version: 66.04
glider: 166
mission: 2
dive: 128
start: 6 12 109 15 58 16
data:
$ID,166
$MISSION,2
$DIVE,128
$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,-7617.9014
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,155137,2434.317,12320.771,39,1.1,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.6
$GPS2,155755,2434.379,12320.817,10,1.1,15,-3.5
$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,203.9,52355,-16.8,-10.000
$D_GRID,915
$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,-170.3,0.0,0.0,0,78,0.00,0.00,-61.78,0.000,2,0.000,0.000,155,1495,2274
$GC,80,-0.90,-170.3,3.0,-5.4,10,133,9.20,1.98,-36.92,0.000,4,0.236,0.056,2442,190,3557
$GC,287,-0.11,-170.3,60.8,-33.3,45,294,0.77,1.98,0.00,0.000,6,0.148,0.031,2694,1514,3558
$GC,632,-0.95,-170.3,90.9,-7.7,106,639,0.65,2.03,0.00,0.000,4,0.058,0.035,2433,2911,3559
$GC,746,-0.46,-170.3,112.7,-23.0,126,753,0.45,2.08,0.00,0.000,6,0.143,0.031,2589,1507,3559
$GC,1090,-0.58,-170.3,149.6,-10.4,187,1098,0.12,2.08,0.00,0.000,4,0.071,0.039,2527,2905,3560
$GC,1194,-0.50,-170.3,163.9,-13.5,205,1202,0.12,2.03,0.00,0.000,6,0.122,0.032,2569,1537,3561
$GC,1539,-0.61,-170.3,199.2,-9.0,266,1546,0.00,2.03,0.00,0.000,4,0.000,0.045,2570,174,3562
$GC,1568,-0.69,-170.3,201.8,-9.0,271,1576,0.15,1.98,0.00,0.000,6,0.064,0.028,2498,1559,3562
$GC,1913,-0.56,-170.3,243.9,-13.2,332,1920,0.17,2.08,0.00,0.000,4,0.137,0.044,2557,200,3562
$GC,1955,-0.64,-170.3,248.6,-10.4,339,1962,0.00,1.90,0.00,0.000,6,0.000,0.028,2559,1533,3562
$GC,2301,-0.80,-170.3,283.5,-9.8,400,2307,0.20,0.00,0.00,0.000,6,0.054,0.000,2460,1534,3562
$GC,2631,-0.56,-170.3,332.8,-14.2,440,2633,0.32,0.00,0.00,0.000,6,0.135,0.000,2559,1534,3562
$GC,2951,-0.77,-170.3,355.5,-6.7,470,2953,0.20,0.00,0.00,0.000,6,0.055,0.000,2462,1535,3561
$GC,3270,-0.63,-170.3,394.2,-11.4,500,3274,0.22,2.03,0.00,0.000,4,0.134,0.048,2533,198,3560
$GC,3354,-0.76,-170.3,401.9,-8.8,507,3358,0.12,1.92,0.00,0.000,6,0.071,0.031,2471,1536,3559
$GC,3683,-0.69,-170.3,437.5,-10.8,538,3687,0.15,2.03,0.00,0.000,4,0.137,0.045,2516,2897,3557
$GC,3741,-0.89,-170.3,442.1,-7.8,543,3745,0.17,2.03,0.00,0.000,6,0.056,0.035,2433,1520,3557
$GC,4070,-0.67,-170.3,488.2,-14.2,574,4074,0.25,2.00,0.00,0.000,4,0.140,0.049,2515,198,3555
$GC,4107,-0.67,-170.3,492.8,-11.1,577,4114,0.00,1.98,0.00,0.000,6,0.000,0.033,2511,1533,3554
$GC,4436,-0.79,-170.3,520.4,-8.0,597,4440,0.00,2.05,0.00,0.000,4,0.000,0.052,2508,2904,3552
$GC,4475,-0.97,-170.3,523.6,-8.1,598,4482,0.17,2.05,0.00,0.000,6,0.042,0.037,2398,1533,3552
$GC,4791,-0.69,-170.3,570.7,-15.3,614,4796,0.35,2.03,0.00,0.000,4,0.143,0.050,2513,194,3549
$GC,4841,-0.77,-170.3,576.0,-8.0,616,4844,0.00,1.98,0.00,0.000,6,0.000,0.041,2510,1541,3549
$GC,5162,-0.91,-170.3,596.9,-6.9,632,5166,0.17,2.05,0.00,0.000,4,0.061,0.055,2426,2901,3547
$GC,5188,-0.91,-170.3,599.5,-10.0,633,5197,0.00,2.05,0.00,0.000,6,0.000,0.038,2427,1535,3546
$GC,5518,-0.74,-170.3,639.2,-11.8,649,5522,0.20,2.03,0.00,0.000,4,0.138,0.053,2493,202,3544
$GC,5586,-0.79,-170.3,645.4,-8.2,652,5589,0.00,1.98,0.00,0.000,6,0.000,0.037,2493,1541,3544
$GC,5919,-0.88,-170.3,675.9,-9.8,668,5921,0.10,0.00,0.00,0.000,6,0.080,0.000,2441,1543,3541
$GC,6229,-0.78,-170.3,713.4,-12.1,683,6233,0.15,2.08,0.00,0.000,4,0.141,0.051,2481,2909,3539
$GC,6278,-0.93,-170.3,718.4,-9.0,685,6282,0.12,2.05,0.00,0.000,6,0.067,0.040,2419,1533,3538
$GC,6602,-0.77,-170.3,754.6,-10.9,701,6603,0.22,0.00,0.00,0.000,6,0.141,0.000,2486,1533,3536
$GC,6911,-0.87,-170.3,776.2,-6.4,716,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1533,3533
$GC,7219,-0.99,-170.3,798.7,-7.2,731,7221,0.20,0.00,0.00,0.000,6,0.061,0.000,2399,1533,3532
$GC,7526,-0.77,-170.3,839.7,-14.8,746,7531,0.28,2.05,0.00,0.000,4,0.143,0.057,2486,204,3530
$GC,7616,-0.83,-170.3,850.5,-11.7,750,7619,0.00,2.00,0.00,0.000,6,0.000,0.039,2486,1551,3530
$GC,7942,-0.96,-170.3,882.4,-9.9,766,7947,0.17,2.10,0.00,0.000,4,0.063,0.057,2402,197,3528
$GC,7991,-0.69,-170.3,889.4,-14.7,768,7996,0.38,2.03,0.00,0.000,6,0.146,0.041,2513,1549,3527
$GC,8314,-0.92,-170.3,913.2,-7.0,784,8316,0.20,0.00,0.00,0.000,6,0.059,0.000,2425,1550,3527
$STATE,8331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8331,begin apogee
$GC,8336,-0.20,0.0,915.1,7.5,785,8479,0.75,0.00,140.00,1.430,6,0.132,0.000,2668,1764,2863
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8482,0.90,170.3,921.2,0.0,792,8639,0.98,2.35,148.75,1.377,4,0.041,0.058,3039,3135,2167
$GC,8661,0.32,170.3,905.1,20.5,800,8666,0.70,2.28,0.00,0.000,6,0.168,0.043,2846,1752,2165
$GC,8977,0.46,170.3,868.8,11.0,815,8982,0.12,2.22,0.00,0.000,4,0.073,0.057,2912,342,2162
$GC,9061,0.33,170.3,854.8,16.1,819,9066,0.22,2.15,0.00,0.000,6,0.148,0.042,2851,1742,2161
$GC,9388,0.62,334.6,834.3,3.5,835,9539,0.22,2.40,143.88,1.349,4,0.054,0.058,2963,344,1497
$GC,9601,0.45,334.6,807.3,16.8,844,9608,0.22,2.22,0.00,0.000,6,0.140,0.041,2882,1735,1492
$GC,9917,0.59,334.6,768.9,11.2,860,9921,0.15,2.20,0.00,0.000,4,0.064,0.056,2959,342,1488
$GC,9960,0.45,334.6,762.1,16.4,862,9965,0.20,2.15,0.00,0.000,6,0.137,0.042,2885,1727,1487
$GC,10287,0.56,334.6,725.2,11.9,878,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1729,1485
$GC,10596,0.69,334.6,685.1,13.6,893,10601,0.17,2.15,0.00,0.000,4,0.060,0.057,2980,337,1484
$GC,10636,0.51,334.6,678.0,20.6,895,10641,0.28,2.10,0.00,0.000,6,0.146,0.042,2901,1728,1484
$GC,10962,0.58,334.6,633.7,12.6,911,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1728,1483
$GC,11271,0.67,334.6,596.7,11.5,926,11275,0.17,2.15,0.00,0.000,4,0.059,0.055,2996,341,1483
$GC,11370,0.44,334.6,577.2,21.2,930,11377,0.32,2.10,0.00,0.000,6,0.143,0.041,2879,1719,1482
$GC,11686,0.65,349.7,546.1,9.4,946,11708,0.17,2.22,12.15,1.131,4,0.059,0.056,2976,329,1436
$GC,11741,0.49,349.7,537.4,17.8,948,11746,0.28,2.10,0.00,0.000,6,0.142,0.042,2896,1714,1435
$GC,12063,0.63,349.7,498.5,11.2,964,12067,0.15,2.15,0.00,0.000,4,0.062,0.054,2977,328,1434
$GC,12106,0.49,349.7,491.7,16.1,967,12114,0.28,2.08,0.00,0.000,6,0.140,0.041,2896,1707,1434
$GC,12430,0.64,349.7,455.6,11.7,998,12432,0.15,0.00,0.00,0.000,6,0.061,0.000,2967,1708,1433
$GC,12751,0.52,349.7,401.2,16.8,1028,12755,0.20,2.10,0.00,0.000,4,0.144,0.052,2912,340,1433
$GC,12805,0.65,349.7,393.0,12.7,1032,12813,0.08,2.05,0.00,0.000,6,0.061,0.038,2959,1696,1433
$GC,13131,0.60,349.7,342.9,15.9,1063,13134,0.00,2.10,0.00,0.000,4,0.000,0.053,2970,329,1433
$GC,13180,0.54,349.7,334.8,15.2,1067,13188,0.17,2.03,0.00,0.000,6,0.132,0.039,2913,1670,1433
$GC,13505,0.71,349.7,301.4,10.2,1098,13509,0.17,2.05,0.00,0.000,4,0.057,0.051,3006,330,1433
$GC,13550,0.54,349.7,294.4,17.3,1104,13557,0.25,1.98,0.00,0.000,6,0.129,0.038,2913,1648,1433
$GC,13895,0.75,353.2,256.9,9.9,1165,13902,0.17,0.00,4.43,0.670,6,0.084,0.000,2997,1648,1422
$GC,14241,0.65,353.2,205.3,14.9,1226,14247,0.17,0.00,0.00,0.000,6,0.166,0.000,2943,1648,1422
$GC,14584,0.86,353.6,169.5,10.0,1287,14592,0.17,2.03,0.00,0.000,4,0.054,0.049,3050,345,1422
$GC,14666,0.68,353.6,157.0,16.5,1301,14673,0.28,1.92,0.00,0.000,6,0.131,0.035,2959,1648,1422
$GC,15011,0.99,426.6,130.4,7.1,1362,15082,0.22,2.35,63.42,0.810,4,0.047,0.041,3077,3160,1122
$GC,15169,0.90,426.6,104.5,17.4,1388,15176,0.22,2.33,0.00,0.000,6,0.137,0.035,3024,1622,1121
$GC,15514,1.02,426.6,65.8,10.5,1449,15521,0.12,2.00,0.00,0.000,4,0.064,0.046,3107,330,1120
$GC,15568,0.87,426.6,57.9,16.0,1458,15575,0.22,1.98,0.00,0.000,6,0.133,0.031,3019,1665,1119
$GC,15913,1.23,482.4,25.9,7.8,1519,15966,0.28,2.12,47.05,0.690,4,0.044,0.044,3165,327,896
$STATE,16044,end climb,SURFACE_DEPTH_REACHED
$STATE,16044,begin surface coast
$FINISH,0.8,1.021652
$STATE,16055,end surface coast,CONTROL_FINISHED_OK
$STATE,16055,begin surface
$SM_CCo,16132,0.00,0.000,0,0,890,483.98
$SM_GC,1.59,8.15,0.00,0.00,0.048,0.000,0.000,170,1538,890,-8.02,1.07,483.98
$IRIDIUM_FIX,2425.21,12319.71,060998,111104
$TT8_MAMPS,0.027612
$HUMID,1472
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.20
$XPDR_PINGS,116
$24V_AH,23.5,30.264
$10V_AH,10.7,18.886
$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,32.475,124.750,559.675,0.000,0.000,23.576,30.830,202.538,36.250,0.000,0.000,15.993,2734.845,9573.486,653.997,3057.851,476.547,0.000,2020.447,0.000,3026.107,0.000,49.424,0.000
$DEVICE_MAMPS,236.236,57.525,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.182,1084.153,1822.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88338,1543
$CAP_FILE_SIZE,171069,0
$CFSIZE,260165632,224493568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,358.7,1
$GPS,120609,202826,2432.271,12319.615,25,2.3,44,-3.5