version: 66.04
glider: 166
mission: 2
dive: 246
start: 6 24 109 2 55 22
data:
$ID,166
$MISSION,2
$DIVE,246
$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,-10256.29
$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,19
$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,34
$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
$GPS1,024731,2436.439,12318.991,39,1.5,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.8
$GPS2,025502,2436.635,12319.279,13,1.6,13,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_1
$TGT_LATLONG,2437.600,12250.900
$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,282.9,47810,-16.4,-12.000
$D_GRID,889
$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,-1.16,-243.4,0.0,0.0,0,102,0.00,0.00,-83.25,0.000,2,0.000,0.000,171,1595,2362
$GC,105,-1.16,-243.4,3.2,-6.3,13,163,8.85,2.17,-40.95,0.000,4,0.225,0.056,2393,195,3940
$GC,321,-0.55,-243.4,62.7,-31.5,50,328,0.70,2.03,0.00,0.000,6,0.154,0.031,2596,1584,3942
$GC,668,-0.65,-243.4,107.3,-10.9,111,675,0.00,2.05,0.00,0.000,4,0.000,0.040,2596,2978,3943
$GC,722,-0.81,-243.4,113.4,-11.8,120,729,0.22,2.05,0.00,0.000,6,0.045,0.030,2482,1559,3943
$GC,1069,-0.67,-243.4,164.0,-15.5,181,1076,0.20,2.12,0.00,0.000,4,0.134,0.038,2546,2985,3944
$GC,1105,-0.75,-243.4,168.8,-12.0,187,1113,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,1560,3945
$GC,1453,-0.84,-243.4,205.9,-9.6,248,1460,0.12,2.10,0.00,0.000,4,0.065,0.038,2472,2980,3945
$GC,1511,-0.79,-243.4,213.1,-12.3,258,1518,0.15,2.03,0.00,0.000,6,0.133,0.029,2522,1568,3945
$GC,1856,-0.83,-243.4,245.5,-8.7,319,1863,0.00,2.03,0.00,0.000,4,0.000,0.043,2517,207,3945
$GC,1887,-0.83,-243.4,248.5,-9.9,324,1893,0.00,2.03,0.00,0.000,6,0.000,0.028,2514,1626,3945
$GC,2233,-0.90,-243.4,281.8,-9.3,385,2238,0.00,2.00,0.00,0.000,4,0.000,0.042,2519,2977,3944
$GC,2320,-1.00,-243.4,289.8,-9.2,400,2328,0.17,2.03,0.00,0.000,6,0.056,0.030,2431,1571,3943
$GC,2656,-0.86,-243.4,331.6,-12.5,438,2661,0.20,2.12,0.00,0.000,4,0.141,0.042,2502,2980,3942
$GC,2685,-0.86,-243.4,334.7,-10.5,440,2688,0.00,2.00,0.00,0.000,6,0.000,0.031,2500,1605,3942
$GC,3016,-0.90,-243.4,367.8,-10.4,471,3019,0.00,2.10,0.00,0.000,4,0.000,0.046,2501,210,3940
$GC,3050,-0.90,-243.4,371.6,-11.4,474,3053,0.00,2.08,0.00,0.000,6,0.000,0.030,2492,1637,3940
$GC,3381,-0.95,-243.4,404.8,-9.4,505,3385,0.00,2.00,0.00,0.000,4,0.000,0.047,2487,2974,3938
$GC,3454,-1.03,-243.4,412.3,-9.8,511,3461,0.12,1.98,0.00,0.000,6,0.067,0.033,2426,1615,3937
$GC,3778,-0.91,-243.4,454.9,-12.7,542,3780,0.17,0.00,0.00,0.000,6,0.142,0.000,2479,1615,3935
$GC,4099,-0.91,-243.4,487.9,-10.7,572,4102,0.00,2.05,0.00,0.000,4,0.000,0.049,2474,2967,3932
$GC,4217,-0.99,-243.4,500.5,-10.6,582,4224,0.00,2.00,0.00,0.000,6,0.000,0.035,2475,1627,3931
$GC,4533,-1.03,-243.4,536.3,-11.7,598,4537,0.00,2.05,0.00,0.000,4,0.000,0.049,2477,2971,3929
$GC,4583,-1.13,-243.4,541.8,-10.9,600,4588,0.17,1.98,0.00,0.000,6,0.056,0.044,2392,1642,3929
$GC,4912,-0.95,-243.4,585.3,-13.5,616,4917,0.20,2.05,0.00,0.000,4,0.146,0.050,2456,2971,3926
$GC,4956,-1.01,-243.4,590.5,-10.1,618,4960,0.00,1.98,0.00,0.000,6,0.000,0.041,2455,1645,3926
$GC,5283,-1.01,-243.4,624.7,-10.5,634,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1645,3924
$GC,5592,-1.01,-243.4,656.6,-10.3,649,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1645,3922
$GC,5902,-1.01,-243.4,687.7,-10.1,664,5905,0.00,2.05,0.00,0.000,4,0.000,0.054,2453,2968,3919
$GC,5952,-1.07,-243.4,693.1,-10.0,666,5956,0.00,1.98,0.00,0.000,6,0.000,0.043,2455,1673,3919
$GC,6278,-1.07,-243.4,728.5,-10.2,682,6282,0.00,2.25,0.00,0.000,4,0.000,0.054,2454,214,3917
$GC,6300,-1.07,-243.4,731.0,-11.5,683,6304,0.00,2.17,0.00,0.000,6,0.000,0.038,2452,1670,3917
$GC,6622,-1.07,-243.4,764.8,-9.7,699,6626,0.00,2.00,0.00,0.000,4,0.000,0.056,2451,2971,3914
$GC,6678,-1.13,-243.4,770.5,-10.1,701,6682,0.12,1.92,0.00,0.000,6,0.066,0.041,2391,1679,3914
$GC,7000,-0.97,-243.4,810.3,-13.3,717,7005,0.20,2.28,0.00,0.000,4,0.147,0.054,2453,213,3911
$GC,7050,-0.97,-243.4,815.9,-11.0,719,7053,0.00,2.17,0.00,0.000,6,0.000,0.039,2451,1659,3911
$GC,7374,-1.01,-243.4,849.4,-11.5,735,7378,0.00,2.03,0.00,0.000,4,0.000,0.057,2452,2973,3909
$GC,7441,-1.09,-243.4,856.8,-10.4,738,7445,0.00,1.98,0.00,0.000,6,0.000,0.042,2451,1679,3909
$STATE,7751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7751,begin apogee
$GC,7757,-0.26,0.0,891.4,12.1,753,7963,0.73,0.00,203.20,1.402,6,0.112,0.000,2689,1506,2945
$STATE,7964,end apogee,CONTROL_FINISHED_OK
$STATE,7964,begin climb
$GC,7966,1.16,243.4,906.1,0.0,763,8192,1.25,2.40,214.82,1.355,4,0.041,0.055,3159,2884,1951
$GC,8250,0.60,243.4,874.7,22.3,776,8255,0.77,2.22,0.00,0.000,6,0.192,0.043,2973,1498,1945
$GC,8577,0.53,268.9,835.3,11.2,792,8612,0.00,2.12,24.65,1.197,4,0.000,0.059,2981,198,1848
$GC,8647,0.42,269.8,827.7,12.0,795,8651,0.25,2.00,0.00,0.000,6,0.145,0.041,2910,1499,1846
$GC,8969,0.69,410.2,804.1,7.4,811,9111,0.22,2.22,128.48,1.312,4,0.055,0.059,3022,206,1272
$GC,9214,0.61,410.2,766.3,17.2,822,9218,0.17,1.95,0.00,0.000,6,0.147,0.046,2975,1463,1268
$GC,9540,0.65,410.2,723.9,12.6,838,9544,0.00,2.00,0.00,0.000,4,0.000,0.059,2982,198,1264
$GC,9578,0.65,410.2,719.0,12.9,839,9586,0.00,1.92,0.00,0.000,6,0.000,0.043,2982,1452,1264
$GC,9894,0.69,410.2,677.3,13.6,855,9898,0.00,1.98,0.00,0.000,4,0.000,0.058,2991,196,1264
$GC,9927,0.69,410.2,672.5,14.3,856,9931,0.00,1.92,0.00,0.000,6,0.000,0.042,2991,1451,1263
$GC,10249,0.70,417.7,631.1,11.8,872,10260,0.00,1.95,6.40,1.019,4,0.000,0.058,3000,199,1241
$GC,10289,0.70,417.7,625.9,13.1,874,10292,0.00,1.88,0.00,0.000,6,0.000,0.042,3000,1441,1241
$GC,10620,0.70,417.7,584.0,12.4,890,10624,0.00,1.95,0.00,0.000,4,0.000,0.058,3010,193,1240
$GC,10648,0.70,417.7,580.4,13.0,891,10652,0.00,1.88,0.00,0.000,6,0.000,0.042,3009,1441,1240
$GC,10975,0.70,417.7,538.8,13.6,907,10978,0.00,2.22,0.00,0.000,4,0.000,0.051,3010,2896,1240
$GC,11001,0.70,417.7,534.8,14.5,908,11006,0.00,2.25,0.00,0.000,6,0.000,0.044,3020,1418,1239
$GC,11321,0.70,417.7,489.3,13.8,927,11325,0.00,2.28,0.00,0.000,4,0.000,0.050,3021,2899,1239
$GC,11353,0.66,417.7,484.4,14.2,929,11360,0.15,2.22,0.00,0.000,6,0.153,0.044,2991,1438,1239
$GC,11680,0.74,420.9,445.7,11.9,960,11691,0.00,1.95,4.07,0.732,4,0.000,0.058,2997,202,1229
$GC,11730,0.80,420.9,438.9,12.8,964,11737,0.08,1.88,0.00,0.000,6,0.055,0.041,3054,1439,1229
$GC,12056,0.71,420.9,390.0,15.2,995,12058,0.17,0.00,0.00,0.000,6,0.146,0.000,3004,1440,1229
$GC,12376,0.82,469.8,354.7,10.4,1025,12435,0.10,2.05,46.97,0.998,4,0.074,0.055,3065,195,1029
$GC,12476,0.75,469.8,341.7,13.5,1034,12480,0.17,1.88,0.00,0.000,6,0.141,0.038,3017,1431,1028
$GC,12806,0.89,505.4,304.3,10.8,1065,12846,0.12,0.00,32.25,0.972,6,0.064,0.000,3081,1431,884
$GC,13184,0.89,505.4,248.9,14.2,1129,13190,0.00,1.92,0.00,0.000,4,0.000,0.053,3089,195,882
$GC,13242,0.84,505.4,240.3,14.6,1139,13249,0.15,1.83,0.00,0.000,6,0.143,0.037,3048,1422,881
$GC,13589,1.05,582.9,203.0,9.4,1200,13665,0.17,1.95,67.43,0.884,4,0.054,0.051,3150,200,567
$GC,13707,0.91,582.9,184.6,16.2,1219,13715,0.22,1.83,0.00,0.000,6,0.136,0.036,3067,1391,566
$GC,14055,1.26,694.2,144.8,8.3,1280,14088,0.28,2.33,25.00,0.811,4,0.043,0.040,3200,2905,454
$GC,14109,1.11,694.2,137.2,16.9,1288,14116,0.28,2.33,0.00,0.000,6,0.155,0.038,3132,1383,453
$GC,14454,1.21,694.2,91.0,14.6,1349,14460,0.00,1.85,0.00,0.000,4,0.000,0.051,3142,193,452
$GC,14518,1.29,694.2,81.7,14.9,1360,14525,0.10,1.77,0.00,0.000,6,0.051,0.034,3205,1390,452
$GC,14863,1.23,694.2,27.9,15.9,1421,14870,0.15,1.85,0.00,0.000,4,0.147,0.047,3173,175,452
$GC,14978,1.29,694.2,11.8,12.4,1441,14984,0.00,1.75,0.00,0.000,6,0.000,0.031,3173,1372,452
$STATE,15051,end climb,SURFACE_DEPTH_REACHED
$STATE,15052,begin surface coast
$FINISH,0.7,1.009718
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15080,begin surface
$SM_CCo,15157,0.00,0.000,0,0,452,611.53
$SM_GC,1.54,7.97,0.00,0.00,0.041,0.000,0.000,162,1593,452,-8.15,0.51,611.53
$IRIDIUM_FIX,2427.58,12319.71,170998,222215
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.90
$XPDR_PINGS,141
$24V_AH,23.0,52.845
$10V_AH,10.7,30.784
$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,25.150,134.925,753.275,0.000,0.000,23.964,32.271,262.151,42.250,0.000,0.000,13.837,2556.373,8680.005,831.294,2914.838,612.599,0.000,2199.848,0.000,2887.864,0.000,47.749,0.000
$DEVICE_MAMPS,225.498,60.593,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.434,999.427,1678.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85271,1459
$CAP_FILE_SIZE,162186,0
$CFSIZE,260165632,217841664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.168,118.5,1
$GPS,240609,070907,2436.761,12318.105,34,1.1,34,-3.5