version: 66.04
glider: 166
mission: 2
dive: 237
start: 6 22 109 8 8 47
data:
$ID,166
$MISSION,2
$DIVE,237
$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,-10015.729
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2760
$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,64
$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
$GPS1,074706,2434.573,12328.835,28,1.9,28,-3.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-59.1
$GPS2,080828,2434.755,12329.268,15,99.0,34,-3.6
$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,247.2,20665,-16.4,-12.000
$D_GRID,1240
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.97,-243.4,0.0,0.0,0,111,0.00,0.00,-93.22,0.000,2,0.000,0.000,170,1523,2684
$GC,114,-0.97,-243.4,3.5,-5.0,14,161,9.25,2.05,-28.45,0.000,4,0.232,0.057,2444,202,3939
$GC,214,-0.34,-243.4,31.6,-27.6,30,221,0.62,1.90,0.00,0.000,6,0.136,0.028,2648,1490,3941
$GC,560,-0.58,-243.4,68.2,-9.0,91,568,0.17,2.12,0.00,0.000,4,0.055,0.040,2555,2902,3940
$GC,683,-0.58,-243.4,82.8,-12.4,112,689,0.00,2.03,0.00,0.000,6,0.000,0.031,2555,1503,3941
$GC,1026,-0.58,-243.4,129.8,-12.3,173,1033,0.00,2.10,0.00,0.000,4,0.000,0.041,2555,2894,3941
$GC,1125,-0.65,-243.4,141.0,-11.4,190,1131,0.00,1.98,0.00,0.000,6,0.000,0.031,2555,1552,3941
$GC,1469,-0.65,-243.4,182.4,-10.4,251,1476,0.00,2.03,0.00,0.000,4,0.000,0.045,2555,188,3941
$GC,1488,-0.65,-243.4,184.3,-10.0,254,1495,0.00,2.03,0.00,0.000,6,0.000,0.027,2555,1582,3941
$GC,1834,-0.74,-243.4,218.3,-9.1,315,1841,0.00,1.95,0.00,0.000,4,0.000,0.041,2555,2910,3941
$GC,1938,-0.95,-243.4,227.3,-8.6,333,1944,0.28,1.92,0.00,0.000,6,0.044,0.031,2424,1572,3941
$GC,2281,-0.64,-243.4,282.0,-15.8,394,2288,0.38,1.98,0.00,0.000,4,0.133,0.041,2544,2897,3939
$GC,2312,-0.71,-243.4,285.6,-11.0,399,2319,0.00,1.90,0.00,0.000,6,0.000,0.032,2545,1584,3940
$GC,2647,-1.01,-243.4,317.9,-9.6,443,2651,0.22,2.08,0.00,0.000,4,0.048,0.044,2416,199,3938
$GC,2669,-1.01,-243.4,320.6,-11.9,445,2674,0.12,2.20,0.00,0.000,6,0.168,0.029,2435,1714,3937
$GC,2994,-0.84,-243.4,364.1,-13.3,475,2998,0.17,1.75,0.00,0.000,4,0.141,0.044,2497,2899,3935
$GC,3056,-0.97,-243.4,370.2,-8.1,480,3063,0.10,1.75,0.00,0.000,6,0.049,0.032,2429,1706,3935
$GC,3381,-0.79,-243.4,412.8,-14.0,511,3383,0.22,0.00,0.00,0.000,6,0.134,0.000,2501,1706,3932
$GC,3703,-0.88,-243.4,445.6,-10.0,541,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1706,3929
$GC,4030,-0.98,-243.4,479.5,-9.7,572,4034,0.20,2.28,0.00,0.000,4,0.058,0.048,2406,202,3926
$GC,4074,-0.65,-243.4,486.2,-15.8,575,4082,0.45,2.20,0.00,0.000,6,0.139,0.032,2547,1703,3925
$GC,4406,-1.05,-243.4,513.7,-8.1,599,4411,0.32,2.28,0.00,0.000,4,0.042,0.047,2390,206,3923
$GC,4456,-0.63,-243.4,521.0,-16.4,601,4461,0.55,2.35,0.00,0.000,6,0.141,0.034,2557,1792,3922
$GC,4772,-1.17,-243.4,549.2,-9.0,616,4776,0.45,1.65,0.00,0.000,4,0.067,0.045,2366,2901,3920
$GC,5032,-0.84,-243.4,593.1,-17.2,627,5036,0.35,1.60,0.00,0.000,6,0.146,0.039,2486,1834,3918
$GC,5353,-0.84,-243.4,629.4,-10.9,643,5357,0.00,2.50,0.00,0.000,4,0.000,0.051,2486,204,3915
$GC,5447,-0.84,-243.4,641.2,-12.8,647,5451,0.00,2.40,0.00,0.000,6,0.000,0.037,2475,1814,3914
$GC,5768,-0.84,-243.4,679.3,-11.2,663,5773,0.00,2.47,0.00,0.000,4,0.000,0.054,2476,214,3911
$GC,5842,-0.78,-243.4,688.1,-11.9,666,5846,0.15,2.38,0.00,0.000,6,0.143,0.041,2513,1795,3911
$GC,6158,-0.97,-243.4,713.4,-7.8,681,6163,0.17,2.45,0.00,0.000,4,0.058,0.055,2428,214,3908
$GC,6208,-0.76,-243.4,719.9,-13.4,683,6213,0.30,2.38,0.00,0.000,6,0.142,0.043,2512,1786,3908
$GC,6523,-0.96,-243.4,748.3,-8.9,698,6525,0.17,0.00,0.00,0.000,6,0.059,0.000,2425,1786,3906
$GC,6833,-0.86,-243.4,786.6,-11.7,713,6838,0.17,2.45,0.00,0.000,4,0.142,0.052,2483,208,3903
$GC,6882,-0.93,-243.4,791.8,-9.4,715,6886,0.00,2.40,0.00,0.000,6,0.000,0.044,2477,1792,3903
$GC,7203,-1.05,-243.4,821.2,-9.6,731,7208,0.15,2.45,0.00,0.000,4,0.064,0.053,2410,214,3901
$GC,7253,-0.84,-243.4,828.3,-15.5,733,7258,0.30,2.33,0.00,0.000,6,0.145,0.040,2492,1764,3900
$GC,7569,-1.00,-243.4,858.1,-9.2,748,7574,0.15,2.42,0.00,0.000,4,0.061,0.054,2421,207,3898
$GC,7596,-0.93,-243.4,861.6,-13.4,749,7601,0.15,2.35,0.00,0.000,6,0.158,0.039,2455,1759,3898
$GC,7912,-0.98,-243.4,894.2,-9.7,764,7916,0.00,1.75,0.00,0.000,4,0.000,0.057,2462,2901,3896
$GC,7940,-1.07,-243.4,897.0,-9.5,765,7944,0.12,1.67,0.00,0.000,6,0.067,0.040,2399,1770,3896
$GC,8270,-0.90,-243.4,940.6,-14.2,781,8274,0.20,2.42,0.00,0.000,4,0.148,0.054,2463,214,3894
$GC,8344,-0.90,-243.4,950.0,-11.9,784,8348,0.00,2.33,0.00,0.000,6,0.000,0.041,2462,1749,3893
$GC,8660,-0.96,-243.4,982.2,-9.8,799,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1749,3892
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8739,begin apogee
$GC,8745,-0.20,0.0,990.6,10.1,803,8951,0.70,0.00,202.88,1.476,6,0.112,0.000,2690,1595,2945
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8954,0.97,243.4,1003.4,0.0,813,9184,1.10,2.42,218.82,1.428,4,0.044,0.059,3098,216,1951
$GC,9223,0.38,243.4,977.6,19.7,826,9228,0.77,2.20,0.00,0.000,6,0.168,0.046,2889,1589,1946
$GC,9544,0.67,364.1,951.8,8.0,842,9666,0.22,2.33,110.25,1.388,4,0.057,0.064,2998,207,1459
$GC,9739,0.54,364.1,924.1,16.9,850,9743,0.22,2.17,0.00,0.000,6,0.143,0.046,2937,1599,1455
$GC,10066,0.66,375.0,885.9,11.6,866,10081,0.12,2.22,10.12,1.226,4,0.069,0.058,3003,202,1415
$GC,10173,0.52,375.0,868.8,16.8,870,10178,0.28,2.10,0.00,0.000,6,0.143,0.044,2925,1577,1413
$GC,10507,0.74,412.8,831.2,10.7,886,10557,0.20,2.28,37.67,1.294,4,0.056,0.058,3035,214,1262
$GC,10681,0.50,412.8,800.7,18.8,894,10686,0.40,2.05,0.00,0.000,6,0.142,0.042,2918,1550,1258
$GC,11008,0.90,533.5,771.0,8.0,910,11129,0.32,2.30,111.93,1.332,4,0.046,0.058,3076,207,770
$GC,11180,0.66,533.5,740.3,19.9,918,11185,0.35,2.08,0.00,0.000,6,0.143,0.041,2976,1532,767
$GC,11506,0.85,533.5,700.4,12.3,934,11511,0.17,2.10,0.00,0.000,4,0.055,0.058,3075,203,764
$GC,11606,0.65,533.5,680.2,21.8,938,11613,0.30,1.98,0.00,0.000,6,0.133,0.041,2967,1491,763
$GC,11922,0.91,539.6,643.1,11.8,954,11933,0.20,2.03,5.95,0.993,4,0.053,0.058,3077,202,745
$GC,12000,0.72,539.6,627.2,21.4,957,12007,0.30,1.92,0.00,0.000,6,0.143,0.042,2988,1481,744
$GC,12317,0.92,539.6,583.5,13.0,973,12321,0.17,2.00,0.00,0.000,4,0.056,0.056,3087,200,744
$GC,12366,0.69,539.6,573.9,21.8,975,12370,0.28,1.92,0.00,0.000,6,0.140,0.041,2984,1463,744
$GC,12693,0.93,557.5,533.9,11.4,991,12721,0.20,0.00,20.10,1.060,6,0.052,0.000,3078,1463,672
$GC,13027,0.76,557.5,468.6,19.6,1014,13032,0.22,2.40,0.00,0.000,4,0.148,0.049,3008,3007,669
$GC,13123,0.87,557.5,454.1,13.5,1022,13127,0.00,2.38,0.00,0.000,6,0.000,0.041,3019,1448,669
$GC,13448,1.03,557.5,411.6,13.6,1052,13452,0.17,1.92,0.00,0.000,4,0.054,0.054,3128,202,669
$GC,13507,0.73,557.5,399.6,26.1,1057,13511,0.43,1.88,0.00,0.000,6,0.145,0.039,3000,1463,669
$GC,13832,0.97,557.5,358.9,12.2,1087,13836,0.17,1.95,0.00,0.000,4,0.054,0.054,3101,203,669
$GC,13881,0.83,557.5,350.6,18.4,1091,13888,0.25,1.83,0.00,0.000,6,0.139,0.038,3027,1442,669
$GC,14206,0.99,564.8,310.1,11.8,1122,14219,0.15,1.98,7.57,0.868,4,0.058,0.054,3117,197,642
$GC,14277,0.81,564.8,297.1,19.6,1129,14284,0.32,1.83,0.00,0.000,6,0.137,0.044,3019,1428,642
$GC,14621,1.09,597.3,256.3,10.9,1190,14659,0.22,1.92,30.08,0.933,4,0.080,0.058,3142,201,509
$GC,14689,0.93,597.3,244.4,19.8,1201,14695,0.28,1.83,0.00,0.000,6,0.135,0.035,3062,1427,508
$GC,15033,1.13,613.0,199.6,11.5,1262,15054,0.17,1.90,13.15,0.835,4,0.051,0.051,3162,196,454
$GC,15101,0.91,613.0,187.5,20.5,1273,15108,0.32,1.80,0.00,0.000,6,0.127,0.035,3057,1394,453
$GC,15446,1.34,699.5,149.4,9.1,1334,15453,0.32,1.83,0.00,0.000,4,0.039,0.050,3223,205,453
$GC,15472,1.29,699.5,146.0,13.3,1338,15479,0.15,1.75,0.00,0.000,6,0.151,0.033,3178,1388,453
$GC,15815,1.29,699.5,88.0,16.0,1399,15821,0.00,1.83,0.00,0.000,4,0.000,0.049,3186,208,453
$GC,15845,1.23,699.5,83.1,17.4,1404,15853,0.08,1.73,0.00,0.000,6,0.145,0.032,3162,1386,453
$GC,16191,1.31,699.5,32.3,14.6,1465,16197,0.00,2.40,0.00,0.000,4,0.000,0.038,3163,3010,453
$GC,16217,1.40,699.5,28.6,14.9,1469,16224,0.10,2.42,0.00,0.000,6,0.072,0.035,3232,1368,453
$STATE,16358,end climb,SURFACE_DEPTH_REACHED
$STATE,16359,begin surface coast
$FINISH,0.9,1.021512
$STATE,16377,end surface coast,CONTROL_FINISHED_OK
$STATE,16377,begin surface
$SM_CCo,16454,0.00,0.000,0,0,453,611.29
$SM_GC,1.45,8.07,0.00,0.00,0.038,0.000,0.000,169,1519,453,-8.08,0.54,611.29
$IRIDIUM_FIX,2425.21,12330.23,160998,070759
$TT8_MAMPS,0.026845
$HUMID,1559
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.00
$XPDR_PINGS,132
$24V_AH,23.0,50.065
$10V_AH,10.7,29.419
$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,33.700,151.300,768.525,0.000,0.000,50.121,71.273,937.128,41.000,0.000,0.000,35.120,2709.543,9615.037,872.165,3160.302,1362.960,0.000,2324.183,0.000,3094.789,0.000,54.422,0.000
$DEVICE_MAMPS,232.401,63.661,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.876,1029.713,1732.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85214,1497
$CAP_FILE_SIZE,196339,0
$CFSIZE,260165632,218632192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.297, 36.2,1
$GPS,220609,124407,2436.062,12328.176,31,1.5,31,-3.6