version: 66.04
glider: 166
mission: 2
dive: 247
start: 6 24 109 7 20 53
data:
$ID,166
$MISSION,2
$DIVE,247
$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,-10294.947
$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,32
$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
$GPS1,070907,2436.761,12318.105,34,1.1,34,-3.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.4
$GPS2,072034,2436.813,12318.478,18,2.2,37,-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,287.8,46450,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-243.4,0.0,0.0,0,108,0.00,0.00,-89.62,0.000,2,0.000,0.000,170,1593,2500
$GC,111,-1.16,-243.4,3.4,-5.7,14,163,8.85,2.15,-35.67,0.000,4,0.225,0.055,2393,181,3940
$GC,227,-0.62,-243.4,30.8,-25.7,33,234,0.57,2.05,0.00,0.000,6,0.153,0.027,2569,1579,3942
$GC,572,-0.62,-243.4,85.2,-15.5,94,578,0.00,2.05,0.00,0.000,4,0.000,0.039,2568,2971,3942
$GC,619,-0.70,-243.4,91.4,-12.1,102,625,0.00,2.05,0.00,0.000,6,0.000,0.030,2568,1557,3942
$GC,963,-0.74,-243.4,133.0,-12.6,163,970,0.00,2.10,0.00,0.000,4,0.000,0.039,2568,2974,3942
$GC,1055,-0.88,-243.4,142.6,-9.8,179,1063,0.17,2.00,0.00,0.000,6,0.038,0.029,2471,1601,3943
$GC,1401,-0.74,-243.4,186.4,-14.6,240,1408,0.17,2.03,0.00,0.000,4,0.141,0.038,2529,2967,3944
$GC,1489,-0.83,-243.4,196.3,-11.0,255,1495,0.00,1.92,0.00,0.000,6,0.000,0.029,2529,1646,3944
$GC,1834,-0.88,-243.4,233.1,-10.5,316,1841,0.10,0.00,0.00,0.000,6,0.076,0.000,2469,1646,3944
$GC,2180,-0.78,-243.4,278.5,-12.6,377,2186,0.17,1.98,0.00,0.000,4,0.134,0.039,2528,2975,3942
$GC,2210,-0.85,-243.4,281.9,-10.6,382,2216,0.00,1.92,0.00,0.000,6,0.000,0.029,2525,1657,3942
$GC,2552,-1.08,-243.4,311.4,-8.7,432,2556,0.25,1.95,0.00,0.000,4,0.045,0.038,2397,2976,3941
$GC,2777,-0.90,-243.4,341.9,-13.9,452,2781,0.30,1.80,0.00,0.000,6,0.137,0.031,2487,1721,3939
$GC,3107,-0.95,-243.4,376.8,-10.4,483,3111,0.00,2.25,0.00,0.000,4,0.000,0.044,2482,223,3938
$GC,3134,-0.95,-243.4,380.2,-12.0,485,3140,0.00,2.22,0.00,0.000,6,0.000,0.030,2482,1726,3938
$GC,3461,-0.99,-243.4,414.1,-9.2,516,3465,0.00,1.83,0.00,0.000,4,0.000,0.044,2476,2965,3935
$GC,3507,-1.06,-243.4,418.9,-9.1,520,3511,0.12,1.77,0.00,0.000,6,0.067,0.031,2416,1729,3935
$GC,3837,-0.92,-243.4,460.8,-12.5,551,3842,0.20,2.28,0.00,0.000,4,0.141,0.046,2483,227,3932
$GC,3898,-0.92,-243.4,467.8,-10.4,556,3902,0.00,2.20,0.00,0.000,6,0.000,0.032,2472,1722,3932
$GC,4228,-0.99,-243.4,502.2,-10.9,586,4232,0.00,1.85,0.00,0.000,4,0.000,0.048,2473,2958,3929
$GC,4301,-1.07,-243.4,509.9,-10.6,589,4305,0.12,1.77,0.00,0.000,6,0.065,0.035,2408,1750,3928
$GC,4631,-0.95,-243.4,552.4,-13.5,605,4635,0.17,1.85,0.00,0.000,4,0.143,0.048,2466,2970,3925
$GC,4676,-1.03,-243.4,558.0,-10.6,607,4680,0.00,1.77,0.00,0.000,6,0.000,0.035,2464,1760,3925
$GC,5009,-1.08,-243.4,599.0,-13.3,623,5014,0.12,2.38,0.00,0.000,4,0.067,0.050,2404,217,3922
$GC,5059,-0.91,-243.4,606.9,-15.8,625,5064,0.28,2.28,0.00,0.000,6,0.146,0.035,2482,1749,3922
$GC,5375,-1.01,-243.4,636.7,-8.6,640,5379,0.00,2.38,0.00,0.000,4,0.000,0.058,2482,217,3919
$GC,5408,-1.08,-243.4,640.1,-10.1,641,5414,0.17,2.28,0.00,0.000,6,0.061,0.038,2404,1739,3919
$GC,5726,-0.95,-243.4,683.9,-14.7,657,5730,0.17,2.35,0.00,0.000,4,0.146,0.051,2461,223,3917
$GC,5765,-0.95,-243.4,690.0,-13.5,659,5769,0.00,2.25,0.00,0.000,6,0.000,0.038,2458,1726,3917
$GC,6092,-0.95,-243.4,725.0,-9.2,675,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1726,3914
$GC,6401,-0.99,-243.4,752.6,-8.6,690,6405,0.00,2.33,0.00,0.000,4,0.000,0.054,2458,229,3911
$GC,6462,-0.99,-243.4,758.3,-8.9,692,6470,0.00,2.22,0.00,0.000,6,0.000,0.038,2455,1714,3911
$GC,6777,-0.99,-243.4,785.8,-9.7,708,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1715,3908
$GC,7088,-1.03,-243.4,818.8,-10.7,723,7092,0.00,2.33,0.00,0.000,4,0.000,0.055,2456,226,3906
$GC,7109,-1.03,-243.4,821.6,-11.9,724,7113,0.00,2.25,0.00,0.000,6,0.000,0.039,2455,1715,3907
$GC,7436,-1.08,-243.4,858.6,-10.6,740,7440,0.00,1.90,0.00,0.000,4,0.000,0.056,2457,2955,3904
$GC,7455,-1.13,-243.4,860.4,-10.5,740,7462,0.10,1.83,0.00,0.000,6,0.053,0.041,2396,1750,3904
$STATE,7685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7685,begin apogee
$GC,7690,-0.26,0.0,889.8,12.6,752,7896,0.93,0.00,201.60,1.401,6,0.135,0.000,2684,1511,2945
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7899,1.16,243.4,902.0,0.0,762,8119,1.27,0.00,214.75,1.356,6,0.043,0.000,3158,1511,1952
$GC,8421,0.62,243.4,818.4,21.9,787,8423,0.68,0.00,0.00,0.000,6,0.209,0.000,2983,1510,1943
$GC,8730,0.53,262.3,781.9,11.4,802,8753,0.12,2.08,16.52,1.243,4,0.185,0.060,2962,205,1874
$GC,8868,0.55,317.4,767.9,10.2,808,8924,0.00,1.95,49.47,1.292,6,0.000,0.042,2961,1490,1651
$GC,9244,0.60,354.8,728.6,10.8,826,9289,0.00,2.10,35.60,1.208,4,0.000,0.063,2971,207,1498
$GC,9316,0.63,383.6,720.0,11.0,829,9350,0.00,2.00,27.10,1.236,6,0.000,0.042,2971,1498,1381
$GC,9660,0.75,439.5,685.0,10.1,846,9726,0.15,2.20,53.15,1.210,4,0.065,0.060,3052,199,1153
$GC,9789,0.63,439.5,665.9,14.6,851,9795,0.25,2.00,0.00,0.000,6,0.145,0.045,2982,1493,1150
$GC,10105,0.82,520.1,636.0,9.3,867,10184,0.17,2.10,73.40,1.220,4,0.058,0.057,3080,210,824
$GC,10209,0.67,520.1,618.5,19.1,871,10214,0.30,1.98,0.00,0.000,6,0.147,0.041,2996,1475,822
$GC,10536,0.80,520.1,576.4,12.2,887,10540,0.10,2.00,0.00,0.000,4,0.075,0.058,3057,209,819
$GC,10569,0.76,520.1,571.2,16.4,888,10573,0.10,1.92,0.00,0.000,6,0.147,0.041,3026,1462,818
$GC,10889,0.82,520.1,529.4,12.3,904,10893,0.00,1.98,0.00,0.000,4,0.000,0.058,3034,198,817
$GC,10914,0.88,520.1,526.4,13.1,905,10917,0.00,1.88,0.00,0.000,6,0.000,0.041,3033,1449,817
$GC,11241,0.94,522.1,485.0,11.9,926,11245,0.12,1.95,0.00,0.000,4,0.068,0.057,3102,201,817
$GC,11279,0.78,522.1,478.8,17.5,929,11286,0.25,1.85,0.00,0.000,6,0.154,0.041,3031,1443,816
$GC,11606,0.84,522.1,438.9,12.7,960,11609,0.00,1.92,0.00,0.000,4,0.000,0.055,3039,198,816
$GC,11628,0.88,522.1,435.6,13.8,962,11632,0.00,1.85,0.00,0.000,6,0.000,0.040,3039,1419,816
$GC,11963,0.93,523.3,392.8,12.0,993,11967,0.10,1.90,0.00,0.000,4,0.075,0.054,3102,195,816
$GC,12009,0.79,523.3,385.5,15.9,997,12014,0.25,1.80,0.00,0.000,6,0.146,0.039,3029,1410,816
$GC,12340,0.90,536.4,348.1,11.6,1028,12364,0.10,1.95,14.43,0.986,4,0.074,0.056,3093,198,758
$GC,12391,0.83,536.4,340.2,15.4,1032,12400,0.15,1.83,0.00,0.000,6,0.139,0.041,3044,1392,758
$GC,12717,0.94,557.5,297.8,11.3,1064,12743,0.10,1.92,20.48,0.962,4,0.074,0.054,3107,200,672
$GC,12789,0.86,557.5,287.0,16.0,1076,12797,0.17,1.77,0.00,0.000,6,0.140,0.038,3051,1365,670
$GC,13134,0.98,557.5,242.1,13.6,1137,13141,0.12,2.35,0.00,0.000,4,0.064,0.043,3122,2907,670
$GC,13182,0.88,557.5,234.6,17.2,1145,13189,0.25,2.33,0.00,0.000,6,0.151,0.039,3060,1371,670
$GC,13527,1.00,572.8,194.0,11.5,1206,13546,0.00,0.00,14.73,0.849,6,0.000,0.000,3062,1371,609
$GC,13885,1.39,603.8,151.5,11.0,1269,13919,0.38,2.42,27.90,0.831,4,0.038,0.041,3248,2909,482
$GC,14077,1.13,603.8,111.3,20.4,1302,14084,0.43,2.30,0.00,0.000,6,0.169,0.038,3142,1387,482
$GC,14424,1.21,604.1,67.1,12.0,1363,14430,0.00,1.83,0.00,0.000,4,0.000,0.050,3150,202,481
$GC,14510,1.28,604.1,55.0,12.9,1378,14517,0.08,1.73,0.00,0.000,6,0.056,0.032,3205,1379,481
$GC,14857,1.24,604.1,4.1,14.5,1439,14863,0.00,2.25,0.00,0.000,4,0.000,0.037,3203,2907,482
$STATE,14870,end climb,SURFACE_DEPTH_REACHED
$STATE,14870,begin surface coast
$FINISH,0.9,1.008245
$STATE,14887,end surface coast,CONTROL_FINISHED_OK
$STATE,14887,begin surface
$SM_CCo,14966,0.00,0.000,0,0,481,604.42
$SM_GC,1.57,8.10,0.00,0.00,0.044,0.000,0.000,170,1565,481,-8.14,-0.28,604.42
$IRIDIUM_FIX,2429.95,12317.73,180998,070701
$TT8_MAMPS,0.026845
$HUMID,1543
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.00
$XPDR_PINGS,118
$24V_AH,23.0,53.144
$10V_AH,10.7,30.929
$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,26.750,131.050,749.125,0.000,0.000,45.420,71.713,346.753,36.500,0.000,0.000,38.029,2546.176,8581.781,834.533,2913.199,763.913,0.000,2174.196,0.000,2862.135,0.000,49.432,0.000
$DEVICE_MAMPS,224.731,62.894,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,978.306,998.767,1678.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82056,1444
$CAP_FILE_SIZE,163860,0
$CFSIZE,260165632,217747456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155, 73.1,1
$GPS,240609,113136,2437.843,12317.322,37,1.0,42,-3.5