version: 66.04
glider: 166
mission: 2
dive: 130
start: 6 13 109 0 19 9
data:
$ID,166
$MISSION,2
$DIVE,130
$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,-7672.0483
$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,62
$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
$GPS1,001255,2431.076,12319.312,41,0.9,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.6
$GPS2,001849,2431.164,12319.335,12,1.1,17,-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,203.4,45948,-16.8,-10.000
$D_GRID,819
$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,-170.3,0.0,0.0,0,67,0.00,0.00,-50.30,0.000,2,0.000,0.000,165,1484,2264
$GC,69,-0.90,-170.3,3.1,-5.3,8,122,9.15,2.20,-37.47,0.000,4,0.236,0.052,2443,2902,3558
$GC,141,-0.14,-170.3,15.4,-28.0,19,148,0.82,2.05,0.00,0.000,6,0.156,0.031,2687,1503,3559
$GC,485,-0.46,-170.3,49.7,-6.9,80,492,0.22,2.10,0.00,0.000,4,0.048,0.035,2570,2898,3561
$GC,523,-0.40,-170.3,54.1,-13.4,86,530,0.12,2.03,0.00,0.000,6,0.142,0.029,2606,1494,3561
$GC,868,-0.40,-170.3,106.8,-12.2,147,874,0.00,1.92,0.00,0.000,4,0.000,0.042,2607,211,3562
$GC,902,-0.40,-170.3,111.2,-13.6,153,910,0.00,1.88,0.00,0.000,6,0.000,0.027,2605,1518,3563
$GC,1250,-0.51,-170.3,150.3,-9.5,214,1256,0.00,2.03,0.00,0.000,4,0.000,0.037,2602,2917,3563
$GC,1404,-0.81,-170.3,162.3,-7.5,241,1412,0.35,2.03,0.00,0.000,6,0.040,0.029,2445,1500,3563
$GC,1749,-0.37,-170.3,232.9,-21.2,302,1756,0.52,1.90,0.00,0.000,4,0.143,0.041,2616,201,3564
$GC,1864,-0.66,-170.3,242.8,-6.3,322,1871,0.17,1.90,0.00,0.000,6,0.041,0.027,2493,1536,3564
$GC,2211,-0.53,-170.3,283.9,-11.5,383,2218,0.20,1.98,0.00,0.000,4,0.133,0.039,2559,2889,3564
$GC,2269,-0.77,-170.3,289.3,-7.9,393,2277,0.20,1.95,0.00,0.000,6,0.051,0.030,2459,1530,3564
$GC,2602,-0.54,-170.3,336.8,-16.4,431,2604,0.32,0.00,0.00,0.000,6,0.132,0.000,2563,1529,3564
$GC,2921,-0.78,-170.3,362.1,-6.4,461,2925,0.20,1.98,0.00,0.000,4,0.054,0.045,2465,201,3564
$GC,2947,-0.67,-170.3,365.1,-11.5,463,2954,0.12,1.90,0.00,0.000,6,0.137,0.029,2516,1506,3564
$GC,3272,-0.67,-170.3,394.8,-10.9,494,3276,0.00,2.05,0.00,0.000,4,0.000,0.044,2506,2898,3562
$GC,3300,-0.74,-170.3,397.5,-9.8,496,3306,0.00,2.00,0.00,0.000,6,0.000,0.034,2508,1545,3562
$GC,3625,-0.74,-170.3,431.1,-9.4,527,3628,0.00,2.03,0.00,0.000,4,0.000,0.045,2502,2900,3560
$GC,3663,-0.85,-170.3,434.7,-8.1,530,3670,0.08,2.00,0.00,0.000,6,0.058,0.035,2452,1551,3560
$GC,3989,-0.67,-170.3,475.2,-12.8,561,3993,0.20,2.03,0.00,0.000,4,0.135,0.048,2520,204,3558
$GC,4077,-0.67,-170.3,485.1,-10.6,568,4084,0.00,1.95,0.00,0.000,6,0.000,0.032,2513,1526,3557
$GC,4399,-0.76,-170.3,513.3,-8.8,592,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1526,3555
$GC,4707,-0.85,-170.3,541.8,-9.3,607,4709,0.12,0.00,0.00,0.000,6,0.069,0.000,2447,1527,3552
$GC,5017,-0.70,-170.3,579.6,-12.8,622,5021,0.20,2.03,0.00,0.000,4,0.138,0.051,2517,201,3550
$GC,5111,-0.77,-170.3,589.5,-9.6,626,5115,0.00,1.98,0.00,0.000,6,0.000,0.042,2509,1523,3549
$GC,5438,-0.91,-170.3,618.7,-9.0,642,5440,0.17,0.00,0.00,0.000,6,0.059,0.000,2426,1524,3547
$GC,5747,-0.71,-170.3,660.4,-14.1,657,5752,0.22,2.03,0.00,0.000,4,0.140,0.052,2505,207,3545
$GC,5773,-0.71,-170.3,663.9,-11.6,658,5778,0.00,1.95,0.00,0.000,6,0.000,0.035,2495,1518,3545
$GC,6096,-0.81,-170.3,688.7,-7.6,674,6100,0.00,2.08,0.00,0.000,4,0.000,0.051,2493,2895,3543
$GC,6202,-0.99,-170.3,697.0,-8.4,678,6209,0.20,2.03,0.00,0.000,6,0.054,0.039,2401,1524,3542
$GC,6518,-0.76,-170.3,737.7,-12.4,694,6523,0.28,2.03,0.00,0.000,4,0.141,0.054,2491,198,3541
$GC,6595,-0.81,-170.3,744.7,-8.4,697,6603,0.00,1.95,0.00,0.000,6,0.000,0.037,2490,1521,3540
$GC,6913,-0.93,-170.3,769.3,-7.8,713,6917,0.15,2.10,0.00,0.000,4,0.067,0.050,2412,2908,3538
$GC,7012,-0.84,-170.3,780.0,-10.8,717,7021,0.20,2.05,0.00,0.000,6,0.136,0.042,2472,1533,3537
$GC,7328,-0.89,-170.3,801.7,-6.3,733,7332,0.00,2.10,0.00,0.000,4,0.000,0.054,2470,2906,3535
$GC,7361,-1.00,-170.3,803.9,-6.3,734,7366,0.15,2.08,0.00,0.000,6,0.063,0.042,2399,1523,3534
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7520,-0.20,0.0,820.9,11.7,742,7663,0.85,0.00,139.48,1.365,6,0.137,0.000,2669,1764,2863
$STATE,7664,end apogee,CONTROL_FINISHED_OK
$STATE,7664,begin climb
$GC,7666,0.90,170.3,825.2,0.0,749,7819,0.95,2.33,145.52,1.314,4,0.040,0.060,3051,3133,2167
$GC,7905,0.33,170.3,795.8,20.6,760,7910,0.77,2.17,0.00,0.000,6,0.167,0.041,2846,1747,2164
$GC,8231,0.56,223.5,766.8,7.9,776,8283,0.17,2.30,46.05,1.279,4,0.061,0.057,2943,339,1951
$GC,8305,0.42,223.5,757.9,12.9,779,8312,0.17,2.22,0.00,0.000,6,0.137,0.040,2878,1744,1948
$GC,8622,0.54,246.0,727.9,9.1,795,8647,0.12,2.25,19.52,1.233,4,0.070,0.055,2936,3157,1860
$GC,8732,0.46,246.0,713.9,13.6,800,8737,0.20,2.17,0.00,0.000,6,0.149,0.041,2890,1744,1855
$GC,9058,0.53,246.0,678.7,11.0,816,9061,0.00,2.17,0.00,0.000,4,0.000,0.056,2893,343,1853
$GC,9126,0.59,246.0,671.4,11.6,819,9131,0.12,2.12,0.00,0.000,6,0.072,0.041,2951,1754,1853
$GC,9459,0.44,246.0,620.4,15.6,835,9461,0.25,0.00,0.00,0.000,6,0.141,0.000,2879,1757,1851
$GC,9768,0.63,297.5,592.6,8.0,850,9818,0.17,2.28,44.12,1.218,4,0.057,0.054,2979,346,1650
$GC,9891,0.43,297.5,573.9,17.4,855,9897,0.35,2.17,0.00,0.000,6,0.141,0.041,2878,1754,1646
$GC,10207,0.63,318.5,542.2,9.2,871,10232,0.20,2.28,18.95,1.145,4,0.052,0.054,2987,352,1563
$GC,10362,0.44,318.5,516.7,17.4,878,10367,0.35,2.10,0.00,0.000,6,0.139,0.040,2884,1726,1561
$GC,10685,0.69,368.3,484.9,8.0,901,10735,0.20,2.22,44.38,1.131,4,0.054,0.053,2992,347,1360
$GC,10815,0.55,368.3,464.6,18.5,912,10820,0.28,2.08,0.00,0.000,6,0.137,0.039,2913,1705,1356
$GC,11145,0.69,368.3,422.7,13.5,943,11147,0.15,0.00,0.00,0.000,6,0.063,0.000,2983,1708,1354
$GC,11464,0.57,368.3,368.3,15.5,973,11469,0.20,2.12,0.00,0.000,4,0.142,0.051,2930,335,1352
$GC,11515,0.68,368.3,362.1,10.3,977,11519,0.00,2.05,0.00,0.000,6,0.000,0.038,2930,1702,1351
$GC,11845,0.80,368.3,321.5,13.2,1008,11849,0.17,2.10,0.00,0.000,4,0.058,0.051,3025,339,1351
$GC,11911,0.57,368.3,308.3,21.3,1014,11916,0.35,2.03,0.00,0.000,6,0.138,0.041,2921,1705,1351
$GC,12251,0.79,394.6,266.3,9.0,1070,12285,0.17,2.17,22.75,0.951,4,0.057,0.055,3021,339,1253
$GC,12309,0.62,394.6,257.7,17.0,1079,12315,0.28,2.00,0.00,0.000,6,0.137,0.038,2940,1684,1251
$GC,12652,0.80,394.6,219.3,11.2,1140,12659,0.17,2.08,0.00,0.000,4,0.056,0.050,3042,334,1250
$GC,12732,0.57,394.6,205.5,17.6,1154,12740,0.35,2.00,0.00,0.000,6,0.130,0.035,2918,1672,1250
$GC,13078,1.02,452.5,179.1,7.7,1215,13136,0.38,2.10,50.08,0.867,4,0.039,0.048,3100,339,1017
$GC,13190,0.70,452.5,155.3,24.8,1233,13197,0.40,1.98,0.00,0.000,6,0.127,0.034,2960,1641,1015
$GC,13533,1.11,495.0,117.9,8.3,1294,13579,0.32,2.08,36.65,0.791,4,0.040,0.047,3127,340,845
$GC,13603,0.81,495.0,104.4,23.8,1305,13609,0.35,1.95,0.00,0.000,6,0.133,0.032,3002,1636,843
$GC,13949,1.18,525.0,65.1,8.8,1366,13984,0.28,2.08,26.40,0.730,4,0.042,0.046,3156,330,721
$GC,14054,0.90,525.0,43.6,23.0,1383,14061,0.38,1.90,0.00,0.000,6,0.137,0.030,3024,1612,719
$GC,14399,1.38,587.2,8.4,7.5,1444,14438,0.38,0.00,36.58,0.679,2,0.038,0.000,3202,1612,543
$STATE,14439,end climb,SURFACE_DEPTH_REACHED
$STATE,14439,begin surface coast
$FINISH,0.8,1.021089
$STATE,14457,end surface coast,CONTROL_FINISHED_OK
$STATE,14457,begin surface
$SM_CCo,14533,0.00,0.000,0,0,540,569.83
$SM_GC,1.60,8.25,0.00,0.00,0.045,0.000,0.000,164,1486,540,-8.04,-0.40,569.83
$IRIDIUM_FIX,2422.84,12320.39,060998,202001
$TT8_MAMPS,0.026845
$HUMID,1475
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.90
$XPDR_PINGS,116
$24V_AH,23.8,30.669
$10V_AH,10.7,19.163
$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,32.150,124.275,630.475,0.000,0.000,23.878,31.615,184.730,35.250,0.000,0.000,18.506,2567.586,8223.744,695.532,2934.468,457.537,0.000,2025.818,0.000,2902.736,0.000,42.740,0.000
$DEVICE_MAMPS,236.236,59.826,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,983.875,1032.691,1737.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82179,1453
$CAP_FILE_SIZE,162431,0
$CFSIZE,260165632,224337920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 18.5,1
$GPS,130609,042236,2429.904,12318.648,35,1.0,41,-3.5