version: 66.04
glider: 166
mission: 2
dive: 238
start: 6 22 109 13 5 48
data:
$ID,166
$MISSION,2
$DIVE,238
$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,-10040.424
$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,41
$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
$GPS1,124407,2436.062,12328.176,31,1.5,31,-3.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.9
$GPS2,130529,2436.241,12328.684,15,2.0,24,-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,228.1,19810,-16.4,-12.000
$D_GRID,1331
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.97,-243.4,0.0,0.0,0,107,0.00,0.00,-88.47,0.000,2,0.000,0.000,171,1520,2474
$GC,110,-0.97,-243.4,3.1,-5.0,14,163,9.30,2.08,-38.25,0.000,4,0.235,0.055,2443,189,3939
$GC,183,-0.26,-243.4,16.8,-25.2,25,190,0.73,1.92,0.00,0.000,6,0.146,0.030,2671,1485,3940
$GC,527,-1.03,-243.4,53.7,-10.1,86,534,0.65,2.10,0.00,0.000,4,0.064,0.038,2427,2915,3940
$GC,632,-0.55,-243.4,73.7,-22.1,104,640,0.50,2.08,0.00,0.000,6,0.143,0.031,2576,1484,3940
$GC,978,-0.55,-243.4,119.9,-12.0,165,985,0.00,2.15,0.00,0.000,4,0.000,0.041,2576,2907,3940
$GC,1050,-0.71,-243.4,126.7,-9.2,177,1057,0.12,2.03,0.00,0.000,6,0.065,0.031,2500,1504,3940
$GC,1395,-0.58,-243.4,177.3,-14.0,238,1402,0.20,1.95,0.00,0.000,4,0.133,0.044,2565,211,3941
$GC,1420,-0.58,-243.4,180.2,-11.6,242,1426,0.00,1.90,0.00,0.000,6,0.000,0.026,2562,1528,3941
$GC,1764,-0.96,-243.4,209.5,-8.5,303,1770,0.28,2.00,0.00,0.000,4,0.044,0.043,2424,194,3941
$GC,1778,-1.24,-243.4,210.8,-8.4,305,1785,0.20,2.03,0.00,0.000,6,0.071,0.028,2351,1606,3940
$GC,2124,-0.72,-243.4,283.1,-21.1,366,2131,0.55,1.88,0.00,0.000,4,0.153,0.041,2523,2889,3940
$GC,2268,-0.86,-243.4,299.9,-10.7,391,2278,0.12,1.83,0.00,0.000,6,0.064,0.031,2459,1620,3939
$GC,2592,-0.70,-243.4,343.2,-12.7,422,2597,0.20,1.90,0.00,0.000,4,0.134,0.042,2527,2890,3938
$GC,2650,-0.85,-243.4,348.7,-9.0,427,2654,0.12,1.80,0.00,0.000,6,0.064,0.031,2459,1643,3938
$GC,2980,-0.73,-243.4,391.1,-12.7,458,2984,0.20,2.17,0.00,0.000,4,0.131,0.045,2525,198,3935
$GC,3035,-0.86,-243.4,397.2,-10.2,462,3042,0.12,2.10,0.00,0.000,6,0.068,0.029,2462,1658,3935
$GC,3360,-0.78,-243.4,438.9,-13.5,493,3365,0.17,1.83,0.00,0.000,4,0.133,0.044,2501,2888,3932
$GC,3411,-0.95,-243.4,444.8,-10.5,497,3417,0.15,1.83,0.00,0.000,6,0.058,0.033,2426,1626,3932
$GC,3736,-0.79,-243.4,486.1,-11.7,528,3738,0.25,0.00,0.00,0.000,6,0.133,0.000,2507,1625,3929
$GC,4052,-0.96,-243.4,515.0,-10.2,551,4056,0.15,1.92,0.00,0.000,4,0.063,0.046,2427,2895,3925
$GC,4120,-0.91,-243.4,523.8,-13.8,554,4124,0.15,1.83,0.00,0.000,6,0.137,0.036,2470,1654,3925
$GC,4453,-0.96,-243.4,564.0,-11.9,570,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1654,3922
$GC,4763,-1.01,-243.4,600.4,-11.3,585,4765,0.12,0.00,0.00,0.000,6,0.070,0.000,2411,1654,3919
$GC,5070,-0.84,-243.4,643.2,-13.3,600,5072,0.25,0.00,0.00,0.000,6,0.139,0.000,2487,1654,3916
$GC,5382,-0.94,-243.4,671.0,-8.9,615,5385,0.00,1.90,0.00,0.000,4,0.000,0.052,2489,2895,3913
$GC,5405,-1.08,-243.4,673.7,-10.2,616,5409,0.22,1.83,0.00,0.000,6,0.051,0.038,2390,1662,3912
$GC,5738,-0.83,-243.4,728.7,-16.5,632,5743,0.28,2.22,0.00,0.000,4,0.144,0.051,2479,205,3910
$GC,5787,-0.83,-243.4,735.7,-12.0,634,5791,0.00,2.17,0.00,0.000,6,0.000,0.037,2480,1638,3909
$GC,6109,-0.92,-243.4,768.6,-9.7,650,6112,0.00,1.90,0.00,0.000,4,0.000,0.052,2467,2890,3907
$GC,6142,-1.05,-243.4,771.8,-9.4,651,6146,0.15,1.80,0.00,0.000,6,0.060,0.038,2394,1670,3907
$GC,6465,-0.87,-243.4,813.8,-12.7,667,6470,0.22,2.25,0.00,0.000,4,0.140,0.052,2470,213,3904
$GC,6506,-0.92,-243.4,818.2,-10.2,669,6509,0.00,2.15,0.00,0.000,6,0.000,0.038,2468,1649,3904
$GC,6840,-1.03,-243.4,847.9,-9.2,685,6844,0.12,1.88,0.00,0.000,4,0.070,0.053,2398,2885,3901
$GC,6931,-0.95,-243.4,858.4,-11.3,689,6935,0.17,1.80,0.00,0.000,6,0.139,0.041,2450,1672,3900
$GC,7264,-0.95,-243.4,892.5,-10.2,705,7268,0.00,2.28,0.00,0.000,4,0.000,0.055,2450,203,3898
$GC,7331,-0.95,-243.4,900.3,-11.8,708,7335,0.00,2.17,0.00,0.000,6,0.000,0.038,2448,1654,3897
$GC,7658,-0.95,-243.4,932.4,-9.6,724,7661,0.00,1.90,0.00,0.000,4,0.000,0.056,2449,2891,3895
$GC,7708,-1.05,-243.4,937.5,-9.8,726,7711,0.00,1.83,0.00,0.000,6,0.000,0.041,2449,1668,3895
$GC,8034,-1.05,-243.4,968.1,-9.1,742,8038,0.00,2.28,0.00,0.000,4,0.000,0.057,2449,205,3893
$GC,8067,-1.05,-243.4,971.5,-10.9,743,8073,0.00,2.17,0.00,0.000,6,0.000,0.040,2450,1642,3892
$STATE,8276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8281,-0.20,0.0,990.6,9.0,754,8487,0.73,0.00,202.65,1.472,6,0.111,0.000,2689,1642,2945
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8490,0.97,243.4,1001.7,0.0,764,8720,1.05,2.33,218.32,1.425,4,0.045,0.054,3075,2974,1950
$GC,8742,0.46,243.4,979.7,18.0,775,8749,0.65,2.22,0.00,0.000,6,0.170,0.042,2913,1609,1947
$GC,9059,0.61,328.5,948.6,9.2,791,9145,0.12,2.38,76.18,1.397,4,0.075,0.058,2979,201,1604
$GC,9223,0.51,328.5,927.4,13.0,798,9228,0.20,2.12,0.00,0.000,6,0.143,0.041,2924,1575,1600
$GC,9546,0.70,383.3,895.2,10.2,814,9612,0.17,2.28,51.55,1.335,4,0.059,0.058,3014,194,1381
$GC,9681,0.53,383.3,874.2,15.6,820,9686,0.30,2.15,0.00,0.000,6,0.141,0.041,2929,1584,1378
$GC,10008,0.73,416.6,839.1,10.9,836,10066,0.20,2.25,36.85,1.165,4,0.056,0.058,3039,204,1246
$GC,10162,0.50,416.6,809.8,20.8,843,10167,0.40,2.10,0.00,0.000,6,0.141,0.041,2921,1569,1244
$GC,10490,0.79,457.1,772.6,10.7,859,10556,0.22,2.30,44.20,1.183,4,0.052,0.058,3043,195,1081
$GC,10646,0.58,457.1,744.3,18.4,866,10651,0.32,2.08,0.00,0.000,6,0.141,0.041,2949,1546,1078
$GC,10978,0.82,490.7,706.5,10.9,882,11029,0.20,2.17,35.75,1.168,4,0.053,0.056,3063,196,944
$GC,11164,0.60,490.7,669.6,20.9,890,11171,0.30,2.05,0.00,0.000,6,0.138,0.042,2953,1513,941
$GC,11480,0.87,505.1,631.4,11.5,906,11502,0.20,2.12,14.02,1.184,4,0.051,0.058,3070,204,886
$GC,11581,0.67,505.1,611.8,21.9,910,11586,0.32,1.95,0.00,0.000,6,0.143,0.042,2975,1488,884
$GC,11897,0.86,505.1,570.5,12.7,925,11901,0.17,2.03,0.00,0.000,4,0.055,0.057,3076,198,883
$GC,11970,0.65,505.1,556.4,21.1,928,11974,0.35,1.92,0.00,0.000,6,0.140,0.041,2971,1483,882
$GC,12290,0.91,541.5,517.7,10.8,944,12344,0.20,2.05,38.00,1.074,4,0.051,0.054,3087,202,737
$GC,12361,0.71,541.5,504.6,21.4,947,12365,0.32,1.95,0.00,0.000,6,0.137,0.039,2991,1478,736
$GC,12685,0.92,541.5,462.2,12.7,976,12689,0.17,2.03,0.00,0.000,4,0.054,0.055,3088,192,734
$GC,12723,0.77,541.5,455.3,19.1,979,12730,0.28,1.90,0.00,0.000,6,0.144,0.040,3008,1459,733
$GC,13048,0.93,541.5,411.8,12.7,1010,13052,0.15,1.98,0.00,0.000,4,0.060,0.056,3095,195,734
$GC,13086,0.76,541.5,405.0,19.6,1013,13093,0.30,1.88,0.00,0.000,6,0.140,0.038,3005,1456,733
$GC,13411,1.02,589.3,367.6,10.4,1044,13460,0.20,2.05,43.05,1.044,4,0.051,0.054,3125,197,542
$GC,13513,0.84,589.3,346.9,22.1,1053,13517,0.32,1.88,0.00,0.000,6,0.137,0.038,3029,1435,540
$GC,13843,1.05,589.3,305.6,12.2,1084,13847,0.17,1.92,0.00,0.000,4,0.054,0.053,3136,199,540
$GC,13911,0.84,589.3,292.8,20.3,1093,13918,0.35,1.83,0.00,0.000,6,0.135,0.039,3030,1427,540
$GC,14256,1.21,697.4,254.6,8.4,1154,14282,0.30,1.92,19.73,0.917,4,0.042,0.051,3184,195,456
$GC,14334,0.91,697.4,239.9,22.3,1167,14340,0.45,1.80,0.00,0.000,6,0.143,0.035,3050,1411,455
$GC,14678,1.17,701.3,202.0,11.9,1228,14686,0.20,0.00,0.00,0.000,6,0.048,0.000,3160,1412,455
$GC,15024,1.08,701.3,137.8,17.2,1289,15031,0.17,1.88,0.00,0.000,4,0.138,0.049,3114,187,455
$GC,15060,1.18,701.3,132.3,13.4,1295,15066,0.00,1.80,0.00,0.000,6,0.000,0.034,3115,1407,455
$GC,15404,1.36,713.0,90.6,11.6,1356,15412,0.20,1.85,0.00,0.000,4,0.049,0.048,3236,189,455
$GC,15447,1.09,713.0,83.0,20.1,1363,15455,0.38,1.77,0.03,0.206,6,0.140,0.031,3115,1398,455
$GC,15795,1.37,744.0,40.9,11.0,1424,15803,0.20,0.00,0.03,0.206,6,0.048,0.000,3230,1398,455
$STATE,15992,end climb,SURFACE_DEPTH_REACHED
$STATE,15992,begin surface coast
$FINISH,0.8,1.021119
$STATE,16011,end surface coast,CONTROL_FINISHED_OK
$STATE,16011,begin surface
$SM_CCo,16088,0.00,0.000,0,0,454,610.80
$SM_GC,1.42,8.07,0.00,0.00,0.041,0.000,0.000,151,1535,454,-8.08,0.99,610.80
$IRIDIUM_FIX,2427.58,12330.23,160998,131331
$TT8_MAMPS,0.026845
$HUMID,1551
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.10
$XPDR_PINGS,104
$24V_AH,23.0,50.413
$10V_AH,10.7,29.576
$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,34.100,136.900,780.350,0.000,0.000,99.555,227.405,617.531,34.000,0.000,0.000,24.068,2629.772,9499.666,889.472,3082.921,1250.246,0.000,2324.798,0.000,3029.062,0.000,54.437,0.000
$DEVICE_MAMPS,235.469,58.292,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.545,1010.892,1701.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85303,1462
$CAP_FILE_SIZE,185342,0
$CFSIZE,260165632,218546176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,11,0
$CURRENT,0.208, 46.7,1
$GPS,220609,173527,2436.070,12327.620,37,2.9,56,-3.6