version: 66.04
glider: 166
mission: 2
dive: 137
start: 6 14 109 5 29 15
data:
$ID,166
$MISSION,2
$DIVE,137
$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,-7820.7588
$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,36
$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
$GPS1,051936,2424.826,12318.383,27,1.1,27,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.1
$GPS2,052855,2424.893,12318.558,16,1.7,33,-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,246.4,34433,-16.8,-10.000
$D_GRID,786
$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,-170.3,0.0,0.0,0,103,0.00,0.00,-85.78,0.000,2,0.000,0.000,164,1509,2404
$GC,105,-0.90,-170.3,3.5,-7.3,13,152,9.10,2.15,-30.60,0.000,4,0.235,0.052,2444,2914,3560
$GC,344,-0.28,-170.3,70.3,-28.1,54,351,0.68,2.08,0.00,0.000,6,0.147,0.032,2647,1485,3561
$GC,691,-0.51,-170.3,107.6,-7.1,115,700,0.17,2.08,0.00,0.000,4,0.054,0.036,2553,2903,3561
$GC,746,-0.44,-170.3,113.8,-12.2,124,753,0.15,2.03,0.00,0.000,6,0.134,0.031,2594,1496,3561
$GC,1093,-0.55,-170.3,150.1,-9.3,185,1099,0.00,1.92,0.00,0.000,4,0.000,0.043,2591,205,3562
$GC,1158,-0.63,-170.3,156.2,-9.2,196,1165,0.12,1.88,0.00,0.000,6,0.052,0.026,2505,1531,3563
$GC,1503,-0.41,-170.3,208.1,-15.2,257,1509,0.28,1.98,0.00,0.000,4,0.136,0.038,2596,2889,3562
$GC,1572,-0.72,-170.3,213.2,-6.9,269,1579,0.25,2.00,0.00,0.000,6,0.044,0.030,2473,1497,3562
$GC,1917,-0.47,-170.3,266.7,-14.1,330,1924,0.32,1.90,0.00,0.000,4,0.136,0.043,2579,205,3562
$GC,1975,-0.64,-170.3,272.5,-8.1,340,1982,0.10,1.85,0.00,0.000,6,0.053,0.028,2515,1494,3562
$GC,2320,-0.58,-170.3,312.7,-11.5,392,2324,0.12,1.92,0.00,0.000,4,0.139,0.044,2550,204,3563
$GC,2392,-0.65,-170.3,320.2,-9.7,398,2399,0.00,1.83,0.00,0.000,6,0.000,0.028,2553,1465,3562
$GC,2718,-0.77,-170.3,346.3,-8.5,429,2722,0.15,2.10,0.00,0.000,4,0.061,0.041,2479,2894,3560
$GC,2757,-0.69,-170.3,350.8,-13.0,432,2762,0.15,2.05,0.00,0.000,6,0.134,0.034,2516,1481,3560
$GC,3081,-0.69,-170.3,385.4,-10.0,462,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1480,3559
$GC,3401,-0.73,-170.3,422.1,-11.4,492,3404,0.00,1.90,0.00,0.000,4,0.000,0.049,2512,208,3556
$GC,3429,-0.73,-170.3,425.3,-11.4,494,3435,0.00,1.85,0.00,0.000,6,0.000,0.031,2518,1474,3556
$GC,3753,-0.73,-170.3,458.4,-9.2,525,3757,0.00,2.12,0.00,0.000,4,0.000,0.045,2517,2908,3554
$GC,3792,-0.73,-170.3,462.0,-9.4,528,3798,0.00,2.12,0.00,0.000,6,0.000,0.036,2504,1482,3553
$GC,4116,-0.73,-170.3,492.6,-9.5,559,4120,0.00,1.92,0.00,0.000,4,0.000,0.051,2503,200,3551
$GC,4139,-0.73,-170.3,494.9,-10.2,561,4142,0.00,1.88,0.00,0.000,6,0.000,0.035,2507,1491,3551
$GC,4462,-0.73,-170.3,525.2,-9.1,579,4466,0.00,2.10,0.00,0.000,4,0.000,0.048,2502,2901,3549
$GC,4500,-0.86,-170.3,528.7,-8.8,580,4507,0.10,2.12,0.00,0.000,6,0.050,0.044,2441,1482,3548
$GC,4816,-0.67,-170.3,566.9,-11.9,596,4821,0.22,1.92,0.00,0.000,4,0.141,0.051,2517,208,3546
$GC,4877,-0.72,-170.3,573.5,-10.2,598,4884,0.00,1.88,0.00,0.000,6,0.000,0.042,2506,1471,3546
$GC,5194,-0.84,-170.3,600.3,-8.2,614,5198,0.12,2.15,0.00,0.000,4,0.070,0.048,2438,2905,3543
$GC,5271,-0.79,-170.3,608.6,-10.6,617,5278,0.15,2.12,0.00,0.000,6,0.134,0.039,2483,1478,3543
$GC,5588,-0.79,-170.3,635.1,-8.2,633,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1478,3541
$GC,5897,-0.84,-170.3,661.2,-8.4,648,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1478,3539
$GC,6207,-0.89,-170.3,687.4,-8.1,663,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1478,3537
$GC,6516,-0.95,-170.3,713.9,-9.3,678,6521,0.15,2.17,0.00,0.000,4,0.067,0.051,2412,2905,3534
$GC,6549,-0.83,-170.3,718.1,-12.2,679,6557,0.12,2.17,0.00,0.000,6,0.135,0.041,2467,1472,3533
$GC,6864,-0.83,-170.3,752.8,-10.7,695,6868,0.00,2.17,0.00,0.000,4,0.000,0.052,2466,2900,3532
$GC,6910,-0.92,-170.3,757.6,-10.9,697,6914,0.00,2.15,0.00,0.000,6,0.000,0.043,2466,1465,3532
$STATE,7178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7178,begin apogee
$GC,7182,-0.20,0.0,786.5,9.8,710,7323,0.62,0.00,137.55,1.325,6,0.120,0.000,2671,1753,2863
$STATE,7324,end apogee,CONTROL_FINISHED_OK
$STATE,7324,begin climb
$GC,7326,0.90,170.3,791.4,0.0,717,7478,1.00,2.30,144.77,1.278,4,0.041,0.053,3050,3144,2167
$GC,7556,0.31,170.3,763.5,20.3,728,7561,0.73,2.22,0.00,0.000,6,0.168,0.043,2845,1748,2163
$GC,7877,0.50,201.5,733.5,8.8,744,7909,0.17,2.25,26.70,1.224,4,0.061,0.055,2942,333,2041
$GC,7976,0.31,201.5,719.6,15.2,748,7983,0.32,2.17,0.00,0.000,6,0.138,0.039,2842,1735,2039
$GC,8293,0.56,240.8,691.9,8.4,764,8332,0.22,0.00,33.72,1.233,6,0.054,0.000,2941,1735,1880
$GC,8641,0.42,240.8,642.3,14.2,781,8646,0.20,2.17,0.00,0.000,4,0.143,0.054,2894,344,1874
$GC,8697,0.51,240.8,635.6,11.0,783,8705,0.00,2.10,0.00,0.000,6,0.000,0.041,2894,1736,1873
$GC,9013,0.58,246.0,605.2,9.8,799,9022,0.00,2.17,4.53,0.844,4,0.000,0.056,2905,342,1860
$GC,9067,0.63,246.0,599.0,11.6,801,9072,0.08,2.10,0.00,0.000,6,0.063,0.040,2953,1720,1861
$GC,9389,0.49,246.0,551.6,14.7,817,9393,0.17,2.12,0.00,0.000,4,0.143,0.052,2908,340,1858
$GC,9455,0.55,246.0,542.7,12.5,820,9459,0.00,2.08,0.00,0.000,6,0.000,0.039,2907,1709,1858
$GC,9782,0.60,246.0,503.3,12.3,836,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1710,1857
$GC,10099,0.65,246.0,464.1,12.3,864,10104,0.12,2.10,0.00,0.000,4,0.067,0.052,2977,339,1856
$GC,10195,0.45,246.0,448.5,16.5,872,10199,0.32,2.00,0.00,0.000,6,0.143,0.038,2881,1693,1856
$GC,10525,0.64,275.7,418.5,8.8,903,10560,0.20,2.30,26.23,1.081,4,0.054,0.051,2978,3153,1736
$GC,10617,0.47,275.7,404.8,15.8,911,10621,0.32,2.25,0.00,0.000,6,0.146,0.041,2893,1673,1734
$GC,10941,0.65,304.3,372.5,8.9,941,10976,0.17,2.12,24.80,1.032,4,0.057,0.053,2983,339,1621
$GC,11049,0.50,304.3,356.6,15.5,950,11056,0.28,2.03,0.00,0.000,6,0.138,0.038,2904,1690,1619
$GC,11374,0.64,304.3,324.2,10.2,981,11378,0.12,2.10,0.00,0.000,4,0.067,0.055,2973,329,1618
$GC,11443,0.51,304.3,314.7,14.9,987,11447,0.25,2.00,0.00,0.000,6,0.140,0.037,2901,1681,1617
$GC,11779,0.71,310.4,280.7,9.8,1034,11793,0.17,0.00,6.20,0.792,6,0.055,0.000,2989,1682,1596
$GC,12132,0.56,310.4,227.9,15.2,1096,12139,0.20,2.05,0.00,0.000,4,0.140,0.049,2934,336,1596
$GC,12203,0.65,310.4,219.3,11.1,1108,12210,0.00,2.00,0.00,0.000,6,0.000,0.035,2934,1680,1596
$GC,12548,0.79,310.4,187.2,10.5,1169,12555,0.17,2.05,0.00,0.000,4,0.055,0.048,3042,332,1596
$GC,12617,0.52,310.4,175.6,17.1,1181,12624,0.38,1.98,0.00,0.000,6,0.136,0.035,2908,1668,1596
$GC,12962,0.94,394.9,147.2,6.7,1242,13040,0.32,2.10,70.40,0.835,4,0.043,0.047,3073,333,1251
$GC,13104,0.68,394.9,126.9,17.1,1265,13111,0.35,2.00,0.00,0.000,6,0.134,0.032,2953,1657,1248
$GC,13449,1.11,472.8,97.2,6.9,1326,13521,0.35,2.15,65.47,0.767,4,0.039,0.046,3134,330,934
$GC,13596,0.78,472.8,68.1,22.8,1350,13602,0.40,1.98,0.00,0.000,6,0.133,0.031,2995,1643,930
$GC,13941,1.33,575.6,44.4,5.9,1411,14032,0.40,2.10,85.12,0.705,4,0.038,0.044,3193,337,516
$GC,14119,1.04,575.6,6.7,25.3,1440,14125,0.35,1.95,0.00,0.000,6,0.147,0.029,3077,1645,512
$STATE,14135,end climb,SURFACE_DEPTH_REACHED
$STATE,14135,begin surface coast
$FINISH,1.0,1.015750
$STATE,14149,end surface coast,CONTROL_FINISHED_OK
$STATE,14150,begin surface
$SM_CCo,14226,0.00,0.000,0,0,510,577.19
$SM_GC,1.50,7.90,0.00,0.00,0.044,0.000,0.000,166,1478,510,-8.02,-0.62,577.19
$IRIDIUM_FIX,2415.74,12321.07,080998,050508
$TT8_MAMPS,0.026845
$HUMID,1489
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.80
$XPDR_PINGS,107
$24V_AH,23.9,32.101
$10V_AH,10.7,20.158
$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,28.800,120.125,625.500,0.000,0.000,58.889,63.123,239.191,32.750,0.000,0.000,33.057,2511.165,8133.145,721.202,2824.723,585.188,0.000,2005.080,0.000,2785.069,0.000,41.067,0.000
$DEVICE_MAMPS,234.702,55.991,1324.609,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,977.767,1020.235,1714.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82133,1445
$CAP_FILE_SIZE,156650,0
$CFSIZE,260165632,223739904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 64.9,1
$GPS,140609,092730,2424.771,12317.938,36,1.2,36,-3.5