version: 66.04
glider: 166
mission: 2
dive: 136
start: 6 14 109 1 38 40
data:
$ID,166
$MISSION,2
$DIVE,136
$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,-7787.0708
$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,47
$R_STBD_OVSHOOT,53
$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
$GPS1,013231,2424.347,12318.373,40,1.5,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.8
$GPS2,013819,2424.375,12318.498,10,1.1,15,-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,245.1,33490,-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,-51.92,0.000,2,0.000,0.000,166,1487,2308
$GC,71,-0.90,-170.3,3.2,-6.2,8,123,8.98,2.12,-35.53,0.000,4,0.229,0.051,2435,2915,3558
$GC,259,-0.18,-170.3,53.0,-29.8,40,266,0.80,2.08,0.00,0.000,6,0.146,0.031,2676,1482,3559
$GC,603,-0.46,-170.3,87.1,-9.0,101,610,0.22,2.08,0.00,0.000,4,0.049,0.035,2561,2909,3560
$GC,667,-0.35,-170.3,95.8,-14.7,112,674,0.17,2.05,0.00,0.000,6,0.123,0.029,2615,1506,3560
$GC,1012,-0.50,-170.3,126.9,-8.3,173,1019,0.12,2.05,0.00,0.000,4,0.070,0.035,2546,2912,3562
$GC,1064,-0.50,-170.3,132.2,-10.2,182,1073,0.12,2.03,0.00,0.000,6,0.134,0.030,2575,1494,3562
$GC,1413,-0.56,-170.3,171.9,-12.4,243,1419,0.00,1.90,0.00,0.000,4,0.000,0.041,2578,214,3563
$GC,1448,-0.66,-170.3,175.7,-9.7,249,1455,0.12,1.88,0.00,0.000,6,0.048,0.026,2496,1544,3563
$GC,1791,-0.48,-170.3,227.5,-12.2,310,1799,0.25,1.92,0.00,0.000,4,0.132,0.037,2581,2872,3563
$GC,1830,-0.69,-170.3,230.5,-7.0,316,1837,0.12,1.98,0.00,0.000,6,0.028,0.031,2482,1512,3563
$GC,2174,-0.47,-170.3,277.9,-15.6,377,2180,0.30,1.92,0.00,0.000,4,0.133,0.043,2580,202,3563
$GC,2288,-0.67,-170.3,289.8,-9.0,397,2295,0.17,1.80,0.00,0.000,6,0.058,0.027,2494,1484,3563
$GC,2618,-0.55,-170.3,329.9,-12.0,435,2620,0.20,0.00,0.00,0.000,6,0.132,0.000,2557,1487,3563
$GC,2937,-0.72,-170.3,358.5,-8.6,465,2941,0.15,2.05,0.00,0.000,4,0.061,0.041,2490,2880,3563
$GC,2963,-0.72,-170.3,361.6,-11.3,467,2970,0.00,2.05,0.00,0.000,6,0.000,0.033,2490,1493,3563
$GC,3288,-0.59,-170.3,404.3,-12.7,498,3292,0.17,1.92,0.00,0.000,4,0.138,0.047,2547,198,3560
$GC,3332,-0.64,-170.3,409.3,-10.8,502,3336,0.00,1.85,0.00,0.000,6,0.000,0.030,2547,1491,3560
$GC,3663,-0.76,-170.3,438.5,-7.7,533,3667,0.15,2.08,0.00,0.000,4,0.064,0.044,2463,2895,3559
$GC,3695,-0.69,-170.3,441.5,-9.3,535,3702,0.15,2.05,0.00,0.000,6,0.134,0.035,2516,1494,3558
$GC,4019,-0.69,-170.3,474.0,-10.4,566,4023,0.00,2.10,0.00,0.000,4,0.000,0.045,2506,2902,3556
$GC,4064,-0.79,-170.3,478.6,-9.6,570,4068,0.00,2.05,0.00,0.000,6,0.000,0.036,2512,1507,3556
$GC,4392,-0.79,-170.3,513.3,-10.6,595,4396,0.00,1.95,0.00,0.000,4,0.000,0.051,2512,202,3554
$GC,4459,-0.79,-170.3,520.7,-11.1,598,4463,0.00,1.88,0.00,0.000,6,0.000,0.041,2504,1492,3554
$GC,4791,-0.85,-170.3,555.7,-10.8,614,4793,0.12,0.00,0.00,0.000,6,0.071,0.000,2439,1494,3551
$GC,5101,-0.65,-170.3,597.0,-12.8,629,5103,0.30,0.00,0.00,0.000,6,0.136,0.000,2531,1494,3550
$GC,5410,-0.86,-170.3,617.9,-7.1,644,5414,0.17,2.10,0.00,0.000,4,0.059,0.048,2435,2894,3547
$GC,5481,-0.79,-170.3,625.9,-12.0,647,5486,0.17,2.08,0.00,0.000,6,0.131,0.040,2489,1491,3547
$GC,5803,-0.85,-170.3,656.8,-9.1,663,5807,0.00,1.95,0.00,0.000,4,0.000,0.054,2489,200,3545
$GC,5836,-0.85,-170.3,660.2,-9.8,664,5840,0.00,1.92,0.00,0.000,6,0.000,0.036,2488,1493,3544
$GC,6159,-0.92,-170.3,685.3,-7.9,680,6163,0.12,2.12,0.00,0.000,4,0.071,0.050,2425,2906,3542
$GC,6191,-0.82,-170.3,688.8,-10.5,681,6198,0.17,2.10,0.00,0.000,6,0.134,0.040,2477,1490,3542
$GC,6507,-0.82,-170.3,719.0,-10.0,697,6510,0.00,2.15,0.00,0.000,4,0.000,0.052,2477,2905,3540
$STATE,6551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6551,begin apogee
$GC,6556,-0.20,0.0,723.1,9.2,699,6698,0.57,0.00,137.90,1.266,6,0.110,0.000,2669,1746,2863
$STATE,6698,end apogee,CONTROL_FINISHED_OK
$STATE,6698,begin climb
$GC,6700,0.90,170.3,729.5,0.0,706,6850,0.95,2.30,143.12,1.223,4,0.041,0.056,3041,3145,2167
$GC,6897,0.33,170.3,713.5,18.1,715,6902,0.73,2.17,0.00,0.000,6,0.168,0.047,2852,1756,2164
$GC,7212,0.46,170.3,682.1,10.1,730,7217,0.12,2.20,0.00,0.000,4,0.070,0.054,2912,341,2162
$GC,7285,0.36,170.3,672.8,13.1,733,7290,0.20,2.10,0.00,0.000,6,0.143,0.039,2857,1739,2160
$GC,7600,0.53,206.6,641.4,8.6,748,7633,0.15,0.00,30.48,1.189,6,0.063,0.000,2928,1739,2020
$GC,7929,0.41,206.6,602.8,11.0,764,7933,0.20,2.17,0.00,0.000,4,0.141,0.053,2881,342,2015
$GC,7994,0.56,245.5,596.9,8.5,767,8033,0.12,2.10,32.88,1.173,6,0.073,0.038,2941,1740,1862
$GC,8341,0.46,245.5,555.7,11.6,784,8343,0.20,0.00,0.00,0.000,6,0.140,0.000,2885,1742,1855
$GC,8651,0.64,290.2,531.4,8.2,799,8695,0.17,2.30,37.72,1.145,4,0.057,0.053,2982,338,1679
$GC,8830,0.42,290.2,504.5,16.4,807,8835,0.38,2.08,0.00,0.000,6,0.142,0.038,2873,1705,1676
$GC,9160,0.66,301.3,473.4,9.6,836,9176,0.20,2.25,10.52,1.018,4,0.053,0.051,2970,3160,1634
$GC,9227,0.50,301.3,463.2,17.9,842,9232,0.28,2.20,0.00,0.000,6,0.145,0.039,2901,1704,1632
$GC,9551,0.62,301.3,426.2,10.8,872,9556,0.12,2.08,0.00,0.000,4,0.067,0.051,2971,345,1631
$GC,9636,0.48,301.3,414.1,14.8,879,9641,0.25,2.03,0.00,0.000,6,0.140,0.038,2898,1709,1630
$GC,9960,0.64,301.3,380.3,10.6,909,9965,0.15,2.10,0.00,0.000,4,0.061,0.051,2974,335,1630
$GC,10044,0.54,301.3,367.2,16.5,916,10048,0.20,2.00,0.00,0.000,6,0.141,0.037,2917,1690,1629
$GC,10374,0.62,301.3,330.7,10.4,947,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1692,1629
$GC,10695,0.76,315.5,296.4,9.4,980,10715,0.17,2.12,12.98,0.925,4,0.058,0.050,3016,342,1576
$GC,10818,0.50,315.5,275.7,19.3,1001,10825,0.40,2.03,0.00,0.000,6,0.138,0.041,2897,1713,1574
$GC,11163,0.76,329.8,243.5,9.4,1062,11184,0.22,2.10,13.57,0.881,4,0.050,0.048,3018,342,1517
$GC,11207,0.55,329.8,237.4,15.4,1069,11214,0.35,2.00,0.00,0.000,6,0.136,0.037,2913,1702,1515
$GC,11552,0.88,373.8,206.4,8.3,1130,11597,0.28,2.12,37.92,0.881,4,0.045,0.048,3058,340,1336
$GC,11643,0.57,373.8,190.3,20.5,1145,11650,0.47,2.03,0.00,0.000,6,0.138,0.033,2918,1705,1334
$GC,11990,1.09,474.7,161.8,6.0,1206,12086,0.43,2.20,85.55,0.828,4,0.038,0.045,3121,342,925
$GC,12148,0.67,474.7,124.5,27.4,1232,12155,0.50,2.03,0.00,0.000,6,0.140,0.032,2956,1678,922
$GC,12491,1.21,534.5,96.1,7.6,1293,12550,0.40,2.12,50.12,0.757,4,0.036,0.046,3160,342,682
$GC,12662,0.90,534.5,55.3,22.3,1322,12670,0.45,2.00,0.00,0.000,6,0.143,0.031,3028,1682,679
$GC,13010,1.33,586.7,22.7,7.9,1383,13061,0.32,2.08,43.28,0.681,4,0.040,0.043,3194,328,469
$STATE,13106,end climb,SURFACE_DEPTH_REACHED
$STATE,13106,begin surface coast
$FINISH,0.8,1.009007
$STATE,13119,end surface coast,CONTROL_FINISHED_OK
$STATE,13119,begin surface
$SM_CCo,13196,0.00,0.000,0,0,465,588.23
$SM_GC,1.64,8.20,0.00,0.00,0.044,0.000,0.000,164,1508,465,-8.04,0.23,588.23
$IRIDIUM_FIX,2415.74,12319.09,070998,222217
$TT8_MAMPS,0.026845
$HUMID,1494
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.90
$XPDR_PINGS,99
$24V_AH,24.0,31.888
$10V_AH,10.7,20.016
$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,30.500,114.625,636.050,0.000,0.000,23.930,35.398,175.759,30.000,0.000,0.000,16.313,2441.230,7233.137,702.372,2698.284,461.416,0.000,1925.763,0.000,2690.847,0.000,38.070,0.000
$DEVICE_MAMPS,228.566,55.991,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.742,995.771,1667.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79051,1401
$CAP_FILE_SIZE,148935,0
$CFSIZE,260165632,223834112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311, 57.8,1
$GPS,140609,051936,2424.826,12318.383,27,1.1,27,-3.5