version: 66.04
glider: 166
mission: 2
dive: 241
start: 6 23 109 3 21 53
data:
$ID,166
$MISSION,2
$DIVE,241
$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,-10142.383
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,1575
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,65
$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
$GPS1,031407,2437.462,12325.060,39,1.2,39,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.5
$GPS2,032134,2437.547,12325.207,13,2.5,32,-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,241.7,14605,-16.4,-12.000
$D_GRID,1216
$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,-1.08,-243.4,0.0,0.0,0,105,0.00,0.00,-86.95,0.000,2,0.000,0.000,169,1522,2422
$GC,108,-1.08,-243.4,3.4,-7.3,13,161,9.23,2.08,-37.90,0.000,4,0.235,0.056,2421,193,3940
$GC,185,-0.53,-243.4,19.9,-27.5,25,192,0.62,2.03,0.00,0.000,6,0.151,0.030,2600,1580,3941
$GC,530,-0.57,-243.4,66.3,-11.3,86,536,0.00,2.08,0.00,0.000,4,0.000,0.041,2600,2981,3942
$GC,639,-0.65,-243.4,78.2,-10.7,105,646,0.08,2.08,0.00,0.000,6,0.054,0.029,2545,1566,3942
$GC,984,-0.60,-243.4,127.6,-12.8,166,991,0.12,2.10,0.00,0.000,4,0.135,0.041,2579,2977,3943
$GC,1027,-0.74,-243.4,132.1,-10.2,173,1034,0.08,1.98,0.00,0.000,6,0.028,0.030,2505,1626,3943
$GC,1373,-0.66,-243.4,183.0,-13.6,234,1379,0.17,0.00,0.00,0.000,6,0.136,0.000,2562,1625,3944
$GC,1717,-0.76,-243.4,216.4,-9.7,295,1724,0.00,2.00,0.00,0.000,4,0.000,0.042,2562,2971,3944
$GC,1771,-0.92,-243.4,221.7,-10.1,304,1778,0.17,1.98,0.00,0.000,6,0.028,0.031,2451,1618,3944
$GC,2116,-0.75,-243.4,273.6,-13.4,365,2122,0.22,2.03,0.00,0.000,4,0.134,0.042,2525,2976,3944
$GC,2182,-0.84,-243.4,279.5,-7.8,376,2188,0.00,2.00,0.00,0.000,6,0.000,0.031,2525,1612,3944
$GC,2520,-0.90,-243.4,311.4,-9.0,426,2524,0.12,2.10,0.00,0.000,4,0.065,0.044,2460,210,3943
$GC,2553,-0.75,-243.4,315.4,-12.5,428,2560,0.20,2.05,0.00,0.000,6,0.122,0.029,2526,1609,3943
$GC,2878,-1.01,-243.4,345.5,-9.1,459,2882,0.20,2.03,0.00,0.000,4,0.051,0.043,2421,2975,3941
$GC,2995,-0.89,-243.4,359.6,-12.7,469,3002,0.22,1.95,0.00,0.000,6,0.134,0.032,2487,1628,3940
$GC,3320,-0.89,-243.4,394.9,-10.8,500,3324,0.00,2.12,0.00,0.000,4,0.000,0.047,2488,216,3939
$GC,3355,-0.89,-243.4,398.9,-11.6,503,3359,0.00,2.08,0.00,0.000,6,0.000,0.030,2489,1641,3938
$GC,3685,-0.89,-243.4,436.6,-11.7,534,3689,0.00,1.98,0.00,0.000,4,0.000,0.047,2480,2966,3935
$GC,3811,-0.96,-243.4,450.4,-10.7,545,3815,0.00,1.92,0.00,0.000,6,0.000,0.035,2479,1664,3934
$GC,4143,-0.96,-243.4,484.9,-9.5,576,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1664,3930
$GC,4466,-0.96,-243.4,517.5,-10.2,599,4470,0.00,2.00,0.00,0.000,4,0.000,0.054,2474,2969,3928
$GC,4494,-1.02,-243.4,520.3,-10.1,600,4498,0.00,1.95,0.00,0.000,6,0.000,0.041,2474,1652,3928
$GC,4822,-1.07,-243.4,553.2,-9.7,616,4826,0.12,2.22,0.00,0.000,4,0.067,0.051,2414,204,3925
$GC,4906,-0.88,-243.4,564.6,-13.7,620,4911,0.28,2.12,0.00,0.000,6,0.143,0.035,2493,1638,3923
$GC,5235,-0.97,-243.4,594.0,-8.6,636,5239,0.00,2.03,0.00,0.000,4,0.000,0.053,2489,2967,3921
$GC,5268,-1.11,-243.4,597.1,-8.8,637,5272,0.20,1.98,0.00,0.000,6,0.052,0.041,2397,1635,3921
$GC,5588,-0.93,-243.4,639.7,-13.5,653,5593,0.22,2.17,0.00,0.000,4,0.143,0.051,2469,216,3918
$GC,5621,-0.93,-243.4,643.6,-10.8,654,5627,0.00,2.10,0.00,0.000,6,0.000,0.036,2461,1634,3918
$GC,5937,-0.93,-243.4,675.5,-10.1,670,5941,0.00,2.03,0.00,0.000,4,0.000,0.052,2456,2974,3915
$GC,6021,-1.01,-243.4,683.7,-10.0,673,6027,0.00,1.95,0.00,0.000,6,0.000,0.038,2459,1658,3915
$GC,6337,-1.01,-243.4,717.6,-11.3,689,6341,0.00,2.22,0.00,0.000,4,0.000,0.053,2457,212,3913
$GC,6375,-1.01,-243.4,722.5,-12.3,690,6382,0.00,2.17,0.00,0.000,6,0.000,0.036,2453,1649,3912
$GC,6691,-1.01,-243.4,757.7,-10.5,706,6695,0.00,2.03,0.00,0.000,4,0.000,0.054,2451,2969,3910
$GC,6738,-1.08,-243.4,762.1,-9.2,708,6741,0.00,1.98,0.00,0.000,6,0.000,0.044,2452,1656,3909
$GC,7070,-1.08,-243.4,791.6,-8.5,724,7074,0.00,2.00,0.00,0.000,4,0.000,0.054,2451,2967,3907
$GC,7094,-1.12,-243.4,793.5,-7.9,725,7098,0.12,1.92,0.00,0.000,6,0.067,0.040,2391,1677,3907
$GC,7426,-0.98,-243.4,835.1,-13.1,741,7431,0.20,2.28,0.00,0.000,4,0.146,0.054,2456,214,3905
$GC,7453,-0.98,-243.4,838.7,-12.6,742,7457,0.00,2.20,0.00,0.000,6,0.000,0.038,2451,1657,3905
$GC,7775,-0.98,-243.4,874.2,-10.5,758,7778,0.00,2.03,0.00,0.000,4,0.000,0.056,2451,2969,3903
$GC,7836,-1.07,-243.4,880.5,-9.7,760,7842,0.00,1.95,0.00,0.000,6,0.000,0.041,2451,1686,3902
$GC,8152,-1.10,-243.4,913.9,-11.1,776,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1686,3901
$GC,8461,-1.15,-243.4,948.3,-11.1,791,8466,0.12,2.30,0.00,0.000,4,0.069,0.056,2394,218,3899
$GC,8532,-0.99,-243.4,959.5,-16.1,794,8537,0.25,2.20,0.00,0.000,6,0.153,0.041,2458,1666,3899
$GC,8849,-1.06,-243.4,988.8,-7.8,809,8853,0.00,2.03,0.00,0.000,4,0.000,0.057,2459,2973,3897
$STATE,8863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8863,begin apogee
$GC,8870,-0.24,0.0,990.2,7.6,809,9079,0.70,0.00,205.10,1.482,6,0.108,0.000,2695,1508,2945
$STATE,9079,end apogee,CONTROL_FINISHED_OK
$STATE,9079,begin climb
$GC,9082,1.08,243.4,998.2,0.0,820,9311,1.23,2.38,220.95,1.428,4,0.044,0.054,3136,2883,1952
$GC,9327,0.56,243.4,970.6,20.6,832,9333,0.73,2.30,0.00,0.000,6,0.182,0.048,2960,1496,1947
$GC,9649,0.54,299.5,935.4,10.1,848,9705,0.00,2.15,50.15,1.388,4,0.000,0.059,2968,195,1723
$GC,9762,0.49,299.5,922.4,12.2,853,9766,0.12,2.00,0.00,0.000,6,0.150,0.039,2936,1487,1720
$GC,10089,0.51,318.8,885.8,11.4,869,10113,0.00,2.28,18.12,1.325,4,0.000,0.054,2935,2894,1644
$GC,10136,0.51,318.8,879.8,12.9,871,10141,0.00,2.22,0.00,0.000,6,0.000,0.044,2943,1489,1643
$GC,10466,0.58,378.4,843.6,10.0,887,10533,0.00,2.15,56.75,1.329,4,0.000,0.059,2952,204,1401
$GC,10567,0.69,412.4,832.8,10.9,891,10627,0.12,2.00,38.62,1.160,6,0.075,0.040,3011,1494,1263
$GC,10943,0.62,412.4,780.9,13.8,910,10944,0.12,0.00,0.00,0.000,6,0.146,0.000,2979,1496,1257
$GC,11252,0.62,412.4,742.7,13.9,925,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1496,1255
$GC,11561,0.66,412.4,696.6,14.7,940,11565,0.00,2.05,0.00,0.000,4,0.000,0.058,2986,192,1254
$GC,11622,0.66,412.4,687.2,14.5,942,11629,0.00,1.98,0.00,0.000,6,0.000,0.042,2986,1482,1253
$GC,11938,0.75,485.3,652.2,9.6,958,12021,0.00,0.00,70.90,1.215,6,0.000,0.000,2985,1484,966
$GC,12328,0.87,509.0,609.8,11.2,977,12363,0.17,2.08,24.50,1.123,4,0.056,0.057,3089,199,868
$GC,12449,0.71,509.0,586.2,21.6,982,12453,0.30,1.98,0.00,0.000,6,0.143,0.041,3001,1494,866
$GC,12769,0.80,509.0,543.0,12.1,998,12773,0.00,2.03,0.00,0.000,4,0.000,0.058,3010,202,865
$GC,12847,0.86,509.0,533.3,12.3,1001,12851,0.12,1.90,0.00,0.000,6,0.069,0.041,3070,1469,864
$GC,13173,0.75,509.0,482.0,16.5,1022,13177,0.17,2.20,0.00,0.000,4,0.149,0.049,3015,2903,864
$GC,13194,0.71,509.0,478.3,15.6,1023,13202,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,1458,863
$GC,13520,0.76,509.0,432.9,14.0,1054,13524,0.00,1.95,0.00,0.000,4,0.000,0.058,3035,199,864
$GC,13580,0.76,509.0,423.6,14.7,1059,13588,0.00,1.90,0.00,0.000,6,0.000,0.040,3035,1454,863
$GC,13908,0.80,509.0,378.9,14.2,1090,13911,0.00,1.95,0.00,0.000,4,0.000,0.056,3045,203,863
$GC,13979,0.80,509.0,367.8,15.5,1096,13986,0.00,1.85,0.00,0.000,6,0.000,0.039,3045,1430,863
$GC,14306,0.80,509.0,323.6,14.0,1127,14310,0.00,1.90,0.00,0.000,4,0.000,0.056,3056,203,863
$GC,14397,0.80,509.0,309.6,15.6,1135,14400,0.00,1.77,0.00,0.000,6,0.000,0.038,3056,1408,862
$GC,14736,0.85,509.0,259.9,13.1,1189,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1411,862
$GC,15079,0.95,512.4,222.9,11.9,1250,15085,0.00,2.25,0.00,0.000,4,0.000,0.044,3058,2908,862
$GC,15103,1.03,512.4,219.8,13.0,1254,15110,0.12,2.25,0.00,0.000,6,0.061,0.040,3138,1405,862
$GC,15447,0.94,512.4,161.7,14.6,1315,15455,0.17,1.88,0.00,0.000,4,0.140,0.051,3088,196,862
$GC,15588,1.03,529.9,144.9,11.4,1339,15614,0.00,1.77,18.35,0.820,6,0.000,0.035,3090,1395,786
$GC,15955,1.20,580.1,106.2,10.3,1403,16006,0.17,1.88,44.15,0.785,4,0.053,0.048,3202,195,579
$GC,16071,1.06,580.1,87.3,19.0,1422,16078,0.25,1.75,0.00,0.000,6,0.132,0.031,3122,1368,578
$GC,16416,1.23,592.5,49.3,11.6,1483,16431,0.15,0.00,12.12,0.670,6,0.055,0.000,3201,1368,528
$STATE,16734,end climb,SURFACE_DEPTH_REACHED
$STATE,16734,begin surface coast
$FINISH,0.7,0.999863
$STATE,16751,end surface coast,CONTROL_FINISHED_OK
$STATE,16751,begin surface
$SM_CCo,16829,0.00,0.000,0,0,527,593.14
$SM_GC,1.44,8.00,0.00,0.00,0.035,0.000,0.000,168,1588,527,-8.14,0.37,593.14
$IRIDIUM_FIX,2427.58,12328.26,160998,222220
$TT8_MAMPS,0.026845
$HUMID,1530
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.40
$XPDR_PINGS,108
$24V_AH,22.9,51.335
$10V_AH,10.7,30.038
$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,25.650,143.925,759.725,0.000,0.000,23.649,31.074,235.560,35.000,0.000,0.000,33.634,2731.257,9903.732,888.708,3132.219,602.505,0.000,2312.740,0.000,3084.530,0.000,54.414,0.000
$DEVICE_MAMPS,235.469,59.059,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.012,1062.609,1783.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88451,1542
$CAP_FILE_SIZE,173067,0
$CFSIZE,260165632,218271744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.140, 69.7,1
$GPS,230609,080336,2437.000,12323.741,39,1.0,39,-3.6