version: 66.04
glider: 166
mission: 2
dive: 236
start: 6 22 109 3 14 36
data:
$ID,166
$MISSION,2
$DIVE,236
$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,450
$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,-9979.9805
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2760
$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,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,030107,2433.250,12329.342,42,1.0,42,-3.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.7
$GPS2,031414,2433.407,12329.595,11,1.6,11,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,254.9,21416,-16.4,-12.000
$D_GRID,1239
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,99,0.00,0.00,-82.70,0.000,2,0.000,0.000,174,1518,2337
$GC,102,-0.97,-243.4,3.2,-6.8,13,160,8.88,2.05,-40.60,0.000,4,0.219,0.057,2438,192,3939
$GC,200,-0.25,-243.4,27.0,-33.4,29,207,0.73,1.92,0.00,0.000,6,0.134,0.028,2678,1497,3940
$GC,547,-1.06,-243.4,65.4,-11.4,90,555,0.70,1.98,0.00,0.000,4,0.064,0.041,2413,183,3941
$GC,640,-0.47,-243.4,85.8,-24.3,106,647,0.57,1.85,0.00,0.000,6,0.139,0.028,2607,1446,3941
$GC,984,-0.67,-243.4,125.8,-10.6,167,991,0.17,2.12,0.00,0.000,4,0.055,0.038,2516,2894,3941
$GC,1133,-0.67,-243.4,146.1,-13.4,193,1140,0.12,2.08,0.00,0.000,6,0.130,0.031,2548,1459,3942
$GC,1480,-0.73,-243.4,186.1,-13.1,254,1486,0.00,1.88,0.00,0.000,4,0.000,0.044,2538,212,3942
$GC,1590,-0.81,-243.4,200.2,-12.6,273,1596,0.15,1.90,0.00,0.000,6,0.062,0.027,2477,1551,3942
$GC,1934,-0.65,-243.4,248.5,-14.9,334,1941,0.20,1.98,0.00,0.000,4,0.131,0.041,2542,2893,3942
$GC,2010,-0.85,-243.4,256.4,-9.6,347,2017,0.17,1.98,0.00,0.000,6,0.054,0.031,2458,1523,3942
$GC,2358,-0.69,-243.4,305.7,-13.3,405,2360,0.30,0.00,0.00,0.000,6,0.127,0.000,2539,1522,3941
$GC,2677,-1.01,-243.4,332.4,-8.3,435,2681,0.25,1.98,0.00,0.000,4,0.045,0.044,2410,199,3939
$GC,2820,-0.70,-243.4,354.0,-16.1,447,2824,0.43,1.90,0.00,0.000,6,0.137,0.029,2536,1521,3938
$GC,3146,-1.04,-243.4,380.1,-8.0,477,3151,0.28,2.00,0.00,0.000,4,0.044,0.044,2397,198,3936
$GC,3185,-0.69,-243.4,384.9,-13.2,480,3190,0.45,2.05,0.00,0.000,6,0.136,0.031,2537,1610,3935
$GC,3510,-1.11,-243.4,411.7,-7.7,510,3515,0.35,2.12,0.00,0.000,4,0.041,0.046,2368,207,3932
$GC,3617,-0.67,-243.4,429.1,-18.4,519,3622,0.55,2.17,0.00,0.000,6,0.146,0.032,2540,1687,3932
$GC,3943,-1.06,-243.4,456.8,-8.7,549,3947,0.32,2.25,0.00,0.000,4,0.043,0.046,2386,205,3929
$GC,4015,-0.67,-243.4,468.4,-17.6,555,4021,0.52,2.33,0.00,0.000,6,0.140,0.034,2545,1777,3928
$GC,4341,-1.10,-243.4,499.3,-9.4,585,4345,0.35,1.65,0.00,0.000,4,0.042,0.045,2381,2892,3925
$GC,4431,-0.80,-243.4,512.6,-15.8,590,4436,0.38,1.55,0.00,0.000,6,0.140,0.035,2500,1841,3924
$GC,4765,-0.89,-243.4,548.3,-11.0,606,4768,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,2903,3922
$GC,4901,-1.01,-243.4,562.3,-10.2,612,4906,0.15,1.55,0.00,0.000,6,0.049,0.035,2420,1855,3921
$GC,5235,-0.80,-243.4,611.8,-15.3,628,5240,0.25,2.55,0.00,0.000,4,0.141,0.049,2498,199,3919
$GC,5337,-0.85,-243.4,624.8,-12.1,632,5346,0.00,2.45,0.00,0.000,6,0.000,0.039,2494,1833,3918
$GC,5653,-0.94,-243.4,659.1,-10.1,648,5657,0.00,2.53,0.00,0.000,4,0.000,0.051,2494,200,3914
$GC,5708,-1.00,-243.4,664.8,-10.1,650,5715,0.15,2.40,0.00,0.000,6,0.067,0.035,2420,1811,3914
$GC,6024,-0.83,-243.4,703.7,-12.8,666,6029,0.20,2.50,0.00,0.000,4,0.142,0.051,2491,204,3911
$GC,6051,-0.83,-243.4,707.1,-11.9,667,6055,0.00,2.42,0.00,0.000,6,0.000,0.037,2483,1811,3911
$GC,6374,-0.95,-243.4,740.9,-10.5,683,6379,0.00,2.47,0.00,0.000,4,0.000,0.052,2485,213,3908
$GC,6397,-1.03,-243.4,743.6,-10.4,684,6401,0.15,2.38,0.00,0.000,6,0.067,0.037,2412,1797,3908
$GC,6718,-0.90,-243.4,789.8,-14.9,700,6723,0.17,2.47,0.00,0.000,4,0.144,0.052,2473,202,3906
$GC,6740,-0.84,-243.4,793.4,-15.1,701,6743,0.00,2.40,0.00,0.000,6,0.000,0.038,2467,1793,3906
$GC,7068,-0.95,-243.4,830.3,-10.0,717,7072,0.00,1.65,0.00,0.000,4,0.000,0.054,2467,2885,3903
$GC,7114,-1.09,-243.4,834.7,-9.3,719,7118,0.17,1.60,0.00,0.000,6,0.058,0.039,2386,1820,3903
$GC,7449,-0.89,-243.4,882.2,-14.3,735,7454,0.25,2.50,0.00,0.000,4,0.145,0.054,2468,214,3900
$GC,7521,-0.98,-243.4,892.7,-10.8,738,7525,0.00,2.38,0.00,0.000,6,0.000,0.039,2458,1792,3900
$GC,7842,-0.98,-243.4,924.0,-5.4,754,7846,0.00,2.47,0.00,0.000,4,0.000,0.055,2458,205,3898
$GC,7913,-0.98,-243.4,930.9,-10.6,757,7917,0.00,2.38,0.00,0.000,6,0.000,0.041,2457,1766,3897
$GC,8236,-1.03,-243.4,967.5,-11.6,773,8240,0.00,1.75,0.00,0.000,4,0.000,0.058,2457,2886,3896
$GC,8259,-1.11,-243.4,970.1,-11.3,774,8263,0.17,1.65,0.00,0.000,6,0.059,0.041,2380,1780,3895
$STATE,8403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8403,begin apogee
$GC,8409,-0.20,0.0,992.6,16.0,781,8616,1.00,0.00,203.65,1.480,6,0.136,0.000,2690,1602,2945
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8620,0.97,243.4,1010.7,0.0,791,8847,1.05,0.00,219.82,1.435,6,0.044,0.000,3078,1601,1951
$GC,9158,0.48,243.4,952.7,16.0,817,9163,0.52,2.22,0.00,0.000,4,0.167,0.057,2931,199,1942
$GC,9208,0.59,332.4,947.0,9.1,819,9305,0.00,2.12,81.55,1.374,6,0.000,0.040,2931,1591,1588
$GC,9613,0.72,355.5,903.5,11.2,839,9658,0.17,2.28,24.95,1.154,4,0.061,0.058,3024,209,1495
$GC,9764,0.50,355.5,878.4,17.1,845,9771,0.35,2.10,0.00,0.000,6,0.143,0.047,2922,1575,1493
$GC,10080,0.68,375.5,843.4,11.3,861,10112,0.17,2.20,21.33,1.226,4,0.061,0.058,3020,206,1414
$GC,10168,0.50,375.5,829.3,17.6,865,10173,0.35,2.08,0.00,0.000,6,0.140,0.041,2918,1559,1411
$GC,10490,0.82,477.0,795.6,8.6,881,10598,0.25,2.33,96.25,1.333,4,0.051,0.058,3052,202,1000
$GC,10636,0.66,477.0,772.6,17.3,887,10645,0.28,2.12,0.00,0.000,6,0.140,0.041,2975,1557,997
$GC,10952,0.79,477.0,732.6,13.2,903,10957,0.12,2.15,0.00,0.000,4,0.067,0.058,3049,199,993
$GC,11008,0.63,477.0,722.3,19.8,905,11014,0.30,2.05,0.00,0.000,6,0.140,0.042,2961,1552,993
$GC,11324,0.82,477.2,682.3,12.0,921,11328,0.17,2.12,0.00,0.000,4,0.057,0.057,3057,199,991
$GC,11350,0.76,477.2,677.9,16.4,922,11355,0.20,2.03,0.00,0.000,6,0.149,0.041,3001,1542,991
$GC,11678,0.81,477.2,629.5,15.7,938,11681,0.00,2.10,0.00,0.000,4,0.000,0.058,3009,203,991
$GC,11760,0.81,477.2,615.5,16.3,941,11767,0.00,2.00,0.00,0.000,6,0.000,0.041,3009,1513,990
$GC,12077,0.81,477.2,568.3,14.5,957,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1514,989
$GC,12386,0.87,477.2,529.4,12.2,972,12390,0.00,2.05,0.00,0.000,4,0.000,0.058,3019,202,989
$GC,12424,0.87,477.2,524.1,13.2,973,12431,0.00,2.00,0.00,0.000,6,0.000,0.041,3018,1516,989
$GC,12744,0.87,477.2,480.9,13.8,995,12748,0.00,2.05,0.00,0.000,4,0.000,0.057,3029,196,989
$GC,12767,0.87,477.2,477.7,13.8,997,12771,0.00,1.98,0.00,0.000,6,0.000,0.041,3028,1519,988
$GC,13099,0.87,477.2,431.4,14.3,1028,13102,0.00,2.05,0.00,0.000,4,0.000,0.056,3039,201,988
$GC,13155,0.87,477.2,422.4,15.6,1033,13159,0.00,1.92,0.00,0.000,6,0.000,0.039,3039,1501,988
$GC,13487,0.87,477.2,370.8,15.3,1064,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1503,989
$GC,13804,0.87,477.2,323.7,13.2,1094,13808,0.00,2.03,0.00,0.000,4,0.000,0.054,3049,200,988
$GC,13842,0.87,477.2,318.1,14.9,1097,13848,0.00,1.95,0.00,0.000,6,0.000,0.038,3049,1498,989
$GC,14178,0.88,487.2,271.8,11.7,1146,14192,0.00,2.05,8.80,0.872,4,0.000,0.053,3059,208,957
$GC,14283,0.88,487.2,258.2,13.6,1164,14289,0.00,1.90,0.00,0.000,6,0.000,0.036,3059,1481,957
$GC,14628,0.88,487.2,214.7,13.7,1225,14634,0.00,1.98,0.00,0.000,4,0.000,0.052,3069,198,957
$GC,14651,0.88,487.2,211.0,14.5,1229,14657,0.00,1.88,0.00,0.000,6,0.000,0.035,3070,1481,957
$GC,14995,1.04,536.9,165.2,10.4,1290,15046,0.00,2.03,43.92,0.856,4,0.000,0.051,3082,195,755
$GC,15066,1.18,547.1,157.6,11.7,1301,15086,0.10,1.90,10.57,0.752,6,0.047,0.034,3168,1451,714
$GC,15427,1.06,547.1,97.2,16.1,1364,15434,0.20,2.35,0.00,0.000,4,0.143,0.040,3106,3012,713
$GC,15446,1.06,547.1,93.9,14.7,1367,15453,0.00,2.38,0.00,0.000,6,0.000,0.036,3119,1430,713
$GC,15792,1.28,589.3,56.9,10.6,1428,15836,0.15,1.90,36.65,0.732,4,0.056,0.048,3207,195,541
$GC,16056,1.18,589.3,16.2,15.6,1474,16063,0.20,1.80,0.00,0.000,6,0.127,0.030,3143,1419,540
$STATE,16187,end climb,SURFACE_DEPTH_REACHED
$STATE,16187,begin surface coast
$FINISH,0.7,1.014159
$STATE,16210,end surface coast,CONTROL_FINISHED_OK
$STATE,16210,begin surface
$SM_CCo,16288,0.00,0.000,0,0,539,590.19
$SM_GC,1.53,8.00,0.00,0.00,0.045,0.000,0.000,170,1522,539,-8.08,0.62,590.19
$IRIDIUM_FIX,2420.48,12332.21,150998,222252
$TT8_MAMPS,0.026845
$HUMID,1552
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.20
$XPDR_PINGS,127
$24V_AH,23.0,49.704
$10V_AH,10.7,29.258
$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,31.150,150.250,747.500,0.000,0.000,22.298,32.906,600.729,40.000,0.000,0.000,12.025,2686.490,9463.798,875.819,3085.938,950.613,0.000,2293.279,0.000,3045.006,0.000,58.671,0.000
$DEVICE_MAMPS,219.362,62.127,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.621,1038.543,1747.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88520,1501
$CAP_FILE_SIZE,181385,0
$CFSIZE,260165632,218734592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.235, 47.9,1
$GPS,220609,074706,2434.573,12328.835,28,1.9,28,-3.6