version: 66.04
glider: 166
mission: 2
dive: 244
start: 6 23 109 17 51 35
data:
$ID,166
$MISSION,2
$DIVE,244
$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,-10206.981
$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,53
$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
$GPS1,174336,2436.052,12320.656,32,1.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.6
$GPS2,175114,2435.999,12320.889,16,1.2,16,-3.5
$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,266.9,6805,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-243.4,0.0,0.0,0,105,0.00,0.00,-87.95,0.000,2,0.000,0.000,170,1561,2448
$GC,108,-1.08,-243.4,3.4,-7.0,14,162,9.15,2.12,-37.90,0.000,4,0.233,0.054,2414,198,3939
$GC,215,-0.59,-243.4,28.0,-28.5,31,223,0.60,2.03,0.00,0.000,6,0.150,0.028,2583,1590,3940
$GC,560,-0.63,-243.4,77.5,-12.5,92,567,0.00,2.08,0.00,0.000,4,0.000,0.041,2583,2968,3941
$GC,658,-0.74,-243.4,89.0,-10.6,109,666,0.12,2.05,0.00,0.000,6,0.047,0.030,2514,1575,3942
$GC,1004,-0.64,-243.4,140.1,-15.3,170,1011,0.17,2.10,0.00,0.000,4,0.135,0.040,2570,2980,3943
$GC,1065,-0.79,-243.4,146.8,-10.2,180,1072,0.15,2.00,0.00,0.000,6,0.058,0.030,2493,1615,3943
$GC,1410,-0.69,-243.4,192.7,-14.0,241,1417,0.17,2.12,0.00,0.000,4,0.137,0.043,2549,215,3944
$GC,1458,-0.76,-243.4,198.4,-10.9,249,1465,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,1615,3944
$GC,1803,-0.82,-243.4,228.5,-7.8,310,1810,0.12,2.12,0.00,0.000,4,0.067,0.043,2486,201,3943
$GC,1828,-0.76,-243.4,231.1,-10.6,314,1835,0.17,2.03,0.00,0.000,6,0.141,0.028,2534,1610,3943
$GC,2177,-0.83,-243.4,275.1,-11.7,375,2184,0.00,2.03,0.00,0.000,4,0.000,0.044,2529,2977,3943
$GC,2264,-0.96,-243.4,285.5,-10.7,390,2271,0.17,2.00,0.00,0.000,6,0.054,0.031,2444,1610,3942
$GC,2600,-0.84,-243.4,334.0,-14.2,430,2605,0.20,2.10,0.00,0.000,4,0.135,0.044,2508,211,3942
$GC,2628,-0.84,-243.4,337.3,-12.1,432,2632,0.00,2.05,0.00,0.000,6,0.000,0.029,2506,1626,3942
$GC,2961,-0.94,-243.4,365.6,-8.4,463,2964,0.00,2.00,0.00,0.000,4,0.000,0.045,2513,2970,3940
$GC,3018,-1.07,-243.4,370.8,-8.9,468,3023,0.22,1.95,0.00,0.000,6,0.050,0.032,2403,1624,3940
$GC,3349,-0.87,-243.4,422.2,-16.0,499,3354,0.28,2.03,0.00,0.000,4,0.140,0.045,2492,2965,3938
$GC,3388,-0.95,-243.4,427.1,-10.9,502,3392,0.00,1.95,0.00,0.000,6,0.000,0.034,2494,1626,3938
$GC,3723,-1.00,-243.4,462.0,-10.9,533,3727,0.10,2.05,0.00,0.000,4,0.074,0.048,2430,2977,3935
$GC,3794,-0.96,-243.4,471.3,-12.8,539,3802,0.10,1.95,0.00,0.000,6,0.145,0.035,2460,1648,3934
$GC,4129,-0.96,-243.4,506.8,-10.4,568,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1649,3931
$GC,4439,-0.96,-243.4,540.1,-10.9,583,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1649,3929
$GC,4749,-0.96,-243.4,575.2,-11.8,598,4753,0.00,2.03,0.00,0.000,4,0.000,0.051,2454,2968,3925
$GC,4776,-0.96,-243.4,579.1,-12.9,599,4780,0.00,1.98,0.00,0.000,6,0.000,0.040,2457,1643,3925
$GC,5103,-0.96,-243.4,621.9,-13.3,615,5107,0.00,2.05,0.00,0.000,4,0.000,0.057,2453,2971,3922
$GC,5151,-1.03,-243.4,627.8,-13.3,617,5154,0.00,1.95,0.00,0.000,6,0.000,0.038,2458,1657,3922
$GC,5483,-1.03,-243.4,673.9,-14.1,633,5487,0.00,2.22,0.00,0.000,4,0.000,0.052,2454,205,3919
$GC,5505,-1.03,-243.4,677.4,-15.1,634,5509,0.00,2.15,0.00,0.000,6,0.000,0.035,2442,1651,3919
$GC,5839,-1.03,-243.4,720.6,-12.3,650,5843,0.00,2.00,0.00,0.000,4,0.000,0.054,2438,2962,3917
$GC,5976,-1.06,-243.4,735.3,-10.3,656,5980,0.00,1.92,0.00,0.000,6,0.000,0.046,2439,1680,3915
$GC,6309,-1.06,-243.4,768.0,-9.4,672,6313,0.00,2.28,0.00,0.000,4,0.000,0.054,2439,204,3912
$GC,6342,-1.00,-243.4,771.4,-10.6,673,6346,0.00,2.20,0.00,0.000,6,0.000,0.038,2437,1673,3912
$GC,6664,-1.00,-243.4,804.6,-11.1,689,6668,0.00,2.28,0.00,0.000,4,0.000,0.054,2438,208,3910
$GC,6696,-0.95,-243.4,808.7,-12.4,690,6703,0.05,2.20,0.00,0.000,6,0.119,0.038,2468,1655,3909
$GC,7012,-1.04,-243.4,838.6,-8.7,706,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1656,3907
$GC,7322,-1.12,-243.4,864.8,-8.4,721,7324,0.17,0.00,0.00,0.000,6,0.062,0.000,2390,1656,3906
$GC,7631,-0.99,-243.4,904.8,-13.6,736,7633,0.22,0.00,0.00,0.000,6,0.144,0.000,2458,1657,3903
$GC,7940,-1.05,-243.4,937.2,-11.5,751,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1657,3902
$STATE,8164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8164,begin apogee
$GC,8170,-0.24,0.0,961.7,10.8,762,8378,0.73,0.00,204.45,1.457,6,0.102,0.000,2702,1509,2945
$STATE,8378,end apogee,CONTROL_FINISHED_OK
$STATE,8379,begin climb
$GC,8381,1.08,243.4,975.1,0.0,772,8611,1.17,2.30,218.80,1.414,4,0.046,0.059,3141,206,1951
$GC,8672,0.54,243.4,944.9,18.6,786,8677,0.70,2.08,0.00,0.000,6,0.179,0.048,2953,1495,1946
$GC,8993,0.48,243.4,905.2,14.0,802,8997,0.00,2.08,0.00,0.000,4,0.000,0.061,2960,198,1943
$GC,9039,0.37,243.4,898.2,15.0,804,9044,0.22,2.00,0.00,0.000,6,0.140,0.048,2896,1503,1942
$GC,9372,0.49,274.6,857.4,11.0,820,9416,0.12,0.00,31.27,1.207,6,0.072,0.000,2953,1503,1825
$GC,9721,0.64,427.0,828.0,7.0,837,9874,0.00,2.25,140.80,1.351,4,0.000,0.061,2963,206,1204
$GC,9930,0.82,513.9,812.1,9.1,846,10032,0.15,2.05,85.80,1.271,6,0.044,0.044,3060,1480,849
$GC,10350,0.70,513.9,743.2,17.0,867,10354,0.20,2.25,0.00,0.000,4,0.144,0.055,2998,2911,845
$GC,10370,0.70,513.9,739.4,15.6,868,10375,0.00,2.25,0.00,0.000,6,0.000,0.046,3006,1483,845
$GC,10698,0.74,513.9,694.8,15.5,884,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1483,843
$GC,11008,0.80,513.9,650.4,13.5,899,11011,0.00,2.00,0.00,0.000,4,0.000,0.061,3016,205,843
$GC,11113,0.80,513.9,635.0,14.7,903,11121,0.00,1.95,0.00,0.000,6,0.000,0.045,3016,1471,842
$GC,11430,0.84,513.9,592.2,13.8,919,11434,0.00,2.00,0.00,0.000,4,0.000,0.061,3026,199,842
$GC,11497,0.84,513.9,582.3,14.9,922,11501,0.00,1.90,0.00,0.000,6,0.000,0.045,3026,1454,841
$GC,11829,0.84,513.9,532.8,15.1,938,11833,0.00,1.98,0.00,0.000,4,0.000,0.061,3036,199,841
$GC,11867,0.84,513.9,526.5,17.2,939,11875,0.00,1.90,0.00,0.000,6,0.000,0.045,3036,1436,841
$GC,12187,0.84,513.9,476.7,14.7,962,12191,0.00,2.25,0.00,0.000,4,0.000,0.052,3037,2897,840
$GC,12214,0.84,513.9,472.5,15.6,964,12221,0.00,2.25,0.00,0.000,6,0.000,0.045,3047,1443,840
$GC,12541,0.84,513.9,425.6,15.0,995,12544,0.00,1.92,0.00,0.000,4,0.000,0.060,3058,204,840
$GC,12608,0.84,513.9,414.5,15.9,1001,12612,0.00,1.85,0.00,0.000,6,0.000,0.043,3058,1436,840
$GC,12940,0.84,513.9,361.1,15.7,1032,12944,0.00,1.92,0.00,0.000,4,0.000,0.057,3069,199,840
$GC,12963,0.84,513.9,357.2,15.7,1034,12966,0.00,1.83,0.00,0.000,6,0.000,0.041,3069,1426,840
$GC,13295,0.84,513.9,305.9,13.8,1065,13298,0.00,1.92,0.00,0.000,4,0.000,0.058,3079,190,840
$GC,13345,0.84,513.9,297.8,14.8,1070,13352,0.10,1.85,0.00,0.000,6,0.140,0.041,3047,1413,840
$GC,13689,1.03,593.4,259.8,9.4,1131,13769,0.17,1.98,69.55,0.946,4,0.094,0.054,3148,208,525
$GC,13832,0.91,593.4,236.4,19.1,1155,13840,0.28,1.80,0.00,0.000,6,0.136,0.039,3069,1394,523
$GC,14179,1.05,593.4,191.6,12.5,1216,14187,0.12,1.88,0.00,0.000,4,0.062,0.053,3149,192,522
$GC,14233,0.93,593.4,182.7,18.3,1225,14240,0.22,1.80,0.00,0.000,6,0.126,0.038,3075,1376,522
$GC,14576,1.14,593.4,141.6,12.2,1286,14583,0.17,1.83,0.00,0.000,4,0.051,0.053,3181,199,522
$GC,14623,1.06,593.4,133.4,18.6,1294,14630,0.17,1.70,0.00,0.000,6,0.129,0.035,3122,1332,522
$GC,14969,1.18,598.7,90.7,11.8,1355,14983,0.00,2.42,5.80,0.607,4,0.000,0.048,3124,2909,504
$GC,15025,1.33,613.5,83.5,11.5,1364,15044,0.20,2.38,12.18,0.711,6,0.050,0.038,3235,1323,455
$GC,15384,1.20,613.5,24.3,17.6,1427,15392,0.22,1.70,0.08,0.123,4,0.146,0.049,3171,199,455
$GC,15449,1.20,613.5,16.1,13.4,1438,15455,0.00,1.65,0.00,0.000,6,0.000,0.032,3170,1322,455
$STATE,15545,end climb,SURFACE_DEPTH_REACHED
$STATE,15546,begin surface coast
$FINISH,0.8,1.020958
$STATE,15568,end surface coast,CONTROL_FINISHED_OK
$STATE,15570,begin surface
$SM_CCo,15647,0.00,0.000,0,0,454,611.04
$SM_GC,1.53,7.95,0.00,0.00,0.039,0.000,0.000,162,1588,454,-8.15,0.37,611.04
$IRIDIUM_FIX,2427.58,12319.71,170998,131330
$TT8_MAMPS,0.026845
$HUMID,1561
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.90
$XPDR_PINGS,119
$24V_AH,22.9,52.264
$10V_AH,10.7,30.489
$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,25.125,130.525,768.725,0.000,0.000,24.020,36.833,256.362,37.500,0.000,0.000,16.854,2557.247,9132.839,853.851,2930.291,615.403,0.000,2218.879,0.000,2899.765,0.000,54.408,0.000
$DEVICE_MAMPS,233.168,63.661,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.877,1006.537,1690.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85317,1459
$CAP_FILE_SIZE,161607,0
$CFSIZE,260165632,218017792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.187, 88.8,1
$GPS,230609,221337,2436.097,12319.744,41,1.0,41,-3.5