version: 66.04
glider: 166
mission: 2
dive: 126
start: 6 12 109 6 10 17
data:
$ID,166
$MISSION,2
$DIVE,126
$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,-7583.0918
$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,63
$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
$GPS1,060007,2437.617,12321.757,27,1.3,27,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.5
$GPS2,060956,2437.695,12321.772,14,1.3,14,-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,192.0,58703,-16.8,-10.000
$D_GRID,961
$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,-0.90,-170.3,0.0,0.0,0,75,0.00,0.00,-58.42,0.000,2,0.000,0.000,171,1542,2459
$GC,78,-0.90,-170.3,3.3,-5.4,9,124,9.20,2.05,-29.20,0.000,4,0.239,0.056,2437,186,3557
$GC,362,-0.12,-170.3,92.1,-31.0,58,369,0.82,1.92,0.00,0.000,6,0.145,0.031,2695,1487,3558
$GC,705,-0.98,-170.3,119.7,-8.6,119,713,0.73,2.05,0.00,0.000,4,0.064,0.034,2418,2910,3560
$GC,748,-0.69,-170.3,124.7,-12.5,126,755,0.35,2.08,0.00,0.000,6,0.153,0.031,2514,1472,3560
$GC,1094,-0.54,-170.3,176.7,-11.9,187,1101,0.17,2.12,0.00,0.000,4,0.135,0.037,2573,2912,3560
$GC,1164,-0.78,-170.3,182.4,-7.0,199,1171,0.25,2.05,0.00,0.000,6,0.044,0.030,2453,1490,3561
$GC,1508,-0.46,-170.3,241.4,-18.2,260,1515,0.40,1.90,0.00,0.000,4,0.135,0.042,2583,204,3562
$GC,1590,-0.71,-170.3,250.4,-9.6,274,1597,0.17,1.88,0.00,0.000,6,0.042,0.027,2493,1519,3562
$GC,1935,-0.60,-170.3,293.7,-11.8,335,1941,0.17,0.00,0.00,0.000,6,0.133,0.000,2550,1520,3561
$GC,2264,-0.76,-170.3,321.0,-9.7,373,2268,0.17,2.00,0.00,0.000,4,0.059,0.039,2460,2882,3561
$GC,2299,-0.66,-170.3,325.5,-13.7,376,2303,0.20,2.03,0.00,0.000,6,0.132,0.032,2524,1490,3561
$GC,2630,-0.73,-170.3,362.1,-9.0,407,2634,0.00,2.08,0.00,0.000,4,0.000,0.042,2520,2886,3560
$GC,2686,-0.90,-170.3,366.8,-8.0,412,2691,0.20,2.03,0.00,0.000,6,0.053,0.033,2429,1493,3560
$GC,3011,-0.63,-170.3,414.6,-13.9,442,3015,0.30,1.92,0.00,0.000,4,0.139,0.046,2526,203,3558
$GC,3037,-0.63,-170.3,417.9,-11.2,444,3044,0.00,1.88,0.00,0.000,6,0.000,0.030,2525,1484,3558
$GC,3363,-0.77,-170.3,445.5,-8.3,475,3366,0.00,1.92,0.00,0.000,4,0.000,0.049,2525,208,3556
$GC,3401,-0.86,-170.3,449.1,-8.7,478,3408,0.15,1.88,0.00,0.000,6,0.048,0.031,2445,1493,3556
$GC,3726,-0.70,-170.3,492.5,-14.5,509,3728,0.22,0.00,0.00,0.000,6,0.140,0.000,2513,1493,3554
$GC,4048,-0.83,-170.3,523.7,-9.6,528,4052,0.12,1.95,0.00,0.000,4,0.072,0.051,2452,213,3552
$GC,4097,-0.64,-170.3,530.6,-15.0,530,4101,0.22,1.88,0.00,0.000,6,0.133,0.041,2529,1476,3551
$GC,4424,-0.84,-170.3,561.3,-8.8,546,4429,0.17,2.12,0.00,0.000,4,0.059,0.046,2444,2899,3548
$GC,4486,-0.77,-170.3,568.3,-11.8,549,4491,0.15,2.10,0.00,0.000,6,0.133,0.043,2489,1484,3547
$GC,4819,-0.82,-170.3,598.7,-8.8,565,4822,0.00,1.92,0.00,0.000,4,0.000,0.054,2490,208,3545
$GC,4896,-0.82,-170.3,606.8,-10.0,568,4900,0.00,1.88,0.00,0.000,6,0.000,0.035,2488,1471,3544
$GC,5219,-0.87,-170.3,634.5,-8.2,584,5223,0.00,2.15,0.00,0.000,4,0.000,0.050,2488,2901,3542
$GC,5287,-1.04,-170.3,639.5,-7.4,587,5292,0.22,2.10,0.00,0.000,6,0.053,0.039,2389,1487,3541
$GC,5615,-0.74,-170.3,685.2,-14.3,603,5619,0.32,1.95,0.00,0.000,4,0.146,0.054,2494,205,3539
$GC,5686,-0.82,-170.3,693.4,-9.6,606,5690,0.00,1.92,0.00,0.000,6,0.000,0.037,2494,1510,3539
$GC,6008,-0.92,-170.3,721.8,-8.6,622,6013,0.15,2.10,0.00,0.000,4,0.067,0.051,2423,2898,3537
$GC,6057,-0.86,-170.3,727.5,-12.1,624,6062,0.15,2.10,0.00,0.000,6,0.137,0.041,2466,1490,3536
$GC,6378,-0.86,-170.3,760.8,-10.4,640,6382,0.00,1.98,0.00,0.000,4,0.000,0.058,2466,198,3534
$GC,6517,-0.86,-170.3,776.1,-10.7,646,6521,0.00,1.92,0.00,0.000,6,0.000,0.038,2468,1476,3533
$GC,6845,-0.86,-170.3,805.5,-8.6,662,6848,0.00,2.17,0.00,0.000,4,0.000,0.054,2470,2904,3531
$GC,6913,-0.97,-170.3,811.1,-8.2,665,6918,0.12,2.15,0.00,0.000,6,0.068,0.043,2411,1473,3530
$GC,7241,-0.79,-170.3,848.9,-13.0,681,7243,0.25,0.00,0.00,0.000,6,0.143,0.000,2487,1472,3529
$GC,7548,-0.89,-170.3,876.7,-8.4,696,7553,0.12,2.20,0.00,0.000,4,0.075,0.054,2431,2903,3527
$GC,7625,-0.89,-170.3,883.8,-9.4,699,7632,0.00,2.17,0.00,0.000,6,0.000,0.044,2427,1480,3527
$GC,7941,-0.78,-170.3,916.5,-10.6,715,7945,0.17,1.98,0.00,0.000,4,0.145,0.059,2484,201,3526
$GC,8019,-0.78,-170.3,924.4,-10.0,718,8023,0.00,1.92,0.00,0.000,6,0.000,0.040,2488,1473,3525
$GC,8341,-0.89,-170.3,952.3,-7.8,734,8345,0.12,2.20,0.00,0.000,4,0.072,0.054,2421,2907,3523
$GC,8396,-0.82,-170.3,957.6,-10.0,736,8401,0.20,2.17,0.00,0.000,6,0.139,0.045,2477,1466,3523
$STATE,8441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8441,begin apogee
$GC,8446,-0.20,0.0,961.2,8.3,738,8589,0.60,0.00,140.40,1.465,6,0.117,0.000,2675,1753,2863
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8592,0.90,170.3,964.7,0.0,745,8747,0.95,0.00,151.55,1.411,6,0.040,0.000,3037,1753,2167
$GC,9043,0.35,170.3,898.1,18.7,767,9045,0.62,0.00,0.00,0.000,6,0.164,0.000,2860,1754,2161
$GC,9352,0.42,178.6,868.7,9.7,782,9366,0.00,2.28,7.68,1.163,4,0.000,0.059,2868,349,2134
$GC,9444,0.42,178.6,857.6,12.5,786,9448,0.00,2.15,0.00,0.000,6,0.000,0.042,2867,1734,2133
$GC,9771,0.42,178.6,821.7,10.7,802,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1734,2132
$GC,10081,0.44,189.0,790.3,9.6,817,10096,0.00,2.22,10.40,1.239,4,0.000,0.056,2866,3161,2091
$GC,10128,0.44,189.0,785.2,10.9,818,10133,0.00,2.20,0.00,0.000,6,0.000,0.043,2876,1742,2090
$GC,10450,0.44,189.0,752.1,10.1,834,10453,0.00,2.17,0.00,0.000,4,0.000,0.058,2886,347,2089
$GC,10510,0.44,189.0,745.8,10.1,836,10517,0.00,2.12,0.00,0.000,6,0.000,0.042,2886,1728,2089
$GC,10825,0.44,189.0,712.1,11.4,852,10829,0.00,2.15,0.00,0.000,4,0.000,0.057,2897,347,2088
$GC,10893,0.39,189.0,704.4,11.5,855,10898,0.12,2.10,0.00,0.000,6,0.153,0.043,2864,1736,2088
$GC,11221,0.54,246.1,677.4,7.7,871,11277,0.15,2.33,49.62,1.288,4,0.064,0.056,2935,3151,1858
$GC,11373,0.41,246.1,658.4,12.8,878,11378,0.25,2.22,0.00,0.000,6,0.146,0.044,2876,1723,1852
$GC,11700,0.52,246.1,624.3,11.1,894,11704,0.00,2.17,0.00,0.000,4,0.000,0.058,2884,338,1851
$GC,11783,0.61,246.1,614.6,11.6,897,11791,0.10,2.15,0.00,0.000,6,0.054,0.041,2942,1727,1850
$GC,12099,0.46,246.1,568.8,14.6,913,12104,0.20,2.17,0.00,0.000,4,0.142,0.054,2891,332,1850
$GC,12160,0.55,246.1,561.6,10.7,916,12164,0.00,2.10,0.00,0.000,6,0.000,0.041,2891,1722,1849
$GC,12493,0.64,257.7,529.9,9.5,932,12508,0.15,2.17,9.98,1.090,4,0.063,0.056,2974,332,1812
$GC,12540,0.41,257.7,522.9,15.1,934,12545,0.30,2.12,0.00,0.000,6,0.141,0.041,2869,1713,1811
$GC,12859,0.65,304.8,496.1,8.1,951,12911,0.22,2.28,41.95,1.148,4,0.052,0.055,2978,339,1619
$GC,12938,0.44,304.8,484.2,16.3,958,12946,0.30,2.15,0.00,0.000,6,0.137,0.041,2885,1704,1617
$GC,13264,0.60,307.9,450.1,9.9,989,13265,0.15,0.00,0.00,0.000,6,0.064,0.000,2953,1705,1613
$GC,13582,0.50,307.9,402.3,15.5,1019,13587,0.17,2.12,0.00,0.000,4,0.143,0.052,2906,333,1613
$GC,13678,0.63,307.9,391.1,10.6,1027,13682,0.10,2.05,0.00,0.000,6,0.081,0.040,2953,1703,1613
$GC,14007,0.57,307.9,344.8,13.4,1058,14009,0.12,0.00,0.00,0.000,6,0.148,0.000,2921,1705,1613
$GC,14326,0.64,307.9,310.7,10.4,1088,14330,0.00,2.10,0.00,0.000,4,0.000,0.052,2931,338,1612
$GC,14360,0.70,307.9,306.9,10.9,1091,14365,0.10,2.05,0.00,0.000,6,0.081,0.038,2978,1714,1612
$GC,14700,0.60,307.9,255.8,14.8,1147,14706,0.17,0.00,0.00,0.000,6,0.142,0.000,2925,1717,1612
$GC,15044,0.80,326.7,221.3,9.3,1208,15070,0.17,2.12,19.08,0.892,4,0.058,0.049,3030,340,1529
$GC,15217,0.57,326.7,193.3,16.7,1238,15224,0.35,2.05,0.00,0.000,6,0.137,0.036,2926,1728,1527
$GC,15564,0.90,367.7,160.1,8.4,1299,15611,0.25,2.20,35.00,0.839,4,0.047,0.044,3051,3133,1363
$GC,15639,0.72,367.7,148.3,17.5,1311,15647,0.25,2.17,0.00,0.000,6,0.134,0.035,2967,1717,1361
$GC,15985,1.00,416.8,116.8,8.1,1372,16033,0.22,2.22,42.25,0.788,4,0.048,0.047,3093,333,1163
$GC,16121,0.79,416.8,95.0,17.1,1394,16129,0.32,2.10,0.00,0.000,6,0.136,0.032,2998,1744,1160
$GC,16468,1.10,440.9,59.5,9.1,1455,16496,0.22,2.20,21.50,0.711,4,0.048,0.040,3113,3150,1064
$GC,16524,0.94,440.9,50.3,17.7,1464,16532,0.30,2.15,0.00,0.000,6,0.134,0.033,3041,1713,1063
$GC,16872,1.20,479.1,13.5,8.5,1525,16913,0.20,2.10,33.10,0.675,4,0.050,0.044,3158,346,907
$STATE,16934,end climb,SURFACE_DEPTH_REACHED
$STATE,16934,begin surface coast
$FINISH,0.9,1.009308
$STATE,16948,end surface coast,CONTROL_FINISHED_OK
$STATE,16948,begin surface
$SM_CCo,17025,0.00,0.000,0,0,902,481.03
$SM_GC,1.70,8.07,0.00,0.00,0.047,0.000,0.000,142,1507,902,-8.04,0.20,481.03
$IRIDIUM_FIX,2427.58,12323.00,060998,060642
$TT8_MAMPS,0.026845
$HUMID,1455
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,100
$24V_AH,23.4,29.821
$10V_AH,10.7,18.581
$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,31.225,145.925,562.500,0.000,0.000,48.577,69.581,286.568,32.750,0.000,0.000,14.813,2780.948,10386.228,681.998,3110.032,639.577,0.000,2073.376,0.000,3078.599,0.000,52.741,0.000
$DEVICE_MAMPS,238.537,59.059,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.278,1054.044,1772.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88344,1537
$CAP_FILE_SIZE,182158,0
$CFSIZE,260165632,224665600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 18.9,1
$GPS,120609,105507,2435.859,12321.312,32,0.9,32,-3.5