version: 66.04
glider: 166
mission: 2
dive: 123
start: 6 11 109 14 58 59
data:
$ID,166
$MISSION,2
$DIVE,123
$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,-7537.3579
$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,32
$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
$GPS1,145207,2441.953,12322.456,25,1.5,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.0
$GPS2,145838,2441.934,12322.440,16,1.5,16,-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,177.6,66572,-16.8,-10.000
$D_GRID,1183
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-73.25,0.000,2,0.000,0.000,149,1548,2316
$GC,92,-0.90,-170.3,3.1,-6.1,11,145,9.15,2.08,-35.85,0.000,4,0.235,0.055,2437,181,3557
$GC,400,-0.14,-170.3,99.0,-33.1,64,407,0.75,1.98,0.00,0.000,6,0.140,0.031,2687,1514,3558
$GC,744,-1.01,-170.3,125.1,-9.8,125,751,0.70,1.98,0.00,0.000,4,0.058,0.043,2408,189,3560
$GC,775,-0.79,-170.3,129.4,-14.7,130,783,0.20,1.90,0.00,0.000,6,0.152,0.028,2474,1498,3559
$GC,1122,-0.51,-170.3,192.8,-15.9,191,1129,0.28,2.05,0.00,0.000,4,0.137,0.038,2563,2899,3560
$GC,1175,-0.72,-170.3,198.2,-8.0,200,1182,0.12,2.10,0.00,0.000,6,0.044,0.031,2485,1472,3561
$GC,1521,-0.54,-170.3,246.8,-14.9,261,1527,0.22,1.88,0.00,0.000,4,0.133,0.044,2562,207,3560
$GC,1579,-0.62,-170.3,254.2,-11.8,271,1585,0.00,1.83,0.00,0.000,6,0.000,0.028,2562,1492,3561
$GC,1922,-0.79,-170.3,287.3,-8.9,332,1929,0.17,2.08,0.00,0.000,4,0.058,0.041,2478,2903,3561
$GC,1952,-0.73,-170.3,290.8,-12.8,337,1958,0.00,2.08,0.00,0.000,6,0.000,0.033,2473,1481,3560
$GC,2280,-0.54,-170.3,335.7,-12.1,373,2284,0.22,1.90,0.00,0.000,4,0.130,0.046,2550,206,3560
$GC,2351,-0.63,-170.3,341.9,-8.1,379,2357,0.00,1.83,0.00,0.000,6,0.000,0.028,2549,1486,3560
$GC,2676,-0.79,-170.3,366.4,-8.7,410,2678,0.17,0.00,0.00,0.000,6,0.058,0.000,2461,1487,3559
$GC,2994,-0.59,-170.3,411.7,-13.8,440,2998,0.25,1.95,0.00,0.000,4,0.133,0.048,2542,199,3557
$GC,3043,-0.71,-170.3,416.7,-8.7,444,3050,0.00,1.88,0.00,0.000,6,0.000,0.030,2539,1481,3556
$GC,3370,-0.90,-170.3,440.2,-7.2,475,3372,0.25,0.00,0.00,0.000,6,0.050,0.000,2424,1482,3555
$GC,3686,-0.64,-170.3,487.9,-15.3,505,3691,0.32,2.12,0.00,0.000,4,0.138,0.046,2524,2903,3553
$GC,3736,-0.86,-170.3,493.0,-7.6,509,3741,0.17,2.08,0.00,0.000,6,0.054,0.037,2438,1497,3553
$GC,4065,-0.67,-170.3,535.6,-12.4,527,4067,0.28,0.00,0.00,0.000,6,0.134,0.000,2523,1497,3550
$GC,4372,-0.82,-170.3,558.5,-7.2,542,4374,0.15,0.00,0.00,0.000,6,0.064,0.000,2451,1497,3548
$GC,4682,-0.69,-170.3,596.9,-13.0,557,4684,0.20,0.00,0.00,0.000,6,0.137,0.000,2511,1497,3546
$GC,4991,-0.83,-170.3,624.3,-7.9,572,4993,0.12,0.00,0.00,0.000,6,0.073,0.000,2450,1497,3544
$GC,5301,-0.74,-170.3,656.4,-9.9,587,5303,0.17,0.00,0.00,0.000,6,0.137,0.000,2500,1497,3542
$GC,5610,-0.86,-170.3,677.4,-6.4,602,5614,0.12,2.15,0.00,0.000,4,0.073,0.051,2438,2900,3540
$GC,5672,-0.86,-170.3,682.7,-8.6,605,5676,0.00,2.10,0.00,0.000,6,0.000,0.041,2438,1496,3539
$GC,6004,-0.76,-170.3,720.7,-12.5,621,6009,0.17,1.98,0.00,0.000,4,0.137,0.054,2497,200,3537
$GC,6065,-0.85,-170.3,727.4,-10.0,623,6072,0.00,1.92,0.00,0.000,6,0.000,0.036,2496,1512,3537
$GC,6382,-0.98,-170.3,755.3,-8.4,639,6386,0.17,2.10,0.00,0.000,4,0.061,0.051,2408,2896,3534
$GC,6431,-0.86,-170.3,760.9,-11.4,641,6435,0.12,2.12,0.00,0.000,6,0.136,0.041,2451,1498,3533
$GC,6753,-0.86,-170.3,792.6,-9.1,657,6756,0.00,2.15,0.00,0.000,4,0.000,0.053,2450,2898,3532
$GC,6808,-0.92,-170.3,797.6,-8.6,659,6812,0.00,2.10,0.00,0.000,6,0.000,0.042,2449,1497,3531
$GC,7131,-0.92,-170.3,826.6,-9.3,675,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1497,3530
$GC,7438,-0.92,-170.3,856.7,-10.0,690,7441,0.00,2.15,0.00,0.000,4,0.000,0.055,2450,2893,3528
$GC,7487,-0.97,-170.3,861.5,-9.8,692,7491,0.00,2.08,0.00,0.000,6,0.000,0.044,2450,1515,3528
$GC,7813,-0.97,-170.3,895.8,-10.9,708,7817,0.00,2.03,0.00,0.000,4,0.000,0.059,2449,196,3526
$GC,7862,-0.88,-170.3,901.8,-12.8,710,7867,0.00,1.98,0.00,0.000,6,0.000,0.041,2449,1500,3525
$GC,8189,-0.88,-170.3,936.2,-10.3,726,8193,0.00,2.15,0.00,0.000,4,0.000,0.056,2449,2907,3524
$GC,8227,-0.94,-170.3,940.0,-9.9,727,8233,0.00,2.10,0.00,0.000,6,0.000,0.044,2449,1511,3524
$GC,8543,-0.94,-170.3,970.1,-9.3,743,8547,0.00,2.03,0.00,0.000,4,0.000,0.060,2449,195,3522
$GC,8604,-0.87,-170.3,976.6,-10.5,745,8610,0.00,2.00,0.00,0.000,6,0.000,0.041,2449,1513,3522
$STATE,8773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8773,begin apogee
$GC,8778,-0.20,0.0,991.9,8.7,754,8922,0.68,0.00,141.02,1.489,6,0.121,0.000,2667,1758,2863
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8925,0.90,170.3,996.0,0.0,761,9081,0.98,0.00,151.80,1.436,6,0.041,0.000,3043,1757,2167
$GC,9384,0.32,170.3,923.6,19.4,783,9389,0.68,2.28,0.00,0.000,4,0.173,0.057,2857,334,2162
$GC,9434,0.39,170.3,917.3,10.0,785,9438,0.00,2.20,0.00,0.000,6,0.000,0.042,2858,1737,2161
$GC,9755,0.48,205.0,889.6,8.6,801,9791,0.12,2.28,30.23,1.378,4,0.070,0.058,2918,3160,2028
$GC,9807,0.31,205.0,883.4,11.7,802,9815,0.25,2.25,0.00,0.000,6,0.143,0.044,2843,1744,2025
$GC,10123,0.50,240.8,856.2,8.6,818,10160,0.17,2.30,32.20,1.369,4,0.061,0.059,2936,336,1881
$GC,10236,0.34,240.8,840.5,15.1,823,10241,0.30,2.17,0.00,0.000,6,0.142,0.042,2851,1729,1877
$GC,10563,0.54,265.0,808.9,9.0,839,10592,0.17,2.30,22.08,1.325,4,0.058,0.058,2950,341,1781
$GC,10637,0.33,265.0,798.0,16.0,842,10641,0.28,2.17,0.00,0.000,6,0.140,0.043,2851,1722,1780
$GC,10957,0.58,316.1,770.1,8.0,858,11017,0.17,2.28,48.42,1.296,4,0.058,0.057,2949,341,1573
$GC,11040,0.43,316.1,759.4,14.7,861,11044,0.25,2.17,0.00,0.000,6,0.140,0.042,2880,1717,1571
$GC,11368,0.56,317.7,726.0,9.9,877,11372,0.12,2.17,0.00,0.000,4,0.069,0.057,2948,343,1566
$GC,11394,0.50,317.7,722.1,13.6,878,11399,0.12,2.12,0.00,0.000,6,0.143,0.044,2899,1710,1565
$GC,11716,0.50,317.7,680.7,13.4,894,11720,0.00,2.15,0.00,0.000,4,0.000,0.058,2906,335,1564
$GC,11744,0.50,317.7,676.6,14.4,895,11748,0.00,2.08,0.00,0.000,6,0.000,0.042,2907,1705,1565
$GC,12071,0.50,317.7,632.0,13.6,911,12074,0.00,2.22,0.00,0.000,4,0.000,0.055,2907,3150,1564
$GC,12116,0.55,317.7,625.5,13.9,913,12120,0.00,2.20,0.00,0.000,6,0.000,0.044,2917,1705,1563
$GC,12448,0.55,317.7,578.2,13.8,929,12451,0.00,2.10,0.00,0.000,4,0.000,0.057,2927,341,1563
$GC,12530,0.55,317.7,566.5,13.0,932,12538,0.00,2.08,0.00,0.000,6,0.000,0.041,2927,1706,1563
$GC,12846,0.50,317.7,521.7,14.5,948,12850,0.00,2.20,0.00,0.000,4,0.000,0.054,2928,3147,1562
$GC,12884,0.50,317.7,515.8,15.0,949,12891,0.10,2.20,0.00,0.000,6,0.144,0.043,2905,1712,1561
$GC,13206,0.57,317.7,477.1,11.6,973,13210,0.00,2.10,0.00,0.000,4,0.000,0.057,2913,341,1561
$GC,13285,0.65,317.7,467.4,11.4,980,13289,0.10,2.05,0.00,0.000,6,0.082,0.041,2959,1716,1561
$GC,13615,0.52,317.7,418.1,16.0,1011,13619,0.20,2.12,0.00,0.000,4,0.145,0.054,2905,338,1561
$GC,13669,0.65,317.7,410.5,11.8,1015,13676,0.08,2.05,0.00,0.000,6,0.061,0.041,2955,1695,1561
$GC,13994,0.57,317.7,361.8,14.9,1046,13999,0.12,2.10,0.00,0.000,4,0.149,0.053,2930,327,1561
$GC,14048,0.57,317.7,354.7,13.1,1050,14057,0.00,2.05,0.00,0.000,6,0.000,0.040,2930,1688,1561
$GC,14375,0.62,317.7,317.6,11.8,1081,14378,0.00,2.08,0.00,0.000,4,0.000,0.053,2941,327,1561
$GC,14469,0.68,317.7,305.4,12.5,1089,14475,0.00,2.03,0.00,0.000,6,0.000,0.038,2941,1677,1561
$GC,14810,0.73,317.7,261.4,12.9,1146,14818,0.10,2.05,0.00,0.000,4,0.076,0.055,3012,328,1562
$GC,14859,0.52,317.7,253.3,19.0,1154,14867,0.28,2.00,0.00,0.000,6,0.128,0.037,2910,1667,1562
$GC,15206,0.85,397.8,220.4,6.8,1215,15280,0.25,2.17,67.68,0.900,4,0.048,0.049,3048,333,1240
$GC,15293,0.62,397.8,207.5,18.6,1229,15299,0.38,2.03,0.00,0.000,6,0.141,0.034,2940,1666,1239
$GC,15638,0.86,402.7,178.2,9.8,1290,15646,0.17,0.00,5.05,0.623,6,0.054,0.000,3040,1667,1221
$GC,15986,0.78,402.7,124.4,13.6,1351,15993,0.17,2.03,0.00,0.000,4,0.136,0.046,2990,337,1220
$GC,16018,0.85,402.7,120.6,11.1,1356,16024,0.00,1.95,0.00,0.000,6,0.000,0.033,2990,1652,1220
$GC,16362,1.06,403.0,88.6,10.0,1417,16369,0.20,2.25,0.00,0.000,4,0.049,0.040,3099,3160,1220
$GC,16381,1.12,403.0,86.2,12.5,1420,16387,0.00,2.28,0.00,0.000,6,0.000,0.035,3113,1612,1220
$GC,16723,0.94,403.0,27.2,18.0,1481,16730,0.22,1.92,0.00,0.000,4,0.144,0.045,3050,324,1219
$GC,16838,1.03,403.0,13.4,10.9,1501,16844,0.00,1.92,0.00,0.000,6,0.000,0.031,3050,1648,1220
$STATE,16933,end climb,SURFACE_DEPTH_REACHED
$STATE,16933,begin surface coast
$FINISH,0.8,0.997753
$STATE,16965,end surface coast,CONTROL_FINISHED_OK
$STATE,16965,begin surface
$SM_CCo,16980,19.50,0.660,0,0,1130,425.10
$SM_GC,1.46,0.00,0.00,19.50,0.000,0.000,0.660,171,1489,1130,-8.03,-0.31,425.10
$IRIDIUM_FIX,2434.69,12324.30,050998,101036
$TT8_MAMPS,0.027612
$HUMID,1468
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,125
$24V_AH,23.3,29.181
$10V_AH,10.7,18.108
$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,28.725,146.475,498.475,19.500,0.000,26.207,39.377,204.540,39.250,0.000,0.000,16.482,2740.271,10429.207,657.128,3052.001,501.448,0.000,2035.000,0.000,3022.302,0.000,55.216,0.000
$DEVICE_MAMPS,235.469,59.826,1488.747,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.832,1026.683,1725.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88586,1523
$CAP_FILE_SIZE,176456,0
$CFSIZE,260165632,224948224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,346.3,1
$GPS,110609,194336,2440.595,12322.339,37,1.1,42,-3.6