version: 66.04
glider: 166
mission: 2
dive: 129
start: 6 12 109 20 35 53
data:
$ID,166
$MISSION,2
$DIVE,129
$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,-7652.9121
$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,62
$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
$GPS1,202826,2432.271,12319.615,25,2.3,44,-3.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.7
$GPS2,203534,2432.361,12319.612,14,2.3,33,-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,196.8,48209,-16.8,-10.000
$D_GRID,736
$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,15,-0.90,-170.3,0.0,0.0,0,84,0.00,0.00,-66.95,0.000,2,0.000,0.000,170,1538,2404
$GC,86,-0.90,-170.3,3.5,-5.1,10,132,9.10,0.00,-31.00,0.000,6,0.234,0.000,2442,1538,3559
$GC,472,-0.23,-170.3,119.9,-28.0,77,478,0.70,0.00,0.00,0.000,6,0.151,0.000,2657,1538,3560
$GC,815,-0.57,-170.3,150.0,-5.6,138,822,0.25,2.00,0.00,0.000,4,0.044,0.035,2529,2888,3562
$GC,907,-0.50,-170.3,162.0,-15.1,154,914,0.15,2.05,0.00,0.000,6,0.130,0.031,2576,1471,3562
$GC,1253,-0.59,-170.3,196.0,-9.2,215,1260,0.00,1.90,0.00,0.000,4,0.000,0.043,2577,207,3562
$GC,1323,-0.69,-170.3,203.0,-9.6,227,1330,0.17,1.85,0.00,0.000,6,0.060,0.027,2499,1527,3563
$GC,1666,-0.49,-170.3,251.1,-14.5,288,1674,0.22,1.98,0.00,0.000,4,0.133,0.037,2573,2883,3563
$GC,1709,-0.69,-170.3,255.1,-8.3,295,1715,0.17,2.00,0.00,0.000,6,0.054,0.029,2484,1490,3563
$GC,2054,-0.49,-170.3,300.7,-13.3,356,2058,0.28,1.90,0.00,0.000,4,0.131,0.042,2575,207,3563
$GC,2099,-0.62,-170.3,305.2,-8.3,360,2103,0.00,1.83,0.00,0.000,6,0.000,0.028,2565,1500,3563
$GC,2430,-0.84,-170.3,330.0,-7.2,391,2434,0.22,2.03,0.00,0.000,4,0.051,0.038,2461,2885,3562
$GC,2462,-0.71,-170.3,333.7,-12.3,393,2469,0.15,2.00,0.00,0.000,6,0.129,0.031,2507,1519,3562
$GC,2787,-0.71,-170.3,365.6,-8.9,424,2790,0.00,1.95,0.00,0.000,4,0.000,0.045,2506,207,3560
$GC,2831,-0.65,-170.3,370.4,-10.9,428,2835,0.00,1.88,0.00,0.000,6,0.000,0.030,2509,1509,3560
$GC,3163,-0.65,-170.3,401.0,-9.4,459,3166,0.00,2.05,0.00,0.000,4,0.000,0.043,2501,2902,3558
$GC,3223,-0.78,-170.3,406.9,-9.5,464,3232,0.00,2.03,0.00,0.000,6,0.000,0.035,2511,1533,3558
$GC,3548,-0.78,-170.3,440.3,-10.3,495,3552,0.00,2.00,0.00,0.000,4,0.000,0.048,2508,196,3557
$GC,3626,-0.78,-170.3,449.4,-12.3,502,3630,0.00,1.92,0.00,0.000,6,0.000,0.032,2498,1521,3556
$GC,3958,-0.83,-170.3,481.9,-9.9,533,3961,0.00,2.05,0.00,0.000,4,0.000,0.046,2497,2898,3553
$GC,4026,-0.98,-170.3,488.2,-8.7,539,4031,0.20,2.03,0.00,0.000,6,0.055,0.036,2408,1515,3553
$GC,4345,-0.69,-170.3,538.4,-16.8,558,4349,0.30,1.98,0.00,0.000,4,0.142,0.050,2511,207,3551
$GC,4388,-0.74,-170.3,544.1,-10.4,560,4392,0.00,1.95,0.00,0.000,6,0.000,0.037,2499,1512,3550
$GC,4715,-0.82,-170.3,572.6,-8.8,576,4719,0.00,2.08,0.00,0.000,4,0.000,0.049,2497,2896,3548
$GC,4776,-0.97,-170.3,577.7,-7.9,578,4784,0.17,2.05,0.00,0.000,6,0.044,0.038,2406,1527,3547
$GC,5091,-0.72,-170.3,618.9,-12.7,594,5096,0.28,2.03,0.00,0.000,4,0.142,0.052,2498,195,3545
$GC,5146,-0.72,-170.3,624.5,-9.3,596,5154,0.00,1.98,0.00,0.000,6,0.000,0.036,2495,1514,3545
$GC,5462,-0.82,-170.3,649.2,-7.6,612,5465,0.00,2.10,0.00,0.000,4,0.000,0.051,2493,2907,3543
$GC,5539,-1.01,-170.3,655.1,-7.2,615,5544,0.22,2.05,0.00,0.000,6,0.053,0.039,2391,1524,3542
$GC,5861,-0.74,-170.3,698.3,-13.3,631,5865,0.30,2.03,0.00,0.000,4,0.143,0.054,2490,198,3540
$GC,6057,-0.80,-170.3,715.4,-8.3,640,6061,0.00,1.95,0.00,0.000,6,0.000,0.038,2489,1517,3539
$STATE,6326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6326,begin apogee
$GC,6331,-0.20,0.0,736.9,7.9,653,6472,0.55,0.00,137.88,1.287,6,0.113,0.000,2674,1752,2863
$STATE,6473,end apogee,CONTROL_FINISHED_OK
$STATE,6473,begin climb
$GC,6474,0.90,170.3,742.9,0.0,660,6625,0.95,2.30,144.38,1.244,4,0.041,0.052,3048,3148,2167
$GC,6662,0.32,170.3,728.0,18.0,669,6667,0.77,2.22,0.00,0.000,6,0.163,0.041,2845,1744,2164
$GC,6989,0.59,249.6,703.3,6.9,685,7062,0.22,2.30,66.95,1.225,4,0.055,0.055,2959,338,1845
$GC,7135,0.45,249.6,683.7,15.3,692,7140,0.28,2.17,0.00,0.000,6,0.139,0.044,2883,1736,1841
$GC,7461,0.58,249.6,648.0,10.3,708,7466,0.12,2.20,0.00,0.000,4,0.067,0.055,2954,333,1836
$GC,7545,0.47,249.6,637.0,13.7,712,7550,0.22,2.12,0.00,0.000,6,0.141,0.040,2890,1737,1836
$GC,7870,0.62,274.0,607.7,9.0,728,7898,0.15,2.25,20.75,1.175,4,0.063,0.054,2959,3145,1744
$GC,7938,0.49,274.0,599.0,14.5,731,7943,0.25,2.20,0.00,0.000,6,0.146,0.041,2900,1712,1742
$GC,8265,0.62,288.2,567.6,9.4,747,8284,0.12,0.00,13.25,1.119,6,0.067,0.000,2960,1712,1687
$GC,8594,0.52,288.2,521.8,14.5,763,8598,0.20,2.12,0.00,0.000,4,0.140,0.053,2904,337,1684
$GC,8642,0.64,288.2,515.5,11.1,765,8647,0.08,2.12,0.00,0.000,6,0.058,0.040,2954,1724,1684
$GC,8970,0.56,288.2,467.9,15.1,791,8972,0.15,0.00,0.00,0.000,6,0.142,0.000,2914,1726,1683
$GC,9291,0.65,288.2,432.9,10.5,821,9295,0.10,2.12,0.00,0.000,4,0.077,0.054,2972,339,1682
$GC,9374,0.53,288.2,420.8,14.9,828,9383,0.17,2.08,0.00,0.000,6,0.137,0.038,2915,1714,1682
$GC,9700,0.65,302.4,386.1,9.4,859,9721,0.10,0.00,12.77,1.012,6,0.077,0.000,2965,1715,1629
$GC,10037,0.59,302.4,339.9,13.7,891,10042,0.12,2.12,0.00,0.000,4,0.150,0.051,2938,332,1627
$GC,10065,0.59,302.4,336.5,12.4,893,10069,0.00,2.05,0.00,0.000,6,0.000,0.038,2938,1707,1627
$GC,10396,0.65,302.4,300.6,10.8,924,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1708,1627
$GC,10732,0.71,302.4,262.3,12.3,983,10738,0.00,2.10,0.00,0.000,4,0.000,0.051,2947,327,1627
$GC,10805,0.77,302.4,253.0,12.4,996,10813,0.12,2.05,0.00,0.000,6,0.074,0.041,3014,1716,1627
$GC,11151,0.61,302.4,201.8,12.5,1057,11157,0.25,0.00,0.00,0.000,6,0.138,0.000,2935,1720,1627
$GC,11494,0.85,345.9,174.7,8.3,1118,11541,0.17,2.17,36.95,0.861,4,0.057,0.048,3042,340,1451
$GC,11681,0.73,345.9,145.5,16.1,1150,11689,0.22,2.03,0.00,0.000,6,0.133,0.034,2976,1714,1448
$GC,12028,0.97,405.4,116.5,7.7,1211,12087,0.17,2.20,50.25,0.793,4,0.053,0.042,3069,3139,1209
$GC,12141,0.87,405.4,100.8,16.8,1229,12148,0.20,2.15,0.00,0.000,6,0.140,0.034,3023,1708,1207
$GC,12486,0.98,405.4,63.2,11.2,1290,12492,0.00,2.10,0.00,0.000,4,0.000,0.046,3035,341,1205
$GC,12573,1.07,405.4,53.5,11.5,1305,12581,0.12,2.03,0.00,0.000,6,0.070,0.030,3103,1744,1203
$STATE,12894,end climb,SURFACE_DEPTH_REACHED
$STATE,12894,begin surface coast
$FINISH,0.9,1.021535
$STATE,12914,end surface coast,CONTROL_FINISHED_OK
$STATE,12914,begin surface
$SM_CCo,12930,16.30,0.652,0,0,1130,425.10
$SM_GC,1.80,0.00,0.00,16.30,0.000,0.000,0.652,165,1484,1130,-8.05,-0.48,425.10
$IRIDIUM_FIX,2425.21,12319.71,060998,161611
$TT8_MAMPS,0.026845
$HUMID,1484
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.10
$XPDR_PINGS,116
$24V_AH,23.9,30.446
$10V_AH,10.7,19.020
$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,26.575,103.525,483.175,16.300,0.000,24.844,33.236,229.004,34.500,0.000,0.000,34.381,2408.127,7132.765,618.267,2708.631,494.547,0.000,1799.420,0.000,2669.039,0.000,38.542,0.000
$DEVICE_MAMPS,233.935,55.224,1287.026,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.844,968.535,1627.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79059,1365
$CAP_FILE_SIZE,144539,0
$CFSIZE,260165632,224440320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 29.3,1
$GPS,130609,001255,2431.076,12319.312,41,0.9,41,-3.5