version: 66.04
glider: 166
mission: 2
dive: 144
start: 6 15 109 7 11 58
data:
$ID,166
$MISSION,2
$DIVE,144
$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,275
$T_MISSION,330
$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,250
$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,-7982.3789
$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,34
$R_STBD_OVSHOOT,67
$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
$GPS1,070536,2425.041,12317.877,39,1.5,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.2
$GPS2,071138,2425.032,12318.092,13,1.5,13,-3.5
$SPEED_LIMITS,0.208,0.348
$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,245.0,34446,-16.4,-12.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,104,0.00,0.00,-87.70,0.000,2,0.000,0.000,170,1539,2421
$GC,107,-0.97,-243.4,3.4,-6.6,14,159,8.85,2.10,-37.70,0.000,4,0.228,0.054,2421,185,3857
$GC,188,-0.11,-243.4,23.8,-37.5,27,197,0.88,1.92,0.00,0.000,6,0.153,0.029,2693,1486,3858
$GC,536,-0.54,-243.4,54.6,-5.8,88,542,0.32,2.08,0.00,0.000,4,0.041,0.036,2538,2905,3858
$GC,678,-0.40,-243.4,79.0,-17.6,113,685,0.20,2.05,0.00,0.000,6,0.127,0.031,2603,1510,3859
$GC,1023,-0.57,-243.4,119.6,-10.0,174,1030,0.15,2.05,0.00,0.000,4,0.060,0.036,2529,2911,3860
$GC,1133,-0.50,-243.4,133.0,-13.3,193,1140,0.17,2.00,0.00,0.000,6,0.130,0.031,2578,1544,3861
$GC,1478,-0.70,-243.4,165.0,-6.7,254,1485,0.17,0.00,0.00,0.000,6,0.055,0.000,2482,1544,3861
$GC,1822,-0.49,-243.4,218.2,-15.8,315,1830,0.28,1.98,0.00,0.000,4,0.134,0.041,2572,207,3862
$GC,1859,-0.63,-243.4,223.1,-11.4,321,1865,0.12,1.92,0.00,0.000,6,0.065,0.027,2511,1565,3862
$GC,2202,-0.63,-243.4,268.2,-12.4,382,2208,0.00,1.98,0.00,0.000,4,0.000,0.041,2508,2896,3862
$GC,2254,-0.70,-243.4,273.8,-10.8,391,2261,0.00,1.95,0.00,0.000,6,0.000,0.032,2503,1544,3862
$GC,2592,-0.70,-243.4,314.9,-11.9,441,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1544,3861
$GC,2910,-0.70,-243.4,349.3,-12.0,471,2914,0.00,2.00,0.00,0.000,4,0.000,0.047,2509,201,3859
$GC,2987,-0.70,-243.4,359.8,-14.7,478,2991,0.00,1.95,0.00,0.000,6,0.000,0.031,2499,1553,3859
$GC,3317,-0.70,-243.4,402.5,-8.0,509,3321,0.00,2.00,0.00,0.000,4,0.000,0.046,2511,2902,3856
$GC,3352,-0.82,-243.4,405.7,-7.7,512,3356,0.10,2.00,0.00,0.000,6,0.071,0.035,2452,1528,3856
$GC,3683,-0.65,-243.4,450.9,-17.2,543,3687,0.22,2.08,0.00,0.000,4,0.138,0.046,2526,2905,3854
$GC,3737,-0.91,-243.4,456.6,-6.8,547,3746,0.22,2.00,0.00,0.000,6,0.048,0.035,2416,1541,3853
$GC,4072,-0.61,-243.4,507.9,-16.5,577,4074,0.40,0.00,0.00,0.000,6,0.138,0.000,2542,1539,3851
$GC,4381,-0.86,-243.4,533.4,-7.6,592,4386,0.20,2.05,0.00,0.000,4,0.055,0.047,2442,2899,3848
$GC,4420,-0.79,-243.4,537.8,-12.1,594,4424,0.15,2.03,0.00,0.000,6,0.138,0.041,2487,1533,3848
$GC,4751,-0.79,-243.4,579.1,-13.2,610,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1532,3845
$GC,5061,-0.79,-243.4,617.5,-11.9,625,5064,0.00,2.08,0.00,0.000,4,0.000,0.051,2466,2900,3842
$GC,5107,-0.93,-243.4,622.2,-10.0,627,5110,0.00,2.00,0.00,0.000,6,0.000,0.039,2466,1550,3842
$GC,5439,-0.93,-243.4,656.2,-9.9,643,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1550,3840
$GC,5748,-0.99,-243.4,686.4,-9.6,658,5750,0.15,0.00,0.00,0.000,6,0.062,0.000,2396,1550,3837
$GC,6057,-0.78,-243.4,732.5,-15.1,673,6059,0.30,0.00,0.00,0.000,6,0.140,0.000,2488,1550,3835
$GC,6367,-0.94,-243.4,762.4,-9.4,688,6369,0.15,0.00,0.00,0.000,6,0.065,0.000,2417,1548,3833
$STATE,6550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6550,begin apogee
$GC,6555,-0.20,0.0,787.5,13.5,697,6758,0.80,0.00,199.57,1.315,6,0.126,0.000,2674,1754,2863
$STATE,6759,end apogee,CONTROL_FINISHED_OK
$STATE,6759,begin climb
$GC,6761,0.97,243.4,797.1,0.0,707,6977,1.02,2.45,206.45,1.266,4,0.041,0.053,3077,336,1869
$GC,7195,0.35,243.4,716.3,25.1,726,7202,0.73,2.20,0.00,0.000,6,0.166,0.043,2854,1741,1863
$GC,7511,0.63,334.4,685.2,9.0,742,7597,0.22,2.30,78.72,1.216,4,0.051,0.058,2970,339,1498
$GC,7658,0.44,334.4,660.8,18.8,748,7666,0.28,2.20,0.00,0.000,6,0.133,0.040,2884,1735,1494
$GC,7975,0.66,393.3,627.7,10.1,764,8033,0.20,2.33,52.25,1.189,4,0.054,0.054,2985,342,1258
$GC,8072,0.46,393.3,609.8,20.0,767,8081,0.35,2.17,0.00,0.000,6,0.138,0.040,2884,1741,1255
$GC,8388,0.71,425.9,573.3,10.9,783,8426,0.20,2.30,29.50,1.151,4,0.054,0.054,2988,343,1126
$GC,8454,0.52,425.9,561.5,20.4,786,8459,0.28,2.15,0.00,0.000,6,0.141,0.040,2910,1732,1124
$GC,8780,0.64,425.9,516.9,12.9,802,8784,0.12,2.17,0.00,0.000,4,0.067,0.053,2978,338,1121
$GC,8812,0.55,425.9,511.2,17.5,803,8820,0.15,2.12,0.00,0.000,6,0.142,0.039,2919,1724,1120
$GC,9135,0.64,425.9,465.6,13.6,830,9139,0.00,2.15,0.00,0.000,4,0.000,0.053,2927,330,1120
$GC,9184,0.76,425.9,458.5,13.9,834,9192,0.12,2.08,0.00,0.000,6,0.055,0.038,2994,1704,1119
$GC,9510,0.55,425.9,395.3,19.4,865,9515,0.22,2.22,0.00,0.000,4,0.146,0.052,2922,3151,1119
$GC,9564,0.70,425.9,386.4,12.3,869,9571,0.10,2.20,0.00,0.000,6,0.071,0.041,2986,1707,1118
$GC,9890,0.57,425.9,328.0,18.8,900,9894,0.20,2.08,0.00,0.000,4,0.146,0.051,2932,343,1118
$GC,10001,0.76,456.5,313.8,11.0,909,10034,0.15,2.03,27.20,0.999,6,0.066,0.037,3007,1717,1000
$GC,10370,0.61,456.5,238.4,21.1,967,10377,0.22,0.00,0.00,0.000,6,0.137,0.000,2937,1719,997
$GC,10715,0.95,526.6,196.8,9.7,1028,10785,0.25,2.22,60.20,0.892,4,0.046,0.049,3072,342,714
$GC,10855,0.68,526.6,168.0,23.6,1051,10864,0.38,2.08,0.00,0.000,6,0.134,0.035,2961,1715,712
$GC,11202,1.18,583.5,125.5,10.1,1112,11260,0.38,2.20,48.53,0.809,4,0.039,0.046,3152,340,483
$GC,11296,0.87,583.5,103.5,25.9,1127,11305,0.45,2.03,0.00,0.000,6,0.146,0.032,3022,1708,482
$GC,11642,1.30,630.5,64.8,10.4,1188,11656,0.32,2.10,7.07,0.623,4,0.041,0.046,3191,333,455
$GC,11770,0.99,630.5,32.5,26.9,1210,11777,0.38,1.95,0.00,0.000,6,0.137,0.031,3056,1652,454
$STATE,12023,end climb,SURFACE_DEPTH_REACHED
$STATE,12024,begin surface coast
$FINISH,0.9,1.012219
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12133,0.00,0.000,0,0,454,590.93
$SM_GC,1.54,7.60,0.00,0.00,0.036,0.000,0.000,165,1477,454,-8.03,-0.65,590.93
$IRIDIUM_FIX,2415.74,12315.81,090998,030320
$TT8_MAMPS,0.026845
$HUMID,1531
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.80
$XPDR_PINGS,99
$24V_AH,23.7,33.693
$10V_AH,10.7,21.040
$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,28.175,88.475,709.500,0.000,0.000,33.041,44.404,174.253,30.750,0.000,0.000,14.606,2176.356,6585.596,764.716,2518.895,443.255,0.000,1921.412,0.000,2496.853,0.000,42.302,0.000
$DEVICE_MAMPS,227.799,57.525,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.096,918.900,1543.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72709,1261
$CAP_FILE_SIZE,132218,0
$CFSIZE,260165632,223223808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258, 85.2,1
$GPS,150609,103524,2424.454,12317.639,40,1.2,40,-3.5