version: 66.04
glider: 166
mission: 2
dive: 243
start: 6 23 109 12 56 25
data:
$ID,166
$MISSION,2
$DIVE,243
$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,-10189.501
$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,40
$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
$GPS1,124836,2437.420,12322.026,36,1.6,41,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.2
$GPS2,125606,2437.634,12322.145,14,1.3,30,-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,245.9,9942,-16.4,-12.000
$D_GRID,961
$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,-1.08,-243.4,0.0,0.0,0,105,0.00,0.00,-85.93,0.000,2,0.000,0.000,169,1596,2398
$GC,107,-1.08,-243.4,3.3,-5.9,13,161,9.12,2.20,-38.83,0.000,4,0.232,0.057,2418,198,3939
$GC,214,-0.57,-243.4,28.8,-30.8,30,221,0.60,2.03,0.00,0.000,6,0.147,0.028,2587,1588,3941
$GC,559,-0.63,-243.4,80.1,-13.0,91,567,0.00,2.08,0.00,0.000,4,0.000,0.041,2587,2968,3942
$GC,659,-0.73,-243.4,91.5,-11.0,108,666,0.10,2.03,0.00,0.000,6,0.048,0.029,2521,1590,3942
$GC,1004,-0.64,-243.4,143.7,-16.0,169,1011,0.15,2.05,0.00,0.000,4,0.139,0.040,2563,210,3943
$GC,1073,-0.64,-243.4,153.7,-13.3,181,1080,0.00,2.05,0.00,0.000,6,0.000,0.027,2561,1628,3943
$GC,1418,-0.73,-243.4,190.7,-10.1,242,1425,0.00,2.00,0.00,0.000,4,0.000,0.039,2560,2970,3944
$GC,1455,-0.86,-243.4,194.2,-9.7,248,1462,0.15,1.95,0.00,0.000,6,0.044,0.028,2473,1622,3944
$GC,1799,-0.75,-243.4,240.5,-13.3,309,1806,0.17,2.10,0.00,0.000,4,0.138,0.041,2530,205,3944
$GC,1851,-0.75,-243.4,246.2,-10.4,318,1858,0.00,2.08,0.00,0.000,6,0.000,0.027,2530,1638,3944
$GC,2196,-0.99,-243.4,282.9,-11.2,379,2204,0.17,1.98,0.00,0.000,4,0.054,0.038,2435,2983,3944
$GC,2278,-0.86,-243.4,294.2,-14.4,393,2285,0.22,1.92,0.00,0.000,6,0.135,0.030,2501,1641,3944
$GC,2613,-0.90,-243.4,326.6,-8.5,428,2617,0.00,2.00,0.00,0.000,4,0.000,0.041,2501,2982,3942
$GC,2648,-0.99,-243.4,329.4,-8.1,431,2652,0.08,1.92,0.00,0.000,6,0.031,0.030,2433,1662,3942
$GC,2977,-0.83,-243.4,369.5,-12.8,462,2982,0.22,2.17,0.00,0.000,4,0.140,0.042,2505,213,3940
$GC,2995,-0.73,-243.4,371.5,-12.1,463,2999,0.12,2.10,0.00,0.000,6,0.136,0.029,2536,1665,3941
$GC,3320,-0.99,-243.4,399.4,-9.2,493,3325,0.17,2.20,0.00,0.000,4,0.052,0.043,2427,206,3938
$GC,3354,-0.88,-243.4,403.4,-12.6,496,3359,0.22,2.28,0.00,0.000,6,0.143,0.031,2494,1753,3938
$GC,3679,-0.98,-243.4,441.0,-10.8,526,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1754,3935
$GC,4000,-1.18,-243.4,471.8,-9.3,556,4005,0.22,2.35,0.00,0.000,4,0.048,0.044,2381,211,3932
$GC,4089,-0.91,-243.4,486.0,-16.7,563,4097,0.32,2.42,0.00,0.000,6,0.149,0.035,2478,1837,3931
$GC,4421,-0.96,-243.4,515.8,-8.3,586,4425,0.00,2.47,0.00,0.000,4,0.000,0.047,2477,216,3929
$GC,4487,-0.96,-243.4,521.9,-8.5,589,4491,0.00,2.40,0.00,0.000,6,0.000,0.041,2474,1816,3928
$GC,4816,-1.01,-243.4,545.1,-7.6,605,4821,0.00,2.45,0.00,0.000,4,0.000,0.048,2478,226,3925
$GC,4856,-1.01,-243.4,549.1,-10.1,607,4860,0.00,2.38,0.00,0.000,6,0.000,0.038,2470,1802,3925
$GC,5184,-1.06,-243.4,582.4,-10.4,623,5189,0.10,2.42,0.00,0.000,4,0.077,0.051,2424,226,3922
$GC,5250,-0.94,-243.4,591.8,-14.2,626,5255,0.20,2.35,0.00,0.000,6,0.146,0.038,2475,1786,3921
$GC,5574,-1.00,-243.4,624.4,-9.1,642,5579,0.00,2.42,0.00,0.000,4,0.000,0.054,2475,221,3919
$GC,5635,-1.05,-243.4,630.6,-9.6,644,5642,0.00,2.35,0.00,0.000,6,0.000,0.037,2472,1794,3919
$GC,5951,-1.13,-243.4,656.9,-8.3,660,5956,0.17,1.77,0.00,0.000,4,0.062,0.051,2385,2964,3917
$GC,5980,-1.04,-243.4,659.6,-10.7,661,5984,0.17,1.73,0.00,0.000,6,0.148,0.037,2436,1789,3916
$GC,6306,-1.04,-243.4,691.0,-9.1,677,6310,0.00,2.42,0.00,0.000,4,0.000,0.053,2436,214,3914
$GC,6396,-0.98,-243.4,700.2,-9.7,681,6401,0.10,2.33,0.00,0.000,6,0.165,0.038,2456,1760,3913
$GC,6723,-0.98,-243.4,728.2,-10.6,697,6727,0.00,2.38,0.00,0.000,4,0.000,0.053,2456,228,3912
$GC,6750,-0.98,-243.4,731.5,-11.5,698,6754,0.00,2.30,0.00,0.000,6,0.000,0.040,2455,1747,3911
$GC,7071,-0.98,-243.4,753.2,-4.6,714,7075,0.00,2.38,0.00,0.000,4,0.000,0.054,2455,219,3910
$GC,7103,-0.98,-243.4,755.2,-6.5,715,7111,0.00,2.30,0.00,0.000,6,0.000,0.038,2452,1740,3909
$GC,7422,-0.98,-243.4,775.8,-8.7,731,7426,0.00,2.38,0.00,0.000,4,0.000,0.054,2452,216,3908
$GC,7488,-0.98,-243.4,783.5,-11.6,734,7492,0.00,2.30,0.00,0.000,6,0.000,0.040,2452,1736,3908
$GC,7808,-0.98,-243.4,819.5,-11.3,750,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1737,3905
$GC,8120,-0.98,-243.4,850.7,-9.2,765,8124,0.00,2.38,0.00,0.000,4,0.000,0.056,2452,220,3904
$GC,8182,-0.98,-243.4,856.7,-10.0,768,8186,0.00,2.30,0.00,0.000,6,0.000,0.041,2452,1730,3903
$GC,8509,-1.02,-243.4,883.2,-6.8,784,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1731,3902
$GC,8818,-1.02,-243.4,908.7,-9.2,799,8822,0.00,1.92,0.00,0.000,4,0.000,0.059,2455,2954,3901
$GC,8845,-1.07,-243.4,910.8,-7.8,800,8849,0.00,1.80,0.00,0.000,6,0.000,0.042,2452,1753,3901
$GC,9172,-1.07,-243.4,948.7,-14.0,816,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1753,3899
$STATE,9272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9273,begin apogee
$GC,9279,-0.24,0.0,961.5,13.4,821,9487,0.75,0.00,204.60,1.463,6,0.109,0.000,2699,1520,2946
$STATE,9487,end apogee,CONTROL_FINISHED_OK
$STATE,9487,begin climb
$GC,9490,1.08,243.4,978.2,0.0,831,9715,1.15,0.00,220.65,1.415,6,0.034,0.000,3141,1519,1952
$GC,10024,0.57,243.4,899.5,18.7,857,10026,0.62,0.00,0.00,0.000,6,0.174,0.000,2965,1519,1942
$GC,10332,0.54,292.8,867.5,10.4,872,10378,0.00,0.00,43.53,1.363,6,0.000,0.000,2964,1519,1751
$GC,10683,0.50,292.8,821.8,14.4,889,10687,0.00,2.08,0.00,0.000,4,0.000,0.061,2972,203,1745
$GC,10729,0.43,292.8,814.8,15.8,891,10733,0.20,1.98,0.00,0.000,6,0.140,0.042,2915,1503,1745
$GC,11061,0.58,336.0,774.6,10.6,907,11110,0.15,0.00,41.35,1.279,6,0.067,0.000,2981,1503,1575
$GC,11411,0.55,349.1,730.5,11.6,924,11435,0.00,2.15,14.70,1.081,4,0.000,0.058,2991,195,1521
$GC,11554,0.50,349.1,712.6,12.7,930,11558,0.20,1.98,0.00,0.000,6,0.139,0.042,2935,1490,1518
$GC,11880,0.75,460.8,685.3,8.3,946,11993,0.22,0.00,104.93,1.269,6,0.053,0.000,3039,1490,1066
$GC,12290,0.68,460.8,626.9,15.8,966,12294,0.17,2.05,0.00,0.000,4,0.143,0.057,2992,198,1059
$GC,12316,0.68,460.8,622.8,13.6,967,12320,0.00,1.95,0.00,0.000,6,0.000,0.041,2992,1480,1058
$GC,12645,0.75,460.8,582.2,12.2,983,12649,0.00,2.03,0.00,0.000,4,0.000,0.058,3002,196,1057
$GC,12678,0.79,460.8,577.4,13.2,984,12682,0.00,1.95,0.00,0.000,6,0.000,0.041,3001,1472,1056
$GC,13000,0.84,460.8,536.8,12.8,1000,13004,0.12,2.00,0.00,0.000,4,0.065,0.058,3079,199,1056
$GC,13054,0.66,460.8,526.8,20.2,1002,13059,0.30,1.88,0.00,0.000,6,0.145,0.041,2991,1453,1056
$GC,13381,0.76,464.1,485.2,11.9,1023,13384,0.00,1.95,0.00,0.000,4,0.000,0.058,2999,196,1055
$GC,13408,0.85,471.1,481.5,11.8,1025,13426,0.15,1.90,9.05,1.035,6,0.064,0.040,3072,1450,1023
$GC,13744,0.74,471.1,429.9,14.9,1057,13746,0.20,0.00,0.00,0.000,6,0.145,0.000,3015,1451,1023
$GC,14066,0.83,499.6,395.1,11.1,1087,14104,0.00,2.00,28.80,1.011,4,0.000,0.056,3023,192,907
$GC,14142,0.91,506.4,386.3,11.8,1093,14154,0.12,1.90,7.78,0.904,6,0.067,0.040,3085,1440,879
$GC,14471,0.82,506.4,333.9,15.8,1124,14476,0.17,1.95,0.00,0.000,4,0.143,0.054,3045,193,877
$GC,14498,0.82,506.4,329.9,13.7,1126,14505,0.00,1.88,0.00,0.000,6,0.000,0.039,3044,1423,877
$GC,14830,0.88,510.6,284.9,11.9,1168,14839,0.00,2.33,4.82,0.721,4,0.000,0.048,3046,2906,863
$GC,14857,0.94,510.6,281.6,12.1,1172,14865,0.00,2.28,0.00,0.000,6,0.000,0.041,3055,1408,863
$GC,15205,1.05,533.1,241.6,11.3,1233,15231,0.15,1.95,21.73,0.917,4,0.056,0.053,3150,190,770
$GC,15350,0.86,533.1,212.7,19.1,1258,15356,0.28,1.85,0.00,0.000,6,0.137,0.037,3052,1413,768
$GC,15692,1.00,548.8,170.5,11.5,1319,15714,0.12,1.90,14.98,0.825,4,0.064,0.052,3141,192,707
$GC,15868,0.94,548.8,140.4,16.0,1349,15875,0.17,1.80,0.00,0.000,6,0.124,0.034,3083,1392,707
$GC,16213,1.13,588.2,102.7,10.7,1410,16259,0.15,2.35,34.85,0.784,4,0.053,0.041,3168,2902,546
$GC,16283,1.05,588.2,91.1,18.7,1421,16290,0.25,2.30,0.00,0.000,6,0.141,0.038,3108,1393,546
$GC,16628,1.30,653.9,54.2,9.8,1482,16656,0.20,1.90,20.77,0.715,4,0.048,0.048,3225,192,454
$GC,16697,1.16,653.9,43.2,16.2,1493,16704,0.20,1.83,0.00,0.000,6,0.132,0.031,3147,1423,453
$GC,17044,1.30,662.5,3.8,11.7,1554,17050,0.12,2.20,0.00,0.000,4,0.061,0.035,3225,2914,453
$STATE,17057,end climb,SURFACE_DEPTH_REACHED
$STATE,17057,begin surface coast
$FINISH,0.7,1.009763
$STATE,17085,end surface coast,CONTROL_FINISHED_OK
$STATE,17085,begin surface
$SM_CCo,17164,0.00,0.000,0,0,453,611.29
$SM_GC,1.51,8.10,0.00,0.00,0.040,0.000,0.000,158,1561,453,-8.14,-0.40,611.29
$IRIDIUM_FIX,2427.58,12323.00,170998,080834
$TT8_MAMPS,0.026845
$HUMID,1529
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,25.00
$XPDR_PINGS,123
$24V_AH,22.9,51.955
$10V_AH,10.7,30.344
$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,27.125,148.525,772.525,0.000,0.000,24.583,35.966,237.072,38.500,0.000,0.000,30.705,2765.868,10229.186,934.781,3057.684,610.118,0.000,2299.021,0.000,3018.000,0.000,52.754,0.000
$DEVICE_MAMPS,231.634,60.593,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.051,1077.881,1809.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91744,1561
$CAP_FILE_SIZE,176116,0
$CFSIZE,260165632,218083328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.118,102.3,1
$GPS,230609,174336,2436.052,12320.656,32,1.0,32,-3.5