version: 66.04
glider: 166
mission: 2
dive: 145
start: 6 15 109 10 44 33
data:
$ID,166
$MISSION,2
$DIVE,145
$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,-7997.168
$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,46
$R_STBD_OVSHOOT,63
$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
$GPS1,103524,2424.454,12317.639,40,1.2,40,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.8
$GPS2,104413,2424.382,12317.850,14,1.8,14,-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,243.7,33175,-16.4,-12.000
$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,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-84.00,0.000,2,0.000,0.000,165,1478,2347
$GC,103,-0.97,-243.4,3.1,-5.2,13,161,8.93,1.95,-41.35,0.000,4,0.230,0.057,2420,202,3857
$GC,249,-0.18,-243.4,44.2,-32.9,37,256,0.82,1.90,0.00,0.000,6,0.153,0.030,2677,1491,3859
$GC,593,-0.56,-243.4,79.1,-9.6,98,600,0.30,2.05,0.00,0.000,4,0.042,0.037,2533,2901,3859
$GC,715,-0.37,-243.4,101.0,-22.5,119,723,0.28,2.03,0.00,0.000,6,0.130,0.031,2615,1496,3859
$GC,1061,-0.58,-243.4,140.1,-9.2,180,1068,0.17,2.10,0.00,0.000,4,0.055,0.037,2527,2899,3861
$GC,1200,-0.58,-243.4,160.4,-13.4,204,1206,0.00,1.98,0.00,0.000,6,0.000,0.031,2526,1549,3861
$GC,1544,-0.58,-243.4,204.3,-10.9,265,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1549,3861
$GC,1886,-0.58,-243.4,236.5,-10.4,326,1893,0.00,2.03,0.00,0.000,4,0.000,0.040,2527,2903,3862
$GC,1968,-0.69,-243.4,244.6,-9.7,340,1975,0.00,1.98,0.00,0.000,6,0.000,0.031,2527,1557,3861
$GC,2312,-0.69,-243.4,283.3,-11.5,401,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1556,3860
$GC,2650,-0.75,-243.4,319.9,-9.0,445,2653,0.00,2.00,0.00,0.000,4,0.000,0.043,2527,2902,3858
$GC,2719,-0.93,-243.4,325.4,-7.6,451,2724,0.25,1.95,0.00,0.000,6,0.050,0.034,2415,1556,3858
$GC,3044,-0.57,-243.4,384.1,-18.2,481,3048,0.43,2.03,0.00,0.000,4,0.139,0.046,2551,201,3856
$GC,3095,-0.77,-243.4,390.4,-9.6,485,3099,0.15,1.98,0.00,0.000,6,0.063,0.031,2474,1574,3856
$GC,3425,-0.68,-243.4,433.9,-11.8,516,3430,0.15,1.98,0.00,0.000,4,0.135,0.044,2518,2904,3854
$GC,3505,-0.88,-243.4,442.0,-8.4,523,3509,0.15,1.95,0.00,0.000,6,0.058,0.035,2433,1564,3853
$GC,3834,-0.68,-243.4,492.6,-14.6,554,3839,0.25,2.05,0.00,0.000,4,0.137,0.048,2515,202,3851
$GC,3885,-0.79,-243.4,498.3,-10.6,558,3889,0.12,1.98,0.00,0.000,6,0.071,0.033,2461,1565,3851
$GC,4218,-0.70,-243.4,542.1,-13.7,575,4222,0.17,2.00,0.00,0.000,4,0.177,0.048,2513,2900,3848
$GC,4295,-0.96,-243.4,549.3,-7.3,578,4300,0.20,1.98,0.00,0.000,6,0.039,0.040,2408,1576,3847
$GC,4618,-0.69,-243.4,601.2,-16.3,594,4622,0.30,2.08,0.00,0.000,4,0.142,0.051,2506,214,3844
$GC,4667,-0.79,-243.4,607.1,-9.3,596,4671,0.00,1.98,0.00,0.000,6,0.000,0.040,2509,1562,3843
$GC,4988,-0.95,-243.4,638.2,-11.1,612,4993,0.17,2.00,0.00,0.000,4,0.060,0.048,2399,2893,3841
$GC,5021,-0.84,-243.4,643.1,-15.2,613,5026,0.15,1.98,0.00,0.000,6,0.130,0.038,2465,1573,3840
$GC,5344,-0.84,-243.4,681.5,-10.9,629,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1573,3838
$GC,5652,-0.90,-243.4,719.0,-11.8,644,5656,0.00,2.08,0.00,0.000,4,0.000,0.054,2462,216,3836
$GC,5679,-0.90,-243.4,722.6,-13.4,645,5683,0.00,2.03,0.00,0.000,6,0.000,0.037,2454,1564,3836
$STATE,5688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5688,begin apogee
$GC,5693,-0.20,0.0,723.8,12.1,645,5899,0.62,0.00,198.27,1.259,6,0.115,0.000,2665,1753,2863
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5901,0.97,243.4,737.9,0.0,656,6111,1.05,0.00,204.95,1.217,6,0.044,0.000,3063,1753,1870
$GC,6419,0.43,243.4,650.4,22.4,681,6424,0.60,2.20,0.00,0.000,4,0.164,0.052,2894,352,1862
$GC,6475,0.50,255.9,642.2,11.6,683,6491,0.00,2.12,11.05,1.053,6,0.000,0.044,2894,1754,1819
$GC,6808,0.55,300.3,606.0,10.5,700,6852,0.00,2.30,38.83,1.160,4,0.000,0.054,2898,363,1638
$GC,6921,0.65,300.3,592.2,12.7,705,6926,0.15,2.12,0.00,0.000,6,0.065,0.038,2964,1753,1635
$GC,7248,0.48,300.3,540.1,15.6,721,7252,0.20,2.17,0.00,0.000,4,0.144,0.051,2909,355,1631
$GC,7296,0.54,300.3,533.4,12.5,723,7301,0.00,2.10,0.00,0.000,6,0.000,0.038,2909,1734,1631
$GC,7619,0.59,300.3,494.2,12.9,741,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1734,1629
$GC,7938,0.65,300.3,453.8,12.3,771,7943,0.10,2.12,0.00,0.000,4,0.077,0.052,2973,356,1628
$GC,8051,0.49,300.3,435.6,16.8,781,8056,0.25,2.03,0.00,0.000,6,0.141,0.038,2900,1716,1628
$GC,8376,0.75,406.3,401.0,8.5,811,8477,0.20,2.35,90.00,1.058,4,0.053,0.051,3001,3145,1205
$GC,8517,0.61,406.3,377.7,19.2,823,8523,0.25,2.20,0.00,0.000,6,0.143,0.041,2941,1726,1202
$GC,8841,0.69,406.3,335.8,12.2,854,8845,0.00,2.15,0.00,0.000,4,0.000,0.051,2949,330,1197
$GC,8942,0.77,406.3,322.0,12.8,863,8946,0.12,2.05,0.00,0.000,6,0.071,0.041,3013,1710,1197
$GC,9280,0.58,406.3,261.2,17.8,912,9288,0.28,2.10,0.00,0.000,4,0.169,0.048,2937,337,1195
$GC,9327,0.77,423.0,254.3,11.4,920,9348,0.15,2.00,14.10,0.897,6,0.064,0.041,3016,1682,1138
$GC,9686,0.65,423.0,179.5,19.6,983,9693,0.20,2.05,0.00,0.000,4,0.137,0.048,2960,339,1136
$GC,9723,0.77,423.0,174.1,13.7,989,9729,0.00,2.00,0.00,0.000,6,0.000,0.034,2961,1687,1136
$GC,10066,1.19,561.1,145.2,7.4,1050,10193,0.38,2.17,116.57,0.822,4,0.039,0.046,3152,349,575
$GC,10296,0.89,561.1,93.4,23.6,1088,10304,0.38,2.00,0.00,0.000,6,0.123,0.031,3023,1671,571
$GC,10642,1.44,655.9,58.3,8.9,1149,10674,0.43,2.05,25.42,0.713,4,0.035,0.044,3235,335,454
$GC,10711,0.96,655.9,43.0,31.2,1160,10719,0.57,1.98,0.00,0.000,6,0.143,0.030,3045,1664,452
$GC,11056,1.54,817.2,19.4,6.7,1221,11064,0.47,2.03,0.00,0.000,4,0.035,0.044,3264,327,452
$STATE,11125,end climb,SURFACE_DEPTH_REACHED
$STATE,11126,begin surface coast
$FINISH,0.8,1.021759
$STATE,11131,end surface coast,CONTROL_FINISHED_OK
$STATE,11131,begin surface
$SM_CCo,11208,0.00,0.000,0,0,452,591.42
$SM_GC,1.53,8.25,0.00,0.00,0.044,0.000,0.000,170,1530,452,-8.02,0.88,591.42
$IRIDIUM_FIX,2415.74,12319.09,090998,101051
$TT8_MAMPS,0.026845
$HUMID,1508
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.40
$XPDR_PINGS,114
$24V_AH,23.8,33.934
$10V_AH,10.7,21.166
$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,27.650,94.300,699.200,0.000,0.000,51.916,61.281,242.385,33.750,0.000,0.000,14.161,2122.485,5852.778,764.327,2446.777,544.497,0.000,1874.157,0.000,2420.504,0.000,36.957,0.000
$DEVICE_MAMPS,230.100,56.758,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,832.254,900.924,1515.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69561,1234
$CAP_FILE_SIZE,129769,0
$CFSIZE,260165632,223154176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315, 76.2,1
$GPS,150609,135228,2424.117,12317.881,14,6.1,33,-3.5