version: 66.04
glider: 166
mission: 2
dive: 125
start: 6 12 109 0 59 22
data:
$ID,166
$MISSION,2
$DIVE,125
$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,-7567.6504
$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,64
$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
$GPS1,005230,2439.338,12321.990,38,1.0,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.8
$GPS2,005901,2439.414,12321.980,15,1.5,15,-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,185.0,61864,-16.8,-10.000
$D_GRID,1030
$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,-170.3,0.0,0.0,0,74,0.00,0.00,-58.00,0.000,2,0.000,0.000,162,1541,2378
$GC,77,-0.90,-170.3,3.3,-6.1,9,124,9.12,2.08,-32.67,0.000,4,0.238,0.052,2433,2892,3561
$GC,148,-0.18,-170.3,17.4,-28.5,20,155,0.80,2.08,0.00,0.000,6,0.151,0.031,2674,1482,3562
$GC,494,-0.44,-170.3,53.5,-7.1,81,501,0.17,1.90,0.00,0.000,4,0.057,0.044,2585,208,3563
$GC,518,-0.44,-170.3,56.3,-10.7,85,524,0.00,1.88,0.00,0.000,6,0.000,0.028,2583,1494,3563
$GC,863,-0.33,-170.3,109.8,-16.1,146,870,0.15,2.05,0.00,0.000,4,0.141,0.039,2625,2894,3564
$GC,950,-0.66,-170.3,118.0,-7.6,161,957,0.28,2.00,0.00,0.000,6,0.044,0.031,2495,1533,3564
$GC,1296,-0.41,-170.3,176.6,-16.9,222,1303,0.30,1.98,0.00,0.000,4,0.138,0.044,2593,204,3565
$GC,1328,-0.41,-170.3,181.2,-13.7,227,1335,0.00,1.95,0.00,0.000,6,0.000,0.028,2595,1547,3566
$GC,1674,-0.66,-170.3,206.4,-7.0,288,1681,0.17,1.98,0.00,0.000,4,0.057,0.040,2501,2898,3566
$GC,1699,-0.75,-170.3,208.9,-9.4,292,1705,0.00,1.98,0.00,0.000,6,0.000,0.032,2505,1555,3566
$GC,2043,-0.65,-170.3,257.3,-14.0,353,2049,0.00,2.03,0.00,0.000,4,0.000,0.048,2504,198,3566
$GC,2111,-0.47,-170.3,267.3,-14.1,365,2118,0.28,1.95,0.00,0.000,6,0.135,0.029,2581,1563,3566
$GC,2455,-0.77,-170.3,289.0,-5.4,426,2462,0.22,2.05,0.00,0.000,4,0.051,0.046,2469,202,3566
$GC,2479,-0.77,-170.3,291.3,-9.2,430,2485,0.00,1.95,0.00,0.000,6,0.000,0.030,2467,1535,3565
$GC,2808,-0.59,-170.3,335.1,-13.3,467,2812,0.22,2.03,0.00,0.000,4,0.137,0.041,2538,2905,3564
$GC,2846,-0.79,-170.3,338.4,-7.2,470,2853,0.12,2.00,0.00,0.000,6,0.046,0.033,2463,1556,3564
$GC,3171,-0.64,-170.3,380.4,-13.0,501,3175,0.20,2.03,0.00,0.000,4,0.135,0.048,2531,207,3563
$GC,3227,-0.70,-170.3,386.3,-9.9,506,3231,0.00,1.92,0.00,0.000,6,0.000,0.031,2528,1544,3562
$GC,3558,-0.84,-170.3,410.4,-7.1,537,3562,0.17,2.03,0.00,0.000,4,0.058,0.048,2445,204,3561
$GC,3597,-0.60,-170.3,414.8,-12.9,540,3604,0.30,1.95,0.00,0.000,6,0.133,0.031,2543,1533,3561
$GC,3922,-0.81,-170.3,440.1,-8.3,571,3924,0.20,0.00,0.00,0.000,6,0.055,0.000,2451,1534,3558
$GC,4241,-0.68,-170.3,485.0,-14.6,601,4245,0.20,2.03,0.00,0.000,4,0.135,0.050,2519,206,3557
$GC,4301,-0.75,-170.3,492.1,-10.1,606,4308,0.00,1.98,0.00,0.000,6,0.000,0.032,2517,1544,3556
$GC,4620,-0.88,-170.3,519.2,-8.0,626,4622,0.17,0.00,0.00,0.000,6,0.059,0.000,2435,1545,3554
$GC,4929,-0.70,-170.3,560.0,-14.2,641,4931,0.25,0.00,0.00,0.000,6,0.138,0.000,2511,1545,3552
$GC,5239,-0.83,-170.3,590.0,-9.6,656,5243,0.12,2.05,0.00,0.000,4,0.072,0.052,2450,210,3550
$GC,5271,-0.67,-170.3,594.3,-13.9,657,5275,0.20,1.98,0.00,0.000,6,0.132,0.035,2515,1537,3550
$GC,5593,-0.84,-170.3,623.4,-9.0,673,5597,0.15,2.03,0.00,0.000,4,0.065,0.052,2443,214,3548
$GC,5631,-0.67,-170.3,628.2,-13.7,674,5638,0.22,2.00,0.00,0.000,6,0.131,0.036,2529,1548,3547
$GC,5946,-0.90,-170.3,649.3,-5.5,690,5948,0.22,0.00,0.00,0.000,6,0.052,0.000,2426,1549,3545
$GC,6256,-0.74,-170.3,686.8,-12.8,705,6260,0.20,2.05,0.00,0.000,4,0.140,0.054,2492,214,3543
$GC,6355,-0.80,-170.3,697.2,-10.3,709,6362,0.00,1.98,0.00,0.000,6,0.000,0.037,2492,1532,3543
$GC,6672,-0.91,-170.3,727.9,-10.2,725,6673,0.15,0.00,0.00,0.000,6,0.066,0.000,2421,1533,3541
$GC,6980,-0.77,-170.3,768.1,-13.1,740,6985,0.20,2.03,0.00,0.000,4,0.140,0.054,2485,217,3539
$GC,7036,-0.82,-170.3,774.2,-9.8,742,7040,0.00,1.98,0.00,0.000,6,0.000,0.038,2486,1528,3539
$GC,7357,-0.92,-170.3,799.4,-7.5,758,7359,0.12,0.00,0.00,0.000,6,0.071,0.000,2425,1530,3537
$GC,7666,-0.81,-170.3,832.5,-10.9,773,7670,0.17,2.10,0.00,0.000,4,0.142,0.054,2474,2903,3534
$GC,7715,-0.95,-170.3,836.8,-8.0,775,7720,0.12,2.08,0.00,0.000,6,0.068,0.043,2414,1526,3534
$GC,8036,-0.80,-170.3,874.7,-13.1,791,8037,0.22,0.00,0.00,0.000,6,0.140,0.000,2482,1526,3532
$GC,8345,-0.90,-170.3,904.9,-9.1,806,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1526,3531
$GC,8654,-1.00,-170.3,931.3,-8.2,821,8659,0.20,2.12,0.00,0.000,4,0.063,0.054,2387,2900,3529
$GC,8704,-0.84,-170.3,937.3,-12.3,823,8709,0.22,2.12,0.00,0.000,6,0.137,0.044,2462,1511,3529
$GC,9026,-0.90,-170.3,965.0,-8.2,839,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1512,3528
$GC,9334,-0.95,-170.3,987.0,-6.6,854,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1512,3527
$STATE,9394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9394,begin apogee
$GC,9399,-0.20,0.0,991.3,6.9,857,9544,0.65,0.00,142.10,1.493,6,0.117,0.000,2676,1761,2863
$STATE,9545,end apogee,CONTROL_FINISHED_OK
$STATE,9545,begin climb
$GC,9547,0.90,170.3,995.2,0.0,864,9709,0.95,2.42,151.60,1.437,4,0.038,0.058,3047,3144,2167
$GC,9742,0.27,170.3,973.8,22.5,873,9747,0.85,2.28,0.00,0.000,6,0.170,0.043,2828,1744,2163
$GC,10065,0.50,231.0,945.8,7.6,889,10133,0.17,2.35,55.72,1.363,4,0.063,0.058,2925,346,1920
$GC,10201,0.38,231.0,928.2,14.1,895,10206,0.22,2.17,0.00,0.000,6,0.142,0.042,2863,1734,1916
$GC,10523,0.49,244.8,897.8,9.5,911,10545,0.12,0.00,14.93,1.147,6,0.068,0.000,2924,1735,1863
$GC,10851,0.38,244.8,851.9,14.3,927,10853,0.22,0.00,0.00,0.000,6,0.141,0.000,2860,1736,1860
$GC,11160,0.51,244.8,820.3,10.1,942,11161,0.12,0.00,0.00,0.000,6,0.069,0.000,2924,1736,1859
$GC,11469,0.38,244.8,777.4,13.8,957,11471,0.22,0.00,0.00,0.000,6,0.139,0.000,2859,1736,1858
$GC,11779,0.55,269.6,748.0,9.0,972,11809,0.17,2.30,22.12,1.312,4,0.056,0.056,2947,3154,1763
$GC,11830,0.35,269.6,740.4,15.7,974,11835,0.28,2.22,0.00,0.000,6,0.140,0.043,2856,1733,1761
$GC,12152,0.58,311.5,712.2,8.3,990,12205,0.17,2.30,40.35,1.256,4,0.058,0.058,2955,344,1592
$GC,12345,0.44,311.5,680.8,17.9,998,12352,0.22,2.17,0.00,0.000,6,0.133,0.043,2884,1728,1588
$GC,12661,0.56,311.5,641.4,11.8,1014,12665,0.12,2.17,0.00,0.000,4,0.068,0.056,2955,344,1586
$GC,12722,0.45,311.5,632.0,16.0,1017,12727,0.25,2.10,0.00,0.000,6,0.137,0.043,2882,1723,1585
$GC,13054,0.61,313.6,599.0,9.9,1033,13059,0.15,2.17,0.00,0.000,4,0.062,0.056,2964,332,1584
$GC,13116,0.47,313.6,589.9,16.1,1036,13121,0.25,2.08,0.00,0.000,6,0.140,0.041,2890,1708,1584
$GC,13442,0.59,313.6,552.1,11.6,1052,13447,0.12,2.12,0.00,0.000,4,0.067,0.054,2962,341,1584
$GC,13469,0.53,313.6,548.2,13.7,1053,13473,0.17,2.03,0.00,0.000,6,0.146,0.041,2913,1690,1584
$GC,13790,0.53,313.6,503.3,14.5,1069,13793,0.00,2.10,0.00,0.000,4,0.000,0.054,2921,331,1583
$GC,13824,0.53,313.6,498.1,15.6,1071,13827,0.00,2.03,0.00,0.000,6,0.000,0.041,2921,1686,1584
$GC,14154,0.53,313.6,449.9,13.5,1102,14157,0.00,2.25,0.00,0.000,4,0.000,0.052,2921,3159,1584
$GC,14187,0.53,313.6,445.3,12.9,1105,14191,0.00,2.22,0.00,0.000,6,0.000,0.041,2932,1679,1583
$GC,14511,0.53,313.6,403.9,12.8,1135,14515,0.00,2.05,0.00,0.000,4,0.000,0.054,2942,327,1583
$GC,14657,0.53,313.6,385.5,13.5,1148,14662,0.12,2.00,0.00,0.000,6,0.143,0.039,2908,1684,1583
$GC,14987,0.65,313.6,351.2,10.7,1179,14991,0.12,2.05,0.00,0.000,4,0.067,0.052,2980,341,1583
$GC,15047,0.51,313.6,341.6,15.9,1184,15055,0.22,2.00,0.00,0.000,6,0.137,0.038,2907,1670,1583
$GC,15372,0.66,313.6,305.9,10.8,1215,15377,0.12,2.25,0.00,0.000,4,0.067,0.048,2970,3158,1583
$GC,15411,0.57,313.6,300.4,13.9,1218,15416,0.20,2.25,0.00,0.000,6,0.148,0.039,2925,1653,1583
$GC,15755,0.67,313.6,262.2,10.4,1278,15761,0.00,2.03,0.00,0.000,4,0.000,0.054,2933,318,1583
$GC,15858,0.81,336.8,251.9,9.1,1296,15889,0.17,2.00,21.77,0.929,6,0.064,0.039,3021,1661,1488
$GC,16228,0.63,336.8,192.3,15.0,1361,16235,0.25,2.05,0.00,0.000,4,0.139,0.048,2950,341,1485
$GC,16258,0.63,336.8,188.2,12.3,1366,16264,0.00,1.95,0.00,0.000,6,0.000,0.035,2950,1645,1485
$GC,16603,0.84,376.2,153.4,8.4,1427,16644,0.15,2.33,34.03,0.837,4,0.059,0.044,3034,3154,1328
$GC,16673,0.73,376.2,144.4,13.6,1438,16680,0.25,2.35,0.00,0.000,6,0.135,0.036,2971,1595,1326
$GC,17018,1.00,413.7,113.5,8.5,1499,17058,0.20,1.95,32.72,0.781,4,0.049,0.047,3089,339,1174
$GC,17098,0.81,413.7,101.2,20.3,1512,17105,0.25,1.95,0.00,0.000,6,0.124,0.032,2996,1630,1173
$GC,17445,1.06,427.1,64.5,9.5,1573,17466,0.20,2.33,12.35,0.684,4,0.050,0.040,3100,3160,1122
$GC,17477,1.06,427.1,59.8,15.1,1578,17484,0.12,2.35,0.00,0.000,6,0.155,0.033,3083,1588,1122
$GC,17822,1.06,427.1,12.6,13.5,1639,17830,0.00,1.92,0.00,0.000,4,0.000,0.045,3096,330,1121
$STATE,17886,end climb,SURFACE_DEPTH_REACHED
$STATE,17886,begin surface coast
$FINISH,0.9,0.997321
$STATE,17908,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
$SM_CCo,17985,0.00,0.000,0,0,1117,428.29
$SM_GC,1.67,7.82,0.00,0.00,0.045,0.000,0.000,169,1542,1117,-8.01,1.19,428.29
$IRIDIUM_FIX,2432.32,12324.30,050998,191907
$TT8_MAMPS,0.026845
$HUMID,1476
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,114
$24V_AH,23.3,29.603
$10V_AH,10.7,18.429
$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,31.600,145.725,527.700,0.000,0.000,26.409,34.332,209.951,36.500,0.000,0.000,15.175,2958.814,10990.889,655.185,3241.479,514.144,0.000,2109.187,0.000,3212.106,0.000,54.410,0.000
$DEVICE_MAMPS,237.770,58.292,1492.582,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.207,1139.776,1915.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94710,1654
$CAP_FILE_SIZE,186992,0
$CFSIZE,260165632,224747520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.104,355.5,1
$GPS,120609,060007,2437.617,12321.757,27,1.3,27,-3.6