version: 66.04
glider: 166
mission: 2
dive: 135
start: 6 13 109 21 58 29
data:
$ID,166
$MISSION,2
$DIVE,135
$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,-7770.1304
$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,56
$R_STBD_OVSHOOT,57
$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
$GPS1,214907,2424.526,12318.037,27,1.1,27,-3.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.5
$GPS2,215808,2424.518,12318.186,12,1.9,12,-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,237.5,33580,-16.8,-10.000
$D_GRID,723
$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,-0.90,-170.3,0.0,0.0,0,68,0.00,0.00,-51.55,0.000,2,0.000,0.000,166,1485,2292
$GC,70,-0.90,-170.3,3.1,-5.8,8,123,9.20,2.12,-36.10,0.000,4,0.238,0.051,2434,2895,3558
$GC,129,-0.06,-170.3,12.7,-22.4,17,137,0.98,2.05,0.00,0.000,6,0.160,0.030,2718,1495,3559
$GC,477,-0.48,-170.3,45.2,-6.5,78,484,0.32,1.92,0.00,0.000,4,0.039,0.041,2560,202,3560
$GC,662,-0.22,-170.3,81.6,-18.7,110,669,0.30,1.92,0.00,0.000,6,0.130,0.028,2670,1529,3560
$GC,1006,-0.56,-170.3,108.4,-5.8,171,1013,0.28,2.03,0.00,0.000,4,0.043,0.036,2538,2927,3561
$GC,1036,-0.56,-170.3,111.6,-11.5,176,1043,0.00,2.03,0.00,0.000,6,0.000,0.029,2530,1517,3562
$GC,1382,-0.37,-170.3,169.8,-14.2,237,1389,0.28,1.92,0.00,0.000,4,0.133,0.041,2613,207,3562
$GC,1469,-0.60,-170.3,179.2,-8.9,252,1476,0.15,1.85,0.00,0.000,6,0.042,0.027,2509,1508,3562
$GC,1813,-0.52,-170.3,226.2,-13.1,313,1821,0.17,2.00,0.00,0.000,4,0.132,0.038,2575,2881,3563
$GC,1906,-0.82,-170.3,234.9,-8.4,329,1914,0.28,1.98,0.00,0.000,6,0.043,0.031,2446,1509,3564
$GC,2253,-0.49,-170.3,292.3,-19.0,390,2260,0.38,1.92,0.00,0.000,4,0.135,0.044,2570,211,3564
$GC,2311,-0.68,-170.3,298.5,-8.9,400,2318,0.12,1.88,0.00,0.000,6,0.048,0.028,2485,1517,3564
$GC,2638,-0.48,-170.3,344.4,-17.5,432,2642,0.30,2.03,0.00,0.000,4,0.125,0.041,2575,2890,3564
$GC,2722,-0.81,-170.3,351.4,-7.8,439,2727,0.28,1.98,0.00,0.000,6,0.044,0.033,2444,1527,3562
$GC,3047,-0.58,-170.3,401.6,-14.0,469,3052,0.30,1.98,0.00,0.000,4,0.132,0.046,2546,204,3561
$GC,3136,-0.74,-170.3,410.5,-8.7,476,3143,0.10,1.92,0.00,0.000,6,0.054,0.030,2485,1527,3561
$GC,3461,-0.67,-170.3,444.3,-10.2,507,3465,0.12,2.03,0.00,0.000,4,0.143,0.044,2517,2890,3559
$GC,3511,-0.83,-170.3,448.5,-7.1,511,3517,0.15,1.98,0.00,0.000,6,0.059,0.035,2444,1541,3559
$GC,3835,-0.60,-170.3,488.1,-12.9,542,3837,0.32,0.00,0.00,0.000,6,0.135,0.000,2543,1541,3556
$GC,4161,-0.81,-170.3,512.9,-7.8,565,4165,0.17,2.03,0.00,0.000,4,0.058,0.050,2445,201,3554
$GC,4206,-0.57,-170.3,518.5,-14.1,567,4211,0.35,1.95,0.00,0.000,6,0.139,0.033,2551,1537,3554
$GC,4536,-0.84,-170.3,540.2,-6.1,583,4540,0.20,2.05,0.00,0.000,4,0.053,0.046,2442,2907,3551
$GC,4575,-0.79,-170.3,544.1,-10.8,585,4579,0.15,2.03,0.00,0.000,6,0.135,0.038,2488,1539,3550
$GC,4906,-0.79,-170.3,580.7,-11.1,601,4910,0.00,2.03,0.00,0.000,4,0.000,0.051,2489,198,3547
$GC,4938,-0.79,-170.3,584.6,-11.1,602,4943,0.00,2.00,0.00,0.000,6,0.000,0.035,2484,1541,3547
$GC,5260,-0.79,-170.3,616.7,-9.1,618,5264,0.00,2.05,0.00,0.000,4,0.000,0.053,2485,198,3545
$GC,5305,-0.79,-170.3,621.4,-10.7,620,5309,0.00,2.00,0.00,0.000,6,0.000,0.042,2482,1553,3545
$GC,5637,-0.79,-170.3,651.3,-9.1,636,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1554,3543
$GC,5946,-0.79,-170.3,677.0,-8.7,651,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1554,3540
$GC,6256,-0.84,-170.3,706.8,-9.5,666,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1554,3539
$STATE,6441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6441,begin apogee
$GC,6445,-0.20,0.0,723.2,8.7,675,6586,0.57,0.00,137.23,1.266,6,0.114,0.000,2671,1753,2863
$STATE,6587,end apogee,CONTROL_FINISHED_OK
$STATE,6587,begin climb
$GC,6589,0.90,170.3,728.3,0.0,682,6736,0.95,0.00,143.38,1.223,6,0.041,0.000,3043,1753,2168
$GC,7041,0.36,170.3,670.2,16.1,704,7046,0.62,2.17,0.00,0.000,4,0.167,0.053,2863,3157,2162
$GC,7103,0.54,243.2,664.5,7.1,707,7172,0.12,2.15,61.25,1.190,6,0.072,0.041,2931,1738,1870
$GC,7499,0.47,243.2,613.9,14.7,726,7503,0.15,2.17,0.00,0.000,4,0.146,0.054,2902,338,1862
$GC,7644,0.54,243.2,595.2,11.8,732,7650,0.00,2.08,0.00,0.000,6,0.000,0.038,2902,1726,1861
$GC,7959,0.59,243.2,555.1,13.2,748,7963,0.00,2.15,0.00,0.000,4,0.000,0.054,2910,338,1859
$GC,8026,0.59,243.2,545.9,14.3,751,8030,0.00,2.05,0.00,0.000,6,0.000,0.038,2910,1713,1859
$GC,8360,0.59,243.2,505.2,11.7,767,8363,0.00,2.12,0.00,0.000,4,0.000,0.054,2919,332,1858
$GC,8431,0.59,243.2,495.6,12.6,771,8438,0.00,2.08,0.00,0.000,6,0.000,0.038,2919,1708,1857
$GC,8757,0.59,243.2,457.8,11.2,802,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1708,1856
$GC,9074,0.59,243.2,419.2,12.3,832,9078,0.00,2.17,0.00,0.000,4,0.000,0.051,2918,3148,1856
$GC,9142,0.59,243.2,410.3,12.7,838,9146,0.00,2.15,0.00,0.000,6,0.000,0.039,2926,1703,1854
$GC,9473,0.61,258.5,374.8,9.4,869,9489,0.00,2.10,11.40,0.982,4,0.000,0.053,2936,332,1809
$GC,9534,0.65,291.1,369.1,8.7,874,9567,0.00,2.05,28.77,1.020,6,0.000,0.036,2935,1696,1676
$GC,9886,0.65,291.1,331.2,11.6,907,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1698,1672
$GC,10206,0.65,291.1,295.7,10.8,940,10213,0.00,2.08,0.00,0.000,4,0.000,0.051,2944,336,1671
$GC,10337,0.65,291.1,280.6,11.6,963,10343,0.00,2.03,0.00,0.000,6,0.000,0.036,2944,1708,1671
$GC,10681,0.69,324.6,245.6,8.7,1024,10719,0.00,2.15,28.33,0.917,4,0.000,0.051,2954,352,1538
$GC,10781,0.69,324.8,235.8,10.0,1041,10788,0.00,2.03,0.00,0.000,6,0.000,0.035,2953,1711,1536
$GC,11127,0.76,324.8,197.9,14.2,1102,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1713,1535
$GC,11471,0.95,350.5,163.0,9.0,1163,11498,0.22,2.17,22.50,0.827,4,0.049,0.047,3082,332,1433
$GC,11635,0.67,350.5,134.5,15.6,1191,11641,0.43,2.00,0.00,0.000,6,0.140,0.032,2955,1681,1430
$GC,11979,1.02,373.7,102.0,9.1,1252,12006,0.25,0.00,20.65,0.757,6,0.044,0.000,3085,1682,1337
$GC,12346,0.90,373.7,50.2,13.0,1316,12353,0.17,2.17,0.00,0.000,4,0.137,0.038,3028,3145,1335
$GC,12438,1.08,398.7,40.8,9.0,1332,12465,0.12,2.20,22.02,0.699,6,0.062,0.032,3119,1639,1236
$STATE,12705,end climb,SURFACE_DEPTH_REACHED
$STATE,12705,begin surface coast
$FINISH,0.8,1.021655
$STATE,12729,end surface coast,CONTROL_FINISHED_OK
$STATE,12729,begin surface
$SM_CCo,12745,21.65,0.655,0,0,1129,425.10
$SM_GC,1.42,0.00,0.00,21.65,0.000,0.000,0.655,166,1487,1129,-8.04,-0.37,425.10
$IRIDIUM_FIX,2415.74,12319.09,070998,222237
$TT8_MAMPS,0.027612
$HUMID,1492
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,118
$24V_AH,24.0,31.682
$10V_AH,10.7,19.880
$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,26.425,94.400,475.525,21.650,0.000,46.611,64.422,250.284,34.750,0.000,0.000,12.399,2410.937,7070.907,599.894,2654.453,564.509,0.000,1753.973,0.000,2637.540,0.000,36.908,0.000
$DEVICE_MAMPS,237.770,56.758,1265.550,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,936.921,993.532,1671.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78927,1383
$CAP_FILE_SIZE,139642,0
$CFSIZE,260165632,223920128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267, 64.0,1
$GPS,140609,013231,2424.347,12318.373,40,1.5,40,-3.5