version: 66.04
glider: 166
mission: 2
dive: 233
start: 6 21 109 13 31 28
data:
$ID,166
$MISSION,2
$DIVE,233
$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,-9915.8936
$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,33
$R_STBD_OVSHOOT,71
$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
$GPS1,131531,2428.249,12332.644,42,1.1,42,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.5
$GPS2,133108,2428.439,12332.898,13,1.3,13,-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,277.2,29404,-16.4,-12.000
$D_GRID,1152
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-86.18,0.000,2,0.000,0.000,169,1534,2404
$GC,106,-0.97,-243.4,3.1,-5.7,13,159,9.10,2.10,-39.22,0.000,4,0.235,0.055,2414,189,3940
$GC,222,-0.28,-243.4,33.3,-29.2,32,229,0.73,1.92,0.00,0.000,6,0.143,0.029,2642,1485,3940
$GC,568,-0.50,-243.4,71.8,-11.0,93,575,0.17,2.10,0.00,0.000,4,0.054,0.038,2540,2910,3941
$GC,735,-0.50,-243.4,96.6,-13.6,122,742,0.00,2.03,0.00,0.000,6,0.000,0.031,2553,1508,3942
$GC,1080,-0.50,-243.4,140.2,-13.0,183,1087,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,2908,3942
$GC,1155,-0.58,-243.4,149.9,-13.1,196,1162,0.00,2.00,0.00,0.000,6,0.000,0.031,2534,1549,3942
$GC,1501,-0.62,-243.4,194.4,-11.6,257,1508,0.00,2.03,0.00,0.000,4,0.000,0.045,2538,185,3942
$GC,1537,-0.73,-243.4,198.8,-12.5,263,1544,0.10,1.98,0.00,0.000,6,0.052,0.026,2482,1554,3942
$GC,1882,-0.61,-243.4,243.7,-13.0,324,1889,0.17,2.03,0.00,0.000,4,0.131,0.041,2537,2903,3942
$GC,1953,-0.76,-243.4,250.3,-9.1,336,1960,0.10,1.98,0.00,0.000,6,0.049,0.031,2470,1556,3942
$GC,2298,-0.63,-243.4,294.0,-11.9,397,2306,0.20,2.00,0.00,0.000,4,0.130,0.041,2537,2897,3940
$GC,2336,-0.82,-243.4,297.6,-8.0,403,2342,0.17,1.92,0.00,0.000,6,0.052,0.031,2447,1562,3940
$GC,2668,-0.65,-243.4,343.4,-15.1,436,2672,0.20,2.05,0.00,0.000,4,0.135,0.044,2517,192,3938
$GC,2709,-0.71,-243.4,348.5,-12.8,439,2713,0.00,2.00,0.00,0.000,6,0.000,0.028,2518,1580,3938
$GC,3040,-0.80,-243.4,385.7,-10.9,470,3044,0.00,1.95,0.00,0.000,4,0.000,0.043,2505,2899,3936
$GC,3087,-0.97,-243.4,390.5,-10.0,474,3091,0.22,1.92,0.00,0.000,6,0.049,0.032,2401,1572,3935
$GC,3418,-0.70,-243.4,442.9,-16.0,505,3423,0.32,2.00,0.00,0.000,4,0.137,0.042,2499,2906,3933
$GC,3492,-0.86,-243.4,450.8,-9.7,511,3497,0.12,1.95,0.00,0.000,6,0.064,0.039,2432,1579,3932
$GC,3823,-0.71,-243.4,491.0,-11.1,542,3828,0.22,1.98,0.00,0.000,4,0.131,0.044,2499,2893,3929
$GC,3885,-0.90,-243.4,496.2,-8.0,547,3892,0.15,1.90,0.00,0.000,6,0.057,0.035,2423,1590,3929
$GC,4214,-0.74,-243.4,537.9,-14.1,565,4216,0.25,0.00,0.00,0.000,6,0.132,0.000,2499,1590,3926
$GC,4522,-0.89,-243.4,573.0,-11.3,580,4524,0.15,0.00,0.00,0.000,6,0.064,0.000,2427,1589,3924
$GC,4831,-0.75,-243.4,616.2,-13.7,595,4835,0.20,2.00,0.00,0.000,4,0.170,0.048,2492,2889,3920
$GC,4858,-0.84,-243.4,619.4,-10.6,596,4862,0.00,1.92,0.00,0.000,6,0.000,0.037,2492,1594,3920
$GC,5187,-0.97,-243.4,648.9,-8.6,612,5191,0.17,2.00,0.00,0.000,4,0.057,0.048,2407,2900,3918
$GC,5214,-0.88,-243.4,652.2,-12.0,613,5218,0.17,1.92,0.00,0.000,6,0.138,0.042,2460,1610,3917
$GC,5541,-0.88,-243.4,685.1,-10.0,629,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1610,3914
$GC,5849,-0.88,-243.4,713.6,-9.3,644,5853,0.00,1.95,0.00,0.000,4,0.000,0.051,2472,2890,3911
$GC,5882,-0.94,-243.4,716.4,-8.1,645,5886,0.10,1.90,0.00,0.000,6,0.074,0.039,2422,1608,3911
$GC,6207,-0.75,-243.4,752.0,-11.7,661,6209,0.25,0.00,0.00,0.000,6,0.142,0.000,2497,1608,3908
$GC,6513,-0.85,-243.4,778.3,-8.9,676,6516,0.00,1.98,0.00,0.000,4,0.000,0.051,2484,2898,3906
$GC,6582,-0.99,-243.4,784.1,-8.8,679,6586,0.20,1.90,0.00,0.000,6,0.054,0.040,2395,1618,3905
$GC,6917,-0.73,-243.4,834.5,-16.2,695,6919,0.35,0.00,0.00,0.000,6,0.143,0.000,2499,1618,3903
$GC,7224,-0.91,-243.4,864.1,-3.6,710,7228,0.12,1.98,0.00,0.000,4,0.071,0.053,2427,2895,3901
$GC,7314,-0.91,-243.4,871.1,-11.5,714,7318,0.00,1.90,0.00,0.000,6,0.000,0.038,2428,1614,3900
$GC,7647,-0.83,-243.4,917.3,-13.9,730,7651,0.15,1.98,0.00,0.000,4,0.150,0.052,2458,2895,3897
$GC,7719,-1.00,-243.4,926.1,-12.0,733,7723,0.12,1.88,0.00,0.000,6,0.067,0.041,2397,1646,3897
$GC,8046,-0.84,-243.4,972.0,-13.9,749,8048,0.25,0.00,0.00,0.000,6,0.138,0.000,2473,1646,3895
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8214,-0.20,0.0,991.0,12.8,757,8420,0.60,0.00,202.90,1.477,6,0.112,0.000,2671,1645,2945
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8423,0.97,243.4,1014.9,0.0,767,8653,1.05,2.47,219.18,1.436,4,0.046,0.057,3067,212,1951
$GC,8720,0.47,243.4,1001.7,17.4,780,8727,0.57,2.22,0.00,0.000,6,0.160,0.042,2892,1583,1945
$GC,9037,0.97,549.6,994.1,1.9,796,9337,0.40,2.38,287.25,1.420,4,0.047,0.063,3073,217,703
$GC,9418,0.71,549.6,945.9,19.4,814,9423,0.38,2.17,0.00,0.000,6,0.146,0.047,2968,1580,701
$GC,9745,1.04,669.6,919.8,8.0,830,9811,0.28,2.25,58.58,1.374,4,0.049,0.055,3105,214,454
$GC,9917,0.72,669.6,875.3,27.5,837,9924,0.45,2.08,0.00,0.000,6,0.146,0.045,2972,1553,451
$GC,10233,0.96,669.6,821.5,16.6,853,10238,0.20,2.12,0.00,0.000,4,0.054,0.058,3079,207,450
$GC,10350,0.77,669.6,793.4,24.5,858,10354,0.30,1.98,0.00,0.000,6,0.147,0.042,2991,1515,450
$GC,10666,0.94,669.6,745.6,13.4,873,10670,0.15,2.05,0.00,0.000,4,0.062,0.058,3073,209,449
$GC,10727,0.77,669.6,733.0,23.7,875,10735,0.30,1.92,0.00,0.000,6,0.143,0.043,2984,1491,449
$GC,11043,1.05,713.9,695.6,10.5,891,11047,0.22,2.00,0.00,0.000,4,0.051,0.058,3103,212,449
$GC,11137,0.79,713.9,675.1,24.0,895,11141,0.38,1.88,0.00,0.000,6,0.143,0.042,2990,1466,448
$GC,11461,1.01,713.9,632.3,12.8,911,11465,0.17,1.98,0.00,0.000,4,0.055,0.058,3091,203,448
$GC,11521,0.80,713.9,619.9,23.4,913,11528,0.32,1.88,0.00,0.000,6,0.143,0.039,2993,1461,448
$GC,11838,1.03,722.6,580.6,11.7,929,11843,0.20,1.95,0.00,0.000,4,0.052,0.057,3104,203,448
$GC,11864,1.03,722.6,575.7,18.8,930,11869,0.10,1.88,0.00,0.000,6,0.151,0.040,3071,1441,448
$GC,12193,0.89,722.6,504.1,21.6,946,12198,0.15,2.40,0.00,0.000,4,0.157,0.048,3028,3009,448
$GC,12277,0.97,722.6,489.4,16.4,952,12282,0.00,2.35,0.00,0.000,6,0.000,0.042,3037,1456,448
$GC,12603,0.97,722.6,439.1,16.0,982,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1456,448
$GC,12922,1.04,722.6,392.8,14.6,1012,12927,0.10,1.92,0.00,0.000,4,0.074,0.054,3105,205,447
$GC,12961,0.88,722.6,385.0,22.2,1015,12969,0.28,1.85,0.00,0.000,6,0.140,0.038,3023,1457,448
$GC,13287,1.10,722.6,343.7,12.8,1046,13291,0.20,1.92,0.00,0.000,4,0.051,0.053,3140,209,448
$GC,13345,0.80,722.6,331.4,26.1,1051,13350,0.47,1.83,0.00,0.000,6,0.143,0.037,2996,1450,448
$GC,13672,1.14,748.3,292.9,11.2,1086,13679,0.28,1.92,0.00,0.000,4,0.096,0.053,3139,207,447
$GC,13742,0.83,748.3,278.3,24.8,1098,13749,0.38,1.80,0.00,0.000,6,0.144,0.043,3006,1407,448
$GC,14088,1.20,786.8,236.4,10.7,1159,14096,0.28,1.85,0.00,0.000,4,0.042,0.052,3157,205,448
$GC,14136,0.94,786.8,227.8,22.0,1167,14144,0.38,1.75,0.00,0.000,6,0.140,0.043,3044,1399,448
$GC,14483,1.26,848.2,190.7,10.0,1228,14490,0.22,1.85,0.00,0.000,4,0.048,0.050,3170,211,448
$GC,14547,1.01,848.2,178.0,23.1,1239,14555,0.30,1.73,0.00,0.000,6,0.137,0.035,3072,1379,448
$GC,14895,1.34,924.1,134.6,9.5,1300,14902,0.22,1.80,0.00,0.000,4,0.048,0.050,3197,202,447
$GC,14955,1.13,924.1,124.9,18.3,1310,14962,0.28,1.70,0.00,0.000,6,0.137,0.033,3108,1364,448
$GC,15300,1.42,986.3,87.3,9.9,1371,15308,0.20,2.45,0.00,0.000,4,0.049,0.039,3218,3006,448
$GC,15325,1.42,986.3,83.1,14.8,1375,15334,0.15,2.47,0.00,0.000,6,0.170,0.036,3193,1341,448
$GC,15674,1.36,986.3,22.0,17.6,1436,15680,0.00,1.73,0.00,0.000,4,0.000,0.048,3199,209,448
$STATE,15788,end climb,SURFACE_DEPTH_REACHED
$STATE,15788,begin surface coast
$FINISH,0.8,1.021457
$STATE,15800,end surface coast,CONTROL_FINISHED_OK
$STATE,15800,begin surface
$SM_CCo,15879,0.00,0.000,0,0,447,612.51
$SM_GC,1.41,7.95,0.00,0.00,0.040,0.000,0.000,149,1532,447,-8.02,0.90,612.51
$IRIDIUM_FIX,2420.48,12332.21,150998,131351
$TT8_MAMPS,0.026845
$HUMID,1549
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.00
$XPDR_PINGS,123
$24V_AH,23.0,48.769
$10V_AH,10.7,28.810
$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,32.400,131.675,767.900,0.000,0.000,99.039,233.054,276.753,38.750,0.000,0.000,13.297,2620.213,9443.847,837.551,2991.990,910.206,0.000,2231.020,0.000,2954.906,0.000,54.416,0.000
$DEVICE_MAMPS,234.702,62.894,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,989.557,1005.876,1692.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85506,1458
$CAP_FILE_SIZE,172785,0
$CFSIZE,260165632,219021312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133, 63.0,1
$GPS,210609,175727,2429.726,12331.184,26,2.1,45,-3.5