version: 66.04
glider: 166
mission: 2
dive: 240
start: 6 22 109 22 29 20
data:
$ID,166
$MISSION,2
$DIVE,240
$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,-10108.119
$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,0.034000002
$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,32
$R_STBD_OVSHOOT,72
$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
$GPS1,221837,2437.425,12326.126,39,1.4,39,-3.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.2
$GPS2,222901,2437.586,12326.277,15,1.9,32,-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,227.4,16342,-16.4,-12.000
$D_GRID,1254
$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,15,-0.97,-243.4,0.0,0.0,0,108,0.00,0.00,-90.90,0.000,2,0.000,0.000,171,1539,2523
$GC,111,-0.97,-243.4,3.0,-3.0,14,164,9.25,2.05,-36.25,0.000,4,0.232,0.054,2442,183,3938
$GC,176,-0.38,-243.4,16.8,-27.7,24,185,0.60,1.92,0.00,0.000,6,0.138,0.028,2634,1488,3939
$GC,523,-0.53,-243.4,55.9,-10.3,85,530,0.15,2.08,0.00,0.000,4,0.059,0.037,2555,2901,3939
$GC,676,-0.53,-243.4,75.4,-13.0,112,685,0.08,2.08,0.00,0.000,6,0.127,0.030,2583,1492,3940
$GC,1023,-0.58,-243.4,119.1,-12.8,173,1029,0.00,2.08,0.00,0.000,4,0.000,0.038,2583,2895,3941
$GC,1117,-0.70,-243.4,129.2,-10.1,189,1124,0.08,1.98,0.00,0.000,6,0.028,0.029,2511,1545,3940
$GC,1462,-0.62,-243.4,175.9,-13.2,250,1469,0.17,2.03,0.00,0.000,4,0.132,0.038,2568,2889,3942
$GC,1567,-0.81,-243.4,186.5,-9.3,268,1575,0.12,1.95,0.00,0.000,6,0.041,0.029,2474,1553,3942
$GC,1914,-0.70,-243.4,235.6,-13.0,329,1921,0.17,2.00,0.00,0.000,4,0.135,0.039,2531,2895,3942
$GC,1972,-0.78,-243.4,241.6,-8.9,339,1978,0.00,1.90,0.00,0.000,6,0.000,0.030,2531,1572,3942
$GC,2316,-0.85,-243.4,272.6,-9.7,400,2324,0.12,1.98,0.00,0.000,4,0.067,0.041,2464,2901,3942
$GC,2375,-0.80,-243.4,279.7,-12.6,410,2382,0.10,1.92,0.00,0.000,6,0.126,0.031,2500,1587,3942
$GC,2710,-0.80,-243.4,321.5,-11.5,455,2714,0.00,2.08,0.00,0.000,4,0.000,0.045,2500,201,3940
$GC,2738,-0.80,-243.4,325.0,-11.7,457,2745,0.00,2.00,0.00,0.000,6,0.000,0.028,2499,1588,3940
$GC,3062,-0.80,-243.4,354.6,-7.6,488,3066,0.00,1.92,0.00,0.000,4,0.000,0.044,2499,2889,3939
$GC,3120,-0.87,-243.4,358.6,-7.4,493,3124,0.00,1.90,0.00,0.000,6,0.000,0.033,2499,1582,3938
$GC,3452,-0.91,-243.4,388.4,-10.2,524,3456,0.00,1.95,0.00,0.000,4,0.000,0.045,2500,2891,3935
$GC,3491,-0.99,-243.4,392.7,-10.2,527,3498,0.17,1.88,0.00,0.000,6,0.054,0.033,2417,1597,3935
$GC,3816,-0.78,-243.4,438.3,-13.9,558,3821,0.28,2.10,0.00,0.000,4,0.138,0.047,2506,210,3932
$GC,3838,-0.69,-243.4,440.8,-11.2,559,3844,0.12,2.00,0.00,0.000,6,0.133,0.031,2542,1587,3931
$GC,4164,-0.98,-243.4,468.9,-8.9,590,4169,0.25,2.10,0.00,0.000,4,0.046,0.047,2410,205,3929
$GC,4174,-1.20,-243.4,470.1,-9.0,590,4181,0.10,2.15,0.00,0.000,6,0.088,0.033,2366,1674,3929
$GC,4508,-0.89,-243.4,525.0,-17.0,615,4513,0.32,2.25,0.00,0.000,4,0.157,0.048,2465,204,3926
$GC,4547,-0.82,-243.4,530.8,-11.9,616,4555,0.15,2.15,0.00,0.000,6,0.142,0.033,2493,1669,3925
$GC,4863,-0.90,-243.4,556.2,-7.7,632,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1670,3923
$GC,5172,-1.00,-243.4,581.9,-8.6,647,5174,0.15,0.00,0.00,0.000,6,0.063,0.000,2415,1670,3920
$GC,5481,-0.88,-243.4,624.1,-14.2,662,5485,0.17,1.85,0.00,0.000,4,0.143,0.050,2472,2889,3918
$GC,5541,-0.97,-243.4,630.7,-9.2,664,5549,0.00,1.80,0.00,0.000,6,0.000,0.038,2474,1683,3917
$GC,5857,-1.02,-243.4,659.3,-8.5,680,5862,0.12,2.28,0.00,0.000,4,0.067,0.051,2412,203,3915
$GC,5897,-0.84,-243.4,664.4,-14.2,682,5901,0.28,2.17,0.00,0.000,6,0.144,0.036,2486,1660,3915
$GC,6224,-0.93,-243.4,693.1,-8.6,698,6228,0.00,1.85,0.00,0.000,4,0.000,0.051,2483,2893,3912
$GC,6280,-1.07,-243.4,698.2,-8.8,700,6284,0.20,1.80,0.00,0.000,6,0.051,0.039,2393,1674,3911
$GC,6601,-0.90,-243.4,744.2,-14.3,716,6603,0.25,0.00,0.00,0.000,6,0.143,0.000,2469,1674,3909
$GC,6912,-0.95,-243.4,775.8,-10.0,731,6916,0.00,2.28,0.00,0.000,4,0.000,0.054,2466,208,3907
$GC,6975,-0.99,-243.4,782.6,-10.2,734,6979,0.00,2.20,0.00,0.000,6,0.000,0.038,2457,1671,3907
$GC,7307,-1.03,-243.4,814.3,-10.1,750,7311,0.00,1.88,0.00,0.000,4,0.000,0.054,2453,2893,3904
$GC,7365,-1.10,-243.4,820.0,-10.0,752,7369,0.15,1.80,0.00,0.000,6,0.061,0.040,2383,1683,3903
$GC,7685,-0.95,-243.4,868.3,-15.4,768,7690,0.20,2.30,0.00,0.000,4,0.150,0.054,2447,206,3902
$GC,7734,-0.95,-243.4,874.8,-11.9,770,7739,0.00,2.17,0.00,0.000,6,0.000,0.039,2441,1660,3901
$GC,8055,-0.95,-243.4,909.4,-10.3,786,8058,0.00,1.90,0.00,0.000,4,0.000,0.056,2437,2895,3900
$GC,8139,-1.00,-243.4,917.7,-9.2,789,8144,0.00,1.83,0.00,0.000,6,0.000,0.042,2437,1676,3899
$GC,8457,-1.00,-243.4,950.7,-10.3,805,8462,0.00,2.28,0.00,0.000,4,0.000,0.057,2437,216,3897
$GC,8497,-0.95,-243.4,955.7,-12.2,807,8501,0.00,2.20,0.00,0.000,6,0.000,0.041,2436,1667,3897
$STATE,8829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8829,begin apogee
$GC,8835,-0.20,0.0,991.7,11.1,823,9043,0.77,0.00,204.50,1.480,6,0.116,0.000,2689,1609,2945
$STATE,9044,end apogee,CONTROL_FINISHED_OK
$STATE,9044,begin climb
$GC,9046,0.97,243.4,1003.6,0.0,833,9277,1.08,0.00,220.00,1.430,6,0.048,0.000,3078,1609,1952
$GC,9584,0.60,243.4,929.7,17.9,859,9589,0.40,2.25,0.00,0.000,4,0.169,0.058,2971,194,1943
$GC,9628,0.49,243.4,923.1,13.0,861,9633,0.20,2.17,0.00,0.000,6,0.146,0.042,2915,1606,1943
$GC,9956,0.64,331.4,892.0,9.1,877,10042,0.15,2.35,78.07,1.392,4,0.068,0.059,2989,195,1593
$GC,10067,0.55,331.4,877.8,14.3,882,10072,0.20,2.22,0.00,0.000,6,0.144,0.041,2936,1604,1591
$GC,10394,0.63,343.9,840.7,11.6,898,10416,0.00,2.33,11.98,1.258,4,0.000,0.059,2944,190,1541
$GC,10507,0.69,349.8,826.7,11.8,903,10521,0.12,2.12,7.00,1.113,6,0.077,0.041,3001,1577,1518
$GC,10840,0.59,349.8,775.7,16.2,919,10842,0.20,0.00,0.00,0.000,6,0.145,0.000,2945,1580,1515
$GC,11146,0.64,349.8,734.7,12.9,934,11150,0.00,2.17,0.00,0.000,4,0.000,0.058,2954,190,1514
$GC,11207,0.64,349.8,726.2,12.9,936,11214,0.00,2.12,0.00,0.000,6,0.000,0.041,2953,1575,1513
$GC,11523,0.68,349.8,686.3,12.5,952,11527,0.00,2.15,0.00,0.000,4,0.000,0.057,2964,201,1513
$GC,11591,0.68,349.8,677.7,12.9,955,11595,0.00,2.08,0.00,0.000,6,0.000,0.041,2964,1577,1513
$GC,11925,0.70,365.6,639.2,11.5,971,11954,0.00,2.25,16.88,1.106,4,0.000,0.058,2974,194,1453
$GC,12038,0.70,365.6,624.8,12.7,976,12043,0.00,2.10,0.00,0.000,6,0.000,0.041,2974,1557,1452
$GC,12365,0.70,367.3,584.3,11.9,992,12369,0.00,2.15,0.00,0.000,4,0.000,0.058,2984,190,1451
$GC,12415,0.70,367.3,578.0,12.4,994,12419,0.00,2.08,0.00,0.000,6,0.000,0.041,2984,1541,1450
$GC,12742,0.74,396.9,541.7,11.0,1010,12785,0.00,2.15,31.10,1.131,4,0.000,0.057,2996,200,1326
$GC,12888,0.74,398.8,524.9,11.9,1016,12891,0.00,2.03,0.00,0.000,6,0.000,0.040,2995,1532,1323
$GC,13212,0.74,398.8,483.2,14.1,1037,13215,0.00,2.10,0.00,0.000,4,0.000,0.055,3006,195,1322
$GC,13279,0.74,398.8,473.1,15.3,1043,13283,0.00,2.00,0.00,0.000,6,0.000,0.041,3006,1521,1322
$GC,13611,0.78,425.9,430.0,11.1,1074,13644,0.00,2.12,26.73,1.098,4,0.000,0.056,3017,190,1206
$GC,13712,0.78,425.9,417.4,12.6,1083,13716,0.00,2.03,0.00,0.000,6,0.000,0.039,3017,1519,1205
$GC,14044,0.78,425.9,375.2,14.2,1114,14048,0.00,2.08,0.00,0.000,4,0.000,0.056,3028,196,1204
$GC,14157,0.78,425.9,357.5,16.5,1124,14160,0.00,1.95,0.00,0.000,6,0.000,0.041,3028,1494,1203
$GC,14490,0.78,431.3,312.4,11.8,1155,14502,0.00,2.03,5.57,0.801,4,0.000,0.054,3039,195,1185
$GC,14621,0.78,431.3,294.4,14.5,1169,14629,0.00,1.90,0.00,0.000,6,0.000,0.038,3039,1476,1186
$GC,14968,0.81,454.5,249.4,11.2,1230,14999,0.00,2.08,22.02,0.937,4,0.000,0.054,3048,190,1092
$GC,15018,0.85,482.9,243.7,11.1,1238,15049,0.00,1.92,26.02,0.917,6,0.000,0.039,3047,1457,976
$GC,15390,1.04,546.5,204.2,9.9,1303,15453,0.12,2.42,55.33,0.888,4,0.065,0.044,3122,3009,718
$GC,15472,0.99,546.5,192.6,14.2,1316,15479,0.20,2.42,0.00,0.000,6,0.142,0.038,3076,1445,718
$GC,15816,1.18,611.3,151.7,9.9,1377,15877,0.17,2.05,55.90,0.828,4,0.051,0.051,3185,187,455
$GC,15991,1.08,611.3,120.7,18.3,1406,15998,0.25,1.92,0.00,0.000,6,0.131,0.032,3106,1462,453
$GC,16337,1.31,656.5,78.4,10.5,1467,16343,0.17,1.95,0.00,0.000,4,0.053,0.048,3214,193,453
$GC,16451,1.20,656.5,59.5,18.4,1487,16458,0.20,1.80,0.00,0.000,6,0.130,0.031,3149,1418,453
$GC,16797,1.39,680.7,21.4,11.2,1548,16804,0.17,1.88,0.00,0.000,4,0.051,0.047,3256,183,453
$GC,16822,1.39,680.7,17.7,13.6,1552,16829,0.15,1.80,0.00,0.000,6,0.147,0.030,3209,1417,453
$STATE,16916,end climb,SURFACE_DEPTH_REACHED
$STATE,16916,begin surface coast
$FINISH,0.9,1.021458
$STATE,16936,end surface coast,CONTROL_FINISHED_OK
$STATE,16936,begin surface
$SM_CCo,17013,0.00,0.000,0,0,453,611.29
$SM_GC,1.41,8.02,0.00,0.00,0.038,0.000,0.000,169,1522,453,-8.09,0.62,611.29
$IRIDIUM_FIX,2429.95,12326.28,160998,222222
$TT8_MAMPS,0.026845
$HUMID,1531
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.20
$XPDR_PINGS,115
$24V_AH,22.9,51.033
$10V_AH,10.7,29.885
$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,26.375,152.350,761.100,0.000,0.000,42.254,63.137,295.269,36.750,0.000,0.000,32.560,2779.557,10051.032,865.034,3206.760,719.009,0.000,2346.885,0.000,3153.708,0.000,54.445,0.000
$DEVICE_MAMPS,232.401,85.904,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.449,1085.138,1823.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91676,1572
$CAP_FILE_SIZE,180410,0
$CFSIZE,260165632,218349568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.184, 46.1,1
$GPS,230609,031407,2437.462,12325.060,39,1.2,39,-3.6