version: 66.04
glider: 166
mission: 2
dive: 104
start: 6 7 109 15 34 48
data:
$ID,166
$MISSION,2
$DIVE,104
$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,300
$T_MISSION,360
$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,200
$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,-7213.7217
$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,32
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$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
$GPS1,152807,2513.719,12339.111,36,0.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.2
$GPS2,153426,2513.771,12339.111,15,0.9,15,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,RET_1
$TGT_LATLONG,2448.000,12324.000
$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,242.3,54068,-17.1,-11.000
$D_GRID,1967
$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,-0.94,-194.7,0.0,0.0,0,103,0.00,0.00,-86.50,0.000,2,0.000,0.000,189,1507,2360
$GC,105,-0.94,-194.7,3.1,-5.2,13,158,9.00,2.08,-37.62,0.000,4,0.242,0.058,2420,185,3658
$GC,413,-0.24,-194.7,97.4,-29.5,66,422,0.73,1.95,0.00,0.000,6,0.152,0.031,2653,1498,3659
$GC,757,-1.12,-194.7,129.5,-9.5,127,764,0.70,2.05,0.00,0.000,4,0.063,0.037,2376,2908,3660
$GC,811,-0.65,-194.7,137.4,-19.1,136,820,0.43,2.05,0.00,0.000,6,0.156,0.033,2528,1497,3660
$GC,1157,-0.51,-194.7,188.5,-14.1,197,1164,0.15,0.00,0.00,0.000,6,0.137,0.000,2572,1497,3660
$GC,1500,-0.63,-194.7,227.0,-10.9,258,1507,0.12,0.00,0.00,0.000,6,0.072,0.000,2512,1496,3662
$GC,1844,-0.50,-194.7,280.7,-15.1,319,1850,0.17,2.10,0.00,0.000,4,0.141,0.042,2563,2898,3661
$GC,1890,-0.75,-194.7,285.8,-9.6,327,1897,0.20,2.03,0.00,0.000,6,0.051,0.035,2469,1508,3662
$GC,2220,-0.52,-194.7,340.6,-16.0,366,2224,0.28,1.95,0.00,0.000,4,0.138,0.047,2564,200,3661
$GC,2260,-0.63,-194.7,345.6,-11.2,369,2266,0.00,1.90,0.00,0.000,6,0.000,0.030,2541,1522,3661
$GC,2584,-0.82,-194.7,374.0,-8.2,400,2588,0.17,2.03,0.00,0.000,4,0.058,0.043,2453,2892,3661
$GC,2632,-0.76,-194.7,379.9,-13.0,404,2641,0.10,2.05,0.00,0.000,6,0.136,0.034,2489,1509,3660
$GC,2957,-0.76,-194.7,417.4,-11.1,435,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1509,3659
$GC,3277,-0.76,-194.7,454.5,-12.3,465,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1509,3659
$GC,3596,-0.76,-194.7,490.6,-10.5,495,3599,0.00,1.95,0.00,0.000,4,0.000,0.051,2488,208,3656
$GC,3628,-0.76,-194.7,494.5,-11.4,498,3632,0.00,1.88,0.00,0.000,6,0.000,0.036,2488,1497,3656
$GC,3952,-0.83,-194.7,526.4,-9.0,516,3956,0.00,2.10,0.00,0.000,4,0.000,0.048,2487,2906,3654
$GC,4020,-1.00,-194.7,532.0,-8.2,519,4025,0.20,2.08,0.00,0.000,6,0.054,0.038,2396,1503,3653
$GC,4348,-0.73,-194.7,581.7,-15.8,535,4353,0.30,1.98,0.00,0.000,4,0.146,0.052,2495,198,3652
$GC,4397,-0.83,-194.7,587.6,-9.9,537,4401,0.00,1.90,0.00,0.000,6,0.000,0.035,2492,1503,3652
$GC,4719,-0.96,-194.7,615.3,-8.9,553,4724,0.17,2.10,0.00,0.000,4,0.062,0.048,2404,2906,3649
$GC,4775,-0.84,-194.7,622.6,-13.9,555,4782,0.22,2.08,0.00,0.000,6,0.140,0.039,2471,1503,3649
$GC,5091,-0.91,-194.7,655.1,-10.2,571,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1503,3647
$GC,5399,-0.98,-194.7,685.4,-9.6,586,5401,0.15,0.00,0.00,0.000,6,0.068,0.000,2406,1503,3644
$GC,5710,-0.81,-194.7,728.4,-14.1,601,5712,0.25,0.00,0.00,0.000,6,0.146,0.000,2482,1503,3642
$GC,6018,-0.93,-194.7,757.8,-9.3,616,6022,0.12,1.98,0.00,0.000,4,0.074,0.056,2423,206,3639
$GC,6049,-0.80,-194.7,761.8,-13.5,617,6054,0.15,1.95,0.00,0.000,6,0.143,0.039,2482,1503,3638
$GC,6372,-0.93,-194.7,790.5,-8.6,633,6374,0.12,0.00,0.00,0.000,6,0.074,0.000,2424,1505,3636
$GC,6680,-0.85,-194.7,826.1,-11.6,648,6682,0.15,0.00,0.00,0.000,6,0.150,0.000,2466,1505,3634
$GC,6990,-0.93,-194.7,855.1,-9.4,663,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1505,3633
$GC,7299,-1.02,-194.7,884.0,-9.4,678,7304,0.17,2.15,0.00,0.000,4,0.066,0.055,2382,2907,3631
$GC,7365,-0.87,-194.7,892.7,-13.0,681,7370,0.20,2.12,0.00,0.000,6,0.144,0.044,2449,1516,3630
$GC,7693,-0.87,-194.7,927.2,-10.6,697,7696,0.00,2.03,0.00,0.000,4,0.000,0.059,2449,195,3628
$GC,7730,-0.87,-194.7,931.9,-11.5,698,7737,0.00,1.98,0.00,0.000,6,0.000,0.041,2447,1501,3628
$GC,8046,-0.87,-194.7,965.3,-10.3,714,8050,0.00,2.15,0.00,0.000,4,0.000,0.058,2446,2907,3627
$GC,8084,-0.98,-194.7,969.1,-9.2,715,8091,0.00,2.10,0.00,0.000,6,0.000,0.044,2447,1512,3627
$STATE,8316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8316,begin apogee
$GC,8321,-0.20,0.0,992.0,9.8,727,8487,0.68,0.00,163.12,1.480,6,0.123,0.000,2667,1749,2863
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8489,0.94,194.7,998.8,0.0,735,8669,1.05,0.00,175.52,1.436,6,0.040,0.000,3061,1749,2069
$GC,8968,0.35,194.7,918.0,21.4,759,8971,0.73,0.00,0.00,0.000,6,0.173,0.000,2858,1750,2061
$GC,9277,0.48,232.6,886.2,9.6,774,9316,0.12,0.00,33.25,1.359,6,0.069,0.000,2919,1751,1912
$GC,9625,0.37,232.6,837.3,13.8,791,9630,0.20,2.22,0.00,0.000,4,0.146,0.057,2869,343,1908
$GC,9646,0.37,232.6,834.6,12.8,792,9650,0.00,2.17,0.00,0.000,6,0.000,0.041,2869,1742,1908
$GC,9973,0.46,246.0,800.9,10.5,808,9996,0.00,0.00,14.18,1.102,6,0.000,0.000,2869,1743,1860
$GC,10303,0.57,258.9,766.2,10.5,824,10327,0.15,2.28,12.88,1.249,4,0.063,0.058,2949,340,1806
$GC,10419,0.39,258.9,748.3,17.0,829,10423,0.30,2.15,0.00,0.000,6,0.148,0.043,2864,1744,1804
$GC,10751,0.57,289.5,712.9,9.8,845,10786,0.17,2.28,28.25,1.285,4,0.059,0.057,2948,3146,1681
$GC,10808,0.40,289.5,704.0,17.6,847,10815,0.25,2.20,0.00,0.000,6,0.145,0.043,2872,1754,1678
$GC,11125,0.57,311.4,669.9,10.2,863,11151,0.15,2.25,20.33,1.234,4,0.061,0.057,2954,344,1591
$GC,11207,0.44,311.4,657.8,15.8,867,11212,0.25,2.20,0.00,0.000,6,0.143,0.043,2884,1759,1589
$GC,11534,0.59,332.4,623.3,10.2,883,11559,0.12,2.30,19.30,1.203,4,0.070,0.057,2952,345,1507
$GC,11586,0.49,332.4,615.3,16.8,885,11591,0.15,2.20,0.00,0.000,6,0.137,0.043,2894,1745,1505
$GC,11908,0.59,332.4,577.9,11.4,901,11912,0.12,2.20,0.00,0.000,4,0.070,0.055,2962,342,1501
$GC,11934,0.54,332.4,574.2,13.5,902,11939,0.17,2.15,0.00,0.000,6,0.150,0.041,2914,1759,1501
$GC,12260,0.54,332.4,530.9,13.3,918,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1760,1501
$GC,12571,0.54,332.4,490.1,13.2,936,12575,0.00,2.20,0.00,0.000,4,0.000,0.054,2923,338,1500
$GC,12661,0.59,332.4,477.9,13.3,944,12665,0.00,2.12,0.00,0.000,6,0.000,0.041,2923,1749,1501
$GC,12990,0.59,332.4,435.2,11.9,975,12994,0.00,2.17,0.00,0.000,4,0.000,0.054,2934,332,1500
$GC,13040,0.59,332.4,429.2,11.4,979,13046,0.00,2.12,0.00,0.000,6,0.000,0.040,2934,1735,1500
$GC,13365,0.59,332.4,390.2,12.0,1010,13369,0.00,2.15,0.00,0.000,4,0.000,0.051,2934,3155,1500
$GC,13387,0.59,332.4,387.3,12.2,1012,13391,0.00,2.12,0.00,0.000,6,0.000,0.040,2944,1731,1500
$GC,13717,0.59,332.4,341.5,14.4,1043,13721,0.00,2.10,0.00,0.000,4,0.000,0.053,2955,350,1499
$GC,13777,0.59,332.4,332.3,14.6,1048,13785,0.00,2.10,0.00,0.000,6,0.000,0.039,2955,1747,1499
$GC,14107,0.59,332.4,286.7,13.0,1087,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1748,1499
$GC,14448,0.59,332.4,237.8,15.1,1148,14456,0.00,2.15,0.00,0.000,4,0.000,0.050,2966,339,1499
$GC,14539,0.59,332.4,223.5,15.5,1164,14548,0.10,2.08,0.00,0.000,6,0.137,0.036,2933,1732,1499
$GC,14885,0.70,332.4,182.6,11.2,1225,14891,0.00,2.10,0.00,0.000,4,0.000,0.049,2941,346,1500
$GC,14954,0.81,332.4,174.9,11.4,1237,14962,0.12,2.03,0.00,0.000,6,0.051,0.035,3019,1712,1501
$GC,15299,0.66,332.4,125.9,13.0,1298,15305,0.20,2.08,0.00,0.000,4,0.144,0.046,2965,337,1502
$GC,15342,0.75,357.2,121.4,10.1,1305,15369,0.00,2.03,21.85,0.794,6,0.000,0.034,2965,1710,1405
$GC,15710,0.90,357.2,81.0,11.5,1369,15716,0.17,2.08,0.00,0.000,4,0.053,0.046,3069,337,1402
$GC,15848,0.64,357.2,55.2,17.5,1393,15854,0.35,1.98,0.00,0.000,6,0.132,0.032,2943,1681,1402
$GC,16194,1.19,491.2,32.7,5.9,1454,16315,0.45,2.15,110.35,0.707,4,0.035,0.044,3162,346,859
$STATE,16337,end climb,SURFACE_DEPTH_REACHED
$STATE,16338,begin surface coast
$FINISH,1.0,1.009828
$STATE,16350,end surface coast,CONTROL_FINISHED_OK
$STATE,16350,begin surface
$SM_CCo,16427,0.00,0.000,0,0,853,493.05
$SM_GC,1.73,8.05,0.00,0.00,0.040,0.000,0.000,159,1516,853,-8.01,0.45,493.05
$IRIDIUM_FIX,2507.97,12336.11,010998,111136
$TT8_MAMPS,0.026845
$HUMID,1451
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.20
$XPDR_PINGS,121
$24V_AH,23.2,24.901
$10V_AH,10.7,15.155
$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,28.350,117.150,599.025,0.000,0.000,26.385,48.021,190.250,38.250,0.000,0.000,15.478,2596.428,10120.788,752.403,2851.385,475.138,0.000,2024.137,0.000,2831.376,0.000,54.400,0.000
$DEVICE_MAMPS,241.605,59.059,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.979,1011.307,1697.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85306,1479
$CAP_FILE_SIZE,159630,0
$CFSIZE,260165632,226762752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,105.7,1
$GPS,070609,200936,2512.291,12337.687,28,0.9,28,-3.7