version: 66.04
glider: 166
mission: 2
dive: 232
start: 6 21 109 8 54 33
data:
$ID,166
$MISSION,2
$DIVE,232
$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,450
$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,-9901.9678
$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,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,084806,2426.335,12333.801,28,0.8,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.0
$GPS2,085413,2426.414,12333.917,13,1.0,13,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,283.7,32627,-16.4,-12.000
$D_GRID,1086
$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,-243.4,0.0,0.0,0,106,0.00,0.00,-89.50,0.000,2,0.000,0.000,203,1528,2473
$GC,109,-0.97,-243.4,3.1,-4.6,14,162,8.77,2.03,-37.33,0.000,4,0.225,0.058,2419,186,3938
$GC,232,-0.22,-243.4,33.0,-30.4,34,239,0.77,1.95,0.00,0.000,6,0.146,0.028,2662,1512,3939
$GC,576,-0.82,-243.4,72.7,-9.7,95,585,0.47,2.03,0.00,0.000,4,0.048,0.036,2466,2902,3941
$GC,592,-1.23,-243.4,74.3,-10.1,97,599,0.30,2.03,0.00,0.000,6,0.047,0.029,2338,1526,3941
$GC,936,-0.46,-243.4,175.4,-28.2,158,943,0.82,1.98,0.00,0.000,4,0.160,0.041,2584,197,3942
$GC,1023,-0.59,-243.4,187.3,-10.9,173,1030,0.08,2.03,0.00,0.000,6,0.056,0.026,2529,1598,3942
$GC,1369,-0.59,-243.4,229.0,-12.8,234,1375,0.00,1.95,0.00,0.000,4,0.000,0.041,2529,2904,3944
$GC,1494,-0.68,-243.4,245.2,-12.5,256,1500,0.00,1.95,0.00,0.000,6,0.000,0.032,2529,1581,3943
$GC,1838,-0.68,-243.4,285.1,-10.2,317,1844,0.00,1.95,0.00,0.000,4,0.000,0.041,2528,2901,3943
$GC,1885,-0.80,-243.4,289.9,-10.4,325,1891,0.15,1.88,0.00,0.000,6,0.060,0.032,2455,1598,3943
$GC,2214,-0.60,-243.4,338.1,-14.3,362,2216,0.30,0.00,0.00,0.000,6,0.131,0.000,2547,1598,3942
$GC,2536,-0.77,-243.4,368.7,-9.0,392,2540,0.17,1.95,0.00,0.000,4,0.058,0.042,2445,2904,3940
$GC,2641,-0.70,-243.4,381.4,-12.6,401,2648,0.20,1.85,0.00,0.000,6,0.124,0.033,2518,1626,3939
$GC,2967,-0.81,-243.4,411.2,-9.6,432,2971,0.12,1.90,0.00,0.000,4,0.067,0.043,2438,2898,3938
$GC,3012,-0.73,-243.4,416.6,-12.4,436,3017,0.20,1.85,0.00,0.000,6,0.127,0.034,2501,1627,3937
$GC,3343,-0.84,-243.4,449.0,-9.4,467,3345,0.10,0.00,0.00,0.000,6,0.078,0.000,2447,1626,3935
$GC,3662,-0.75,-243.4,487.3,-12.4,497,3666,0.17,1.92,0.00,0.000,4,0.133,0.045,2503,2895,3933
$GC,3718,-0.95,-243.4,492.8,-9.1,502,3722,0.20,1.85,0.00,0.000,6,0.051,0.035,2410,1627,3932
$GC,4052,-0.76,-243.4,542.4,-14.9,521,4057,0.25,2.15,0.00,0.000,4,0.136,0.048,2491,214,3929
$GC,4092,-0.82,-243.4,547.3,-11.1,523,4096,0.00,2.08,0.00,0.000,6,0.000,0.032,2490,1627,3929
$GC,4425,-0.94,-243.4,579.1,-10.0,539,4429,0.17,1.92,0.00,0.000,4,0.058,0.045,2410,2902,3926
$GC,4503,-0.81,-243.4,589.6,-13.4,542,4508,0.25,1.90,0.00,0.000,6,0.127,0.044,2481,1626,3926
$GC,4825,-0.89,-243.4,620.6,-9.2,558,4828,0.00,2.15,0.00,0.000,4,0.000,0.050,2482,214,3923
$GC,4848,-0.96,-243.4,622.8,-9.8,559,4853,0.15,2.08,0.00,0.000,6,0.065,0.034,2414,1620,3923
$GC,5176,-0.77,-243.4,666.3,-13.7,575,5181,0.20,1.95,0.00,0.000,4,0.143,0.054,2484,2897,3920
$GC,5255,-0.90,-243.4,674.0,-8.4,578,5258,0.00,1.90,0.00,0.000,6,0.000,0.045,2483,1642,3920
$GC,5576,-0.95,-243.4,703.3,-9.3,594,5581,0.15,2.20,0.00,0.000,4,0.062,0.052,2412,210,3917
$GC,5597,-0.84,-243.4,706.1,-12.1,595,5602,0.20,2.10,0.00,0.000,6,0.155,0.035,2465,1625,3917
$GC,5925,-0.84,-243.4,740.9,-10.8,611,5928,0.00,1.95,0.00,0.000,4,0.000,0.058,2464,2902,3914
$GC,6038,-0.84,-243.4,753.1,-11.2,616,6042,0.00,1.88,0.00,0.000,6,0.000,0.040,2464,1643,3913
$GC,6370,-0.84,-243.4,794.7,-12.5,632,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1644,3911
$GC,6680,-0.84,-243.4,831.8,-11.8,647,6684,0.00,2.22,0.00,0.000,4,0.000,0.056,2463,207,3908
$GC,6726,-0.78,-243.4,837.6,-12.9,649,6730,0.00,2.15,0.00,0.000,6,0.000,0.038,2461,1643,3908
$GC,7059,-0.78,-243.4,875.3,-10.7,665,7063,0.00,1.92,0.00,0.000,4,0.000,0.053,2461,2901,3906
$GC,7106,-0.83,-243.4,880.1,-9.3,667,7109,0.00,1.90,0.00,0.000,6,0.000,0.041,2460,1653,3906
$GC,7438,-0.83,-243.4,915.8,-11.3,683,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1653,3904
$GC,7748,-0.83,-243.4,951.2,-11.5,698,7752,0.00,1.92,0.00,0.000,4,0.000,0.055,2457,2897,3902
$GC,7787,-0.89,-243.4,955.7,-11.5,699,7794,0.00,1.88,0.00,0.000,6,0.000,0.042,2458,1651,3902
$STATE,8079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8079,begin apogee
$GC,8084,-0.20,0.0,990.5,12.1,714,8291,0.68,0.00,204.00,1.471,6,0.116,0.000,2672,1650,2945
$STATE,8292,end apogee,CONTROL_FINISHED_OK
$STATE,8292,begin climb
$GC,8295,0.97,243.4,1005.2,0.0,724,8524,1.08,2.35,218.32,1.424,4,0.052,0.054,3043,2987,1951
$GC,8563,0.55,243.4,985.3,14.9,736,8569,0.50,2.22,0.00,0.000,6,0.161,0.044,2919,1610,1945
$GC,8879,0.67,342.4,957.5,8.7,751,8974,0.12,2.38,88.18,1.404,4,0.074,0.060,2982,195,1548
$GC,9097,0.58,342.4,928.6,14.0,761,9102,0.20,2.15,0.00,0.000,6,0.145,0.047,2928,1581,1543
$GC,9425,0.74,389.0,894.8,10.5,777,9481,0.15,2.30,44.15,1.324,4,0.065,0.058,3003,205,1359
$GC,9561,0.62,389.0,873.3,17.2,783,9566,0.22,2.10,0.00,0.000,6,0.146,0.041,2941,1565,1356
$GC,9883,0.74,389.0,833.5,12.0,799,9888,0.10,2.15,0.00,0.000,4,0.077,0.058,2999,203,1354
$GC,9938,0.62,389.0,824.9,15.6,801,9945,0.22,2.05,0.00,0.000,6,0.143,0.041,2936,1560,1353
$GC,10255,0.80,416.5,789.8,11.1,817,10301,0.17,2.22,29.85,1.187,4,0.060,0.058,3026,204,1246
$GC,10413,0.63,416.5,762.3,18.1,824,10418,0.28,2.03,0.00,0.000,6,0.144,0.041,2948,1527,1243
$GC,10740,0.83,451.4,724.7,10.8,840,10790,0.17,0.00,37.17,1.194,6,0.058,0.000,3030,1528,1104
$GC,11090,0.69,451.4,670.0,15.1,857,11095,0.20,2.08,0.00,0.000,4,0.144,0.055,2978,201,1100
$GC,11122,0.69,451.4,665.4,12.3,858,11126,0.00,2.03,0.00,0.000,6,0.000,0.041,2978,1515,1099
$GC,11445,0.84,491.5,630.0,10.7,874,11502,0.00,2.12,41.28,1.153,4,0.000,0.058,2987,196,940
$GC,11536,1.01,532.9,620.4,10.6,877,11589,0.22,2.03,41.22,1.168,6,0.054,0.041,3085,1508,772
$GC,11899,0.69,532.9,540.6,25.2,895,11904,0.38,2.33,0.00,0.000,4,0.150,0.050,2967,3002,768
$GC,11966,0.95,532.9,528.7,13.6,898,11971,0.20,2.30,0.00,0.000,6,0.051,0.042,3071,1501,767
$GC,12294,0.78,532.9,459.7,20.6,922,12299,0.25,2.33,0.00,0.000,4,0.143,0.048,2991,3002,766
$GC,12372,0.96,532.9,447.2,13.7,928,12380,0.12,2.22,0.00,0.000,6,0.064,0.041,3065,1530,766
$GC,12697,0.83,532.9,387.6,18.4,959,12701,0.17,2.05,0.00,0.000,4,0.148,0.053,3018,199,766
$GC,12736,0.90,532.9,381.0,16.0,962,12740,0.00,2.03,0.00,0.000,6,0.000,0.039,3018,1554,764
$GC,13067,1.05,539.6,338.7,11.8,993,13080,0.17,2.17,6.32,0.844,4,0.056,0.054,3117,190,745
$GC,13152,0.76,539.6,321.4,21.1,1000,13161,0.40,2.00,0.00,0.000,6,0.143,0.037,2980,1515,744
$GC,13486,1.06,539.6,285.8,12.1,1042,13493,0.25,2.05,0.00,0.000,4,0.067,0.051,3110,190,745
$GC,13624,0.90,539.6,256.1,22.2,1066,13631,0.20,1.95,0.00,0.000,6,0.135,0.040,3030,1485,745
$GC,13970,1.16,582.4,213.6,10.6,1127,14014,0.20,2.10,38.47,0.893,4,0.052,0.050,3149,187,570
$GC,14154,0.98,582.4,179.1,19.6,1159,14161,0.25,1.90,0.00,0.000,6,0.133,0.035,3058,1444,567
$GC,14501,1.29,622.9,138.1,10.7,1220,14535,0.22,1.95,25.40,0.802,4,0.046,0.048,3186,190,454
$GC,14648,1.14,622.9,109.1,20.8,1245,14655,0.22,1.85,0.00,0.000,6,0.129,0.032,3112,1426,453
$GC,14994,1.43,666.0,66.9,10.6,1306,15001,0.20,1.88,0.00,0.000,4,0.049,0.048,3233,199,453
$GC,15075,1.18,666.0,51.0,21.9,1320,15083,0.32,1.77,0.00,0.000,6,0.135,0.031,3119,1408,453
$GC,15423,1.44,666.0,14.6,12.2,1381,15430,0.20,1.85,0.00,0.000,4,0.048,0.048,3236,192,453
$STATE,15486,end climb,SURFACE_DEPTH_REACHED
$STATE,15487,begin surface coast
$FINISH,0.8,1.021401
$STATE,15503,end surface coast,CONTROL_FINISHED_OK
$STATE,15503,begin surface
$SM_CCo,15582,0.00,0.000,0,0,453,611.29
$SM_GC,1.50,8.07,0.00,0.00,0.042,0.000,0.000,154,1532,453,-8.01,0.90,611.29
$IRIDIUM_FIX,2415.74,12334.18,150998,050523
$TT8_MAMPS,0.026845
$HUMID,1555
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.30
$XPDR_PINGS,119
$24V_AH,23.0,48.425
$10V_AH,10.7,28.660
$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,30.400,134.225,774.375,0.000,0.000,25.209,32.632,183.993,37.750,0.000,0.000,15.140,2504.327,9153.343,862.488,2902.921,516.538,0.000,2225.468,0.000,2862.064,0.000,54.419,0.000
$DEVICE_MAMPS,225.498,59.826,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.044,942.373,1584.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82209,1395
$CAP_FILE_SIZE,164403,0
$CFSIZE,260165632,219115520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.137, 50.5,1
$GPS,210609,131531,2428.249,12332.644,42,1.1,42,-3.5