version: 66.04
glider: 166
mission: 2
dive: 234
start: 6 21 109 18 5 4
data:
$ID,166
$MISSION,2
$DIVE,234
$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,-9950.5742
$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,42
$R_STBD_OVSHOOT,67
$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
$GPS1,175727,2429.726,12331.184,26,2.1,45,-3.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.5
$GPS2,180446,2429.721,12331.296,14,2.1,33,-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,278.7,25985,-16.4,-12.000
$D_GRID,1168
$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,14,begin dive
$GC,16,-0.97,-243.4,0.0,0.0,0,103,0.00,0.00,-84.85,0.000,2,0.000,0.000,153,1534,2378
$GC,106,-0.97,-243.4,3.1,-5.4,13,166,9.15,2.08,-40.55,0.000,4,0.232,0.057,2413,198,3940
$GC,241,-0.35,-243.4,35.5,-27.8,35,248,0.65,1.92,0.00,0.000,6,0.145,0.030,2624,1497,3941
$GC,587,-0.54,-243.4,75.2,-8.8,96,594,0.17,2.08,0.00,0.000,4,0.057,0.039,2539,2899,3942
$GC,720,-0.54,-243.4,91.4,-12.8,119,727,0.00,2.03,0.00,0.000,6,0.000,0.031,2541,1531,3943
$GC,1065,-0.54,-243.4,137.8,-11.3,180,1072,0.00,2.05,0.00,0.000,4,0.000,0.040,2539,2891,3944
$GC,1163,-0.61,-243.4,148.4,-11.3,197,1171,0.00,1.98,0.00,0.000,6,0.000,0.031,2540,1549,3944
$GC,1509,-0.65,-243.4,189.2,-12.1,258,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1548,3945
$GC,1854,-0.74,-243.4,224.6,-9.0,319,1861,0.12,2.03,0.00,0.000,4,0.067,0.041,2469,2901,3945
$GC,1965,-0.69,-243.4,237.0,-11.3,338,1972,0.08,1.95,0.00,0.000,6,0.127,0.031,2515,1575,3945
$GC,2310,-0.76,-243.4,274.5,-10.0,399,2317,0.00,1.98,0.00,0.000,4,0.000,0.042,2510,2901,3945
$GC,2358,-0.89,-243.4,279.1,-9.1,407,2364,0.17,1.90,0.00,0.000,6,0.055,0.032,2427,1586,3945
$GC,2697,-0.64,-243.4,327.4,-14.3,451,2702,0.30,1.95,0.00,0.000,4,0.133,0.042,2520,2893,3943
$GC,2749,-0.85,-243.4,332.3,-8.2,455,2753,0.17,1.88,0.00,0.000,6,0.053,0.032,2434,1591,3942
$GC,3079,-0.67,-243.4,374.8,-13.1,486,3081,0.30,0.00,0.00,0.000,6,0.127,0.000,2526,1591,3940
$GC,3397,-0.98,-243.4,402.2,-9.2,516,3401,0.25,1.98,0.00,0.000,4,0.047,0.043,2406,2904,3939
$GC,3499,-0.80,-243.4,415.3,-14.7,525,3503,0.25,1.90,0.00,0.000,6,0.133,0.035,2479,1602,3938
$GC,3828,-0.80,-243.4,454.5,-12.2,556,3831,0.00,1.95,0.00,0.000,4,0.000,0.045,2486,2905,3935
$GC,3885,-0.93,-243.4,461.0,-11.3,561,3889,0.15,1.88,0.00,0.000,6,0.059,0.035,2413,1620,3935
$GC,4224,-0.68,-243.4,514.5,-16.5,589,4229,0.30,2.15,0.00,0.000,4,0.138,0.047,2506,205,3932
$GC,4250,-0.68,-243.4,518.5,-13.5,590,4254,0.00,2.10,0.00,0.000,6,0.000,0.031,2506,1622,3932
$GC,4574,-0.82,-243.4,551.0,-9.4,606,4578,0.00,1.92,0.00,0.000,4,0.000,0.048,2506,2914,3930
$GC,4646,-1.01,-243.4,557.6,-8.3,609,4651,0.25,1.90,0.00,0.000,6,0.048,0.034,2390,1610,3929
$GC,4975,-0.71,-243.4,603.8,-14.5,625,4980,0.35,2.15,0.00,0.000,4,0.143,0.049,2501,202,3926
$GC,5030,-0.83,-243.4,610.0,-9.4,627,5036,0.00,2.10,0.00,0.000,6,0.000,0.033,2503,1622,3926
$GC,5347,-0.95,-243.4,637.4,-8.7,643,5349,0.20,0.00,0.00,0.000,6,0.055,0.000,2410,1622,3924
$GC,5655,-0.73,-243.4,677.9,-12.8,658,5660,0.28,2.17,0.00,0.000,4,0.140,0.050,2494,213,3921
$GC,5740,-0.82,-243.4,686.2,-9.6,662,5744,0.00,2.10,0.00,0.000,6,0.000,0.038,2495,1617,3920
$GC,6073,-0.94,-243.4,719.1,-10.2,678,6078,0.17,1.95,0.00,0.000,4,0.058,0.049,2405,2903,3918
$GC,6146,-0.83,-243.4,729.3,-14.5,681,6150,0.22,1.90,0.00,0.000,6,0.133,0.044,2473,1633,3918
$GC,6474,-0.89,-243.4,765.3,-10.6,697,6478,0.00,2.20,0.00,0.000,4,0.000,0.060,2473,205,3915
$GC,6542,-0.93,-243.4,773.4,-11.3,700,6547,0.12,2.10,0.00,0.000,6,0.072,0.037,2417,1613,3915
$GC,6877,-0.81,-243.4,818.2,-11.4,716,6881,0.17,1.95,0.00,0.000,4,0.143,0.050,2461,2896,3912
$GC,6938,-0.94,-243.4,822.1,-5.9,718,6944,0.00,1.92,0.00,0.000,6,0.000,0.041,2460,1626,3911
$GC,7254,-1.00,-243.4,833.8,-3.6,734,7259,0.12,1.95,0.00,0.000,4,0.069,0.053,2397,2889,3909
$GC,7310,-0.89,-243.4,837.6,-8.5,736,7314,0.17,1.88,0.00,0.000,6,0.138,0.041,2448,1636,3908
$GC,7632,-0.89,-243.4,865.2,-9.6,752,7635,0.00,1.92,0.00,0.000,4,0.000,0.054,2441,2886,3906
$GC,7682,-0.94,-243.4,870.3,-10.8,754,7686,0.00,1.88,0.00,0.000,6,0.000,0.042,2441,1636,3906
$GC,8009,-0.94,-243.4,908.4,-10.8,770,8013,0.00,2.22,0.00,0.000,4,0.000,0.057,2440,204,3904
$GC,8032,-0.94,-243.4,910.7,-10.2,771,8036,0.00,2.15,0.00,0.000,6,0.000,0.041,2438,1623,3904
$GC,8365,-0.94,-243.4,947.6,-11.6,787,8368,0.00,1.95,0.00,0.000,4,0.000,0.055,2437,2889,3901
$GC,8449,-1.00,-243.4,956.8,-10.7,790,8455,0.00,1.90,0.00,0.000,6,0.000,0.043,2436,1646,3902
$STATE,8720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8720,begin apogee
$GC,8725,-0.20,0.0,990.2,12.6,804,8934,0.73,0.00,205.07,1.476,6,0.119,0.000,2669,1646,2945
$STATE,8935,end apogee,CONTROL_FINISHED_OK
$STATE,8935,begin climb
$GC,8937,0.97,243.4,1006.2,0.0,814,9162,1.05,0.00,220.75,1.428,6,0.047,0.000,3055,1646,1952
$GC,9468,0.54,243.4,944.8,16.7,840,9470,0.50,0.00,0.00,0.000,6,0.160,0.000,2913,1646,1943
$GC,9778,0.66,303.5,913.6,10.0,855,9844,0.12,2.38,55.12,1.353,4,0.072,0.060,2982,214,1707
$GC,9929,0.51,303.5,892.8,14.2,862,9934,0.28,2.12,0.00,0.000,6,0.140,0.048,2904,1587,1703
$GC,10262,0.80,408.7,859.5,8.5,878,10372,0.22,2.35,97.68,1.355,4,0.056,0.058,3019,218,1278
$GC,10433,0.67,408.7,834.9,15.3,885,10440,0.22,2.15,0.00,0.000,6,0.142,0.041,2957,1592,1273
$GC,10750,0.79,427.0,800.6,11.4,901,10780,0.12,2.25,18.80,1.168,4,0.069,0.058,3029,220,1203
$GC,10797,0.64,427.0,793.0,16.4,903,10801,0.30,2.10,0.00,0.000,6,0.141,0.041,2943,1583,1203
$GC,11118,0.89,485.0,759.3,10.1,919,11186,0.20,2.28,56.70,1.282,4,0.056,0.058,3052,207,966
$GC,11310,0.70,485.0,724.7,18.8,928,11315,0.30,2.10,0.00,0.000,6,0.142,0.042,2966,1565,962
$GC,11638,0.92,507.9,687.2,11.2,944,11681,0.17,2.17,25.17,1.084,4,0.058,0.058,3068,215,874
$GC,11767,0.72,507.9,662.4,19.5,949,11773,0.32,2.03,0.00,0.000,6,0.143,0.041,2973,1537,872
$GC,12083,0.92,507.9,623.2,12.6,965,12087,0.17,2.10,0.00,0.000,4,0.056,0.058,3067,205,871
$GC,12132,0.73,507.9,613.7,22.2,967,12137,0.30,2.00,0.00,0.000,6,0.142,0.041,2978,1533,870
$GC,12448,0.93,514.1,573.4,11.8,982,12461,0.17,2.12,6.55,1.009,4,0.057,0.057,3072,214,849
$GC,12540,0.77,514.1,555.9,21.6,986,12544,0.30,1.95,0.00,0.000,6,0.140,0.041,2983,1507,848
$GC,12862,1.06,585.7,520.5,9.6,1002,12941,0.22,2.12,68.45,1.141,4,0.051,0.054,3106,208,556
$GC,12963,0.84,585.7,501.1,21.3,1006,12972,0.32,2.03,0.00,0.000,6,0.142,0.039,3013,1515,554
$GC,13287,1.02,585.7,459.8,12.5,1036,13291,0.17,2.05,0.00,0.000,4,0.056,0.054,3114,214,552
$GC,13355,0.77,585.7,446.0,22.8,1042,13360,0.40,1.90,0.00,0.000,6,0.140,0.039,2992,1476,551
$GC,13680,1.05,585.7,406.3,12.4,1072,13684,0.20,2.00,0.00,0.000,4,0.052,0.058,3102,202,551
$GC,13753,0.82,585.7,391.8,21.5,1078,13761,0.28,1.88,0.00,0.000,6,0.138,0.044,3001,1441,551
$GC,14079,1.14,622.4,354.0,10.8,1109,14107,0.25,1.98,22.77,1.008,4,0.047,0.054,3137,211,455
$GC,14159,0.85,622.4,336.4,24.9,1116,14163,0.43,1.85,0.00,0.000,6,0.141,0.037,3010,1444,453
$GC,14487,1.12,622.4,292.2,13.8,1151,14494,0.22,1.92,0.00,0.000,4,0.048,0.052,3136,204,453
$GC,14545,0.96,622.4,280.5,20.4,1161,14552,0.30,1.83,0.00,0.000,6,0.138,0.040,3047,1439,453
$GC,14891,1.14,622.4,235.3,12.0,1222,14899,0.17,1.90,0.00,0.000,4,0.054,0.051,3153,208,452
$GC,14991,0.87,622.4,215.5,22.4,1239,14997,0.45,1.77,0.00,0.000,6,0.141,0.035,3017,1420,452
$GC,15334,1.72,672.5,182.2,10.3,1300,15341,0.75,1.88,0.00,0.000,4,0.083,0.051,3290,202,451
$GC,15421,0.96,672.5,160.7,35.9,1315,15429,0.77,1.98,0.00,0.000,6,0.173,0.034,3049,1532,451
$GC,15766,1.89,745.1,120.9,9.6,1376,15774,0.77,2.03,0.00,0.000,4,0.080,0.048,3340,208,452
$GC,15786,2.32,752.2,118.3,11.8,1379,15794,0.35,1.98,0.00,0.000,6,0.048,0.031,3501,1556,452
$STATE,16057,end climb,SURFACE_DEPTH_REACHED
$STATE,16057,begin surface coast
$FINISH,0.8,1.020732
$STATE,16063,end surface coast,CONTROL_FINISHED_OK
$STATE,16063,begin surface
$SM_CCo,16141,0.00,0.000,0,0,451,611.78
$SM_GC,1.53,8.90,0.00,0.00,0.046,0.000,0.000,154,1503,451,-8.04,0.08,611.78
$IRIDIUM_FIX,2418.11,12334.18,150998,131310
$TT8_MAMPS,0.026845
$HUMID,1648
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,23.60
$XPDR_PINGS,112
$24V_AH,23.0,49.085
$10V_AH,10.7,28.954
$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,34.625,137.200,777.075,0.000,0.000,25.874,33.236,226.157,36.000,0.000,0.000,34.050,2583.333,9517.572,903.097,2988.388,571.377,0.000,2279.968,0.000,2930.075,0.000,55.945,0.000
$DEVICE_MAMPS,231.634,105.846,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,969.706,952.768,1602.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81997,1428
$CAP_FILE_SIZE,171397,0
$CFSIZE,260165632,218931200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.200, 44.5,1
$GPS,210609,223507,2431.964,12330.006,28,1.3,28,-3.5