version: 66.04
glider: 166
mission: 2
dive: 132
start: 6 13 109 9 3 17
data:
$ID,166
$MISSION,2
$DIVE,132
$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,-7703.7095
$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,50
$R_STBD_OVSHOOT,50
$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
$GPS1,085636,2427.835,12318.080,26,1.1,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.0
$GPS2,090256,2427.899,12318.052,16,1.4,16,-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,202.1,39549,-16.8,-10.000
$D_GRID,843
$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,-170.3,0.0,0.0,0,86,0.00,0.00,-69.60,0.000,2,0.000,0.000,167,1480,2355
$GC,88,-0.90,-170.3,3.1,-5.8,11,136,9.10,1.98,-33.70,0.000,4,0.235,0.058,2444,207,3559
$GC,328,-0.17,-170.3,75.7,-29.1,52,336,0.75,1.90,0.00,0.000,6,0.152,0.028,2680,1507,3561
$GC,676,-0.57,-170.3,100.6,-5.5,113,682,0.30,0.00,0.00,0.000,6,0.041,0.000,2536,1510,3563
$GC,1019,-0.41,-170.3,152.8,-13.8,174,1026,0.20,1.98,0.00,0.000,4,0.136,0.041,2601,204,3563
$GC,1129,-0.54,-170.3,163.5,-8.6,193,1136,0.08,1.88,0.00,0.000,6,0.061,0.026,2550,1520,3563
$GC,1473,-0.54,-170.3,205.8,-11.3,254,1479,0.00,2.00,0.00,0.000,4,0.000,0.038,2549,2871,3564
$GC,1525,-0.64,-170.3,211.6,-10.9,263,1531,0.00,1.98,0.00,0.000,6,0.000,0.031,2549,1502,3564
$GC,1869,-0.64,-170.3,250.5,-10.3,324,1876,0.00,1.95,0.00,0.000,4,0.000,0.044,2549,203,3563
$GC,1904,-0.64,-170.3,253.8,-9.3,330,1910,0.00,1.85,0.00,0.000,6,0.000,0.028,2543,1485,3563
$GC,2247,-0.69,-170.3,284.5,-9.9,391,2253,0.00,2.08,0.00,0.000,4,0.000,0.041,2539,2901,3563
$GC,2328,-0.84,-170.3,291.6,-9.0,405,2335,0.20,2.03,0.00,0.000,6,0.055,0.031,2445,1502,3563
$GC,2657,-0.56,-170.3,341.1,-15.5,441,2662,0.32,1.92,0.00,0.000,4,0.139,0.045,2552,207,3563
$GC,2741,-0.68,-170.3,349.7,-9.3,448,2749,0.00,1.88,0.00,0.000,6,0.000,0.030,2549,1516,3562
$GC,3074,-0.87,-170.3,372.8,-6.8,479,3079,0.20,2.05,0.00,0.000,4,0.056,0.042,2456,2902,3561
$GC,3214,-0.74,-170.3,389.6,-12.6,491,3221,0.17,2.03,0.00,0.000,6,0.138,0.035,2503,1516,3560
$GC,3539,-0.74,-170.3,425.5,-10.8,522,3542,0.00,1.98,0.00,0.000,4,0.000,0.049,2503,195,3559
$GC,3596,-0.68,-170.3,432.1,-11.2,527,3600,0.00,1.90,0.00,0.000,6,0.000,0.032,2504,1505,3558
$GC,3926,-0.68,-170.3,465.4,-9.8,558,3929,0.00,2.08,0.00,0.000,4,0.000,0.047,2494,2900,3556
$GC,3984,-0.77,-170.3,470.4,-8.2,563,3988,0.00,2.05,0.00,0.000,6,0.000,0.037,2504,1504,3555
$GC,4324,-0.77,-170.3,504.4,-9.9,593,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1504,3553
$GC,4634,-0.77,-170.3,533.2,-9.4,608,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1504,3551
$GC,4942,-0.77,-170.3,562.5,-9.5,623,4946,0.00,1.98,0.00,0.000,4,0.000,0.053,2495,197,3548
$GC,4980,-0.77,-170.3,566.4,-10.4,624,4989,0.00,1.95,0.00,0.000,6,0.000,0.035,2489,1504,3547
$GC,5296,-0.77,-170.3,596.4,-9.7,640,5299,0.00,2.10,0.00,0.000,4,0.000,0.050,2488,2902,3546
$GC,5323,-0.87,-170.3,599.1,-9.7,641,5327,0.00,2.05,0.00,0.000,6,0.000,0.038,2489,1518,3546
$GC,5650,-0.93,-170.3,631.6,-9.5,657,5652,0.15,0.00,0.00,0.000,6,0.066,0.000,2420,1518,3544
$GC,5958,-0.73,-170.3,670.8,-12.6,672,5962,0.22,2.00,0.00,0.000,4,0.144,0.054,2494,205,3542
$GC,6048,-0.73,-170.3,679.8,-9.3,676,6052,0.00,1.95,0.00,0.000,6,0.000,0.037,2491,1526,3541
$GC,6380,-0.84,-170.3,708.2,-9.1,692,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1527,3539
$GC,6689,-0.95,-170.3,737.4,-10.2,707,6691,0.17,0.00,0.00,0.000,6,0.063,0.000,2412,1528,3538
$GC,6998,-0.77,-170.3,780.9,-14.0,722,7003,0.22,2.10,0.00,0.000,4,0.144,0.053,2479,2903,3535
$GC,7031,-0.88,-170.3,784.5,-9.9,723,7037,0.00,2.08,0.00,0.000,6,0.000,0.043,2480,1518,3535
$GC,7348,-0.97,-170.3,815.2,-9.2,739,7353,0.15,2.12,0.00,0.000,4,0.065,0.053,2409,2904,3533
$GC,7403,-0.88,-170.3,821.4,-11.4,741,7410,0.15,2.08,0.00,0.000,6,0.143,0.043,2452,1521,3533
$STATE,7635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7635,begin apogee
$GC,7639,-0.20,0.0,844.2,9.8,753,7782,0.68,0.00,139.75,1.372,6,0.120,0.000,2676,1761,2863
$STATE,7783,end apogee,CONTROL_FINISHED_OK
$STATE,7783,begin climb
$GC,7785,0.90,170.3,849.5,0.0,760,7941,0.98,2.38,146.95,1.324,4,0.041,0.054,3053,3146,2167
$GC,8025,0.31,170.3,821.0,21.0,771,8031,0.73,2.25,0.00,0.000,6,0.166,0.046,2848,1744,2164
$GC,8347,0.55,227.9,794.4,7.7,787,8400,0.20,0.00,49.95,1.292,6,0.058,0.000,2935,1744,1934
$GC,8695,0.43,227.9,746.5,14.2,804,8697,0.20,0.00,0.00,0.000,6,0.142,0.000,2880,1744,1925
$GC,9005,0.57,251.7,715.1,9.1,819,9031,0.15,2.22,20.55,1.242,4,0.064,0.056,2960,344,1836
$GC,9092,0.40,251.7,704.0,13.0,823,9097,0.25,2.17,0.00,0.000,6,0.138,0.041,2872,1738,1834
$GC,9420,0.62,303.1,677.6,8.0,839,9472,0.17,2.35,45.25,1.256,4,0.058,0.056,2968,323,1626
$GC,9553,0.48,303.1,657.5,17.5,845,9558,0.25,2.20,0.00,0.000,6,0.139,0.041,2898,1738,1623
$GC,9880,0.60,303.1,622.1,10.0,861,9884,0.12,2.20,0.00,0.000,4,0.067,0.054,2967,329,1620
$GC,9940,0.47,303.1,613.5,15.0,863,9947,0.22,2.15,0.00,0.000,6,0.134,0.041,2895,1726,1620
$GC,10257,0.63,329.7,584.7,9.0,879,10287,0.15,2.25,23.38,1.187,4,0.064,0.055,2973,337,1517
$GC,10360,0.49,329.7,569.1,16.3,883,10367,0.28,2.12,0.00,0.000,6,0.140,0.040,2894,1723,1515
$GC,10676,0.64,329.7,536.1,10.2,899,10680,0.15,2.17,0.00,0.000,4,0.064,0.055,2971,331,1513
$GC,10708,0.55,329.7,531.3,15.4,900,10717,0.15,2.12,0.00,0.000,6,0.140,0.040,2924,1716,1513
$GC,11027,0.60,329.7,488.8,12.2,920,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1716,1512
$GC,11345,0.65,329.7,451.2,12.4,950,11349,0.00,2.12,0.00,0.000,4,0.000,0.053,2932,333,1512
$GC,11412,0.73,329.7,442.9,11.7,956,11417,0.12,2.05,0.00,0.000,6,0.076,0.040,2988,1705,1512
$GC,11743,0.56,329.7,391.0,15.8,987,11747,0.20,2.20,0.00,0.000,4,0.146,0.051,2923,3148,1511
$GC,11774,0.61,329.7,386.5,12.1,989,11781,0.00,2.20,0.00,0.000,6,0.000,0.039,2930,1699,1510
$GC,12101,0.67,329.7,347.0,12.0,1020,12104,0.00,2.08,0.00,0.000,4,0.000,0.052,2939,333,1510
$GC,12184,0.72,329.7,336.9,11.3,1027,12190,0.00,2.05,0.00,0.000,6,0.000,0.038,2939,1699,1509
$GC,12510,0.77,329.7,299.6,11.5,1058,12516,0.15,2.20,0.00,0.000,4,0.063,0.048,3017,3159,1510
$GC,12556,0.56,329.7,292.1,16.7,1066,12563,0.38,2.17,0.00,0.000,6,0.143,0.038,2916,1690,1510
$GC,12903,0.77,346.9,257.8,9.3,1127,12924,0.17,2.12,15.05,0.910,4,0.058,0.051,3020,339,1448
$GC,13010,0.57,346.9,240.5,18.1,1145,13017,0.32,2.03,0.00,0.000,6,0.140,0.036,2924,1708,1446
$GC,13355,0.91,437.4,209.5,6.4,1206,13442,0.28,2.22,77.68,0.885,4,0.046,0.048,3067,340,1078
$GC,13489,0.69,437.4,186.0,20.7,1228,13497,0.30,2.05,0.00,0.000,6,0.133,0.034,2964,1679,1075
$GC,13836,1.04,485.2,148.8,8.1,1289,13888,0.25,2.15,40.80,0.812,4,0.045,0.054,3098,344,884
$GC,13983,0.81,485.2,118.3,20.8,1314,13990,0.30,1.98,0.00,0.000,6,0.133,0.032,3003,1657,881
$GC,14329,1.15,518.5,84.0,8.7,1375,14369,0.25,2.12,29.00,0.740,4,0.046,0.045,3138,328,748
$GC,14515,0.92,518.5,48.4,20.4,1407,14522,0.28,1.95,0.00,0.000,6,0.131,0.031,3035,1642,746
$GC,14861,1.22,526.3,10.5,9.7,1468,14875,0.22,0.00,7.90,0.580,6,0.047,0.000,3156,1643,717
$STATE,14908,end climb,SURFACE_DEPTH_REACHED
$STATE,14908,begin surface coast
$FINISH,0.8,1.009120
$STATE,14925,end surface coast,CONTROL_FINISHED_OK
$STATE,14925,begin surface
$SM_CCo,15001,0.00,0.000,0,0,715,526.90
$SM_GC,1.64,7.97,0.00,0.00,0.042,0.000,0.000,166,1486,715,-8.02,-0.40,526.90
$IRIDIUM_FIX,2420.48,12317.11,070998,040422
$TT8_MAMPS,0.026845
$HUMID,1477
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.10
$XPDR_PINGS,118
$24V_AH,23.7,31.112
$10V_AH,10.7,19.456
$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,28.275,116.750,596.250,0.000,0.000,25.236,35.659,197.973,36.000,0.000,0.000,16.966,2585.514,8715.923,698.202,2893.382,475.997,0.000,2003.674,0.000,2862.499,0.000,44.406,0.000
$DEVICE_MAMPS,234.702,57.525,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.772,1016.316,1709.525,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85176,1479
$CAP_FILE_SIZE,158289,0
$CFSIZE,260165632,224161792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 43.5,1
$GPS,130609,131430,2426.706,12318.105,39,1.3,39,-3.5