version: 66.04
glider: 166
mission: 2
dive: 139
start: 6 14 109 13 33 23
data:
$ID,166
$MISSION,2
$DIVE,139
$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,-7871.187
$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,34
$R_STBD_OVSHOOT,66
$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
$GPS1,132654,2425.027,12317.937,38,1.6,38,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.9
$GPS2,133302,2425.158,12317.972,15,1.7,15,-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,241.0,34614,-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,-170.3,0.0,0.0,0,80,0.00,0.00,-63.35,0.000,2,0.000,0.000,171,1534,2307
$GC,82,-0.90,-170.3,3.1,-5.7,10,134,9.25,2.03,-35.90,0.000,4,0.239,0.051,2435,2895,3558
$GC,349,-0.15,-170.3,82.7,-32.7,56,357,0.80,2.10,0.00,0.000,6,0.154,0.031,2686,1471,3559
$GC,695,-1.08,-170.3,115.6,-8.7,117,702,0.80,2.10,0.00,0.000,4,0.069,0.032,2389,2909,3560
$GC,726,-0.87,-170.3,119.9,-14.4,122,734,0.25,2.03,0.00,0.000,6,0.165,0.031,2453,1507,3560
$GC,1072,-0.42,-170.3,199.4,-20.9,183,1080,0.45,1.92,0.00,0.000,4,0.141,0.041,2595,199,3561
$GC,1177,-0.68,-170.3,210.4,-8.0,201,1185,0.22,1.83,0.00,0.000,6,0.050,0.026,2498,1508,3562
$GC,1523,-0.49,-170.3,258.6,-13.3,262,1530,0.22,1.92,0.00,0.000,4,0.133,0.041,2570,208,3562
$GC,1581,-0.64,-170.3,264.0,-7.4,272,1588,0.10,1.80,0.00,0.000,6,0.053,0.026,2510,1475,3562
$GC,1922,-0.56,-170.3,308.2,-14.3,328,1926,0.15,2.05,0.00,0.000,4,0.138,0.038,2552,2874,3562
$GC,1967,-0.77,-170.3,313.1,-9.7,332,1971,0.17,2.05,0.00,0.000,6,0.054,0.031,2467,1462,3562
$GC,2297,-0.54,-170.3,356.7,-13.1,363,2301,0.28,2.10,0.00,0.000,4,0.137,0.041,2555,2879,3562
$GC,2352,-0.79,-170.3,361.4,-6.2,367,2358,0.20,2.03,0.00,0.000,6,0.051,0.034,2450,1483,3562
$GC,2676,-0.54,-170.3,406.1,-15.8,398,2680,0.30,1.90,0.00,0.000,4,0.137,0.046,2548,207,3559
$GC,2756,-0.68,-170.3,415.6,-10.5,405,2759,0.00,1.80,0.00,0.000,6,0.000,0.030,2543,1465,3559
$GC,3086,-0.87,-170.3,445.8,-8.7,436,3090,0.20,2.12,0.00,0.000,4,0.054,0.041,2458,2903,3558
$GC,3129,-0.74,-170.3,451.1,-12.4,439,3136,0.15,2.08,0.00,0.000,6,0.140,0.035,2502,1487,3557
$GC,3454,-0.74,-170.3,480.4,-8.1,470,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1487,3556
$GC,3770,-0.74,-170.3,509.1,-9.8,496,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1487,3553
$GC,4081,-0.74,-170.3,541.5,-10.5,511,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1487,3550
$GC,4389,-0.74,-170.3,571.7,-10.0,526,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1486,3548
$GC,4698,-0.74,-170.3,602.9,-9.8,541,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1486,3546
$GC,5007,-0.74,-170.3,633.0,-9.4,556,5010,0.00,1.95,0.00,0.000,4,0.000,0.054,2494,205,3543
$GC,5056,-0.74,-170.3,638.4,-11.3,558,5060,0.00,1.90,0.00,0.000,6,0.000,0.035,2480,1477,3543
$GC,5383,-0.74,-170.3,672.1,-10.4,574,5387,0.00,2.15,0.00,0.000,4,0.000,0.050,2478,2902,3540
$GC,5450,-0.86,-170.3,679.0,-10.0,577,5454,0.00,2.10,0.00,0.000,6,0.000,0.040,2478,1489,3540
$GC,5783,-0.86,-170.3,713.8,-10.8,593,5786,0.00,1.95,0.00,0.000,4,0.000,0.054,2478,205,3538
$GC,5827,-0.86,-170.3,719.0,-12.1,595,5831,0.00,1.90,0.00,0.000,6,0.000,0.037,2478,1496,3538
$GC,6160,-0.92,-170.3,753.2,-10.0,611,6162,0.10,0.00,0.00,0.000,6,0.081,0.000,2428,1497,3536
$STATE,6446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6446,begin apogee
$GC,6451,-0.20,0.0,786.1,11.8,625,6593,0.75,0.00,138.23,1.313,6,0.129,0.000,2667,1761,2863
$STATE,6593,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6595,0.90,170.3,790.8,0.0,632,6748,1.00,2.33,144.73,1.268,4,0.038,0.058,3054,3144,2167
$GC,6786,0.31,170.3,773.0,18.1,641,6792,0.75,2.22,0.00,0.000,6,0.183,0.041,2841,1757,2165
$GC,7108,0.58,249.7,748.5,6.9,657,7181,0.20,2.33,67.53,1.247,4,0.057,0.056,2946,337,1844
$GC,7293,0.44,249.7,723.3,15.7,665,7298,0.17,2.17,0.00,0.000,6,0.138,0.045,2881,1730,1839
$GC,7615,0.54,253.1,689.8,9.9,681,7618,0.00,2.17,0.00,0.000,4,0.000,0.054,2893,336,1835
$GC,7653,0.63,253.1,685.6,10.7,682,7660,0.10,2.12,0.00,0.000,6,0.055,0.040,2951,1725,1834
$GC,7969,0.49,253.1,642.6,13.2,698,7971,0.20,0.00,0.00,0.000,6,0.143,0.000,2895,1728,1833
$GC,8279,0.59,263.0,611.8,9.6,713,8294,0.12,2.15,10.68,1.111,4,0.070,0.054,2965,342,1791
$GC,8378,0.42,263.0,598.1,14.4,716,8385,0.22,2.10,0.00,0.000,6,0.137,0.041,2879,1720,1789
$GC,8694,0.67,331.5,573.5,7.3,732,8760,0.17,2.30,59.78,1.182,4,0.058,0.054,2975,339,1510
$GC,8806,0.52,331.5,557.8,16.7,737,8811,0.25,2.10,0.00,0.000,6,0.142,0.039,2906,1704,1507
$GC,9138,0.62,331.5,521.7,11.0,753,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1705,1502
$GC,9450,0.74,331.5,487.2,11.1,773,9454,0.20,2.12,0.00,0.000,4,0.055,0.053,3009,330,1502
$GC,9572,0.52,331.5,463.8,20.7,783,9579,0.35,2.08,0.00,0.000,6,0.144,0.039,2906,1716,1501
$GC,9897,0.66,331.5,421.8,12.0,814,9899,0.15,0.00,0.00,0.000,6,0.063,0.000,2974,1718,1500
$GC,10216,0.53,331.5,369.8,15.7,844,10221,0.20,2.10,0.00,0.000,4,0.145,0.050,2919,340,1500
$GC,10282,0.66,331.5,361.1,11.5,849,10290,0.08,2.05,0.00,0.000,6,0.061,0.037,2966,1708,1500
$GC,10607,0.57,331.5,314.4,16.0,880,10611,0.15,2.17,0.00,0.000,4,0.146,0.048,2923,3148,1500
$GC,10668,0.70,331.5,306.5,11.4,885,10673,0.10,2.15,0.00,0.000,6,0.073,0.038,2985,1696,1499
$GC,11009,0.57,331.5,248.0,18.2,941,11017,0.17,2.08,0.00,0.000,4,0.143,0.049,2938,326,1499
$GC,11085,0.68,331.5,237.2,13.2,954,11092,0.00,2.05,0.00,0.000,6,0.000,0.044,2938,1725,1499
$GC,11431,0.88,390.2,204.9,7.7,1015,11487,0.20,2.15,48.10,0.894,4,0.054,0.048,3052,339,1272
$GC,11640,0.63,390.2,171.5,17.8,1051,11648,0.38,2.03,0.00,0.000,6,0.138,0.034,2942,1712,1268
$GC,11986,0.95,428.2,141.4,8.5,1112,12027,0.25,2.15,33.05,0.815,4,0.046,0.049,3078,329,1116
$GC,12102,0.71,428.2,120.0,20.4,1131,12109,0.38,2.05,0.00,0.000,6,0.137,0.033,2966,1714,1113
$GC,12449,1.25,529.3,86.8,6.0,1192,12540,0.43,2.25,85.03,0.756,4,0.038,0.045,3174,330,704
$GC,12749,0.89,529.3,16.6,26.2,1243,12756,0.43,1.98,0.00,0.000,6,0.135,0.031,3029,1657,700
$STATE,12874,end climb,SURFACE_DEPTH_REACHED
$STATE,12874,begin surface coast
$FINISH,0.8,1.020663
$STATE,12913,end surface coast,CONTROL_FINISHED_OK
$STATE,12913,begin surface
$SM_CCo,12989,0.00,0.000,0,0,698,531.07
$SM_GC,1.75,7.70,0.00,0.00,0.044,0.000,0.000,161,1483,698,-8.04,-0.48,531.07
$IRIDIUM_FIX,2422.84,12423.44,080998,090902
$TT8_MAMPS,0.026078
$HUMID,1508
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.60
$XPDR_PINGS,98
$24V_AH,23.8,32.505
$10V_AH,10.7,20.418
$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,28.750,95.825,587.100,0.000,0.000,26.508,34.883,190.872,30.500,0.000,0.000,16.073,2225.685,7533.156,645.662,2504.212,439.974,0.000,1782.162,0.000,2477.292,0.000,41.086,0.000
$DEVICE_MAMPS,239.304,58.292,1313.104,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.391,871.913,1466.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72693,1272
$CAP_FILE_SIZE,135611,0
$CFSIZE,260165632,223604736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346, 52.2,1
$GPS,140609,171106,2425.797,12317.963,41,1.1,41,-3.5