version: 66.04
glider: 166
mission: 2
dive: 242
start: 6 23 109 8 12 46
data:
$ID,166
$MISSION,2
$DIVE,242
$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,-10158.166
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,080336,2437.000,12323.741,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.1
$GPS2,081226,2437.116,12323.769,15,1.2,15,-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,254.1,12054,-16.4,-12.000
$D_GRID,1119
$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,-1.08,-243.4,0.0,0.0,0,102,0.00,0.00,-84.93,0.000,2,0.000,0.000,169,1589,2457
$GC,105,-1.08,-243.4,3.4,-6.1,13,158,9.20,2.20,-37.62,0.000,4,0.232,0.054,2418,182,3940
$GC,216,-0.54,-243.4,29.9,-29.5,31,223,0.62,2.03,0.00,0.000,6,0.148,0.028,2594,1576,3942
$GC,562,-0.54,-243.4,77.4,-12.9,92,568,0.00,2.05,0.00,0.000,4,0.000,0.040,2594,2969,3942
$GC,653,-0.64,-243.4,88.7,-12.5,108,660,0.00,2.05,0.00,0.000,6,0.000,0.029,2594,1573,3943
$GC,998,-0.77,-243.4,126.2,-9.7,169,1006,0.17,2.03,0.00,0.000,4,0.054,0.041,2502,209,3943
$GC,1053,-0.63,-243.4,134.0,-15.8,178,1060,0.20,2.00,0.00,0.000,6,0.123,0.027,2569,1590,3943
$GC,1398,-0.73,-243.4,170.2,-10.6,239,1404,0.00,2.03,0.00,0.000,4,0.000,0.038,2569,2978,3944
$GC,1458,-0.87,-243.4,175.9,-9.3,249,1466,0.22,2.03,0.00,0.000,6,0.047,0.028,2463,1559,3944
$GC,1806,-0.72,-243.4,224.7,-12.0,310,1814,0.22,2.00,0.00,0.000,4,0.130,0.040,2538,205,3944
$GC,1845,-0.76,-243.4,228.3,-9.0,316,1851,0.00,1.98,0.00,0.000,6,0.000,0.026,2538,1575,3944
$GC,2191,-0.87,-243.4,262.7,-10.4,377,2198,0.12,2.05,0.00,0.000,4,0.066,0.038,2473,2972,3944
$GC,2283,-0.87,-243.4,273.9,-12.3,393,2290,0.00,2.03,0.00,0.000,6,0.000,0.029,2472,1564,3944
$GC,2621,-0.80,-243.4,313.9,-11.4,443,2626,0.15,2.08,0.00,0.000,4,0.129,0.040,2517,2961,3943
$GC,2642,-0.80,-243.4,316.3,-10.4,444,2649,0.00,2.00,0.00,0.000,6,0.000,0.031,2517,1569,3942
$GC,2970,-0.89,-243.4,343.7,-9.2,475,2973,0.00,2.08,0.00,0.000,4,0.000,0.042,2515,2959,3941
$GC,3031,-1.04,-243.4,349.2,-8.5,480,3038,0.22,2.03,0.00,0.000,6,0.048,0.030,2412,1553,3940
$GC,3356,-0.83,-243.4,394.3,-14.0,511,3361,0.28,2.10,0.00,0.000,4,0.140,0.041,2490,2962,3938
$GC,3401,-0.94,-243.4,398.8,-8.8,515,3405,0.00,1.98,0.00,0.000,6,0.000,0.031,2489,1593,3938
$GC,3733,-0.99,-243.4,434.5,-10.7,546,3736,0.00,2.08,0.00,0.000,4,0.000,0.046,2487,210,3935
$GC,3767,-1.02,-243.4,438.1,-10.9,549,3772,0.12,2.00,0.00,0.000,6,0.071,0.031,2430,1593,3934
$GC,4098,-0.91,-243.4,481.4,-12.6,580,4102,0.17,2.05,0.00,0.000,4,0.139,0.044,2480,2961,3932
$GC,4188,-0.99,-243.4,490.8,-9.8,588,4192,0.00,1.98,0.00,0.000,6,0.000,0.033,2479,1610,3930
$GC,4514,-1.04,-243.4,522.3,-9.3,608,4518,0.10,2.12,0.00,0.000,4,0.073,0.047,2425,207,3928
$GC,4536,-0.98,-243.4,525.0,-11.6,609,4540,0.12,2.05,0.00,0.000,6,0.156,0.034,2460,1602,3927
$GC,4863,-0.98,-243.4,556.3,-9.2,625,4866,0.00,2.08,0.00,0.000,4,0.000,0.048,2452,2976,3925
$GC,4937,-1.03,-243.4,562.6,-8.3,628,4940,0.00,2.00,0.00,0.000,6,0.000,0.038,2459,1621,3924
$GC,5263,-1.03,-243.4,593.8,-9.8,644,5267,0.00,2.15,0.00,0.000,4,0.000,0.051,2457,211,3922
$GC,5286,-1.03,-243.4,596.4,-11.3,645,5290,0.00,2.10,0.00,0.000,6,0.000,0.035,2452,1620,3921
$GC,5619,-1.03,-243.4,636.1,-12.1,661,5622,0.00,2.05,0.00,0.000,4,0.000,0.051,2450,2971,3918
$GC,5680,-1.08,-243.4,643.5,-11.9,663,5686,0.00,2.00,0.00,0.000,6,0.000,0.038,2453,1621,3918
$GC,5996,-1.08,-243.4,683.3,-12.1,679,5999,0.00,2.08,0.00,0.000,4,0.000,0.051,2444,2977,3915
$GC,6023,-1.08,-243.4,686.9,-12.9,680,6027,0.00,2.03,0.00,0.000,6,0.000,0.045,2447,1625,3915
$GC,6350,-1.08,-243.4,727.6,-12.0,696,6353,0.00,2.08,0.00,0.000,4,0.000,0.053,2443,2972,3913
$GC,6383,-1.08,-243.4,731.7,-11.8,697,6386,0.00,2.00,0.00,0.000,6,0.000,0.039,2446,1628,3912
$GC,6704,-1.08,-243.4,768.3,-10.6,713,6708,0.00,2.20,0.00,0.000,4,0.000,0.054,2445,200,3910
$GC,6738,-1.04,-243.4,772.1,-11.2,714,6742,0.00,2.15,0.00,0.000,6,0.000,0.037,2443,1643,3910
$GC,7059,-1.04,-243.4,799.9,-8.3,730,7064,0.00,2.05,0.00,0.000,4,0.000,0.054,2443,2977,3908
$GC,7137,-1.04,-243.4,807.2,-9.6,733,7141,0.00,2.00,0.00,0.000,6,0.000,0.040,2442,1639,3907
$GC,7460,-1.04,-243.4,840.1,-10.8,749,7464,0.00,2.08,0.00,0.000,4,0.000,0.054,2439,2979,3905
$GC,7487,-1.04,-243.4,843.4,-11.4,750,7491,0.00,2.00,0.00,0.000,6,0.000,0.041,2439,1643,3905
$GC,7815,-1.04,-243.4,879.2,-10.6,766,7818,0.00,2.25,0.00,0.000,4,0.000,0.056,2439,194,3904
$GC,7848,-1.00,-243.4,883.5,-12.9,767,7851,0.00,2.20,0.00,0.000,6,0.000,0.039,2439,1654,3903
$GC,8169,-1.00,-243.4,920.7,-12.0,783,8173,0.00,2.03,0.00,0.000,4,0.000,0.056,2439,2969,3901
$GC,8225,-1.05,-243.4,926.5,-10.1,785,8229,0.00,1.98,0.00,0.000,6,0.000,0.041,2439,1654,3901
$GC,8547,-1.05,-243.4,960.0,-10.4,801,8550,0.00,2.05,0.00,0.000,4,0.000,0.057,2439,2970,3899
$GC,8597,-1.13,-243.4,964.4,-7.1,803,8600,0.00,1.98,0.00,0.000,6,0.000,0.042,2440,1657,3898
$GC,8924,-1.13,-243.4,981.5,-6.8,819,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1657,3897
$STATE,9045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9045,begin apogee
$GC,9051,-0.24,0.0,991.2,7.7,825,9259,0.77,0.00,204.95,1.477,6,0.112,0.000,2693,1484,2945
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9262,1.08,243.4,998.7,0.0,835,9494,1.20,0.00,220.12,1.424,6,0.045,0.000,3130,1484,1949
$GC,9801,0.61,243.4,905.3,19.6,861,9805,0.52,2.00,0.00,0.000,4,0.179,0.057,2988,205,1942
$GC,9833,0.41,243.4,899.9,13.7,862,9840,0.28,2.00,0.00,0.000,6,0.141,0.041,2909,1500,1941
$GC,10150,0.62,362.0,872.8,8.1,878,10261,0.17,2.17,105.50,1.376,4,0.063,0.064,2999,204,1467
$GC,10319,0.53,362.0,850.4,14.6,886,10323,0.20,2.03,0.00,0.000,6,0.141,0.041,2945,1502,1464
$GC,10651,0.62,362.0,810.8,12.4,902,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1503,1459
$GC,10960,0.80,442.4,777.9,9.3,917,11055,0.22,2.17,76.82,1.279,4,0.054,0.058,3061,218,1141
$GC,11116,0.63,442.4,751.0,20.0,924,11121,0.28,1.98,0.00,0.000,6,0.146,0.041,2983,1487,1138
$GC,11444,0.74,481.7,712.6,10.7,940,11492,0.00,2.10,38.38,1.222,4,0.000,0.058,2992,202,980
$GC,11531,0.78,481.7,702.7,12.3,944,11535,0.00,2.00,0.00,0.000,6,0.000,0.041,2991,1475,978
$GC,11858,0.93,535.3,667.1,10.2,960,11924,0.20,2.12,51.65,1.212,4,0.053,0.058,3101,206,762
$GC,11977,0.74,535.3,643.2,22.6,965,11982,0.30,1.95,0.00,0.000,6,0.143,0.047,3016,1469,759
$GC,12298,0.81,535.3,598.9,13.9,981,12302,0.00,2.00,0.00,0.000,4,0.000,0.058,3024,200,758
$GC,12365,0.81,535.3,588.7,14.7,984,12369,0.00,1.88,0.00,0.000,6,0.000,0.041,3024,1441,758
$GC,12698,0.87,535.3,536.2,16.2,1000,12701,0.00,1.92,0.00,0.000,4,0.000,0.058,3033,211,758
$GC,12758,0.87,535.3,525.4,18.1,1002,12765,0.00,1.85,0.00,0.000,6,0.000,0.041,3033,1425,756
$GC,13079,0.91,535.3,476.0,14.1,1025,13083,0.10,1.90,0.00,0.000,4,0.077,0.057,3097,209,757
$GC,13117,0.78,535.3,469.4,18.1,1028,13124,0.17,1.83,0.00,0.000,6,0.146,0.041,3029,1413,756
$GC,13443,0.88,568.7,431.9,10.9,1059,13487,0.00,1.95,32.35,1.043,4,0.000,0.058,3037,212,625
$GC,13562,0.95,584.7,418.1,11.5,1069,13583,0.12,1.80,15.65,1.029,6,0.071,0.039,3097,1407,561
$GC,13899,0.84,584.7,355.9,18.1,1101,13901,0.20,0.00,0.00,0.000,6,0.140,0.000,3041,1408,560
$GC,14220,0.96,584.7,311.9,13.9,1131,14225,0.12,1.88,0.00,0.000,4,0.066,0.055,3113,205,559
$GC,14328,0.86,584.7,291.4,18.1,1144,14335,0.17,1.77,0.00,0.000,6,0.138,0.038,3055,1386,559
$GC,14674,1.00,584.7,246.9,14.5,1205,14682,0.12,1.85,0.00,0.000,4,0.064,0.054,3137,197,559
$GC,14746,0.88,584.7,233.0,19.7,1217,14754,0.28,1.75,0.00,0.000,6,0.133,0.041,3054,1381,559
$GC,15094,1.07,599.7,187.2,11.5,1278,15114,0.17,1.88,14.40,0.850,4,0.052,0.052,3159,206,499
$GC,15289,0.97,599.7,151.9,17.1,1312,15296,0.20,1.70,0.00,0.000,6,0.132,0.035,3094,1345,499
$GC,15636,1.15,627.7,112.1,11.1,1373,15657,0.12,1.83,11.35,0.746,4,0.062,0.051,3178,194,454
$GC,15737,1.09,627.7,95.6,16.1,1390,15745,0.15,1.70,0.00,0.000,6,0.127,0.034,3129,1340,454
$GC,16082,1.37,699.8,54.4,9.6,1451,16088,0.20,0.00,0.00,0.000,6,0.048,0.000,3242,1341,454
$STATE,16378,end climb,SURFACE_DEPTH_REACHED
$STATE,16379,begin surface coast
$FINISH,0.9,1.021339
$STATE,16397,end surface coast,CONTROL_FINISHED_OK
$STATE,16397,begin surface
$SM_CCo,16474,0.00,0.000,0,0,454,611.04
$SM_GC,1.56,8.15,0.00,0.00,0.041,0.000,0.000,168,1596,454,-8.14,0.59,611.04
$IRIDIUM_FIX,2427.58,12326.28,170998,030359
$TT8_MAMPS,0.026078
$HUMID,1570
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.90
$XPDR_PINGS,111
$24V_AH,22.9,51.654
$10V_AH,10.7,30.190
$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,26.400,145.050,771.175,0.000,0.000,25.016,40.461,329.110,35.750,0.000,0.000,15.156,2695.163,9654.735,854.789,3092.680,691.095,0.000,2294.814,0.000,3050.272,0.000,54.430,0.000
$DEVICE_MAMPS,232.401,63.661,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1023.208,1040.898,1747.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88556,1507
$CAP_FILE_SIZE,175515,0
$CFSIZE,260165632,218185728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.140, 64.7,1
$GPS,230609,124836,2437.420,12322.026,36,1.6,41,-3.6