version: 66.04
glider: 166
mission: 2
dive: 134
start: 6 13 109 17 52 45
data:
$ID,166
$MISSION,2
$DIVE,134
$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,-7757.1021
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,174606,2425.744,12318.236,31,1.6,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.1
$GPS2,175226,2425.762,12318.290,19,1.6,19,-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,227.0,35838,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-170.3,0.0,0.0,0,74,0.00,0.00,-57.53,0.000,2,0.000,0.000,165,1473,2331
$GC,77,-0.90,-170.3,3.2,-6.6,9,129,9.32,1.95,-33.22,0.000,4,0.242,0.058,2444,211,3559
$GC,384,-0.17,-170.3,94.7,-30.7,62,391,0.75,1.90,0.00,0.000,6,0.143,0.029,2685,1502,3560
$GC,729,-1.00,-170.3,122.3,-9.0,123,736,0.73,2.05,0.00,0.000,4,0.077,0.035,2419,2914,3562
$GC,771,-0.60,-170.3,127.7,-14.7,130,778,0.40,2.03,0.00,0.000,6,0.143,0.030,2539,1510,3562
$GC,1118,-0.49,-170.3,179.8,-14.9,191,1124,0.15,0.00,0.00,0.000,6,0.133,0.000,2584,1510,3564
$GC,1460,-0.67,-170.3,209.9,-8.0,252,1466,0.17,0.00,0.00,0.000,6,0.058,0.000,2496,1510,3565
$GC,1805,-0.47,-170.3,257.5,-14.2,313,1812,0.28,1.95,0.00,0.000,4,0.135,0.045,2584,201,3565
$GC,1926,-0.69,-170.3,269.6,-8.3,334,1933,0.12,1.90,0.00,0.000,6,0.049,0.028,2496,1520,3564
$GC,2265,-0.53,-170.3,310.4,-13.6,388,2269,0.20,2.03,0.00,0.000,4,0.137,0.041,2559,2891,3565
$GC,2338,-0.77,-170.3,316.2,-6.5,394,2345,0.15,2.03,0.00,0.000,6,0.044,0.033,2472,1520,3564
$GC,2662,-0.55,-170.3,355.1,-12.4,425,2667,0.25,1.98,0.00,0.000,4,0.138,0.046,2553,201,3563
$GC,2769,-0.63,-170.3,365.2,-8.9,434,2775,0.00,1.88,0.00,0.000,6,0.000,0.029,2554,1482,3562
$GC,3095,-0.78,-170.3,394.9,-8.8,465,3099,0.17,2.10,0.00,0.000,4,0.058,0.042,2462,2899,3560
$GC,3157,-0.65,-170.3,402.6,-12.8,470,3161,0.22,2.03,0.00,0.000,6,0.135,0.035,2531,1513,3560
$GC,3481,-0.73,-170.3,431.3,-8.1,500,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1513,3559
$GC,3801,-0.83,-170.3,458.0,-8.6,530,3806,0.17,2.10,0.00,0.000,4,0.061,0.045,2437,2901,3556
$GC,3863,-0.68,-170.3,465.1,-11.7,535,3868,0.22,2.05,0.00,0.000,6,0.137,0.037,2517,1512,3557
$GC,4188,-0.74,-170.3,495.5,-9.2,565,4192,0.00,1.98,0.00,0.000,4,0.000,0.052,2516,204,3554
$GC,4222,-0.74,-170.3,498.9,-9.7,568,4226,0.00,1.90,0.00,0.000,6,0.000,0.033,2504,1508,3554
$GC,4554,-0.79,-170.3,528.5,-9.4,585,4558,0.00,2.10,0.00,0.000,4,0.000,0.054,2497,2906,3552
$GC,4577,-0.88,-170.3,530.4,-8.4,586,4582,0.15,2.10,0.00,0.000,6,0.061,0.044,2433,1493,3551
$GC,4904,-0.66,-170.3,573.7,-14.2,602,4906,0.32,0.00,0.00,0.000,6,0.140,0.000,2530,1492,3549
$GC,5213,-0.86,-170.3,597.3,-7.4,617,5215,0.20,0.00,0.00,0.000,6,0.056,0.000,2438,1493,3547
$GC,5523,-0.68,-170.3,638.5,-13.6,632,5527,0.25,2.15,0.00,0.000,4,0.142,0.049,2509,2905,3545
$GC,5566,-0.90,-170.3,643.3,-9.3,634,5571,0.17,2.08,0.00,0.000,6,0.058,0.040,2429,1511,3545
$GC,5894,-0.72,-170.3,685.7,-12.7,650,5898,0.22,2.00,0.00,0.000,4,0.140,0.054,2501,200,3543
$GC,5949,-0.79,-170.3,691.5,-9.8,652,5953,0.00,1.95,0.00,0.000,6,0.000,0.037,2496,1523,3542
$GC,6271,-0.91,-170.3,716.8,-7.0,668,6276,0.15,2.10,0.00,0.000,4,0.066,0.050,2422,2910,3540
$GC,6299,-0.91,-170.3,719.4,-9.5,669,6303,0.00,2.08,0.00,0.000,6,0.000,0.040,2423,1518,3540
$GC,6620,-0.76,-170.3,756.2,-11.9,685,6624,0.20,2.00,0.00,0.000,4,0.143,0.055,2486,198,3538
$GC,6659,-0.81,-170.3,760.2,-9.5,686,6665,0.00,1.98,0.00,0.000,6,0.000,0.038,2486,1512,3538
$GC,6975,-0.92,-170.3,784.3,-8.0,702,6980,0.12,2.10,0.00,0.000,4,0.072,0.051,2424,2896,3536
$STATE,6994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6994,begin apogee
$GC,7000,-0.20,0.0,786.4,9.4,703,7142,0.73,0.00,138.80,1.326,6,0.125,0.000,2664,1732,2863
$STATE,7143,end apogee,CONTROL_FINISHED_OK
$STATE,7143,begin climb
$GC,7145,0.90,170.3,791.6,0.0,710,7297,0.98,2.38,144.62,1.279,4,0.043,0.054,3040,3147,2167
$GC,7320,0.35,170.3,777.8,16.8,718,7325,0.73,2.25,0.00,0.000,6,0.166,0.047,2854,1756,2165
$GC,7641,0.52,218.1,752.0,8.1,734,7688,0.15,2.30,41.08,1.246,4,0.066,0.056,2932,335,1973
$GC,7794,0.40,218.1,732.0,14.4,741,7799,0.17,2.20,0.00,0.000,6,0.137,0.041,2867,1738,1969
$GC,8122,0.52,219.4,700.2,9.9,757,8126,0.12,2.20,0.00,0.000,4,0.069,0.056,2939,339,1967
$GC,8170,0.38,219.4,693.7,14.1,759,8175,0.22,2.12,0.00,0.000,6,0.137,0.041,2869,1720,1967
$GC,8492,0.53,236.8,663.0,9.3,775,8512,0.12,0.00,16.08,1.193,6,0.070,0.000,2929,1722,1897
$GC,8821,0.45,236.8,620.2,13.5,791,8823,0.15,0.00,0.00,0.000,6,0.146,0.000,2889,1722,1892
$GC,9130,0.54,236.8,587.3,10.1,806,9134,0.00,2.15,0.00,0.000,4,0.000,0.055,2900,337,1891
$GC,9213,0.62,236.8,578.0,10.9,809,9221,0.08,2.12,0.00,0.000,6,0.062,0.041,2948,1731,1891
$GC,9529,0.50,236.8,539.6,11.7,825,9531,0.17,0.00,0.00,0.000,6,0.146,0.000,2900,1734,1890
$GC,9838,0.60,257.3,511.8,9.2,840,9861,0.00,2.25,17.85,1.134,4,0.000,0.054,2908,333,1812
$GC,9974,0.67,257.3,497.8,11.1,846,9979,0.15,2.15,0.00,0.000,6,0.067,0.040,2972,1753,1810
$GC,10298,0.50,257.3,450.6,14.7,876,10303,0.22,2.17,0.00,0.000,4,0.145,0.052,2910,337,1808
$GC,10326,0.50,257.3,446.8,13.3,878,10330,0.00,2.10,0.00,0.000,6,0.000,0.039,2909,1741,1808
$GC,10658,0.56,257.3,411.0,10.7,909,10661,0.00,2.15,0.00,0.000,4,0.000,0.051,2908,3157,1808
$GC,10726,0.64,257.3,403.2,10.9,915,10730,0.00,2.12,0.00,0.000,6,0.000,0.040,2915,1739,1806
$GC,11056,0.70,257.3,368.6,10.1,946,11061,0.15,2.15,0.00,0.000,4,0.064,0.058,2997,335,1806
$GC,11197,0.47,257.3,348.9,14.1,958,11204,0.35,2.08,0.00,0.000,6,0.140,0.038,2892,1737,1806
$GC,11522,0.73,320.6,323.8,7.5,989,11579,0.20,0.00,52.65,1.003,6,0.054,0.000,2986,1738,1555
$GC,11909,0.63,320.6,265.5,14.6,1043,11916,0.15,2.17,0.00,0.000,4,0.148,0.046,2945,3160,1549
$GC,11938,0.63,320.6,260.8,15.0,1048,11944,0.00,2.17,0.00,0.000,6,0.000,0.041,2952,1719,1548
$GC,12284,0.63,320.6,213.9,13.0,1109,12291,0.00,2.10,0.00,0.000,4,0.000,0.050,2963,342,1548
$GC,12438,0.63,320.6,195.3,11.1,1136,12444,0.00,2.03,0.00,0.000,6,0.000,0.034,2963,1717,1548
$GC,12782,0.76,352.1,162.5,8.8,1197,12816,0.00,2.12,26.70,0.842,4,0.000,0.050,2973,347,1425
$GC,12925,0.91,358.6,149.5,9.7,1221,12941,0.15,2.03,6.88,0.690,6,0.062,0.034,3048,1722,1399
$GC,13281,0.78,358.6,94.0,18.9,1283,13288,0.17,2.15,0.00,0.000,4,0.137,0.042,2992,3147,1397
$GC,13384,1.03,407.6,81.7,8.1,1301,13431,0.20,2.12,41.62,0.763,6,0.050,0.035,3097,1713,1200
$GC,13770,0.90,407.6,31.8,14.7,1368,13776,0.20,0.00,0.00,0.000,6,0.140,0.000,3035,1714,1197
$STATE,14054,end climb,SURFACE_DEPTH_REACHED
$STATE,14054,begin surface coast
$FINISH,0.8,1.016136
$STATE,14089,end surface coast,CONTROL_FINISHED_OK
$STATE,14089,begin surface
$SM_CCo,14105,14.57,0.640,0,0,1130,425.10
$SM_GC,2.04,0.00,0.00,14.57,0.000,0.000,0.640,166,1485,1130,-8.04,-0.42,425.10
$IRIDIUM_FIX,2415.74,12319.09,070998,131324
$TT8_MAMPS,0.027612
$HUMID,1512
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.10
$XPDR_PINGS,128
$24V_AH,23.8,31.503
$10V_AH,10.7,19.745
$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,28.225,108.325,486.275,14.575,0.000,23.875,31.879,198.874,38.000,0.000,0.000,19.689,2527.004,8098.245,581.939,2806.342,473.498,0.000,1828.161,0.000,2783.101,0.000,41.059,0.000
$DEVICE_MAMPS,241.605,58.292,1326.143,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,968.449,1000.430,1678.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81911,1425
$CAP_FILE_SIZE,152650,0
$CFSIZE,260165632,223993856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 83.3,1
$GPS,130609,214907,2424.526,12318.037,27,1.1,27,-3.5