version: 66.04
glider: 166
mission: 2
dive: 73
start: 6 2 109 21 5 24
data:
$ID,166
$MISSION,2
$DIVE,73
$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,300
$T_MISSION,360
$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,200
$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,-6615.0391
$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,47
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,400
$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
$GPS1,205757,2518.830,12318.799,32,3.1,51,-3.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.8
$GPS2,210504,2518.783,12318.863,12,3.0,31,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,319.2,42391,-17.1,-11.000
$D_GRID,1400
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,69,0.00,0.00,-52.22,0.000,2,0.000,0.000,167,1480,2291
$GC,72,-0.94,-194.7,3.0,-5.9,8,130,9.10,1.95,-41.28,0.000,4,0.239,0.059,2433,207,3659
$GC,385,-0.19,-194.7,106.4,-30.5,62,393,0.77,1.90,0.00,0.000,6,0.155,0.030,2676,1502,3659
$GC,729,-1.15,-194.7,129.7,-5.4,123,737,0.82,2.03,0.00,0.000,4,0.063,0.037,2364,2901,3661
$GC,868,-0.34,-194.7,164.8,-34.4,147,876,0.90,2.03,0.00,0.000,6,0.173,0.032,2624,1499,3662
$GC,1213,-0.69,-194.7,196.8,-4.8,208,1220,0.28,2.08,0.00,0.000,4,0.044,0.039,2491,2898,3661
$GC,1266,-0.56,-194.7,202.6,-13.1,217,1273,0.22,1.98,0.00,0.000,6,0.137,0.032,2557,1524,3661
$GC,1610,-0.61,-194.7,242.6,-10.4,278,1616,0.00,1.98,0.00,0.000,4,0.000,0.046,2557,210,3661
$GC,1661,-0.61,-194.7,248.5,-11.9,287,1668,0.00,1.90,0.00,0.000,6,0.000,0.030,2558,1536,3662
$GC,2006,-0.70,-194.7,281.2,-10.1,348,2013,0.15,1.98,0.00,0.000,4,0.064,0.045,2488,211,3661
$GC,2047,-0.43,-194.7,287.0,-15.9,355,2055,0.38,1.90,0.00,0.000,6,0.141,0.031,2597,1534,3661
$GC,2384,-0.79,-194.7,311.0,-6.5,401,2389,0.25,1.98,0.00,0.000,4,0.046,0.041,2453,2893,3661
$GC,2433,-0.71,-194.7,316.6,-11.9,405,2441,0.12,2.00,0.00,0.000,6,0.136,0.034,2504,1536,3661
$GC,2758,-0.71,-194.7,353.7,-11.5,436,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1536,3661
$GC,3076,-0.71,-194.7,391.0,-11.5,466,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1536,3661
$GC,3397,-0.71,-194.7,425.2,-9.3,496,3401,0.00,2.00,0.00,0.000,4,0.000,0.050,2498,200,3658
$GC,3502,-0.71,-194.7,436.8,-10.6,505,3509,0.00,1.95,0.00,0.000,6,0.000,0.032,2495,1530,3657
$GC,3829,-0.76,-194.7,467.7,-8.7,536,3833,0.00,2.00,0.00,0.000,4,0.000,0.050,2496,204,3655
$GC,3874,-0.76,-194.7,472.5,-10.8,540,3878,0.00,1.92,0.00,0.000,6,0.000,0.036,2494,1534,3655
$GC,4203,-0.85,-194.7,502.1,-9.2,570,4207,0.00,2.03,0.00,0.000,4,0.000,0.055,2494,2895,3653
$GC,4241,-1.04,-194.7,505.4,-8.2,571,4250,0.20,2.05,0.00,0.000,6,0.044,0.043,2391,1521,3653
$GC,4559,-0.75,-194.7,554.7,-15.4,587,4564,0.30,1.98,0.00,0.000,4,0.151,0.050,2489,202,3651
$GC,4771,-0.75,-194.7,579.7,-11.7,596,4778,0.00,1.90,0.00,0.000,6,0.000,0.035,2488,1491,3650
$GC,5088,-0.86,-194.7,608.4,-8.8,612,5091,0.00,2.10,0.00,0.000,4,0.000,0.050,2488,2895,3647
$GC,5120,-1.03,-194.7,611.1,-8.3,613,5125,0.17,2.08,0.00,0.000,6,0.034,0.038,2384,1506,3647
$GC,5443,-0.75,-194.7,660.8,-16.0,629,5447,0.35,1.98,0.00,0.000,4,0.152,0.053,2496,201,3644
$GC,5531,-0.86,-194.7,670.8,-9.6,633,5535,0.00,1.90,0.00,0.000,6,0.000,0.037,2494,1480,3644
$GC,5859,-1.01,-194.7,698.3,-8.2,649,5864,0.20,2.12,0.00,0.000,4,0.060,0.050,2397,2893,3641
$GC,5886,-0.94,-194.7,701.6,-12.1,650,5891,0.10,2.12,0.00,0.000,6,0.153,0.041,2431,1485,3641
$GC,6207,-0.85,-194.7,740.8,-12.3,666,6208,0.12,0.00,0.00,0.000,6,0.163,0.000,2467,1485,3638
$GC,6517,-0.91,-194.7,772.2,-9.9,681,6520,0.00,2.15,0.00,0.000,4,0.000,0.055,2467,2894,3636
$GC,6572,-1.06,-194.7,777.5,-8.9,683,6577,0.20,2.12,0.00,0.000,6,0.057,0.043,2378,1491,3636
$GC,6893,-0.78,-194.7,824.3,-14.7,699,6902,0.32,1.98,0.00,0.000,4,0.156,0.057,2483,195,3633
$GC,6987,-0.85,-194.7,833.6,-8.8,703,6991,0.00,1.90,0.00,0.000,6,0.000,0.041,2481,1475,3633
$GC,7320,-0.97,-194.7,858.8,-7.5,719,7324,0.15,2.17,0.00,0.000,4,0.067,0.054,2413,2908,3631
$GC,7403,-0.91,-194.7,867.5,-11.2,723,7408,0.12,2.12,0.00,0.000,6,0.155,0.043,2446,1489,3630
$GC,7730,-0.91,-194.7,901.5,-10.7,739,7734,0.00,1.98,0.00,0.000,4,0.000,0.059,2447,194,3629
$GC,7769,-0.85,-194.7,906.3,-12.1,740,7776,0.00,1.95,0.00,0.000,6,0.000,0.041,2444,1483,3628
$GC,8084,-0.85,-194.7,941.6,-11.0,756,8088,0.00,2.15,0.00,0.000,4,0.000,0.056,2448,2899,3627
$GC,8116,-0.85,-194.7,945.2,-10.7,757,8121,0.00,2.15,0.00,0.000,6,0.000,0.044,2451,1485,3627
$GC,8438,-0.85,-194.7,979.4,-10.8,773,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1485,3625
$STATE,8539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8543,-0.20,0.0,990.1,10.5,778,8708,0.70,0.00,162.20,1.477,6,0.130,0.000,2673,1751,2863
$STATE,8709,end apogee,CONTROL_FINISHED_OK
$STATE,8709,begin climb
$GC,8711,0.94,194.7,996.3,0.0,786,8888,1.00,0.00,172.65,1.427,6,0.048,0.000,3042,1751,2069
$GC,9183,0.40,194.7,917.8,20.8,809,9188,0.57,2.22,0.00,0.000,4,0.169,0.058,2873,3154,2062
$GC,9244,0.40,194.7,909.4,11.6,812,9247,0.00,2.15,0.00,0.000,6,0.000,0.044,2881,1760,2061
$GC,9575,0.41,204.4,874.7,10.6,828,9590,0.00,2.28,8.60,1.197,4,0.000,0.060,2891,349,2029
$GC,9668,0.41,204.4,863.5,12.3,832,9673,0.00,2.17,0.00,0.000,6,0.000,0.043,2890,1748,2028
$GC,9995,0.41,204.4,824.0,11.8,848,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1749,2026
$GC,10304,0.41,204.4,785.6,12.4,863,10308,0.00,2.20,0.00,0.000,4,0.000,0.058,2901,339,2025
$GC,10398,0.36,204.4,773.5,13.0,867,10403,0.12,2.17,0.00,0.000,6,0.146,0.044,2862,1756,2025
$GC,10726,0.51,249.0,742.0,9.3,883,10772,0.12,2.35,39.17,1.326,4,0.073,0.057,2930,343,1846
$GC,10804,0.40,249.0,732.0,13.9,886,10809,0.17,2.22,0.00,0.000,6,0.142,0.043,2876,1750,1844
$GC,11126,0.53,272.5,699.5,10.1,902,11161,0.00,2.33,23.30,1.180,4,0.000,0.058,2885,340,1752
$GC,11195,0.62,277.6,692.2,10.8,905,11206,0.15,2.17,6.22,1.020,6,0.067,0.041,2949,1742,1731
$GC,11516,0.46,277.6,641.2,16.0,920,11520,0.20,2.20,0.00,0.000,4,0.156,0.055,2889,3155,1728
$GC,11547,0.51,277.6,636.6,11.6,921,11554,0.00,2.17,0.00,0.000,6,0.000,0.043,2898,1752,1726
$GC,11864,0.51,277.6,601.2,12.1,937,11867,0.00,2.17,0.00,0.000,4,0.000,0.058,2908,345,1726
$GC,11885,0.51,277.6,598.4,12.7,938,11889,0.00,2.12,0.00,0.000,6,0.000,0.042,2908,1754,1726
$GC,12217,0.51,277.6,554.4,13.2,954,12221,0.00,2.20,0.00,0.000,4,0.000,0.055,2920,333,1726
$GC,12266,0.51,277.6,547.7,12.8,956,12271,0.00,2.15,0.00,0.000,6,0.000,0.041,2919,1738,1726
$GC,12593,0.51,277.6,503.2,14.1,972,12596,0.00,2.15,0.00,0.000,4,0.000,0.056,2930,345,1725
$GC,12660,0.51,277.6,493.0,15.8,977,12664,0.00,2.08,0.00,0.000,6,0.000,0.043,2930,1730,1724
$GC,12990,0.46,277.6,447.6,14.3,1008,12995,0.15,2.17,0.00,0.000,4,0.153,0.053,2889,3157,1724
$GC,13040,0.60,277.6,441.1,11.5,1012,13045,0.10,2.15,0.00,0.000,6,0.077,0.043,2950,1723,1723
$GC,13364,0.51,277.6,397.5,12.8,1042,13368,0.17,2.10,0.00,0.000,4,0.153,0.053,2906,345,1723
$GC,13508,0.62,277.6,381.3,11.6,1054,13515,0.00,2.05,0.00,0.000,6,0.000,0.041,2905,1707,1723
$GC,13834,0.72,277.6,346.3,11.0,1085,13839,0.17,2.17,0.00,0.000,4,0.059,0.050,2997,3145,1723
$GC,13886,0.50,277.6,338.9,16.8,1089,13891,0.38,2.12,0.00,0.000,6,0.153,0.041,2897,1715,1723
$GC,14211,0.74,335.9,308.7,8.8,1119,14268,0.20,2.17,49.40,0.999,4,0.054,0.052,3017,339,1491
$GC,14349,0.53,335.9,284.7,19.3,1137,14356,0.38,2.10,0.00,0.000,6,0.143,0.038,2910,1722,1488
$GC,14692,0.81,370.5,248.4,9.7,1198,14730,0.22,2.17,30.08,0.925,4,0.050,0.050,3030,345,1351
$GC,14764,0.57,370.5,235.6,22.3,1210,14771,0.38,2.10,0.00,0.000,6,0.140,0.037,2921,1728,1348
$GC,15109,0.91,422.7,199.3,9.0,1271,15161,0.28,2.20,45.08,0.879,4,0.046,0.048,3067,343,1139
$GC,15235,0.62,422.7,172.5,22.5,1292,15244,0.43,2.05,0.00,0.000,6,0.140,0.035,2945,1708,1135
$GC,15584,0.97,454.7,136.6,9.8,1353,15618,0.25,2.20,28.10,0.806,4,0.045,0.048,3070,339,1008
$GC,15647,0.72,454.7,125.2,21.4,1363,15654,0.32,2.03,0.00,0.000,6,0.137,0.034,2974,1695,1006
$GC,15993,1.03,486.8,85.6,9.8,1424,16028,0.22,2.28,28.15,0.751,4,0.048,0.041,3086,3145,877
$GC,16074,0.96,486.8,71.2,20.2,1437,16081,0.10,2.25,0.00,0.000,6,0.148,0.035,3052,1672,876
$GC,16419,0.96,486.8,22.8,13.4,1498,16424,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1672,875
$STATE,16563,end climb,SURFACE_DEPTH_REACHED
$STATE,16563,begin surface coast
$FINISH,0.9,1.015261
$STATE,16587,end surface coast,CONTROL_FINISHED_OK
$STATE,16587,begin surface
$SM_CCo,16662,0.00,0.000,0,0,872,488.39
$SM_GC,1.65,7.78,0.00,0.00,0.049,0.000,0.000,150,1489,872,-8.03,-0.31,488.39
$IRIDIUM_FIX,2507.97,12320.91,270898,161635
$TT8_MAMPS,0.026845
$HUMID,1450
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.70
$XPDR_PINGS,110
$24V_AH,23.5,18.260
$10V_AH,10.7,11.178
$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,29.825,146.975,592.950,0.000,0.000,25.417,36.233,239.383,35.500,0.000,0.000,32.099,2728.942,10025.791,713.096,3116.288,493.188,0.000,2110.614,0.000,3067.164,0.000,55.188,0.000
$DEVICE_MAMPS,239.304,59.826,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.596,1022.564,1720.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88594,1528
$CAP_FILE_SIZE,174710,0
$CFSIZE,260165632,229167104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209, 71.7,1
$GPS,030609,014407,2521.312,12318.976,29,1.4,29,-3.7