version: 66.04
glider: 166
mission: 2
dive: 235
start: 6 21 109 22 45 16
data:
$ID,166
$MISSION,2
$DIVE,235
$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,-9967.3281
$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,40
$R_STBD_OVSHOOT,66
$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
$GPS1,223507,2431.964,12330.006,28,1.3,28,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.0
$GPS2,224456,2432.138,12330.270,15,1.6,15,-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,257.3,22968,-16.4,-12.000
$D_GRID,1218
$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,-243.4,0.0,0.0,0,110,0.00,0.00,-93.05,0.000,2,0.000,0.000,167,1503,2592
$GC,113,-0.97,-243.4,3.5,-3.1,15,160,9.10,2.05,-31.73,0.000,4,0.231,0.058,2417,195,3939
$GC,213,-0.18,-243.4,30.9,-33.0,31,220,0.82,1.92,0.00,0.000,6,0.141,0.028,2676,1496,3940
$GC,558,-0.96,-243.4,70.4,-11.0,92,565,0.62,1.95,0.00,0.000,4,0.070,0.044,2431,198,3942
$GC,764,-0.50,-243.4,115.4,-20.4,128,771,0.38,1.77,0.00,0.000,6,0.133,0.028,2573,1419,3942
$GC,1109,-0.57,-243.4,154.6,-10.7,189,1116,0.00,1.85,0.00,0.000,4,0.000,0.045,2576,203,3943
$GC,1208,-0.65,-243.4,165.0,-11.1,206,1216,0.10,1.83,0.00,0.000,6,0.053,0.027,2506,1480,3943
$GC,1557,-0.59,-243.4,209.4,-11.0,267,1564,0.15,1.92,0.00,0.000,4,0.129,0.044,2557,198,3945
$GC,1660,-0.59,-243.4,218.1,-8.1,285,1666,0.00,1.85,0.00,0.000,6,0.000,0.027,2544,1494,3944
$GC,2006,-0.76,-243.4,247.1,-9.3,346,2013,0.15,2.08,0.00,0.000,4,0.061,0.040,2465,2901,3944
$GC,2172,-0.76,-243.4,267.0,-11.8,375,2178,0.00,2.00,0.00,0.000,6,0.000,0.032,2466,1526,3944
$GC,2511,-0.69,-243.4,310.9,-11.7,428,2515,0.17,2.05,0.00,0.000,4,0.128,0.043,2526,2888,3943
$GC,2560,-0.92,-243.4,315.5,-8.2,432,2567,0.22,2.00,0.00,0.000,6,0.049,0.033,2420,1539,3943
$GC,2886,-0.70,-243.4,361.4,-13.6,463,2891,0.28,2.05,0.00,0.000,4,0.133,0.044,2512,2896,3942
$GC,2930,-0.91,-243.4,365.4,-7.3,466,2938,0.12,1.98,0.00,0.000,6,0.030,0.034,2417,1563,3942
$GC,3257,-0.69,-243.4,407.4,-14.1,497,3261,0.30,2.00,0.00,0.000,4,0.132,0.044,2515,2895,3940
$GC,3307,-0.89,-243.4,412.8,-9.1,501,3312,0.17,1.92,0.00,0.000,6,0.054,0.035,2432,1578,3940
$GC,3638,-0.74,-243.4,459.1,-13.8,532,3640,0.22,0.00,0.00,0.000,6,0.133,0.000,2501,1578,3938
$GC,3958,-0.85,-243.4,491.0,-9.9,562,3962,0.12,1.98,0.00,0.000,4,0.071,0.047,2437,2883,3935
$GC,3980,-0.85,-243.4,493.7,-11.2,564,3984,0.00,1.90,0.00,0.000,6,0.000,0.036,2437,1593,3934
$GC,4303,-0.74,-243.4,535.3,-12.0,582,4304,0.20,0.00,0.00,0.000,6,0.130,0.000,2497,1593,3932
$GC,4612,-0.87,-243.4,561.6,-7.8,597,4617,0.12,1.98,0.00,0.000,4,0.070,0.048,2442,2883,3930
$GC,4726,-0.83,-243.4,573.5,-10.3,602,4730,0.05,1.92,0.00,0.000,6,0.141,0.045,2469,1614,3928
$GC,5059,-0.83,-243.4,604.9,-9.2,618,5062,0.00,2.17,0.00,0.000,4,0.000,0.056,2473,208,3925
$GC,5104,-0.83,-243.4,609.4,-10.0,620,5108,0.00,2.08,0.00,0.000,6,0.000,0.035,2471,1602,3925
$GC,5436,-0.83,-243.4,642.5,-10.5,636,5439,0.00,1.95,0.00,0.000,4,0.000,0.051,2456,2892,3922
$GC,5509,-0.91,-243.4,650.1,-10.2,639,5513,0.00,1.88,0.00,0.000,6,0.000,0.038,2459,1620,3921
$GC,5837,-0.91,-243.4,687.2,-12.1,655,5840,0.00,2.17,0.00,0.000,4,0.000,0.053,2460,201,3919
$GC,5859,-0.91,-243.4,690.2,-12.9,656,5863,0.00,2.10,0.00,0.000,6,0.000,0.035,2451,1610,3919
$GC,6191,-0.91,-243.4,728.7,-11.3,672,6195,0.00,1.92,0.00,0.000,4,0.000,0.051,2449,2883,3917
$GC,6241,-0.99,-243.4,733.9,-10.6,674,6245,0.00,1.88,0.00,0.000,6,0.000,0.040,2452,1618,3916
$GC,6568,-0.99,-243.4,766.9,-9.9,690,6571,0.00,1.95,0.00,0.000,4,0.000,0.054,2449,2889,3913
$GC,6596,-1.04,-243.4,769.5,-9.4,691,6600,0.15,1.88,0.00,0.000,6,0.062,0.040,2382,1629,3912
$GC,6924,-0.79,-243.4,816.4,-15.0,707,6929,0.30,2.20,0.00,0.000,4,0.145,0.054,2480,210,3911
$GC,6956,-0.79,-243.4,820.6,-10.6,708,6960,0.00,2.10,0.00,0.000,6,0.000,0.038,2475,1613,3911
$GC,7279,-0.91,-243.4,845.4,-7.0,724,7282,0.00,1.95,0.00,0.000,4,0.000,0.054,2475,2888,3908
$GC,7362,-1.10,-243.4,851.2,-6.9,727,7369,0.25,1.88,0.00,0.000,6,0.050,0.041,2365,1630,3908
$GC,7679,-0.83,-243.4,890.7,-14.0,743,7684,0.32,2.22,0.00,0.000,4,0.146,0.054,2469,200,3906
$GC,7696,-0.65,-243.4,893.2,-14.9,744,7700,0.20,2.15,0.00,0.000,6,0.131,0.039,2527,1625,3906
$STATE,7772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7772,begin apogee
$GC,7777,-0.20,0.0,900.4,8.8,748,7982,0.43,0.00,202.43,1.410,6,0.092,0.000,2677,1626,2945
$STATE,7983,end apogee,CONTROL_FINISHED_OK
$STATE,7983,begin climb
$GC,7986,0.97,243.4,920.4,0.0,758,8211,1.05,2.33,215.27,1.364,4,0.055,0.058,3053,2972,1951
$GC,8403,0.50,243.4,878.1,15.4,777,8408,0.57,2.12,0.00,0.000,6,0.163,0.046,2902,1607,1942
$GC,8730,0.72,346.6,850.6,8.6,793,8829,0.17,2.38,90.55,1.344,4,0.062,0.058,2994,208,1532
$GC,8918,0.60,346.6,824.7,14.5,801,8925,0.22,2.12,0.00,0.000,6,0.146,0.041,2933,1579,1528
$GC,9235,0.73,373.7,788.8,11.1,817,9265,0.12,2.25,24.80,1.282,4,0.071,0.059,3000,199,1421
$GC,9435,0.63,373.7,757.5,15.9,826,9439,0.20,2.08,0.00,0.000,6,0.145,0.041,2944,1556,1416
$GC,9761,0.84,438.5,724.3,9.9,842,9835,0.17,2.28,61.33,1.256,4,0.058,0.058,3047,202,1157
$GC,9903,0.64,438.5,699.4,19.2,848,9908,0.35,2.05,0.00,0.000,6,0.141,0.040,2946,1529,1154
$GC,10220,0.92,490.5,664.3,10.3,863,10275,0.22,2.22,47.70,1.240,4,0.052,0.057,3066,206,945
$GC,10314,0.72,490.5,646.9,21.4,867,10319,0.25,2.05,0.00,0.000,6,0.136,0.040,2972,1510,942
$GC,10637,0.91,490.5,602.9,13.2,883,10641,0.17,2.08,0.00,0.000,4,0.057,0.057,3071,196,940
$GC,10703,0.70,490.5,589.3,22.3,886,10707,0.35,1.98,0.00,0.000,6,0.141,0.039,2967,1507,939
$GC,11029,0.91,490.5,546.2,12.9,902,11033,0.17,2.05,0.00,0.000,4,0.058,0.056,3069,198,939
$GC,11053,0.91,490.5,542.6,16.0,903,11057,0.15,1.95,0.00,0.000,6,0.156,0.040,3029,1506,938
$GC,11375,0.91,490.5,490.5,15.7,921,11379,0.00,2.03,0.00,0.000,4,0.000,0.055,3036,202,938
$GC,11422,0.86,490.5,483.1,16.8,925,11425,0.00,1.90,0.00,0.000,6,0.000,0.040,3036,1476,938
$GC,11754,0.86,490.5,432.7,15.2,956,11758,0.00,1.98,0.00,0.000,4,0.000,0.055,3045,203,938
$GC,11804,0.81,490.5,424.2,17.3,960,11811,0.12,1.88,0.00,0.000,6,0.140,0.039,3004,1447,937
$GC,12130,0.96,490.5,382.2,12.3,991,12134,0.12,1.95,0.00,0.000,4,0.067,0.054,3075,192,937
$GC,12221,0.80,490.5,367.0,18.3,999,12225,0.25,1.85,0.00,0.000,6,0.143,0.039,3001,1439,937
$GC,12551,1.00,512.7,326.4,11.3,1030,12576,0.17,2.45,19.83,0.993,4,0.055,0.046,3095,3000,854
$GC,12599,0.82,512.7,318.3,19.5,1034,12605,0.35,2.42,0.00,0.000,6,0.150,0.045,3005,1412,853
$GC,12934,1.04,521.6,278.0,11.7,1081,12949,0.17,1.92,9.32,0.871,4,0.132,0.053,3107,200,817
$GC,13012,0.88,521.6,264.0,18.8,1094,13020,0.22,1.85,0.00,0.000,6,0.133,0.037,3024,1429,817
$GC,13357,1.09,539.4,225.5,11.4,1155,13382,0.17,1.92,16.90,0.879,4,0.054,0.054,3132,190,746
$GC,13501,0.94,539.4,197.7,19.8,1180,13508,0.28,1.83,0.00,0.000,6,0.127,0.038,3041,1398,745
$GC,13848,1.26,595.4,156.3,10.1,1241,13907,0.25,2.53,49.05,0.837,4,0.044,0.045,3167,3001,517
$GC,13926,1.08,595.4,144.3,18.4,1253,13934,0.32,2.45,0.00,0.000,6,0.147,0.036,3088,1405,516
$GC,14272,1.41,682.4,109.0,9.1,1314,14293,0.25,1.85,14.38,0.741,4,0.045,0.048,3227,192,454
$GC,14434,1.16,682.4,79.3,19.0,1342,14442,0.32,1.77,0.00,0.000,6,0.137,0.032,3110,1386,454
$GC,14783,1.55,795.2,47.3,8.3,1403,14790,0.30,1.80,0.00,0.000,4,0.041,0.047,3264,199,454
$GC,14832,1.22,795.2,38.7,22.2,1411,14839,0.38,1.73,0.00,0.000,6,0.146,0.030,3132,1380,454
$STATE,15174,end climb,SURFACE_DEPTH_REACHED
$STATE,15175,begin surface coast
$FINISH,0.8,1.021499
$STATE,15198,end surface coast,CONTROL_FINISHED_OK
$STATE,15198,begin surface
$SM_CCo,15275,0.00,0.000,0,0,454,611.04
$SM_GC,1.55,7.78,0.00,0.00,0.038,0.000,0.000,149,1517,454,-8.03,0.51,611.04
$IRIDIUM_FIX,2422.84,12330.23,150998,222254
$TT8_MAMPS,0.026845
$HUMID,1512
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.40
$XPDR_PINGS,124
$ALTIM_BOTTOM_PING,825.2,98.6
$24V_AH,23.0,49.381
$10V_AH,10.7,29.103
$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,30.650,137.650,751.550,0.000,0.000,47.564,66.139,274.277,37.750,0.000,0.000,16.125,2639.278,8649.275,808.517,3068.475,685.477,0.000,2225.835,0.000,3035.360,0.000,48.650,0.000
$DEVICE_MAMPS,230.867,59.059,1409.746,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.664,1038.080,1743.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85197,1476
$CAP_FILE_SIZE,171275,0
$CFSIZE,260165632,218841088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199, 46.8,1
$GPS,220609,030107,2433.250,12329.342,42,1.0,42,-3.5