version: 66.04
glider: 166
mission: 2
dive: 112
start: 6 9 109 5 54 10
data:
$ID,166
$MISSION,2
$DIVE,112
$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,-7338.8906
$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,43
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,375
$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
$GPS1,054706,2500.380,12331.317,37,1.1,37,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.5
$GPS2,055349,2500.431,12331.440,10,1.3,15,-3.7
$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,229.6,103757,-16.8,-10.000
$D_GRID,2087
$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,-57.55,0.000,2,0.000,0.000,215,1489,2371
$GC,76,-0.90,-170.3,3.2,-5.6,9,128,8.95,2.00,-34.12,0.000,4,0.237,0.061,2444,204,3560
$GC,165,-0.07,-170.3,21.9,-32.1,23,172,0.82,1.95,0.00,0.000,6,0.147,0.035,2712,1497,3561
$GC,507,-0.77,-170.3,51.2,-6.1,84,514,0.55,2.08,0.00,0.000,4,0.061,0.038,2478,2912,3562
$GC,611,-0.41,-170.3,65.4,-18.7,102,619,0.35,2.05,0.00,0.000,6,0.138,0.034,2606,1509,3562
$GC,956,-0.52,-170.3,99.2,-8.0,163,963,0.00,1.98,0.00,0.000,4,0.000,0.048,2606,205,3564
$GC,986,-0.60,-170.3,102.2,-10.1,168,993,0.15,1.92,0.00,0.000,6,0.047,0.029,2528,1530,3564
$GC,1331,-0.44,-170.3,156.6,-15.7,229,1338,0.20,2.00,0.00,0.000,4,0.140,0.045,2591,198,3565
$GC,1399,-0.56,-170.3,164.9,-10.4,241,1406,0.00,1.90,0.00,0.000,6,0.000,0.028,2591,1504,3565
$GC,1745,-0.75,-170.3,192.8,-7.3,302,1754,0.22,2.05,0.00,0.000,4,0.050,0.041,2468,2899,3565
$GC,1778,-0.63,-170.3,196.6,-12.6,307,1785,0.20,2.05,0.00,0.000,6,0.140,0.034,2538,1486,3565
$GC,2121,-0.58,-170.3,238.7,-12.8,368,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1485,3565
$GC,2463,-0.58,-170.3,282.2,-11.6,429,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1485,3565
$GC,2800,-0.58,-170.3,318.6,-9.4,474,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1485,3565
$GC,3119,-0.58,-170.3,347.6,-9.1,504,3123,0.00,1.92,0.00,0.000,4,0.000,0.050,2538,199,3563
$GC,3164,-0.58,-170.3,352.6,-12.3,508,3168,0.15,1.88,0.00,0.000,6,0.140,0.031,2554,1502,3563
$GC,3494,-0.80,-170.3,379.4,-7.8,539,3499,0.17,2.08,0.00,0.000,4,0.057,0.044,2464,2903,3562
$GC,3593,-0.74,-170.3,391.5,-12.5,547,3600,0.12,2.05,0.00,0.000,6,0.140,0.035,2499,1505,3561
$GC,3918,-0.74,-170.3,425.4,-10.2,578,3922,0.00,1.95,0.00,0.000,4,0.000,0.051,2500,203,3560
$GC,3968,-0.69,-170.3,430.9,-10.8,582,3976,0.00,1.90,0.00,0.000,6,0.000,0.032,2499,1494,3560
$GC,4292,-0.69,-170.3,463.1,-10.2,613,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1494,3559
$GC,4614,-0.69,-170.3,495.1,-10.1,643,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1494,3557
$GC,4934,-0.69,-170.3,526.5,-9.8,661,4938,0.00,2.10,0.00,0.000,4,0.000,0.048,2499,2901,3556
$GC,5025,-0.83,-170.3,534.4,-7.9,665,5029,0.00,2.05,0.00,0.000,6,0.000,0.042,2500,1515,3555
$GC,5359,-0.91,-170.3,563.1,-8.1,681,5361,0.15,0.00,0.00,0.000,6,0.063,0.000,2429,1514,3554
$GC,5668,-0.71,-170.3,601.8,-13.2,696,5670,0.28,0.00,0.00,0.000,6,0.140,0.000,2512,1514,3553
$GC,5976,-0.85,-170.3,627.9,-7.9,711,5978,0.15,0.00,0.00,0.000,6,0.064,0.000,2441,1514,3551
$GC,6284,-0.72,-170.3,664.8,-12.4,726,6286,0.22,0.00,0.00,0.000,6,0.139,0.000,2509,1514,3549
$GC,6595,-0.88,-170.3,687.5,-7.3,741,6599,0.15,2.12,0.00,0.000,4,0.066,0.051,2439,2902,3547
$GC,6634,-0.88,-170.3,691.4,-10.3,743,6637,0.00,2.08,0.00,0.000,6,0.000,0.041,2438,1512,3548
$GC,6967,-0.78,-170.3,728.4,-10.9,759,6969,0.17,0.00,0.00,0.000,6,0.140,0.000,2490,1511,3546
$GC,7276,-0.88,-170.3,751.4,-6.9,774,7278,0.12,0.00,0.00,0.000,6,0.073,0.000,2430,1512,3544
$GC,7584,-0.76,-170.3,782.9,-10.5,789,7588,0.17,2.00,0.00,0.000,4,0.143,0.056,2486,204,3542
$GC,7652,-0.82,-170.3,789.2,-9.1,792,7656,0.00,1.92,0.00,0.000,6,0.000,0.038,2487,1506,3542
$GC,7986,-0.94,-170.3,817.6,-9.1,808,7987,0.15,0.00,0.00,0.000,6,0.065,0.000,2418,1508,3540
$GC,8294,-0.79,-170.3,855.7,-11.9,823,8296,0.22,0.00,0.00,0.000,6,0.143,0.000,2485,1508,3538
$GC,8603,-0.90,-170.3,880.9,-7.9,838,8608,0.12,2.12,0.00,0.000,4,0.074,0.054,2423,2899,3536
$GC,8652,-0.85,-170.3,885.7,-9.8,840,8657,0.15,2.10,0.00,0.000,6,0.143,0.044,2466,1500,3536
$GC,8972,-0.85,-170.3,913.8,-8.8,856,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1500,3534
$GC,9283,-0.90,-170.3,940.9,-8.8,871,9287,0.00,2.15,0.00,0.000,4,0.000,0.056,2466,2901,3532
$GC,9321,-1.02,-170.3,944.3,-7.8,872,9328,0.15,2.12,0.00,0.000,6,0.064,0.044,2397,1489,3532
$GC,9636,-0.81,-170.3,982.7,-12.5,888,9641,0.22,1.98,0.00,0.000,4,0.149,0.058,2470,207,3532
$STATE,9711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9711,begin apogee
$GC,9717,-0.20,0.0,990.3,9.2,891,9863,0.60,0.00,142.57,1.479,6,0.123,0.000,2668,1749,2863
$STATE,9864,end apogee,CONTROL_FINISHED_OK
$STATE,9864,begin climb
$GC,9865,0.90,170.3,994.3,0.0,898,10025,0.98,2.40,151.00,1.426,4,0.041,0.057,3044,3162,2167
$GC,10081,0.28,170.3,968.6,21.0,908,10087,0.82,2.25,0.00,0.000,6,0.174,0.042,2832,1746,2163
$GC,10409,0.46,209.7,939.3,8.4,924,10459,0.17,2.35,37.22,1.320,4,0.062,0.058,2929,342,2006
$GC,10532,0.29,209.7,921.9,15.7,929,10539,0.32,2.20,0.00,0.000,6,0.147,0.042,2837,1753,2003
$GC,10847,0.48,243.5,893.1,8.7,945,10880,0.17,0.00,30.35,1.367,6,0.061,0.000,2917,1754,1870
$GC,11177,0.38,243.5,847.3,14.2,961,11178,0.20,0.00,0.00,0.000,6,0.147,0.000,2862,1755,1864
$GC,11485,0.49,243.5,814.5,10.4,976,11490,0.10,2.22,0.00,0.000,4,0.077,0.055,2924,333,1862
$GC,11517,0.38,243.5,810.2,13.4,977,11524,0.22,2.15,0.00,0.000,6,0.145,0.042,2861,1747,1862
$GC,11833,0.51,243.5,778.2,10.0,993,11838,0.12,2.20,0.00,0.000,4,0.069,0.057,2933,339,1861
$GC,11904,0.38,243.5,768.3,14.3,996,11909,0.20,2.12,0.00,0.000,6,0.141,0.043,2859,1724,1861
$GC,12225,0.54,263.5,738.1,9.2,1012,12249,0.15,2.25,17.70,1.282,4,0.064,0.057,2941,340,1787
$GC,12287,0.39,263.5,729.7,14.2,1014,12296,0.22,2.15,0.00,0.000,6,0.138,0.042,2856,1722,1786
$GC,12603,0.60,289.3,701.2,9.0,1030,12633,0.17,2.28,23.88,1.272,4,0.059,0.057,2955,340,1682
$GC,12699,0.44,289.3,686.5,16.9,1034,12704,0.20,2.12,0.00,0.000,6,0.140,0.041,2883,1702,1680
$GC,13020,0.55,289.3,647.4,12.4,1050,13024,0.00,2.25,0.00,0.000,4,0.000,0.054,2882,3158,1678
$GC,13047,0.66,289.3,643.8,12.0,1051,13052,0.10,2.25,0.00,0.000,6,0.053,0.042,2965,1698,1677
$GC,13369,0.46,289.3,589.5,16.4,1067,13374,0.22,2.10,0.00,0.000,4,0.151,0.054,2903,339,1677
$GC,13418,0.51,289.3,582.6,12.0,1069,13423,0.00,2.05,0.00,0.000,6,0.000,0.041,2902,1684,1677
$GC,13740,0.51,289.3,544.7,12.1,1085,13743,0.00,2.25,0.00,0.000,4,0.000,0.053,2903,3154,1677
$GC,13789,0.51,289.3,538.3,12.5,1087,13793,0.00,2.25,0.00,0.000,6,0.000,0.042,2914,1684,1675
$GC,14106,0.51,289.3,497.6,13.0,1103,14110,0.00,2.08,0.00,0.000,4,0.000,0.055,2924,330,1675
$GC,14144,0.51,289.3,492.4,13.7,1106,14153,0.00,2.05,0.00,0.000,6,0.000,0.040,2924,1687,1675
$GC,14470,0.51,289.3,449.1,13.4,1137,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1689,1675
$GC,14788,0.51,289.3,409.8,12.0,1167,14792,0.00,2.08,0.00,0.000,4,0.000,0.054,2934,334,1675
$GC,14888,0.51,289.3,397.1,12.6,1176,14892,0.12,2.00,0.00,0.000,6,0.148,0.038,2901,1689,1675
$GC,15218,0.62,289.3,361.3,11.5,1207,15222,0.12,2.08,0.00,0.000,4,0.067,0.051,2973,332,1675
$GC,15274,0.47,289.3,353.2,16.0,1212,15279,0.28,1.98,0.00,0.000,6,0.141,0.038,2892,1674,1675
$GC,15599,0.68,303.0,321.9,9.5,1242,15616,0.17,2.08,12.45,0.937,4,0.057,0.052,2994,333,1627
$GC,15713,0.48,303.0,303.0,17.0,1252,15718,0.35,1.95,0.00,0.000,6,0.139,0.038,2890,1652,1626
$GC,16054,0.77,353.9,270.7,8.0,1310,16105,0.25,2.08,43.83,0.935,4,0.101,0.050,3023,332,1419
$GC,16128,0.48,353.9,258.4,19.5,1322,16136,0.45,2.00,0.00,0.000,6,0.140,0.035,2890,1638,1417
$GC,16473,0.80,372.2,226.6,9.3,1383,16498,0.28,2.03,16.88,0.858,4,0.044,0.049,3035,337,1343
$GC,16550,0.52,372.2,211.4,23.4,1396,16557,0.35,1.95,0.00,0.000,6,0.132,0.035,2911,1630,1341
$GC,16893,0.82,408.0,171.4,8.6,1457,16934,0.22,2.03,31.35,0.836,4,0.048,0.051,3038,337,1197
$GC,16987,0.56,408.0,155.0,23.0,1472,16994,0.32,1.95,0.00,0.000,6,0.135,0.034,2919,1624,1195
$GC,17332,1.01,458.4,127.3,8.0,1533,17385,0.38,2.05,43.28,0.795,4,0.038,0.050,3101,345,993
$GC,17414,0.66,458.4,110.5,24.1,1546,17422,0.43,1.95,0.00,0.000,6,0.139,0.032,2957,1630,991
$GC,17760,1.07,505.9,73.1,8.1,1607,17805,0.30,0.00,40.42,0.740,6,0.040,0.000,3102,1631,799
$STATE,18108,end climb,SURFACE_DEPTH_REACHED
$STATE,18108,begin surface coast
$FINISH,1.0,1.022281
$STATE,18126,end surface coast,CONTROL_FINISHED_OK
$STATE,18127,begin surface
$SM_CCo,18202,0.00,0.000,0,0,792,507.77
$SM_GC,1.74,7.82,0.00,0.00,0.045,0.000,0.000,154,1497,792,-8.03,-0.06,507.77
$IRIDIUM_FIX,2453.69,12332.83,030998,010107
$TT8_MAMPS,0.026845
$HUMID,1487
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,23.70
$XPDR_PINGS,148
$24V_AH,23.4,26.762
$10V_AH,10.7,16.361
$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,31.200,129.225,590.925,0.000,0.000,23.480,58.736,204.754,45.000,0.000,0.000,15.730,2952.376,11140.413,687.229,3288.784,524.969,0.000,2157.258,0.000,3267.998,0.000,55.138,0.000
$DEVICE_MAMPS,237.003,61.360,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.003,1150.956,1929.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94852,1671
$CAP_FILE_SIZE,182835,0
$CFSIZE,260165632,225992704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.156, 75.3,1
$GPS,090609,105854,2458.865,12330.558,32,1.1,49,-3.7