version: 66.04
glider: 166
mission: 2
dive: 116
start: 6 10 109 2 37 23
data:
$ID,166
$MISSION,2
$DIVE,116
$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,-7394.6123
$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,52
$R_STBD_OVSHOOT,54
$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
$GPS1,023037,2453.497,12326.871,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.5
$GPS2,023702,2453.418,12326.990,12,1.3,12,-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,199.6,89125,-16.8,-10.000
$D_GRID,1869
$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,-170.3,0.0,0.0,0,80,0.00,0.00,-64.20,0.000,2,0.000,0.000,136,1472,2438
$GC,83,-0.90,-170.3,3.3,-6.0,10,129,8.93,2.22,-30.42,0.000,4,0.227,0.054,2430,2898,3559
$GC,237,-0.27,-170.3,42.2,-27.3,36,246,0.73,2.05,0.00,0.000,6,0.144,0.035,2651,1506,3560
$GC,586,-0.60,-170.3,75.2,-6.8,97,593,0.25,1.95,0.00,0.000,4,0.045,0.045,2530,203,3563
$GC,617,-0.49,-170.3,79.3,-14.4,102,624,0.12,1.90,0.00,0.000,6,0.141,0.030,2580,1498,3563
$GC,961,-0.54,-170.3,124.1,-11.3,163,968,0.00,2.08,0.00,0.000,4,0.000,0.043,2583,2906,3564
$GC,1065,-0.76,-170.3,132.4,-7.1,181,1072,0.20,2.08,0.00,0.000,6,0.038,0.034,2471,1503,3563
$GC,1410,-0.46,-170.3,190.5,-17.6,242,1417,0.35,1.92,0.00,0.000,4,0.140,0.046,2585,207,3564
$GC,1506,-0.66,-170.3,201.4,-10.2,259,1513,0.17,1.85,0.00,0.000,6,0.058,0.028,2500,1509,3564
$GC,1851,-0.56,-170.3,249.6,-13.3,320,1860,0.20,2.08,0.00,0.000,4,0.134,0.044,2567,2889,3564
$GC,1917,-0.86,-170.3,254.6,-6.5,331,1924,0.28,2.03,0.00,0.000,6,0.043,0.033,2438,1494,3564
$GC,2264,-0.53,-170.3,307.5,-15.7,389,2269,0.38,1.90,0.00,0.000,4,0.140,0.046,2560,209,3564
$GC,2321,-0.67,-170.3,313.6,-8.6,394,2325,0.12,1.85,0.00,0.000,6,0.071,0.030,2498,1504,3564
$GC,2651,-0.60,-170.3,350.0,-11.2,425,2656,0.15,2.05,0.00,0.000,4,0.138,0.044,2539,2891,3563
$GC,2684,-0.77,-170.3,353.2,-7.7,428,2689,0.15,2.05,0.00,0.000,6,0.059,0.035,2461,1481,3562
$GC,3009,-0.60,-170.3,394.1,-11.7,458,3011,0.28,0.00,0.00,0.000,6,0.135,0.000,2545,1481,3560
$GC,3328,-0.78,-170.3,418.0,-8.1,488,3333,0.17,2.12,0.00,0.000,4,0.060,0.045,2453,2890,3560
$GC,3378,-0.70,-170.3,423.8,-12.2,492,3383,0.20,2.05,0.00,0.000,6,0.133,0.036,2514,1494,3560
$GC,3703,-0.77,-170.3,455.6,-9.2,522,3706,0.00,2.10,0.00,0.000,4,0.000,0.046,2514,2891,3557
$GC,3738,-0.93,-170.3,458.6,-8.9,525,3742,0.20,2.05,0.00,0.000,6,0.053,0.036,2422,1492,3557
$GC,4066,-0.64,-170.3,511.2,-17.5,553,4071,0.32,1.92,0.00,0.000,4,0.142,0.048,2529,204,3555
$GC,4115,-0.74,-170.3,517.6,-10.8,555,4119,0.00,1.90,0.00,0.000,6,0.000,0.032,2524,1491,3555
$GC,4437,-0.87,-170.3,545.6,-8.4,571,4442,0.17,2.10,0.00,0.000,4,0.059,0.046,2439,2902,3553
$GC,4498,-0.78,-170.3,552.5,-11.8,574,4503,0.17,2.08,0.00,0.000,6,0.137,0.037,2491,1492,3553
$GC,4825,-0.78,-170.3,584.5,-9.7,590,4829,0.00,1.95,0.00,0.000,4,0.000,0.052,2491,197,3551
$GC,4863,-0.78,-170.3,589.0,-11.2,591,4870,0.00,1.92,0.00,0.000,6,0.000,0.034,2490,1494,3551
$GC,5179,-0.78,-170.3,619.2,-9.1,607,5183,0.00,2.10,0.00,0.000,4,0.000,0.049,2490,2898,3549
$GC,5226,-0.92,-170.3,623.1,-7.9,609,5230,0.15,2.05,0.00,0.000,6,0.061,0.038,2418,1508,3548
$GC,5559,-0.70,-170.3,666.2,-13.6,625,5563,0.28,1.98,0.00,0.000,4,0.143,0.053,2508,201,3547
$GC,5693,-0.78,-170.3,678.3,-8.3,631,5697,0.00,1.92,0.00,0.000,6,0.000,0.035,2507,1528,3546
$GC,6020,-0.92,-170.3,703.7,-7.6,647,6024,0.17,2.08,0.00,0.000,4,0.061,0.049,2411,2907,3544
$GC,6126,-0.82,-170.3,716.0,-12.4,652,6131,0.20,2.08,0.00,0.000,6,0.139,0.040,2471,1507,3543
$GC,6451,-0.82,-170.3,748.0,-9.5,668,6455,0.00,1.98,0.00,0.000,4,0.000,0.055,2471,204,3541
$GC,6511,-0.82,-170.3,754.1,-10.3,670,6518,0.00,1.95,0.00,0.000,6,0.000,0.037,2467,1510,3540
$GC,6827,-0.82,-170.3,781.8,-8.8,686,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1511,3539
$GC,7137,-0.82,-170.3,809.5,-9.3,701,7141,0.00,2.00,0.00,0.000,4,0.000,0.056,2467,205,3537
$GC,7182,-0.82,-170.3,814.3,-10.6,703,7186,0.00,1.92,0.00,0.000,6,0.000,0.039,2467,1504,3537
$GC,7514,-0.82,-170.3,845.7,-9.2,719,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1505,3534
$GC,7823,-0.82,-170.3,872.6,-8.5,734,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1505,3532
$GC,8133,-0.82,-170.3,899.5,-9.0,749,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1505,3531
$GC,8441,-0.82,-170.3,928.1,-9.4,764,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1505,3530
$GC,8751,-0.82,-170.3,956.3,-8.9,779,8755,0.00,2.15,0.00,0.000,4,0.000,0.058,2467,2907,3528
$GC,8812,-0.95,-170.3,961.5,-7.3,781,8818,0.00,2.10,0.00,0.000,6,0.000,0.044,2467,1512,3528
$GC,9129,-1.00,-170.3,988.6,-8.7,797,9130,0.15,0.00,0.00,0.000,6,0.067,0.000,2399,1511,3527
$STATE,9146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9146,begin apogee
$GC,9150,-0.20,0.0,990.6,8.8,798,9296,0.85,0.00,141.98,1.482,6,0.140,0.000,2666,1749,2863
$STATE,9296,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9298,0.90,170.3,995.8,0.0,805,9457,1.00,2.45,151.52,1.430,4,0.041,0.058,3044,3154,2168
$GC,9481,0.29,170.3,979.5,19.3,814,9487,0.82,2.30,0.00,0.000,6,0.172,0.043,2833,1740,2164
$GC,9809,0.53,258.1,955.9,6.5,830,9902,0.20,2.38,80.20,1.386,4,0.059,0.059,2938,345,1809
$GC,9937,0.40,258.1,940.7,14.0,836,9942,0.25,2.22,0.00,0.000,6,0.141,0.042,2869,1745,1806
$GC,10264,0.52,266.8,909.1,9.7,852,10279,0.12,2.28,8.00,1.178,4,0.069,0.058,2939,344,1774
$GC,10323,0.39,266.8,900.7,15.5,854,10330,0.22,2.17,0.00,0.000,6,0.136,0.043,2853,1741,1774
$GC,10639,0.60,298.9,871.4,8.7,870,10672,0.22,0.00,30.35,1.363,6,0.052,0.000,2951,1742,1644
$GC,10968,0.46,298.9,819.8,16.0,886,10973,0.20,2.22,0.00,0.000,4,0.146,0.056,2898,333,1639
$GC,11056,0.52,298.9,808.3,12.9,890,11060,0.00,2.17,0.00,0.000,6,0.000,0.043,2898,1734,1638
$GC,11383,0.57,298.9,768.3,12.4,906,11387,0.00,2.17,0.00,0.000,4,0.000,0.057,2908,342,1637
$GC,11421,0.57,298.9,763.3,12.6,907,11428,0.00,2.12,0.00,0.000,6,0.000,0.041,2908,1725,1637
$GC,11737,0.57,298.9,723.3,12.7,923,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1725,1637
$GC,12046,0.57,298.9,686.3,12.0,938,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1725,1636
$GC,12356,0.57,298.9,650.0,12.1,953,12359,0.00,2.15,0.00,0.000,4,0.000,0.058,2919,342,1636
$GC,12416,0.57,298.9,642.0,13.3,955,12422,0.00,2.10,0.00,0.000,6,0.000,0.043,2919,1715,1636
$GC,12732,0.57,298.9,600.8,13.5,971,12736,0.00,2.15,0.00,0.000,4,0.000,0.057,2929,330,1634
$GC,12781,0.57,298.9,593.8,13.4,973,12786,0.00,2.10,0.00,0.000,6,0.000,0.041,2929,1713,1634
$GC,13109,0.57,298.9,549.9,13.5,989,13112,0.00,2.12,0.00,0.000,4,0.000,0.056,2939,340,1634
$GC,13182,0.57,298.9,539.3,14.6,992,13185,0.00,2.03,0.00,0.000,6,0.000,0.041,2939,1699,1634
$GC,13499,0.57,298.9,494.3,13.9,1009,13502,0.00,2.10,0.00,0.000,4,0.000,0.054,2949,331,1634
$GC,13532,0.49,298.9,489.4,15.1,1012,13537,0.17,2.05,0.00,0.000,6,0.143,0.041,2900,1708,1634
$GC,13856,0.61,298.9,453.5,10.8,1042,13861,0.12,2.10,0.00,0.000,4,0.066,0.053,2973,339,1634
$GC,13897,0.48,298.9,447.7,16.4,1045,13901,0.28,2.00,0.00,0.000,6,0.139,0.040,2892,1689,1634
$GC,14221,0.64,298.9,410.9,11.5,1075,14223,0.15,0.00,0.00,0.000,6,0.061,0.000,2966,1690,1634
$GC,14541,0.52,298.9,359.2,16.7,1105,14545,0.17,2.22,0.00,0.000,4,0.145,0.049,2910,3158,1634
$GC,14574,0.61,298.9,354.3,13.2,1108,14578,0.00,2.22,0.00,0.000,6,0.000,0.040,2919,1663,1634
$GC,14904,0.69,298.9,318.3,10.7,1139,14909,0.12,2.03,0.00,0.000,4,0.066,0.052,2996,331,1634
$GC,15010,0.51,298.9,301.8,16.0,1148,15017,0.25,2.00,0.00,0.000,6,0.137,0.038,2901,1673,1634
$GC,15351,0.74,330.6,268.1,8.8,1208,15384,0.17,0.00,27.08,0.935,6,0.116,0.000,2992,1674,1514
$GC,15724,0.62,330.6,212.6,15.3,1273,15731,0.17,2.05,0.00,0.000,4,0.143,0.048,2949,337,1511
$GC,15748,0.62,330.6,208.4,14.7,1277,15754,0.00,1.98,0.00,0.000,6,0.000,0.035,2950,1675,1511
$GC,16090,0.70,330.6,170.3,10.7,1338,16096,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1677,1510
$GC,16434,0.91,374.8,138.1,8.3,1399,16480,0.17,2.30,37.67,0.815,4,0.052,0.044,3052,3148,1334
$GC,16500,0.73,374.8,128.7,16.4,1409,16507,0.30,2.25,0.00,0.000,6,0.140,0.035,2974,1655,1332
$GC,16844,0.89,374.8,89.1,11.3,1470,16851,0.15,2.03,0.00,0.000,4,0.057,0.047,3068,343,1330
$GC,16937,0.78,374.8,74.4,16.5,1486,16943,0.20,1.95,0.00,0.000,6,0.128,0.031,2989,1667,1330
$GC,17283,1.18,474.5,47.5,6.1,1547,17375,0.30,2.38,83.40,0.719,4,0.042,0.040,3138,3159,927
$GC,17411,0.99,474.5,28.1,17.9,1567,17418,0.32,2.28,0.00,0.000,6,0.146,0.033,3056,1654,925
$STATE,17607,end climb,SURFACE_DEPTH_REACHED
$STATE,17607,begin surface coast
$FINISH,1.1,1.021729
$STATE,17630,end surface coast,CONTROL_FINISHED_OK
$STATE,17630,begin surface
$SM_CCo,17706,0.00,0.000,0,0,920,476.62
$SM_GC,1.82,7.82,0.00,0.00,0.046,0.000,0.000,164,1465,920,-8.04,-0.99,476.62
$IRIDIUM_FIX,2446.56,12319.66,030998,212158
$TT8_MAMPS,0.026845
$HUMID,1473
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.80
$XPDR_PINGS,134
$24V_AH,23.4,27.638
$10V_AH,10.7,16.997
$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,29.300,142.175,560.200,0.000,0.000,23.433,34.516,212.280,41.500,0.000,0.000,12.590,2865.791,10843.302,678.771,3183.138,506.295,0.000,2105.857,0.000,3160.151,0.000,55.209,0.000
$DEVICE_MAMPS,227.032,59.059,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.093,1117.171,1874.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91402,1606
$CAP_FILE_SIZE,179820,0
$CFSIZE,260165632,225615872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,343.6,1
$GPS,100609,073336,2451.022,12325.767,34,1.5,34,-3.6