version: 66.04
glider: 166
mission: 2
dive: 133
start: 6 13 109 13 26 15
data:
$ID,166
$MISSION,2
$DIVE,133
$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,-7736.7842
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,131430,2426.706,12318.105,39,1.3,39,-3.5
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.5
$GPS2,132555,2426.802,12318.227,15,1.7,32,-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,215.2,37659,-16.8,-10.000
$D_GRID,834
$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,-170.3,0.0,0.0,0,88,0.00,0.00,-71.45,0.000,2,0.000,0.000,166,1486,2324
$GC,90,-0.90,-170.3,3.0,-5.5,11,142,9.02,2.15,-35.50,0.000,4,0.231,0.051,2434,2913,3557
$GC,317,-0.19,-170.3,63.4,-31.7,50,325,0.82,2.08,0.00,0.000,6,0.158,0.031,2677,1492,3558
$GC,663,-0.54,-170.3,94.8,-6.9,111,670,0.28,2.10,0.00,0.000,4,0.043,0.036,2544,2912,3559
$GC,688,-0.62,-170.3,97.6,-10.8,115,694,0.00,2.08,0.00,0.000,6,0.000,0.030,2544,1504,3559
$GC,1031,-0.40,-170.3,152.2,-13.3,176,1038,0.17,1.92,0.00,0.000,4,0.140,0.042,2600,202,3560
$GC,1118,-0.47,-170.3,161.7,-10.7,191,1124,0.00,1.90,0.00,0.000,6,0.000,0.027,2600,1518,3561
$GC,1462,-0.64,-170.3,192.9,-8.4,252,1469,0.17,2.00,0.00,0.000,4,0.057,0.038,2509,2889,3560
$GC,1571,-0.47,-170.3,206.1,-13.5,271,1578,0.25,2.00,0.00,0.000,6,0.129,0.031,2584,1512,3560
$GC,1916,-0.65,-170.3,233.6,-7.6,332,1923,0.17,1.92,0.00,0.000,4,0.057,0.044,2500,205,3561
$GC,2042,-0.41,-170.3,252.8,-16.5,354,2049,0.28,1.85,0.00,0.000,6,0.130,0.029,2603,1478,3561
$GC,2388,-0.69,-170.3,280.4,-7.0,415,2395,0.22,2.08,0.00,0.000,4,0.049,0.040,2483,2894,3560
$GC,2453,-0.60,-170.3,287.4,-13.3,426,2460,0.17,2.05,0.00,0.000,6,0.134,0.033,2542,1479,3561
$GC,2791,-0.64,-170.3,319.6,-9.5,468,2795,0.00,1.90,0.00,0.000,4,0.000,0.048,2539,204,3559
$GC,2870,-0.64,-170.3,328.3,-11.7,475,2873,0.00,1.85,0.00,0.000,6,0.000,0.029,2536,1500,3559
$GC,3201,-0.71,-170.3,362.6,-10.9,506,3205,0.00,2.05,0.00,0.000,4,0.000,0.042,2531,2895,3557
$GC,3228,-0.85,-170.3,365.6,-10.3,508,3236,0.15,2.08,0.00,0.000,6,0.044,0.035,2446,1500,3557
$GC,3553,-0.58,-170.3,410.7,-13.1,539,3558,0.28,2.10,0.00,0.000,4,0.142,0.043,2540,2903,3556
$GC,3581,-0.58,-170.3,413.6,-9.8,541,3585,0.00,2.05,0.00,0.000,6,0.000,0.035,2535,1501,3555
$GC,3911,-0.71,-170.3,436.8,-6.7,572,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1501,3553
$GC,4231,-0.84,-170.3,458.7,-7.7,602,4236,0.20,2.10,0.00,0.000,4,0.053,0.044,2438,2901,3551
$GC,4272,-0.67,-170.3,463.0,-11.8,605,4277,0.25,2.08,0.00,0.000,6,0.137,0.036,2518,1496,3551
$GC,4596,-0.67,-170.3,495.5,-9.8,635,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1496,3548
$GC,4919,-0.73,-170.3,526.2,-9.4,653,4923,0.00,2.10,0.00,0.000,4,0.000,0.047,2500,2892,3546
$GC,4946,-0.84,-170.3,528.9,-9.1,654,4951,0.12,2.05,0.00,0.000,6,0.067,0.041,2445,1507,3545
$GC,5275,-0.65,-170.3,572.7,-13.7,670,5277,0.28,0.00,0.00,0.000,6,0.143,0.000,2529,1506,3543
$GC,5583,-0.81,-170.3,597.3,-7.4,685,5587,0.15,2.10,0.00,0.000,4,0.064,0.049,2440,2891,3541
$GC,5631,-0.75,-170.3,602.2,-10.0,687,5636,0.15,2.05,0.00,0.000,6,0.127,0.038,2493,1524,3540
$GC,5955,-0.81,-170.3,632.1,-9.7,703,5959,0.00,2.00,0.00,0.000,4,0.000,0.054,2493,201,3539
$GC,6004,-0.81,-170.3,637.7,-10.8,705,6009,0.00,1.95,0.00,0.000,6,0.000,0.035,2492,1511,3538
$GC,6334,-0.88,-170.3,668.7,-9.0,721,6338,0.12,2.10,0.00,0.000,4,0.070,0.049,2423,2904,3535
$GC,6366,-0.78,-170.3,672.4,-10.7,722,6373,0.17,2.08,0.00,0.000,6,0.130,0.040,2483,1526,3534
$GC,6683,-0.83,-170.3,698.9,-8.0,738,6687,0.00,2.03,0.00,0.000,4,0.000,0.054,2483,194,3532
$GC,6766,-0.83,-170.3,706.2,-8.4,741,6774,0.00,1.98,0.00,0.000,6,0.000,0.038,2482,1509,3532
$GC,7083,-0.88,-170.3,732.1,-8.1,757,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1510,3530
$GC,7391,-0.94,-170.3,758.1,-9.1,772,7393,0.12,0.00,0.00,0.000,6,0.072,0.000,2422,1511,3528
$GC,7700,-0.78,-170.3,797.6,-12.6,787,7702,0.22,0.00,0.00,0.000,6,0.145,0.000,2488,1511,3528
$GC,8011,-0.89,-170.3,825.9,-9.4,802,8016,0.12,2.12,0.00,0.000,4,0.074,0.053,2426,2899,3526
$STATE,8080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8081,begin apogee
$GC,8087,-0.20,0.0,834.1,11.6,805,8228,0.73,0.00,138.00,1.365,6,0.128,0.000,2665,1740,2863
$STATE,8229,end apogee,CONTROL_FINISHED_OK
$STATE,8229,begin climb
$GC,8230,0.90,170.3,839.9,0.0,812,8384,0.98,2.42,146.10,1.316,4,0.041,0.055,3043,3152,2167
$GC,8424,0.32,170.3,823.5,17.8,820,8432,0.70,2.25,0.00,0.000,6,0.164,0.041,2845,1760,2164
$GC,8740,0.54,235.8,800.6,7.4,836,8805,0.17,2.38,56.20,1.292,4,0.061,0.055,2942,337,1900
$GC,8844,0.39,235.8,786.4,15.3,840,8851,0.20,2.22,0.00,0.000,6,0.136,0.040,2868,1737,1897
$GC,9160,0.52,240.1,753.7,9.8,856,9169,0.12,2.25,4.03,0.793,4,0.069,0.057,2941,336,1884
$GC,9191,0.41,240.1,749.6,12.8,857,9196,0.20,2.17,0.00,0.000,6,0.137,0.041,2878,1744,1883
$GC,9513,0.53,248.7,718.1,9.7,873,9527,0.00,2.25,8.98,1.130,4,0.000,0.057,2887,343,1849
$GC,9584,0.62,248.7,710.3,10.6,876,9589,0.15,2.12,0.00,0.000,6,0.066,0.041,2954,1739,1847
$GC,9911,0.46,248.7,659.9,15.6,892,9916,0.20,2.17,0.00,0.000,4,0.146,0.054,2900,339,1845
$GC,9954,0.52,248.7,654.3,11.8,894,9958,0.00,2.10,0.00,0.000,6,0.000,0.041,2900,1711,1845
$GC,10281,0.52,248.7,617.7,11.0,910,10285,0.00,2.20,0.00,0.000,4,0.000,0.054,2899,3149,1845
$GC,10304,0.52,248.7,615.2,11.5,911,10307,0.00,2.17,0.00,0.000,6,0.000,0.041,2910,1706,1843
$GC,10636,0.52,248.7,579.5,10.0,927,10639,0.00,2.10,0.00,0.000,4,0.000,0.055,2921,337,1843
$GC,10718,0.52,248.7,570.5,10.8,930,10726,0.00,2.08,0.00,0.000,6,0.000,0.041,2921,1702,1843
$GC,11034,0.52,248.7,536.4,11.4,946,11038,0.00,2.22,0.00,0.000,4,0.000,0.053,2921,3160,1843
$GC,11091,0.52,248.7,529.6,11.6,948,11095,0.00,2.20,0.00,0.000,6,0.000,0.041,2931,1691,1841
$GC,11408,0.47,248.7,490.3,13.2,966,11412,0.15,2.05,0.00,0.000,4,0.151,0.053,2898,342,1841
$GC,11464,0.57,248.7,484.0,10.9,971,11468,0.00,2.03,0.00,0.000,6,0.000,0.039,2898,1703,1841
$GC,11794,0.66,248.7,449.2,10.9,1002,11799,0.15,2.20,0.00,0.000,4,0.061,0.051,2971,3153,1841
$GC,11860,0.47,248.7,439.5,15.8,1007,11867,0.25,2.22,0.00,0.000,6,0.137,0.041,2889,1684,1841
$GC,12185,0.67,281.7,407.5,8.7,1038,12219,0.20,2.12,28.20,1.074,4,0.052,0.054,2993,345,1713
$GC,12260,0.42,281.7,395.9,17.8,1045,12265,0.40,2.03,0.00,0.000,6,0.140,0.039,2875,1689,1711
$GC,12585,0.72,309.5,364.7,8.9,1075,12619,0.25,2.15,24.25,1.023,4,0.048,0.051,3001,351,1600
$GC,12647,0.49,309.5,354.8,17.5,1080,12654,0.32,2.05,0.00,0.000,6,0.135,0.038,2899,1682,1599
$GC,12972,0.75,353.3,324.0,8.3,1111,13018,0.20,2.12,38.15,0.990,4,0.053,0.051,3005,345,1420
$GC,13064,0.56,353.3,309.9,18.7,1119,13069,0.30,2.03,0.00,0.000,6,0.137,0.041,2918,1675,1417
$GC,13405,0.73,353.3,275.0,11.3,1171,13411,0.17,2.25,0.00,0.000,4,0.057,0.045,3007,3154,1415
$GC,13463,0.57,353.3,265.6,17.5,1181,13470,0.32,2.25,0.00,0.000,6,0.140,0.041,2921,1661,1414
$GC,13809,0.73,353.3,226.4,11.4,1242,13816,0.15,2.00,0.00,0.000,4,0.061,0.049,3004,342,1414
$GC,13947,0.58,353.3,203.2,18.9,1266,13954,0.20,1.98,0.00,0.000,6,0.130,0.035,2926,1669,1414
$GC,14290,0.97,448.8,173.6,6.2,1327,14374,0.30,0.00,80.12,0.854,6,0.044,0.000,3071,1670,1033
$GC,14713,0.77,448.8,91.2,20.0,1400,14720,0.25,2.25,0.00,0.000,4,0.138,0.041,2993,3155,1027
$GC,14749,0.94,448.8,85.8,13.0,1406,14756,0.10,2.22,0.00,0.000,6,0.071,0.035,3065,1657,1026
$GC,15096,0.94,448.8,40.8,12.9,1467,15102,0.00,2.03,0.00,0.000,4,0.000,0.046,3075,309,1026
$GC,15211,1.00,448.8,26.6,11.0,1487,15217,0.00,2.00,0.00,0.000,6,0.000,0.030,3075,1676,1026
$STATE,15424,end climb,SURFACE_DEPTH_REACHED
$STATE,15424,begin surface coast
$FINISH,0.8,0.998450
$STATE,15452,end surface coast,CONTROL_FINISHED_OK
$STATE,15452,begin surface
$SM_CCo,15527,0.00,0.000,0,0,1025,450.86
$SM_GC,1.80,7.70,0.00,0.00,0.041,0.000,0.000,165,1473,1025,-8.03,-0.76,450.86
$IRIDIUM_FIX,2420.48,12315.13,070998,131305
$TT8_MAMPS,0.026845
$HUMID,1506
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.90
$XPDR_PINGS,107
$24V_AH,23.7,31.320
$10V_AH,10.7,19.607
$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,28.800,138.225,524.025,0.000,0.000,49.177,69.567,365.127,33.250,0.000,0.000,32.445,2714.716,9111.638,639.876,3012.105,722.274,0.000,1991.375,0.000,2972.901,0.000,45.526,0.000
$DEVICE_MAMPS,230.867,56.758,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.414,1051.505,1765.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88459,1530
$CAP_FILE_SIZE,171694,0
$CFSIZE,260165632,224063488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 57.9,1
$GPS,130609,174606,2425.744,12318.236,31,1.6,31,-3.5