version: 66.04
glider: 166
mission: 2
dive: 141
start: 6 14 109 21 17 57
data:
$ID,166
$MISSION,2
$DIVE,141
$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,275
$T_MISSION,330
$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,250
$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,-7904.5732
$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,55
$R_STBD_OVSHOOT,51
$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
$GPS1,211136,2425.688,12317.441,28,1.1,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.2
$GPS2,211738,2425.754,12317.556,15,1.1,15,-3.5
$SPEED_LIMITS,0.208,0.348
$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,223.3,35493,-16.4,-12.000
$D_GRID,775
$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,-0.97,-243.4,0.0,0.0,0,75,0.00,0.00,-57.85,0.000,2,0.000,0.000,162,1472,2348
$GC,77,-0.97,-243.4,3.3,-6.0,9,135,9.25,1.95,-39.88,0.000,4,0.242,0.058,2417,207,3859
$GC,227,-0.13,-243.4,49.6,-37.7,34,234,0.90,1.92,0.00,0.000,6,0.155,0.028,2695,1512,3860
$GC,573,-0.96,-243.4,84.5,-10.4,95,580,0.70,2.03,0.00,0.000,4,0.052,0.033,2419,2908,3862
$GC,655,-0.41,-243.4,102.1,-28.6,109,663,0.62,2.05,0.00,0.000,6,0.150,0.031,2603,1496,3861
$GC,1001,-0.65,-243.4,136.5,-8.4,170,1008,0.17,1.92,0.00,0.000,4,0.054,0.041,2513,213,3863
$GC,1026,-0.65,-243.4,139.4,-11.5,174,1032,0.00,1.90,0.00,0.000,6,0.000,0.028,2513,1528,3863
$GC,1372,-0.51,-243.4,196.8,-14.9,235,1378,0.17,2.00,0.00,0.000,4,0.138,0.038,2568,2898,3864
$GC,1423,-0.79,-243.4,202.8,-9.0,244,1430,0.22,2.03,0.00,0.000,6,0.047,0.030,2459,1483,3864
$GC,1769,-0.51,-243.4,264.3,-17.5,305,1777,0.32,1.88,0.00,0.000,4,0.135,0.042,2565,213,3864
$GC,1795,-0.45,-243.4,268.1,-14.7,309,1803,0.10,1.88,0.00,0.000,6,0.133,0.029,2592,1527,3865
$GC,2140,-0.83,-243.4,291.0,-7.0,370,2147,0.30,2.00,0.00,0.000,4,0.044,0.040,2439,2891,3864
$GC,2255,-0.70,-243.4,307.9,-17.3,386,2260,0.22,1.92,0.00,0.000,6,0.133,0.031,2518,1557,3864
$GC,2586,-0.76,-243.4,348.6,-10.5,417,2590,0.00,2.00,0.00,0.000,4,0.000,0.047,2517,214,3863
$GC,2634,-0.80,-243.4,353.7,-10.8,421,2637,0.00,1.92,0.00,0.000,6,0.000,0.030,2513,1552,3863
$GC,2965,-0.90,-243.4,387.3,-10.4,452,2969,0.17,2.00,0.00,0.000,4,0.061,0.044,2439,2902,3861
$GC,2998,-0.78,-243.4,392.0,-15.0,455,3003,0.17,1.95,0.00,0.000,6,0.139,0.035,2486,1562,3860
$GC,3328,-0.78,-243.4,434.7,-12.2,486,3332,0.00,2.00,0.00,0.000,4,0.000,0.046,2471,2901,3859
$GC,3356,-0.83,-243.4,438.0,-11.7,488,3362,0.00,1.95,0.00,0.000,6,0.000,0.035,2477,1582,3859
$GC,3681,-0.83,-243.4,477.1,-11.7,519,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1581,3856
$GC,3995,-0.83,-243.4,512.9,-12.5,544,3999,0.00,2.08,0.00,0.000,4,0.000,0.054,2472,217,3854
$GC,4022,-0.83,-243.4,516.5,-13.2,545,4026,0.00,2.00,0.00,0.000,6,0.000,0.037,2467,1559,3854
$GC,4351,-0.83,-243.4,556.6,-11.4,561,4355,0.00,2.00,0.00,0.000,4,0.000,0.052,2466,2891,3851
$GC,4390,-0.94,-243.4,561.0,-10.1,562,4396,0.00,1.95,0.00,0.000,6,0.000,0.037,2467,1580,3850
$GC,4705,-0.94,-243.4,598.7,-13.3,578,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1580,3848
$GC,5015,-0.99,-243.4,636.0,-10.9,593,5019,0.15,2.08,0.00,0.000,4,0.064,0.051,2398,222,3846
$GC,5047,-0.76,-243.4,641.1,-16.9,594,5052,0.35,1.95,0.00,0.000,6,0.150,0.036,2494,1547,3846
$GC,5371,-0.93,-243.4,674.5,-10.3,610,5376,0.17,2.05,0.00,0.000,4,0.060,0.050,2412,2905,3843
$GC,5421,-0.88,-243.4,681.3,-13.6,612,5425,0.15,1.95,0.00,0.000,6,0.137,0.039,2456,1584,3843
$GC,5747,-0.88,-243.4,716.6,-10.7,628,5751,0.00,2.08,0.00,0.000,4,0.000,0.054,2455,225,3840
$GC,5792,-0.88,-243.4,722.1,-12.4,630,5796,0.00,2.00,0.00,0.000,6,0.000,0.038,2454,1574,3840
$GC,6125,-0.88,-243.4,757.4,-10.6,646,6128,0.00,2.00,0.00,0.000,4,0.000,0.053,2454,2898,3837
$GC,6170,-1.00,-243.4,762.2,-10.9,648,6174,0.12,1.95,0.00,0.000,6,0.067,0.040,2393,1581,3837
$STATE,6274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6274,begin apogee
$GC,6279,-0.20,0.0,776.4,14.1,653,6483,0.88,0.00,200.45,1.308,6,0.139,0.000,2670,1762,2863
$STATE,6484,end apogee,CONTROL_FINISHED_OK
$STATE,6484,begin climb
$GC,6486,0.97,243.4,790.9,0.0,663,6702,1.02,2.35,207.18,1.265,4,0.046,0.056,3065,3141,1869
$GC,6781,0.41,243.4,752.7,23.2,676,6788,0.65,2.20,0.00,0.000,6,0.156,0.044,2873,1772,1864
$GC,7096,0.64,319.7,720.1,9.5,692,7170,0.20,2.38,66.70,1.225,4,0.056,0.056,2975,343,1559
$GC,7276,0.46,319.7,688.9,19.5,700,7281,0.22,2.15,0.00,0.000,6,0.136,0.040,2891,1725,1554
$GC,7604,0.63,349.4,649.4,11.0,716,7636,0.15,2.22,26.52,1.177,4,0.063,0.055,2969,339,1438
$GC,7687,0.49,349.4,635.9,17.9,720,7692,0.25,2.12,0.00,0.000,6,0.139,0.040,2899,1722,1435
$GC,8013,0.66,379.6,596.6,11.0,736,8048,0.17,2.28,27.60,1.161,4,0.057,0.056,2993,337,1315
$GC,8093,0.46,379.6,582.1,19.3,739,8100,0.35,2.12,0.00,0.000,6,0.139,0.040,2891,1717,1312
$GC,8410,0.69,406.1,546.0,11.1,755,8447,0.17,2.25,26.50,1.065,4,0.058,0.054,2985,339,1206
$GC,8486,0.55,406.1,532.4,19.2,757,8494,0.25,2.10,0.00,0.000,6,0.138,0.040,2913,1708,1203
$GC,8803,0.66,406.1,490.5,13.3,776,8807,0.12,2.15,0.00,0.000,4,0.067,0.054,2979,327,1201
$GC,8846,0.54,406.1,482.9,18.9,779,8853,0.22,2.05,0.00,0.000,6,0.141,0.040,2915,1692,1200
$GC,9171,0.64,406.1,440.2,12.0,810,9175,0.00,2.10,0.00,0.000,4,0.000,0.054,2922,328,1200
$GC,9205,0.75,406.1,436.0,12.8,813,9210,0.17,2.05,0.00,0.000,6,0.063,0.040,3001,1701,1200
$GC,9530,0.54,406.1,375.8,17.4,843,9535,0.28,2.20,0.00,0.000,4,0.141,0.051,2915,3144,1200
$GC,9596,0.87,497.9,367.9,9.0,848,9692,0.28,2.17,82.28,1.017,6,0.044,0.040,3050,1689,833
$GC,10016,0.54,497.9,274.2,23.1,896,10023,0.43,2.08,0.00,0.000,4,0.160,0.049,2927,336,827
$GC,10097,0.87,545.4,263.5,10.4,910,10147,0.25,2.05,41.12,0.933,6,0.048,0.039,3042,1713,639
$GC,10485,0.69,545.4,171.7,26.7,978,10492,0.25,2.12,0.00,0.000,4,0.140,0.048,2972,331,635
$GC,10515,0.69,545.4,164.6,20.7,983,10521,0.00,2.03,0.00,0.000,6,0.000,0.035,2972,1703,633
$GC,10858,1.24,708.8,132.6,6.6,1044,10905,0.40,2.17,38.25,0.808,4,0.038,0.054,3169,337,454
$GC,10997,0.88,708.8,99.6,26.0,1067,11004,0.50,2.03,0.00,0.000,6,0.147,0.034,3023,1696,452
$GC,11343,1.21,708.8,62.4,12.1,1128,11350,0.22,2.10,0.00,0.000,4,0.048,0.048,3153,329,451
$GC,11418,0.95,708.8,45.4,24.8,1141,11426,0.30,1.95,0.00,0.000,6,0.132,0.031,3042,1654,451
$GC,11766,1.46,812.9,8.7,8.6,1202,11773,0.40,2.00,0.00,0.000,4,0.038,0.045,3239,333,451
$STATE,11799,end climb,SURFACE_DEPTH_REACHED
$STATE,11799,begin surface coast
$FINISH,0.8,1.021597
$STATE,11814,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11892,0.00,0.000,0,0,451,591.66
$SM_GC,1.57,8.07,0.00,0.00,0.038,0.000,0.000,170,1520,451,-8.02,0.57,591.66
$IRIDIUM_FIX,2418.11,12319.09,080998,171735
$TT8_MAMPS,0.026845
$HUMID,1533
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.90
$XPDR_PINGS,102
$24V_AH,23.6,32.950
$10V_AH,10.7,20.676
$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,30.525,114.800,716.600,0.000,0.000,26.332,35.391,182.858,31.500,0.000,0.000,15.834,2134.981,6446.319,765.239,2452.019,444.621,0.000,1919.263,0.000,2430.633,0.000,41.962,0.000
$DEVICE_MAMPS,242.372,57.525,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,818.365,870.047,1461.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69558,1210
$CAP_FILE_SIZE,136858,0
$CFSIZE,260165632,223449088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.256, 70.0,1
$GPS,150609,003724,2424.764,12317.466,24,1.2,42,-3.5