version: 66.04
glider: 166
mission: 2
dive: 115
start: 6 9 109 21 35 59
data:
$ID,166
$MISSION,2
$DIVE,115
$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,-7381.395
$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,56
$R_STBD_OVSHOOT,58
$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
$GPS1,212007,2455.632,12328.043,31,1.2,31,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.6
$GPS2,213538,2455.460,12328.286,12,1.3,12,-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,211.3,93373,-16.8,-10.000
$D_GRID,1933
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-58.72,0.000,2,0.000,0.000,157,1466,2488
$GC,77,-0.90,-170.3,3.3,-4.8,9,118,8.90,0.00,-29.10,0.000,6,0.231,0.000,2440,1464,3558
$GC,457,-0.31,-170.3,100.8,-23.6,75,464,0.60,2.15,0.00,0.000,4,0.143,0.042,2631,2895,3561
$GC,581,-0.73,-170.3,111.8,-6.0,97,588,0.30,2.05,0.00,0.000,6,0.034,0.033,2460,1516,3562
$GC,926,-0.37,-170.3,179.9,-20.0,158,934,0.47,1.95,0.00,0.000,4,0.140,0.045,2612,202,3562
$GC,974,-0.62,-170.3,185.0,-7.0,166,982,0.15,1.90,0.00,0.000,6,0.043,0.028,2510,1517,3562
$GC,1323,-0.54,-170.3,225.2,-12.5,227,1330,0.17,2.03,0.00,0.000,4,0.136,0.041,2566,2893,3562
$GC,1371,-0.80,-170.3,230.6,-9.1,235,1378,0.25,2.03,0.00,0.000,6,0.045,0.034,2446,1500,3562
$GC,1716,-0.50,-170.3,293.2,-17.0,296,1722,0.38,0.00,0.00,0.000,6,0.137,0.000,2568,1500,3562
$GC,2050,-0.73,-170.3,321.7,-7.8,333,2052,0.17,0.00,0.00,0.000,6,0.058,0.000,2483,1500,3561
$GC,2368,-0.61,-170.3,360.0,-11.3,363,2373,0.20,2.08,0.00,0.000,4,0.137,0.043,2546,2893,3559
$GC,2414,-0.87,-170.3,363.2,-5.7,367,2419,0.25,2.03,0.00,0.000,6,0.047,0.035,2426,1505,3559
$GC,2740,-0.58,-170.3,411.1,-16.7,397,2745,0.35,1.95,0.00,0.000,4,0.138,0.048,2542,200,3558
$GC,2791,-0.70,-170.3,417.5,-10.6,401,2794,0.00,1.88,0.00,0.000,6,0.000,0.031,2541,1505,3557
$GC,3121,-0.88,-170.3,446.9,-8.5,432,3125,0.20,2.08,0.00,0.000,4,0.054,0.044,2439,2905,3555
$GC,3148,-0.82,-170.3,449.9,-11.9,434,3156,0.12,2.05,0.00,0.000,6,0.145,0.036,2477,1504,3555
$GC,3483,-0.74,-170.3,489.3,-11.9,465,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1504,3553
$GC,3805,-0.68,-170.3,525.4,-10.9,485,3809,0.15,2.10,0.00,0.000,4,0.141,0.048,2520,2894,3551
$GC,3853,-0.90,-170.3,529.6,-7.1,487,3858,0.20,2.03,0.00,0.000,6,0.053,0.045,2424,1518,3551
$GC,4175,-0.66,-170.3,572.4,-14.2,503,4179,0.30,2.00,0.00,0.000,4,0.137,0.054,2522,195,3548
$GC,4333,-0.78,-170.3,587.3,-9.0,510,4337,0.00,1.90,0.00,0.000,6,0.000,0.041,2519,1493,3547
$GC,4665,-0.94,-170.3,612.0,-7.2,526,4669,0.20,2.10,0.00,0.000,4,0.057,0.047,2412,2898,3545
$GC,4713,-0.78,-170.3,617.4,-12.0,528,4718,0.20,2.10,0.00,0.000,6,0.132,0.038,2490,1496,3544
$GC,5037,-0.84,-170.3,645.6,-8.9,544,5041,0.00,2.12,0.00,0.000,4,0.000,0.048,2490,2904,3543
$GC,5109,-0.99,-170.3,651.8,-7.7,547,5113,0.20,2.08,0.00,0.000,6,0.054,0.039,2398,1501,3542
$GC,5430,-0.71,-170.3,698.3,-14.5,563,5432,0.35,0.00,0.00,0.000,6,0.141,0.000,2508,1500,3540
$GC,5738,-0.87,-170.3,719.6,-5.7,578,5740,0.15,0.00,0.00,0.000,6,0.066,0.000,2437,1500,3538
$GC,6048,-0.76,-170.3,749.7,-10.4,593,6050,0.20,0.00,0.00,0.000,6,0.140,0.000,2495,1500,3536
$GC,6357,-0.90,-170.3,772.0,-7.3,608,6361,0.15,2.12,0.00,0.000,4,0.067,0.051,2424,2892,3533
$GC,6389,-0.84,-170.3,775.1,-10.4,609,6396,0.15,2.08,0.00,0.000,6,0.140,0.041,2467,1499,3533
$GC,6706,-0.84,-170.3,801.7,-8.2,625,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1498,3532
$GC,7014,-0.84,-170.3,825.9,-7.5,640,7018,0.00,1.98,0.00,0.000,4,0.000,0.058,2468,206,3530
$GC,7059,-0.84,-170.3,829.7,-8.8,642,7063,0.00,1.92,0.00,0.000,6,0.000,0.039,2466,1503,3530
$GC,7391,-0.84,-170.3,854.5,-7.5,658,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1505,3528
$GC,7702,-0.84,-170.3,879.4,-8.1,673,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1505,3526
$GC,8009,-0.84,-170.3,905.3,-8.3,688,8013,0.00,2.12,0.00,0.000,4,0.000,0.057,2466,2897,3524
$GC,8049,-0.96,-170.3,908.4,-7.9,689,8056,0.12,2.08,0.00,0.000,6,0.069,0.043,2407,1512,3524
$GC,8365,-0.80,-170.3,944.4,-11.9,705,8369,0.20,2.03,0.00,0.000,4,0.146,0.059,2473,198,3523
$GC,8422,-0.80,-170.3,950.1,-9.4,707,8428,0.00,1.98,0.00,0.000,6,0.000,0.041,2472,1523,3522
$GC,8738,-0.88,-170.3,976.8,-8.5,723,8742,0.00,2.10,0.00,0.000,4,0.000,0.057,2472,2899,3521
$GC,8810,-1.03,-170.3,982.6,-7.3,726,8815,0.20,2.08,0.00,0.000,6,0.058,0.044,2385,1519,3521
$STATE,8887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8887,begin apogee
$GC,8892,-0.20,0.0,992.0,12.5,730,9036,0.90,0.00,140.73,1.485,6,0.142,0.000,2665,1758,2863
$STATE,9037,end apogee,CONTROL_FINISHED_OK
$STATE,9037,begin climb
$GC,9038,0.90,170.3,997.2,0.0,737,9198,0.98,2.38,151.15,1.432,4,0.041,0.058,3042,3147,2168
$GC,9276,0.30,170.3,969.9,18.5,748,9281,0.73,2.28,0.00,0.000,6,0.170,0.044,2838,1746,2163
$GC,9599,0.51,244.8,945.8,7.1,764,9672,0.17,2.35,66.18,1.410,4,0.062,0.058,2933,352,1863
$GC,9711,0.39,244.8,932.1,12.9,769,9716,0.25,2.17,0.00,0.000,6,0.142,0.042,2864,1729,1860
$GC,10038,0.53,274.6,902.3,8.8,785,10067,0.15,0.00,26.92,1.363,6,0.064,0.000,2932,1730,1743
$GC,10367,0.43,274.6,857.4,14.0,801,10368,0.20,0.00,0.00,0.000,6,0.144,0.000,2876,1730,1738
$GC,10676,0.53,274.6,824.8,10.7,816,10680,0.10,2.17,0.00,0.000,4,0.077,0.057,2938,343,1737
$GC,10759,0.43,274.6,812.5,16.4,820,10764,0.20,2.12,0.00,0.000,6,0.142,0.044,2881,1737,1736
$GC,11085,0.52,274.6,772.9,12.1,836,11089,0.00,2.20,0.00,0.000,4,0.000,0.058,2889,330,1735
$GC,11140,0.57,274.6,765.7,13.0,838,11145,0.10,2.10,0.00,0.000,6,0.082,0.044,2937,1719,1735
$GC,11461,0.48,274.6,714.9,15.6,854,11463,0.15,0.00,0.00,0.000,6,0.150,0.000,2897,1722,1734
$GC,11770,0.48,274.6,674.8,12.6,869,11774,0.00,2.20,0.00,0.000,4,0.000,0.055,2897,3156,1734
$GC,11797,0.53,274.6,671.3,12.1,870,11801,0.00,2.22,0.00,0.000,6,0.000,0.044,2904,1705,1733
$GC,12124,0.53,274.6,630.5,12.2,886,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1704,1733
$GC,12433,0.53,274.6,593.8,11.8,901,12437,0.00,2.10,0.00,0.000,4,0.000,0.056,2915,339,1733
$GC,12493,0.53,274.6,585.9,13.0,903,12501,0.00,2.10,0.00,0.000,6,0.000,0.041,2915,1721,1733
$GC,12810,0.53,274.6,548.3,11.7,919,12814,0.00,2.20,0.00,0.000,4,0.000,0.054,2915,3160,1732
$GC,12826,0.53,274.6,546.4,11.3,919,12832,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1709,1732
$GC,13142,0.53,274.6,508.8,12.3,935,13146,0.00,2.10,0.00,0.000,4,0.000,0.054,2936,339,1732
$GC,13225,0.53,274.6,497.6,13.4,939,13232,0.00,2.10,0.00,0.000,6,0.000,0.041,2936,1725,1732
$GC,13551,0.53,274.6,455.7,13.3,970,13554,0.00,2.12,0.00,0.000,4,0.000,0.054,2946,341,1732
$GC,13629,0.46,274.6,444.3,14.0,977,13634,0.20,2.03,0.00,0.000,6,0.140,0.039,2888,1708,1732
$GC,13954,0.62,274.6,408.8,11.1,1007,13959,0.15,2.10,0.00,0.000,4,0.059,0.053,2972,337,1732
$GC,13997,0.48,274.6,402.1,17.2,1010,14007,0.22,2.03,0.00,0.000,6,0.137,0.039,2899,1688,1732
$GC,14323,0.63,293.2,368.5,9.3,1041,14347,0.12,2.08,15.68,1.000,4,0.066,0.051,2973,340,1667
$GC,14374,0.51,293.2,361.7,14.5,1045,14381,0.20,2.03,0.00,0.000,6,0.133,0.038,2908,1681,1667
$GC,14699,0.67,325.3,333.3,8.7,1076,14732,0.15,0.00,28.67,0.986,6,0.061,0.000,2981,1682,1535
$GC,15055,0.56,325.3,277.0,17.2,1120,15062,0.20,2.08,0.00,0.000,4,0.143,0.049,2928,339,1532
$GC,15119,0.67,325.3,268.0,13.2,1131,15125,0.00,2.00,0.00,0.000,6,0.000,0.042,2928,1681,1531
$GC,15462,0.76,325.3,228.6,10.8,1192,15469,0.15,2.22,0.00,0.000,4,0.059,0.045,3007,3154,1530
$GC,15514,0.62,325.3,220.8,16.0,1201,15521,0.28,2.22,0.00,0.000,6,0.144,0.037,2941,1664,1530
$GC,15858,0.71,325.3,182.3,11.1,1262,15866,0.00,2.03,0.00,0.000,4,0.000,0.050,2948,323,1530
$GC,15885,0.79,325.3,179.3,12.2,1266,15893,0.12,2.03,0.00,0.000,6,0.071,0.035,3015,1709,1530
$GC,16231,0.69,325.3,128.8,12.9,1327,16238,0.17,2.17,0.00,0.000,4,0.141,0.044,2959,3170,1530
$GC,16279,0.81,338.2,123.7,9.5,1335,16298,0.00,2.25,11.88,0.763,6,0.000,0.035,2968,1663,1484
$GC,16638,0.97,356.0,92.6,9.3,1398,16660,0.20,2.08,16.52,0.749,4,0.048,0.047,3085,338,1410
$GC,16696,0.71,356.0,83.4,18.0,1407,16703,0.40,2.00,0.00,0.000,6,0.140,0.032,2965,1685,1409
$GC,17041,1.04,415.9,50.4,7.6,1468,17099,0.28,2.10,50.70,0.726,4,0.042,0.044,3113,335,1166
$GC,17128,0.78,415.9,36.7,18.4,1482,17136,0.35,2.03,0.00,0.000,6,0.131,0.031,2991,1683,1164
$GC,17474,1.23,496.9,8.0,6.8,1543,17513,0.32,0.00,36.10,0.675,2,0.040,0.000,3156,1685,994
$STATE,17513,end climb,SURFACE_DEPTH_REACHED
$STATE,17514,begin surface coast
$FINISH,1.0,1.021838
$STATE,17532,end surface coast,CONTROL_FINISHED_OK
$STATE,17532,begin surface
$SM_CCo,17608,0.00,0.000,0,0,987,459.94
$SM_GC,1.65,8.18,0.00,0.00,0.051,0.000,0.000,151,1471,987,-8.02,-0.82,459.94
$IRIDIUM_FIX,2444.18,12322.95,030998,212159
$TT8_MAMPS,0.026845
$HUMID,1460
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.70
$XPDR_PINGS,129
$24V_AH,23.4,27.420
$10V_AH,10.7,16.840
$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,30.925,134.250,544.525,0.000,0.000,105.973,140.175,371.410,40.250,0.000,0.000,12.647,2790.950,11152.529,650.931,3066.268,863.955,0.000,2037.481,0.000,3041.150,0.000,54.418,0.000
$DEVICE_MAMPS,230.867,59.059,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.759,1055.082,1771.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91582,1552
$CAP_FILE_SIZE,183963,0
$CFSIZE,260165632,225705984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 14.6,1
$GPS,100609,023037,2453.497,12326.871,37,1.0,37,-3.6