version: 66.04
glider: 166
mission: 2
dive: 333
start: 7 15 109 6 21 41
data:
$ID,166
$MISSION,2
$DIVE,333
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-11867.152
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,061354,2444.953,12424.976,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.3
$GPS2,062119,2444.947,12425.027,10,1.1,15,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2444.200,12407.100
$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,294.8,30187,-13.7,-7.990
$D_GRID,684
$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,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-54.80,0.000,2,0.000,0.000,170,1698,2398
$GC,76,-1.01,-170.3,3.3,-4.8,9,124,9.38,2.22,-33.30,0.000,4,0.235,0.052,2448,263,3641
$GC,246,-1.01,-170.3,35.6,-21.1,37,252,0.00,2.03,0.00,0.000,6,0.000,0.027,2447,1683,3641
$GC,590,-1.01,-170.3,102.1,-17.7,98,596,0.00,2.05,0.00,0.000,4,0.000,0.037,2448,3064,3641
$GC,631,-1.01,-170.3,109.0,-16.3,105,638,0.00,2.03,0.00,0.000,6,0.000,0.028,2440,1649,3641
$GC,977,-1.01,-170.3,160.1,-15.8,166,983,0.00,2.10,0.00,0.000,4,0.000,0.037,2434,3077,3642
$GC,1013,-1.01,-170.3,165.4,-14.4,172,1019,0.00,2.03,0.00,0.000,6,0.000,0.028,2431,1656,3642
$GC,1358,-1.01,-170.3,210.6,-13.2,233,1364,0.00,2.03,0.00,0.000,4,0.000,0.039,2427,280,3643
$GC,1409,-1.01,-170.3,218.1,-15.1,242,1416,0.00,2.03,0.00,0.000,6,0.000,0.025,2428,1716,3643
$GC,1753,-1.01,-170.3,262.3,-12.3,303,1760,0.00,2.15,0.00,0.000,4,0.000,0.040,2429,268,3642
$GC,1784,-1.01,-170.3,266.6,-13.6,308,1791,0.00,2.03,0.00,0.000,6,0.000,0.026,2429,1698,3643
$GC,2130,-1.01,-170.3,310.8,-11.9,362,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1699,3642
$GC,2448,-1.01,-170.3,344.6,-10.2,392,2452,0.00,2.12,0.00,0.000,4,0.000,0.042,2428,279,3642
$GC,2498,-1.01,-170.3,350.3,-11.2,396,2504,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1698,3641
$GC,2825,-1.01,-170.3,384.1,-10.3,427,2829,0.00,2.03,0.00,0.000,4,0.000,0.041,2427,3076,3639
$GC,2872,-1.01,-170.3,389.1,-10.6,431,2876,0.00,2.03,0.00,0.000,6,0.000,0.031,2426,1674,3640
$GC,3202,-1.01,-170.3,422.1,-10.3,462,3206,0.00,2.10,0.00,0.000,4,0.000,0.044,2425,270,3637
$GC,3286,-1.01,-170.3,432.1,-12.0,469,3292,0.00,2.03,0.00,0.000,6,0.000,0.029,2426,1670,3637
$GC,3611,-1.01,-170.3,468.0,-10.6,500,3615,0.00,2.10,0.00,0.000,4,0.000,0.045,2426,279,3635
$GC,3627,-1.01,-170.3,470.1,-11.4,501,3633,0.00,2.03,0.00,0.000,6,0.000,0.029,2429,1682,3635
$GC,3962,-1.01,-170.3,501.8,-8.4,532,3966,0.00,2.08,0.00,0.000,4,0.000,0.044,2445,3074,3632
$GC,4008,-1.01,-170.3,505.6,-8.4,534,4012,0.00,2.05,0.00,0.000,6,0.000,0.034,2443,1671,3631
$GC,4340,-1.01,-170.3,533.4,-9.1,550,4344,0.00,2.12,0.00,0.000,4,0.000,0.049,2444,268,3629
$GC,4367,-1.01,-170.3,536.2,-11.0,551,4371,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1668,3629
$GC,4695,-1.01,-170.3,568.1,-9.9,567,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1669,3626
$GC,5003,-1.01,-170.3,598.0,-9.3,582,5007,0.00,2.15,0.00,0.000,4,0.000,0.050,2447,264,3624
$GC,5108,-1.01,-170.3,608.8,-10.6,586,5115,0.00,2.12,0.00,0.000,6,0.000,0.035,2447,1681,3622
$GC,5425,-1.01,-170.3,637.3,-9.4,602,5428,0.00,2.17,0.00,0.000,4,0.000,0.057,2447,277,3619
$GC,5480,-1.01,-170.3,643.4,-10.6,604,5484,0.00,2.10,0.00,0.000,6,0.000,0.042,2447,1686,3620
$GC,5803,-1.01,-170.3,675.8,-9.6,620,5807,0.00,2.12,0.00,0.000,4,0.000,0.050,2447,3083,3616
$GC,5875,-1.01,-170.3,682.6,-9.2,623,5880,0.00,2.12,0.00,0.000,6,0.000,0.042,2447,1670,3616
$STATE,5893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5893,begin apogee
$GC,5899,-0.29,0.0,684.1,9.0,624,6041,0.73,0.00,138.60,1.227,6,0.107,0.000,2686,1347,2945
$STATE,6042,end apogee,CONTROL_FINISHED_OK
$STATE,6042,begin climb
$GC,6044,1.01,170.3,690.4,0.0,631,6193,1.17,0.00,141.48,1.189,6,0.061,0.000,3109,1348,2249
$GC,6503,1.01,170.3,654.3,10.4,653,6507,0.00,2.17,0.00,0.000,4,0.000,0.048,3110,2755,2244
$GC,6621,1.01,170.3,640.9,11.8,658,6625,0.00,2.15,0.00,0.000,6,0.000,0.044,3114,1345,2243
$GC,6948,1.01,170.3,604.6,11.6,674,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1345,2241
$GC,7258,1.01,170.3,573.7,9.7,689,7261,0.00,1.77,0.00,0.000,4,0.000,0.058,3119,193,2239
$GC,7342,1.01,170.3,565.6,9.7,692,7348,0.00,1.77,0.00,0.000,6,0.000,0.048,3119,1366,2238
$GC,7657,1.01,170.3,536.3,9.3,708,7661,0.00,2.10,0.00,0.000,4,0.000,0.054,3118,2747,2236
$GC,7770,1.01,170.3,524.9,10.1,713,7774,0.00,2.12,0.00,0.000,6,0.000,0.050,3128,1342,2236
$GC,8096,1.01,170.3,488.7,11.1,733,8100,0.00,2.15,0.00,0.000,4,0.000,0.047,3128,2756,2235
$GC,8175,1.01,170.3,479.8,10.8,740,8180,0.12,2.15,0.00,0.000,6,0.193,0.044,3110,1342,2234
$GC,8500,1.02,171.1,452.5,8.0,770,8504,0.00,2.15,0.00,0.000,4,0.000,0.047,3109,2755,2234
$GC,8759,1.05,202.1,432.2,7.0,793,8792,0.00,2.12,24.77,1.071,6,0.000,0.043,3120,1347,2122
$GC,9109,1.05,202.1,401.1,9.3,826,9113,0.00,2.15,0.00,0.000,4,0.000,0.049,3120,2755,2119
$GC,9154,1.05,202.1,396.1,11.4,830,9158,0.00,2.15,0.00,0.000,6,0.000,0.044,3131,1337,2118
$GC,9488,1.05,202.1,367.0,8.1,861,9491,0.00,1.75,0.00,0.000,4,0.000,0.054,3142,193,2118
$GC,9522,1.05,202.1,363.7,9.0,864,9526,0.00,1.73,0.00,0.000,6,0.000,0.040,3142,1362,2118
$GC,9857,1.05,202.1,336.5,8.3,895,9860,0.00,2.10,0.00,0.000,4,0.000,0.050,3142,2755,2118
$GC,10071,1.05,202.1,317.4,9.3,914,10076,0.12,2.12,0.00,0.000,6,0.183,0.041,3123,1338,2117
$GC,10402,1.05,202.1,289.2,9.2,954,10408,0.00,2.12,0.00,0.000,4,0.000,0.043,3120,2756,2118
$GC,10545,1.07,216.1,277.4,7.5,979,10565,0.00,2.12,13.18,0.893,6,0.000,0.040,3129,1336,2064
$GC,10903,1.10,236.2,250.5,7.4,1042,10928,0.00,2.17,18.30,0.887,4,0.000,0.044,3129,2758,1981
$GC,11062,1.12,256.8,239.1,7.3,1069,11088,0.00,2.12,18.38,0.869,6,0.000,0.038,3139,1346,1897
$GC,11428,1.14,268.0,214.9,7.6,1133,11447,0.00,1.80,10.80,0.800,4,0.000,0.056,3147,203,1851
$GC,11656,1.14,268.0,193.8,10.7,1173,11663,0.00,1.70,0.00,0.000,6,0.000,0.032,3147,1364,1851
$GC,12000,1.20,318.6,164.4,6.4,1234,12052,0.00,2.12,43.17,0.827,4,0.000,0.042,3147,2736,1645
$GC,12092,1.20,318.6,156.0,10.5,1249,12099,0.00,2.10,0.00,0.000,6,0.000,0.038,3157,1344,1644
$GC,12439,1.26,366.3,126.7,6.5,1310,12484,0.00,0.00,40.67,0.782,6,0.000,0.000,3157,1344,1451
$GC,12823,1.26,366.3,88.0,10.0,1377,12830,0.00,2.08,0.00,0.000,4,0.000,0.036,3157,2742,1447
$GC,12909,1.26,366.3,80.1,8.5,1392,12916,0.00,2.08,0.00,0.000,6,0.000,0.035,3167,1337,1446
$GC,13256,1.26,366.3,49.5,10.5,1453,13262,0.00,2.08,0.00,0.000,4,0.000,0.035,3167,2757,1446
$GC,13280,1.26,366.3,47.0,9.9,1457,13286,0.00,2.10,0.00,0.000,6,0.000,0.035,3177,1350,1446
$GC,13624,1.30,404.6,18.4,6.8,1518,13664,0.00,1.80,33.03,0.670,4,0.000,0.048,3183,200,1294
$GC,13762,1.31,406.5,7.3,7.9,1541,13768,0.00,1.65,0.00,0.000,6,0.000,0.028,3183,1351,1293
$STATE,13817,end climb,SURFACE_DEPTH_REACHED
$STATE,13818,begin surface coast
$FINISH,0.7,0.998606
$STATE,13865,end surface coast,CONTROL_FINISHED_OK
$STATE,13866,begin surface
$SM_CCo,13884,36.83,0.649,0,0,1109,450.13
$SM_GC,1.70,0.00,0.00,36.83,0.000,0.000,0.649,168,1690,1109,-8.16,0.42,450.13
$IRIDIUM_FIX,2439.44,12413.02,091098,020223
$TT8_MAMPS,0.027612
$HUMID,1542
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,26.00
$XPDR_PINGS,148
$24V_AH,23.4,72.978
$10V_AH,10.7,47.106
$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,19.450,119.850,482.375,36.825,0.000,27.062,36.474,230.199,42.000,0.000,0.000,15.871,2682.912,7343.176,611.374,3066.885,652.655,0.000,1950.341,0.000,3046.631,0.000,34.408,0.000
$DEVICE_MAMPS,235.469,57.525,1227.200,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.147,1112.438,1867.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88502,1559
$CAP_FILE_SIZE,143665,0
$CFSIZE,260165632,208482304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,134.2,1
$GPS,150709,101501,2443.718,12425.433,40,1.7,40,-3.7