0.70,-170.3,334.3,-9.4,358,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1484,3563
$GC,2553,-0.82,-170.3,367.5,-10.1,388,2555,0.17,0.00,0.00,0.000,6,0.059,0.000,2451,1485,3562
$GC,2871,-0.63,-170.3,412.3,-14.6,418,2873,0.28,0.00,0.00,0.000,6,0.136,0.000,2535,1486,3560
$GC,3191,-0.80,-170.3,440.1,-8.1,448,3192,0.15,0.00,0.00,0.000,6,0.063,0.000,2461,1486,3560
$GC,3507,-0.68,-170.3,480.1,-12.6,478,3509,0.17,0.00,0.00,0.000,6,0.140,0.000,2519,1486,3557
$GC,3835,-0.78,-170.3,509.8,-9.3,504,3839,0.00,2.10,0.00,0.000,4,0.000,0.050,2519,2888,3555
$GC,3881,-0.98,-170.3,514.2,-9.3,506,3885,0.25,2.08,0.00,0.000,6,0.049,0.042,2403,1489,3555
$GC,4207,-0.65,-170.3,567.0,-16.1,522,4212,0.38,1.95,0.00,0.000,4,0.144,0.051,2523,200,3553
$GC,4296,-0.76,-170.3,576.1,-8.6,526,4300,0.00,1.90,0.00,0.000,6,0.000,0.041,2526,1478,3552
$GC,4622,-0.93,-170.3,600.0,-7.4,542,4627,0.20,2.12,0.00,0.000,4,0.056,0.046,2416,2897,3550
$GC,4649,-0.84,-170.3,603.0,-11.2,543,4654,0.12,2.12,0.00,0.000,6,0.139,0.038,2459,1481,3549
$GC,4978,-0.79,-170.3,642.0,-11.9,559,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1481,3548
$GC,5286,-0.79,-170.3,675.0,-10.7,574,5291,0.00,1.95,0.00,0.000,4,0.000,0.054,2458,198,3545
$GC,5335,-0.68,-170.3,680.9,-11.7,576,5340,0.15,1.95,0.00,0.000,6,0.133,0.036,2518,1502,3545
$GC,5663,-0.89,-170.3,704.8,-6.5,592,5665,0.20,0.00,0.00,0.000,6,0.056,0.000,2428,1505,3543
$GC,5971,-0.75,-170.3,742.2,-12.9,607,5973,0.22,0.00,0.00,0.000,6,0.140,0.000,2494,1505,3541
$GC,6281,-0.88,-170.3,769.5,-8.9,622,6285,0.12,2.12,0.00,0.000,4,0.073,0.051,2428,2901,3539
$GC,6342,-0.88,-170.3,776.4,-11.6,625,6346,0.00,2.10,0.00,0.000,6,0.000,0.042,2429,1503,3538
$GC,6674,-0.77,-170.3,816.8,-11.9,641,6679,0.17,2.15,0.00,0.000,4,0.142,0.053,2483,2902,3535
$GC,6714,-0.94,-170.3,820.5,-8.5,643,6718,0.12,2.10,0.00,0.000,6,0.067,0.043,2422,1499,3535
$GC,7041,-0.80,-170.3,855.7,-10.7,659,7045,0.17,2.00,0.00,0.000,4,0.145,0.057,2478,198,3533
$GC,7124,-0.80,-170.3,863.3,-8.5,662,7131,0.00,1.98,0.00,0.000,6,0.000,0.040,2477,1505,3532
$GC,7440,-0.88,-170.3,886.4,-7.6,678,7443,0.00,2.12,0.00,0.000,4,0.000,0.054,2479,2898,3531
$GC,7467,-1.00,-170.3,888.4,-7.3,679,7471,0.17,2.10,0.00,0.000,6,0.060,0.042,2399,1500,3531
$GC,7795,-0.78,-170.3,927.9,-12.5,695,7799,0.25,2.00,0.00,0.000,4,0.148,0.057,2476,198,3530
$GC,7885,-0.78,-170.3,937.1,-9.3,699,7889,0.00,1.95,0.00,0.000,6,0.000,0.041,2476,1501,3529
$GC,8218,-0.86,-170.3,963.8,-7.9,715,8221,0.00,2.15,0.00,0.000,4,0.000,0.056,2474,2908,3527
$GC,8290,-1.01,-170.3,969.2,-7.1,718,8295,0.17,2.12,0.00,0.000,6,0.060,0.044,2396,1493,3527
$STATE,8485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8485,begin apogee
$GC,8490,-0.20,0.0,991.8,12.0,728,8635,0.88,0.00,141.62,1.487,6,0.138,0.000,2670,1763,2863
$STATE,8636,end apogee,CONTROL_FINISHED_OK
$STATE,8636,begin climb
$GC,8638,0.90,170.3,996.7,0.0,735,8796,0.95,2.38,151.07,1.434,4,0.039,0.058,3041,3150,2167
$GC,8848,0.31,170.3,973.7,21.0,744,8857,0.77,2.25,0.00,0.000,6,0.171,0.044,2842,1754,2164
$GC,9164,0.44,201.6,944.8,8.8,760,9195,0.12,0.00,28.40,1.380,6,0.072,0.000,2899,1754,2041
$GC,9492,0.37,201.6,906.6,11.4,776,9497,0.15,2.22,0.00,0.000,4,0.148,0.058,2867,343,2036
$GC,9535,0.43,201.6,902.2,10.3,778,9540,0.00,2.17,0.00,0.000,6,0.000,0.044,2868,1736,2036
$GC,9863,0.53,251.9,874.1,8.0,794,9914,0.12,2.33,44.35,1.392,4,0.069,0.058,2940,345,1834
$GC,9952,0.37,251.9,862.9,14.4,798,9957,0.25,2.22,0.00,0.000,6,0.140,0.044,2864,1739,1832
$GC,10279,0.51,264.5,832.5,9.5,814,10301,0.12,2.30,11.82,1.270,4,0.070,0.058,2935,339,1783
$GC,10369,0.39,264.5,819.5,15.4,818,10374,0.25,2.15,0.00,0.000,6,0.142,0.043,2864,1729,1782
$GC,10695,0.53,264.5,783.1,11.5,834,10699,0.15,2.22,0.00,0.000,4,0.063,0.055,2935,3163,1780
$GC,10721,0.45,264.5,779.1,16.2,835,10726,0.15,2.22,0.00,0.000,6,0.135,0.043,2887,1723,1780
$GC,11043,0.51,264.5,737.9,12.2,851,11046,0.00,2.15,0.00,0.000,4,0.000,0.058,2895,336,1779
$GC,11070,0.55,264.5,734.2,13.0,852,11074,0.00,2.12,0.00,0.000,6,0.000,0.043,2895,1735,1779
$GC,11396,0.55,264.5,689.0,14.1,868,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1735,1778
$GC,11705,0.55,264.5,652.1,10.7,883,11709,0.00,2.17,0.00,0.000,4,0.000,0.057,2905,335,1777
$GC,11795,0.55,264.5,641.1,11.7,887,11799,0.00,2.08,0.00,0.000,6,0.000,0.042,2905,1711,1776
$GC,12127,0.55,264.5,601.8,11.6,903,12131,0.00,2.12,0.00,0.000,4,0.000,0.056,2915,339,1777
$GC,12194,0.55,264.5,593.9,11.3,906,12198,0.00,2.08,0.00,0.000,6,0.000,0.043,2915,1714,1776
$GC,12525,0.55,264.5,552.9,13.5,922,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1716,1776
$GC,12836,0.55,264.5,511.0,13.0,937,12840,0.00,2.12,0.00,0.000,4,0.000,0.054,2926,341,1776
$GC,12930,0.55,264.5,498.8,12.0,941,12937,0.00,2.05,0.00,0.000,6,0.000,0.041,2926,1693,1776
$GC,13255,0.55,264.5,460.4,11.8,972,13259,0.00,2.22,0.00,0.000,4,0.000,0.052,2926,3155,1776
$GC,13282,0.50,264.5,456.9,12.5,974,13290,0.10,2.22,0.00,0.000,6,0.144,0.042,2904,1692,1775
$GC,13608,0.57,264.5,422.4,10.4,1005,13612,0.00,2.05,0.00,0.000,4,0.000,0.054,2912,341,1775
$GC,13668,0.62,264.5,415.5,11.3,1010,13675,0.00,2.03,0.00,0.000,6,0.000,0.038,2912,1689,1775
$GC,13994,0.62,264.5,376.6,11.2,1041,13998,0.00,2.22,0.00,0.000,4,0.000,0.050,2912,3154,1775
$GC,14017,0.62,264.5,373.7,11.8,1043,14021,0.00,2.20,0.00,0.000,6,0.000,0.039,2923,1673,1775
$GC,14341,0.62,264.5,337.8,12.0,1073,14345,0.00,2.03,0.00,0.000,4,0.000,0.053,2933,333,1775
$GC,14446,0.62,264.5,325.3,10.9,1082,14453,0.00,2.03,0.00,0.000,6,0.000,0.038,2933,1688,1775
$GC,14777,0.62,264.5,286.9,11.3,1122,14783,0.00,2.10,0.00,0.000,4,0.000,0.051,2943,331,1775
$GC,14862,0.62,264.5,276.3,12.5,1137,14868,0.00,2.00,0.00,0.000,6,0.000,0.037,2944,1693,1775
$GC,15204,0.62,264.5,239.4,10.4,1198,15211,0.00,2.10,0.00,0.000,4,0.000,0.054,2953,337,1777
$GC,15268,0.62,264.5,232.2,11.8,1209,15274,0.00,1.95,0.00,0.000,6,0.000,0.035,2954,1673,1777
$GC,15610,0.62,264.5,193.0,10.4,1270,15616,0.00,2.03,0.00,0.000,4,0.000,0.048,2965,330,1778
$GC,15662,0.63,266.5,187.7,9.9,1279,15668,0.00,1.98,0.00,0.000,6,0.000,0.035,2965,1666,1778
$GC,16005,0.73,347.3,157.0,6.8,1340,16081,0.00,2.33,68.28,0.838,4,0.000,0.044,2965,3157,1446
$GC,16121,0.83,347.3,146.5,10.8,1359,16127,0.00,2.30,0.00,0.000,6,0.000,0.035,2983,1644,1443
$GC,16466,0.95,347.3,108.1,11.6,1420,16474,0.17,2.30,0.00,0.000,4,0.052,0.040,3075,3166,1441
$GC,16508,0.75,347.3,101.5,16.1,1427,16516,0.30,2.28,0.00,0.000,6,0.136,0.035,2980,1663,1440
$GC,16854,1.19,482.6,77.4,4.7,1488,16976,0.35,2.12,111.95,0.741,4,0.041,0.045,3157,342,894
$GC,17021,0.91,482.6,47.8,21.5,1515,17028,0.43,2.03,0.00,0.000,6,0.137,0.031,3029,1698,892
$GC,17368,1.27,536.6,15.1,7.9,1576,17420,0.28,2.12,45.03,0.670,4,0.044,0.043,3174,325,674
$STATE,17437,end climb,SURFACE_DEPTH_REACHED
$STATE,17437,begin surface coast
$FINISH,0.8,0.999200
$STATE,17448,end surface coast,CONTROL_FINISHED_OK
$STATE,17448,begin surface
$SM_CCo,17525,0.00,0.000,0,0,670,537.94
$SM_GC,1.61,8.18,0.00,0.00,0.042,0.000,0.000,166,1548,670,-8.02,1.36,537.94
$IRIDIUM_FIX,2434.69,12322.32,050998,050544
$TT8_MAMPS,0.026845
$HUMID,1435
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.30
$XPDR_PINGS,112
$24V_AH,23.3,28.968
$10V_AH,10.7,17.960
$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,30.000,146.800,602.525,0.000,0.000,33.082,47.472,228.560,36.000,0.000,0.000,14.995,2808.613,10720.151,687.785,3185.846,535.120,0.000,2131.914,0.000,3149.143,0.000,54.428,0.000
$DEVICE_MAMPS,238.537,58.292,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.908,1073.561,1806.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91731,1589
$CAP_FILE_SIZE,176743,0
$CFSIZE,260165632,225042432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,351.1,1
$GPS,110609,145207,2441.953,12322.456,25,1.5,25,-3.6