version: 66.04
glider: 166
mission: 2
dive: 75
start: 6 3 109 6 27 24
data:
$ID,166
$MISSION,2
$DIVE,75
$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,-6664.8296
$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,34
$R_STBD_OVSHOOT,68
$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
$GPS1,062055,2523.533,12318.804,41,1.4,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.4
$GPS2,062704,2523.499,12318.915,12,2.1,31,-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,305.5,33856,-17.1,-11.000
$D_GRID,1415
$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,-0.94,-194.7,0.0,0.0,0,104,0.00,0.00,-87.32,0.000,2,0.000,0.000,174,1523,2394
$GC,106,-0.94,-194.7,3.3,-5.9,12,158,8.82,2.05,-35.78,0.000,4,0.229,0.059,2427,197,3659
$GC,194,-0.02,-194.7,23.8,-38.0,26,201,0.98,1.90,0.00,0.000,6,0.168,0.031,2726,1478,3659
$GC,537,-0.51,-194.7,51.6,-5.0,87,545,0.38,2.08,0.00,0.000,4,0.041,0.036,2548,2901,3659
$GC,618,-0.31,-194.7,64.8,-19.0,101,626,0.30,2.03,0.00,0.000,6,0.140,0.031,2635,1500,3659
$GC,965,-0.49,-194.7,109.5,-10.7,162,972,0.17,2.05,0.00,0.000,4,0.058,0.037,2545,2900,3661
$GC,1085,-0.37,-194.7,126.5,-14.4,183,1092,0.25,2.00,0.00,0.000,6,0.133,0.031,2618,1533,3661
$GC,1431,-0.60,-194.7,159.9,-8.2,244,1439,0.17,1.95,0.00,0.000,4,0.055,0.042,2529,207,3661
$GC,1485,-0.37,-194.7,168.1,-17.9,253,1492,0.25,1.90,0.00,0.000,6,0.141,0.028,2620,1523,3661
$GC,1829,-0.66,-194.7,200.7,-7.7,314,1836,0.25,2.00,0.00,0.000,4,0.048,0.038,2500,2899,3661
$GC,1904,-0.52,-194.7,210.5,-14.3,327,1911,0.22,1.98,0.00,0.000,6,0.135,0.031,2566,1524,3661
$GC,2248,-0.61,-194.7,246.1,-10.2,388,2255,0.00,1.98,0.00,0.000,4,0.000,0.045,2567,203,3661
$GC,2324,-0.68,-194.7,254.3,-10.8,401,2331,0.15,1.88,0.00,0.000,6,0.067,0.028,2498,1527,3661
$GC,2670,-0.48,-194.7,309.0,-16.3,458,2674,0.25,1.98,0.00,0.000,4,0.141,0.044,2578,203,3661
$GC,2718,-0.62,-194.7,315.2,-11.1,462,2726,0.10,1.90,0.00,0.000,6,0.051,0.028,2517,1522,3661
$GC,3044,-0.56,-194.7,359.0,-13.3,493,3046,0.15,0.00,0.00,0.000,6,0.141,0.000,2559,1524,3661
$GC,3363,-0.74,-194.7,385.6,-7.8,523,3367,0.17,1.98,0.00,0.000,4,0.061,0.047,2471,204,3660
$GC,3445,-0.48,-194.7,397.0,-14.7,530,3452,0.40,1.92,0.00,0.000,6,0.137,0.035,2579,1517,3661
$GC,3771,-0.86,-194.7,415.7,-5.5,561,3775,0.28,2.03,0.00,0.000,4,0.044,0.043,2438,2895,3658
$GC,3809,-0.77,-194.7,419.7,-11.8,564,3814,0.17,1.98,0.00,0.000,6,0.140,0.035,2490,1538,3658
$GC,4140,-0.82,-194.7,453.3,-9.6,595,4143,0.00,2.03,0.00,0.000,4,0.000,0.046,2489,2896,3656
$GC,4173,-0.95,-194.7,456.6,-9.1,598,4178,0.17,2.00,0.00,0.000,6,0.055,0.035,2409,1527,3655
$GC,4512,-0.70,-194.7,506.9,-14.6,628,4517,0.30,1.98,0.00,0.000,4,0.149,0.049,2507,207,3654
$GC,4679,-0.83,-194.7,522.5,-7.7,635,4685,0.00,1.92,0.00,0.000,6,0.000,0.034,2505,1511,3653
$GC,4995,-0.94,-194.7,545.1,-7.7,651,4997,0.20,0.00,0.00,0.000,6,0.056,0.000,2412,1512,3650
$GC,5303,-0.74,-194.7,591.0,-15.0,666,5305,0.30,0.00,0.00,0.000,6,0.146,0.000,2503,1513,3647
$GC,5614,-0.92,-194.7,618.3,-8.4,681,5618,0.17,2.00,0.00,0.000,4,0.061,0.052,2421,199,3644
$GC,5640,-0.81,-194.7,621.6,-12.9,682,5645,0.15,1.92,0.00,0.000,6,0.146,0.035,2472,1497,3644
$GC,5968,-0.86,-194.7,653.6,-9.0,698,5971,0.00,2.10,0.00,0.000,4,0.000,0.051,2472,2898,3641
$GC,6000,-0.98,-194.7,656.5,-8.9,699,6005,0.15,2.05,0.00,0.000,6,0.062,0.039,2403,1509,3641
$GC,6321,-0.76,-194.7,699.0,-13.7,715,6325,0.25,1.98,0.00,0.000,4,0.150,0.054,2483,204,3638
$GC,6438,-0.83,-194.7,710.2,-9.5,720,6442,0.00,1.90,0.00,0.000,6,0.000,0.038,2482,1502,3637
$GC,6760,-0.92,-194.7,735.4,-7.9,736,6762,0.12,0.00,0.00,0.000,6,0.073,0.000,2422,1504,3635
$GC,7068,-0.79,-194.7,771.6,-12.0,751,7072,0.20,2.00,0.00,0.000,4,0.150,0.055,2483,197,3632
$GC,7145,-0.86,-194.7,779.8,-10.0,754,7149,0.00,1.95,0.00,0.000,6,0.000,0.039,2483,1497,3632
$GC,7466,-0.96,-194.7,807.2,-8.3,770,7468,0.15,0.00,0.00,0.000,6,0.067,0.000,2415,1499,3630
$GC,7776,-0.81,-194.7,845.1,-12.8,785,7781,0.20,2.12,0.00,0.000,4,0.153,0.054,2480,2905,3628
$GC,7848,-1.01,-194.7,851.3,-7.4,788,7853,0.12,2.10,0.00,0.000,6,0.037,0.043,2396,1520,3627
$GC,8174,-0.78,-194.7,892.8,-13.6,804,8179,0.25,2.03,0.00,0.000,4,0.152,0.057,2478,194,3626
$GC,8258,-0.83,-194.7,901.3,-9.1,808,8262,0.00,1.95,0.00,0.000,6,0.000,0.041,2478,1508,3626
$GC,8590,-0.93,-194.7,928.5,-8.0,824,8594,0.12,2.10,0.00,0.000,4,0.074,0.054,2415,2899,3624
$GC,8622,-0.86,-194.7,931.8,-10.1,825,8627,0.10,2.10,0.00,0.000,6,0.149,0.043,2452,1513,3624
$GC,8944,-0.86,-194.7,961.1,-8.8,841,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1513,3623
$GC,9251,-0.86,-194.7,989.5,-9.4,856,9255,0.00,2.00,0.00,0.000,4,0.000,0.060,2451,205,3621
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9265,-0.20,0.0,990.5,9.2,856,9430,0.68,0.00,161.75,1.480,6,0.133,0.000,2664,1742,2863
$STATE,9431,end apogee,CONTROL_FINISHED_OK
$STATE,9431,begin climb
$GC,9433,0.94,194.7,995.9,0.0,864,9614,1.02,2.40,172.35,1.427,4,0.046,0.057,3046,3161,2068
$GC,9658,0.36,194.7,968.8,21.7,874,9665,0.68,2.28,0.00,0.000,6,0.177,0.042,2860,1751,2064
$GC,9974,0.45,224.3,935.3,9.9,890,10005,0.00,2.30,26.45,1.360,4,0.000,0.058,2869,338,1947
$GC,10043,0.53,236.2,927.9,10.5,893,10061,0.08,2.25,11.75,1.247,6,0.064,0.041,2916,1753,1899
$GC,10382,0.42,236.2,879.7,14.5,910,10384,0.15,0.00,0.00,0.000,6,0.153,0.000,2877,1756,1893
$GC,10691,0.42,236.2,843.1,11.8,925,10695,0.00,2.22,0.00,0.000,4,0.000,0.058,2885,332,1892
$GC,10723,0.42,236.2,838.9,12.6,926,10728,0.00,2.17,0.00,0.000,6,0.000,0.042,2885,1742,1892
$GC,11044,0.42,236.2,799.3,12.6,942,11048,0.00,2.17,0.00,0.000,4,0.000,0.056,2885,3160,1891
$GC,11066,0.42,236.2,796.5,12.9,943,11071,0.00,2.15,0.00,0.000,6,0.000,0.043,2895,1739,1890
$GC,11398,0.42,236.2,750.5,13.9,959,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1739,1890
$GC,11707,0.42,236.2,710.7,12.7,974,11711,0.00,2.15,0.00,0.000,4,0.000,0.057,2906,348,1889
$GC,11801,0.37,236.2,698.3,12.7,978,11806,0.12,2.15,0.00,0.000,6,0.146,0.044,2866,1756,1889
$GC,12128,0.48,237.4,663.1,11.0,994,12131,0.00,2.17,0.00,0.000,4,0.000,0.057,2874,348,1888
$GC,12177,0.55,237.4,657.7,11.2,996,12182,0.08,2.12,0.00,0.000,6,0.063,0.043,2927,1741,1888
$GC,12503,0.43,237.4,611.7,14.3,1012,12508,0.17,2.15,0.00,0.000,4,0.152,0.055,2873,3147,1888
$GC,12575,0.50,238.4,603.3,11.0,1015,12579,0.00,2.10,0.00,0.000,6,0.000,0.043,2881,1743,1887
$GC,12896,0.57,252.7,569.6,10.5,1031,12918,0.12,2.20,13.85,1.178,4,0.068,0.057,2952,354,1831
$GC,12990,0.39,252.7,555.9,15.3,1035,12995,0.25,2.12,0.00,0.000,6,0.144,0.042,2862,1738,1830
$GC,13318,0.63,308.3,525.3,8.9,1051,13372,0.20,2.25,48.58,1.183,4,0.055,0.055,2956,3146,1606
$GC,13401,0.46,308.3,512.6,16.7,1055,13406,0.30,2.17,0.00,0.000,6,0.152,0.042,2884,1739,1602
$GC,13723,0.61,329.6,475.6,10.2,1080,13748,0.15,2.28,19.17,1.114,4,0.062,0.056,2962,345,1518
$GC,13805,0.47,329.6,462.8,18.5,1087,13810,0.25,2.15,0.00,0.000,6,0.142,0.042,2892,1735,1515
$GC,14130,0.61,329.6,425.4,11.2,1117,14132,0.15,0.00,0.00,0.000,6,0.062,0.000,2959,1736,1512
$GC,14448,0.49,329.6,373.9,17.8,1147,14453,0.17,2.17,0.00,0.000,4,0.153,0.052,2902,3151,1512
$GC,14486,0.60,329.6,368.1,13.7,1150,14493,0.00,2.20,0.00,0.000,6,0.000,0.041,2911,1714,1510
$GC,14814,0.71,329.6,330.5,11.6,1181,14819,0.17,2.10,0.00,0.000,4,0.058,0.054,3014,345,1511
$GC,14920,0.46,329.6,310.8,19.1,1190,14925,0.43,2.03,0.00,0.000,6,0.146,0.041,2888,1702,1510
$GC,15256,0.83,411.3,281.1,7.9,1240,15337,0.30,2.22,69.43,0.972,4,0.045,0.051,3051,345,1184
$GC,15384,0.53,411.3,255.1,22.8,1261,15391,0.50,2.05,0.00,0.000,6,0.146,0.041,2911,1679,1181
$GC,15729,1.04,521.7,223.5,6.8,1322,15834,0.40,2.38,94.60,0.897,4,0.039,0.047,3089,3140,735
$GC,15840,0.64,521.7,197.8,28.9,1340,15849,0.52,2.28,0.00,0.000,6,0.151,0.037,2947,1670,734
$GC,16186,1.04,564.3,160.3,9.4,1401,16230,0.32,2.08,36.47,0.815,4,0.041,0.048,3102,343,561
$GC,16310,0.76,564.3,128.3,28.5,1422,16317,0.35,2.03,0.00,0.000,6,0.139,0.035,2981,1672,559
$GC,16654,1.33,676.2,91.7,6.8,1483,16681,0.45,0.00,23.10,0.742,6,0.037,0.000,3182,1674,454
$STATE,16971,end climb,SURFACE_DEPTH_REACHED
$STATE,16971,begin surface coast
$FINISH,0.9,1.001254
$STATE,16986,end surface coast,CONTROL_FINISHED_OK
$STATE,16986,begin surface
$SM_CCo,17061,0.00,0.000,0,0,450,591.91
$SM_GC,1.68,8.10,0.00,0.00,0.046,0.000,0.000,148,1481,450,-8.02,-0.54,591.91
$IRIDIUM_FIX,2510.35,12318.92,280898,010133
$TT8_MAMPS,0.027612
$HUMID,1491
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,24.20
$XPDR_PINGS,100
$24V_AH,23.5,18.773
$10V_AH,10.7,11.471
$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,32.575,141.900,677.500,0.000,0.000,25.814,31.971,185.545,33.000,0.000,0.000,32.331,2741.833,10328.519,757.926,3149.355,441.501,0.000,2194.750,0.000,3094.974,0.000,54.407,0.000
$DEVICE_MAMPS,229.333,59.826,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.448,1050.309,1767.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88329,1541
$CAP_FILE_SIZE,179343,0
$CFSIZE,260165632,228978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.175, 59.3,1
$GPS,030609,111300,2525.877,12317.957,38,1.2,43,-3.7