version: 66.04
glider: 166
mission: 2
dive: 143
start: 6 15 109 3 47 19
data:
$ID,166
$MISSION,2
$DIVE,143
$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,-7967.146
$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,54
$R_STBD_OVSHOOT,47
$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
$GPS1,034058,2425.093,12317.957,11,99.0,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.0
$GPS2,034700,2425.177,12318.120,42,1.1,47,-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,245.0,34718,-16.4,-12.000
$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,-0.97,-243.4,0.0,0.0,0,100,0.00,0.00,-83.35,0.000,2,0.000,0.000,165,1470,2313
$GC,103,-0.97,-243.4,3.0,-5.1,13,161,8.73,1.88,-42.92,0.000,4,0.224,0.057,2417,208,3857
$GC,297,-0.09,-243.4,62.9,-40.3,46,304,0.93,1.90,0.00,0.000,6,0.155,0.029,2704,1503,3858
$GC,642,-0.92,-243.4,96.2,-9.2,107,649,0.70,2.03,0.00,0.000,4,0.071,0.035,2444,2910,3858
$GC,707,-0.56,-243.4,104.4,-14.7,118,714,0.30,2.05,0.00,0.000,6,0.140,0.030,2555,1506,3858
$GC,1051,-0.56,-243.4,154.0,-11.7,179,1058,0.00,2.05,0.00,0.000,4,0.000,0.038,2555,2903,3860
$GC,1121,-0.71,-243.4,161.0,-9.1,191,1128,0.10,2.00,0.00,0.000,6,0.048,0.029,2488,1527,3860
$GC,1467,-0.45,-243.4,224.6,-18.6,252,1475,0.30,1.95,0.00,0.000,4,0.133,0.041,2586,204,3861
$GC,1505,-0.60,-243.4,229.8,-11.9,258,1512,0.10,1.90,0.00,0.000,6,0.051,0.027,2505,1538,3861
$GC,1850,-0.53,-243.4,276.2,-11.9,319,1856,0.17,1.98,0.00,0.000,4,0.128,0.038,2562,2892,3861
$GC,1891,-0.80,-243.4,280.0,-6.3,326,1898,0.17,1.98,0.00,0.000,6,0.026,0.031,2447,1538,3861
$GC,2224,-0.45,-243.4,340.1,-21.3,368,2229,0.45,2.00,0.00,0.000,4,0.140,0.041,2585,2886,3860
$GC,2264,-0.77,-243.4,345.4,-10.4,371,2268,0.22,1.98,0.00,0.000,6,0.049,0.031,2462,1517,3860
$GC,2588,-0.62,-243.4,394.6,-14.5,401,2592,0.22,1.95,0.00,0.000,4,0.130,0.045,2537,207,3858
$GC,2672,-0.80,-243.4,403.0,-8.7,408,2679,0.10,1.90,0.00,0.000,6,0.052,0.030,2457,1520,3857
$GC,2997,-0.71,-243.4,442.8,-13.5,439,2999,0.17,0.00,0.00,0.000,6,0.135,0.000,2510,1522,3855
$GC,3318,-0.85,-243.4,475.5,-10.4,469,3322,0.15,2.03,0.00,0.000,4,0.064,0.044,2452,2882,3853
$GC,3385,-0.78,-243.4,485.3,-14.8,475,3389,0.12,1.98,0.00,0.000,6,0.140,0.035,2486,1535,3852
$GC,3719,-0.78,-243.4,529.1,-11.5,496,3723,0.00,2.00,0.00,0.000,4,0.000,0.050,2486,200,3849
$GC,3742,-0.78,-243.4,532.0,-12.3,497,3745,0.00,1.95,0.00,0.000,6,0.000,0.038,2477,1534,3849
$GC,4074,-0.78,-243.4,569.8,-11.6,513,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1534,3847
$GC,4382,-0.78,-243.4,607.4,-11.7,528,4386,0.00,2.05,0.00,0.000,4,0.000,0.049,2454,2901,3844
$GC,4428,-0.87,-243.4,612.1,-10.1,530,4432,0.00,2.03,0.00,0.000,6,0.000,0.038,2456,1531,3843
$GC,4761,-0.87,-243.4,652.1,-12.4,546,4765,0.00,2.08,0.00,0.000,4,0.000,0.051,2454,2900,3841
$GC,4794,-0.94,-243.4,656.1,-11.6,547,4798,0.00,2.00,0.00,0.000,6,0.000,0.039,2455,1545,3841
$GC,5115,-0.94,-243.4,691.9,-10.5,563,5119,0.00,2.05,0.00,0.000,4,0.000,0.054,2455,194,3838
$GC,5142,-0.94,-243.4,695.1,-11.9,564,5146,0.00,2.03,0.00,0.000,6,0.000,0.037,2453,1539,3837
$GC,5469,-0.94,-243.4,728.5,-10.7,580,5473,0.00,2.05,0.00,0.000,4,0.000,0.052,2452,2899,3835
$GC,5507,-1.04,-243.4,732.2,-9.6,581,5516,0.15,2.03,0.00,0.000,6,0.061,0.040,2383,1535,3835
$GC,5825,-0.77,-243.4,780.0,-15.4,597,5830,0.30,2.10,0.00,0.000,4,0.145,0.052,2479,2904,3832
$GC,5874,-1.01,-243.4,784.8,-6.9,599,5879,0.17,2.03,0.00,0.000,6,0.054,0.041,2394,1545,3832
$STATE,5905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5905,begin apogee
$GC,5910,-0.20,0.0,787.8,9.5,601,6112,0.88,0.00,199.07,1.307,6,0.133,0.000,2674,1753,2863
$STATE,6113,end apogee,CONTROL_FINISHED_OK
$STATE,6113,begin climb
$GC,6115,0.97,243.4,796.0,0.0,611,6331,1.00,2.38,205.30,1.258,4,0.041,0.053,3059,3149,1869
$GC,6454,0.39,243.4,741.3,24.9,626,6461,0.65,2.20,0.00,0.000,6,0.163,0.046,2872,1756,1863
$GC,6771,0.52,266.3,705.1,11.2,642,6796,0.10,2.28,19.88,1.178,4,0.078,0.056,2932,346,1776
$GC,6852,0.41,266.3,693.5,15.8,645,6860,0.22,2.12,0.00,0.000,6,0.137,0.042,2869,1736,1774
$GC,7168,0.67,358.3,663.3,9.0,661,7255,0.20,2.35,80.12,1.213,4,0.054,0.055,2975,337,1402
$GC,7306,0.47,358.3,640.3,19.1,667,7311,0.30,2.15,0.00,0.000,6,0.141,0.039,2891,1723,1398
$GC,7627,0.64,396.5,603.9,10.7,683,7674,0.17,2.22,36.10,1.117,4,0.057,0.054,2985,340,1245
$GC,7701,0.45,396.5,591.1,18.7,686,7708,0.30,2.15,0.00,0.000,6,0.135,0.039,2882,1717,1243
$GC,8017,0.75,450.9,559.3,10.2,702,8081,0.25,2.22,51.15,1.117,4,0.050,0.054,3004,343,1023
$GC,8115,0.50,450.9,539.3,23.6,706,8119,0.35,2.12,0.00,0.000,6,0.140,0.039,2904,1713,1021
$GC,8436,0.69,450.9,497.1,12.6,723,8441,0.17,2.12,0.00,0.000,4,0.056,0.053,2992,342,1018
$GC,8504,0.54,450.9,484.1,20.4,728,8511,0.28,2.03,0.00,0.000,6,0.137,0.040,2911,1695,1017
$GC,8828,0.70,450.9,439.1,13.2,759,8833,0.15,2.22,0.00,0.000,4,0.061,0.050,2981,3154,1017
$GC,8867,0.63,450.9,432.5,19.0,762,8874,0.17,2.22,0.00,0.000,6,0.147,0.041,2942,1668,1016
$GC,9192,0.69,450.9,384.0,13.9,793,9196,0.00,2.03,0.00,0.000,4,0.000,0.053,2949,340,1016
$GC,9297,0.76,450.9,368.1,15.1,802,9304,0.05,2.00,0.00,0.000,6,0.074,0.037,2988,1677,1015
$GC,9622,0.63,450.9,304.7,19.6,833,9627,0.17,2.05,0.00,0.000,4,0.146,0.057,2948,330,1014
$GC,9690,0.73,450.9,293.9,14.5,842,9696,0.00,1.98,0.00,0.000,6,0.000,0.037,2948,1659,1014
$GC,10035,0.85,450.9,252.2,12.3,903,10041,0.17,2.25,0.00,0.000,4,0.054,0.046,3037,3162,1014
$GC,10053,0.85,450.9,249.4,14.5,906,10060,0.08,2.33,0.00,0.000,6,0.151,0.041,3011,1620,1014
$GC,10398,0.72,450.9,185.3,18.8,967,10405,0.12,1.95,0.00,0.000,4,0.149,0.048,2983,342,1014
$GC,10452,0.72,450.9,176.4,16.8,976,10458,0.00,1.92,0.00,0.000,6,0.000,0.035,2983,1645,1014
$GC,10795,0.89,450.9,124.6,13.9,1037,10803,0.12,1.98,0.00,0.000,4,0.063,0.048,3065,337,1014
$GC,10860,0.77,450.9,113.9,17.9,1048,10867,0.22,1.92,0.00,0.000,6,0.126,0.033,2973,1648,1014
$GC,11207,1.33,599.6,85.4,7.1,1109,11330,0.47,2.42,115.38,0.763,4,0.035,0.041,3190,3166,455
$GC,11354,0.96,599.6,47.0,31.1,1132,11361,0.55,2.35,0.00,0.000,6,0.155,0.035,3046,1621,453
$GC,11700,1.40,682.1,7.8,9.3,1193,11709,0.35,1.95,0.00,0.000,4,0.038,0.045,3224,328,451
$STATE,11731,end climb,SURFACE_DEPTH_REACHED
$STATE,11731,begin surface coast
$FINISH,0.8,1.012664
$STATE,11747,end surface coast,CONTROL_FINISHED_OK
$STATE,11748,begin surface
$SM_CCo,11825,0.00,0.000,0,0,449,592.15
$SM_GC,1.63,8.23,0.00,0.00,0.047,0.000,0.000,170,1538,449,-8.01,1.07,592.15
$IRIDIUM_FIX,2413.38,12315.81,090998,000046
$TT8_MAMPS,0.028379
$HUMID,1539
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.80
$XPDR_PINGS,94
$24V_AH,23.7,33.440
$10V_AH,10.7,20.913
$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,29.325,115.900,707.000,0.000,0.000,25.527,37.373,159.206,29.500,0.000,0.000,47.603,2105.040,6421.373,774.884,2463.776,417.408,0.000,1930.420,0.000,2406.717,0.000,41.925,0.000
$DEVICE_MAMPS,223.964,56.758,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,810.934,858.688,1442.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69512,1201
$CAP_FILE_SIZE,135738,0
$CFSIZE,260165632,223301632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.309, 71.0,1
$GPS,150609,070536,2425.041,12317.877,39,1.5,39,-3.5