version: 66.04
glider: 166
mission: 2
dive: 138
start: 6 14 109 9 34 35
data:
$ID,166
$MISSION,2
$DIVE,138
$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,-7854.4844
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,092730,2424.771,12317.938,36,1.2,36,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.6
$GPS2,093416,2424.863,12317.979,13,2.7,32,-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,235.0,34091,-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,12,begin dive
$GC,14,-0.90,-170.3,0.0,0.0,0,100,0.00,0.00,-83.43,0.000,2,0.000,0.000,166,1478,2394
$GC,103,-0.90,-170.3,3.3,-6.2,13,149,9.12,2.20,-31.48,0.000,4,0.235,0.051,2445,2908,3558
$GC,390,-0.35,-170.3,83.1,-23.0,63,399,0.60,2.05,0.00,0.000,6,0.146,0.031,2625,1496,3560
$GC,739,-0.54,-170.3,118.0,-9.3,124,745,0.17,0.00,0.00,0.000,6,0.058,0.000,2533,1496,3562
$GC,1082,-0.39,-170.3,175.7,-16.1,185,1089,0.22,2.08,0.00,0.000,4,0.133,0.038,2606,2908,3562
$GC,1125,-0.67,-170.3,180.5,-9.4,192,1132,0.25,2.05,0.00,0.000,6,0.043,0.030,2484,1484,3563
$GC,1470,-0.45,-170.3,238.8,-15.0,253,1476,0.32,0.00,0.00,0.000,6,0.133,0.000,2589,1483,3563
$GC,1814,-0.72,-170.3,269.2,-7.9,314,1820,0.20,0.00,0.00,0.000,6,0.053,0.000,2486,1483,3563
$GC,2151,-0.56,-170.3,313.8,-12.4,365,2156,0.20,2.12,0.00,0.000,4,0.137,0.041,2548,2912,3563
$GC,2204,-0.77,-170.3,318.8,-9.0,369,2209,0.17,2.05,0.00,0.000,6,0.055,0.032,2458,1503,3563
$GC,2529,-0.54,-170.3,367.4,-15.4,399,2533,0.28,1.92,0.00,0.000,4,0.137,0.046,2550,211,3561
$GC,2701,-0.65,-170.3,387.3,-11.6,414,2708,0.00,1.90,0.00,0.000,6,0.000,0.031,2546,1510,3560
$GC,3028,-0.82,-170.3,415.7,-7.9,445,3032,0.20,2.05,0.00,0.000,4,0.054,0.042,2459,2903,3558
$GC,3066,-0.66,-170.3,419.8,-10.3,448,3073,0.17,2.08,0.00,0.000,6,0.125,0.035,2520,1503,3558
$GC,3391,-0.71,-170.3,448.2,-9.4,479,3395,0.00,2.08,0.00,0.000,4,0.000,0.046,2518,2895,3556
$GC,3419,-0.80,-170.3,450.8,-9.4,481,3426,0.12,2.05,0.00,0.000,6,0.067,0.042,2456,1501,3556
$GC,3744,-0.60,-170.3,494.9,-14.1,512,3746,0.30,0.00,0.00,0.000,6,0.136,0.000,2548,1501,3554
$GC,4068,-0.78,-170.3,525.8,-8.8,530,4070,0.17,0.00,0.00,0.000,6,0.059,0.000,2464,1501,3552
$GC,4374,-0.63,-170.3,564.0,-13.1,545,4378,0.22,1.95,0.00,0.000,4,0.136,0.051,2538,212,3549
$GC,4435,-0.73,-170.3,570.6,-9.7,547,4443,0.00,1.92,0.00,0.000,6,0.000,0.035,2524,1521,3549
$GC,4752,-0.88,-170.3,596.1,-8.3,563,4756,0.20,2.08,0.00,0.000,4,0.055,0.048,2415,2906,3546
$GC,4806,-0.74,-170.3,603.1,-13.2,565,4813,0.25,2.08,0.00,0.000,6,0.134,0.040,2502,1510,3546
$GC,5122,-0.80,-170.3,633.6,-8.9,581,5126,0.00,1.98,0.00,0.000,4,0.000,0.054,2498,202,3543
$GC,5149,-0.80,-170.3,636.2,-9.3,582,5153,0.00,1.95,0.00,0.000,6,0.000,0.035,2489,1516,3543
$GC,5476,-0.87,-170.3,664.3,-8.6,598,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1517,3541
$GC,5786,-0.94,-170.3,692.1,-9.1,613,5787,0.15,0.00,0.00,0.000,6,0.066,0.000,2418,1517,3539
$GC,6095,-0.76,-170.3,729.0,-11.9,628,6099,0.20,2.03,0.00,0.000,4,0.145,0.055,2484,202,3537
$GC,6126,-0.76,-170.3,732.7,-10.2,629,6131,0.00,1.95,0.00,0.000,6,0.000,0.037,2481,1506,3537
$GC,6449,-0.84,-170.3,762.9,-9.8,645,6453,0.00,2.12,0.00,0.000,4,0.000,0.052,2482,2910,3534
$GC,6495,-1.00,-170.3,767.0,-9.2,647,6500,0.17,2.10,0.00,0.000,6,0.058,0.041,2401,1501,3534
$STATE,6654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6655,begin apogee
$GC,6659,-0.20,0.0,789.0,14.6,655,6801,0.85,0.00,138.40,1.326,6,0.137,0.000,2668,1759,2863
$STATE,6802,end apogee,CONTROL_FINISHED_OK
$STATE,6802,begin climb
$GC,6804,0.90,170.3,796.4,0.0,662,6957,1.00,2.30,145.50,1.281,4,0.038,0.054,3054,3151,2167
$GC,7025,0.30,170.3,777.0,18.5,672,7030,0.82,2.20,0.00,0.000,6,0.171,0.041,2839,1750,2163
$GC,7352,0.57,232.9,752.3,7.5,688,7416,0.20,2.35,52.88,1.255,4,0.058,0.056,2948,339,1912
$GC,7499,0.40,232.9,731.0,17.4,694,7506,0.22,2.17,0.00,0.000,6,0.137,0.039,2866,1735,1908
$GC,7815,0.56,241.7,696.5,9.7,710,7830,0.15,2.22,8.02,1.062,4,0.062,0.055,2952,343,1877
$GC,7863,0.41,241.7,690.4,14.3,712,7868,0.25,2.12,0.00,0.000,6,0.136,0.040,2861,1726,1876
$GC,8191,0.68,309.4,666.2,7.3,728,8256,0.28,2.25,59.05,1.241,4,0.048,0.054,2987,337,1601
$GC,8291,0.47,309.4,652.1,17.3,733,8296,0.32,2.15,0.00,0.000,6,0.140,0.040,2895,1717,1598
$GC,8617,0.60,309.4,619.2,10.1,749,8622,0.12,2.15,0.00,0.000,4,0.068,0.054,2965,330,1593
$GC,8661,0.48,309.4,613.1,15.2,751,8665,0.20,2.12,0.00,0.000,6,0.135,0.041,2891,1714,1593
$GC,8988,0.64,316.9,580.6,9.7,767,8997,0.15,0.00,6.40,0.976,6,0.061,0.000,2960,1716,1571
$GC,9297,0.54,316.9,536.5,15.0,782,9301,0.17,2.12,0.00,0.000,4,0.144,0.054,2921,342,1569
$GC,9374,0.60,316.9,527.7,10.7,785,9380,0.00,2.05,0.00,0.000,6,0.000,0.039,2921,1711,1569
$GC,9691,0.60,316.9,492.8,12.1,803,9695,0.00,2.12,0.00,0.000,4,0.000,0.054,2929,330,1568
$GC,9740,0.60,316.9,486.1,14.1,807,9748,0.00,2.05,0.00,0.000,6,0.000,0.039,2928,1684,1568
$GC,10066,0.60,316.9,443.6,12.4,838,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1685,1568
$GC,10385,0.66,316.9,408.5,10.4,868,10389,0.00,2.08,0.00,0.000,4,0.000,0.054,2936,329,1567
$GC,10434,0.66,316.9,402.9,11.1,872,10441,0.00,2.05,0.00,0.000,6,0.000,0.038,2935,1693,1567
$GC,10760,0.66,316.9,364.2,12.1,903,10764,0.00,2.08,0.00,0.000,4,0.000,0.052,2944,333,1567
$GC,10798,0.66,316.9,358.8,13.5,906,10806,0.00,2.05,0.00,0.000,6,0.000,0.037,2944,1701,1567
$GC,11124,0.66,316.9,314.1,12.6,937,11128,0.00,2.17,0.00,0.000,4,0.000,0.048,2944,3147,1567
$GC,11151,0.66,316.9,310.1,14.1,939,11159,0.00,2.22,0.00,0.000,6,0.000,0.038,2954,1667,1565
$GC,11490,0.66,316.9,267.3,13.6,993,11496,0.00,2.00,0.00,0.000,4,0.000,0.051,2964,340,1566
$GC,11603,0.66,316.9,252.0,13.9,1013,11609,0.00,1.95,0.00,0.000,6,0.000,0.035,2964,1678,1566
$GC,11946,0.70,354.1,217.6,8.5,1074,11984,0.00,2.15,31.80,0.898,4,0.000,0.050,2974,327,1418
$GC,12064,0.78,416.3,207.7,7.5,1094,12125,0.00,1.98,53.80,0.879,6,0.000,0.035,2974,1642,1164
$GC,12466,0.93,416.3,168.5,16.1,1164,12473,0.17,2.30,0.00,0.000,4,0.054,0.042,3070,3161,1158
$GC,12485,0.93,416.3,164.6,17.2,1167,12493,0.15,2.30,0.00,0.000,6,0.156,0.035,3041,1619,1157
$GC,12832,0.83,416.3,104.1,16.7,1228,12839,0.12,1.92,0.00,0.000,4,0.150,0.045,3014,338,1157
$GC,12970,0.96,417.4,86.8,10.0,1252,12976,0.00,1.95,0.00,0.000,6,0.000,0.031,3016,1664,1157
$GC,13315,1.14,426.1,55.5,9.7,1313,13329,0.20,2.08,8.55,0.640,4,0.051,0.044,3142,329,1126
$GC,13365,0.85,426.1,47.0,19.5,1321,13372,0.35,1.95,0.00,0.000,6,0.136,0.030,3015,1662,1125
$GC,13710,1.25,484.8,13.7,7.7,1382,13768,0.30,2.08,49.90,0.677,4,0.042,0.044,3174,337,885
$STATE,13778,end climb,SURFACE_DEPTH_REACHED
$STATE,13778,begin surface coast
$FINISH,0.9,1.008685
$STATE,13791,end surface coast,CONTROL_FINISHED_OK
$STATE,13791,begin surface
$SM_CCo,13868,0.00,0.000,0,0,882,485.94
$SM_GC,1.75,8.15,0.00,0.00,0.044,0.000,0.000,170,1534,882,-8.02,0.96,485.94
$IRIDIUM_FIX,2418.11,12317.11,080998,050517
$TT8_MAMPS,0.026845
$HUMID,1472
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.30
$XPDR_PINGS,120
$24V_AH,23.8,32.300
$10V_AH,10.7,20.294
$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,27.925,112.625,554.300,0.000,0.000,23.391,31.820,214.747,36.000,0.000,0.000,33.097,2433.026,7942.455,671.530,2736.469,478.430,0.000,1897.239,0.000,2693.993,0.000,41.061,0.000
$DEVICE_MAMPS,235.469,55.991,1326.143,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,945.131,966.984,1624.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79148,1395
$CAP_FILE_SIZE,148406,0
$CFSIZE,260165632,223670272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283, 56.8,1
$GPS,140609,132654,2425.027,12317.937,38,1.6,38,-3.5