version: 66.04
glider: 166
mission: 2
dive: 248
start: 6 24 109 11 40 4
data:
$ID,166
$MISSION,2
$DIVE,248
$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,-10310.165
$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,18.5
$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,44
$R_STBD_OVSHOOT,49
$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
$GPS1,113136,2437.843,12317.322,37,1.0,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.0
$GPS2,113944,2437.888,12317.376,14,1.3,14,-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,265.6,44575,-16.4,-12.000
$D_GRID,1003
$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,14,begin dive
$GC,16,-1.18,-243.4,0.0,0.0,0,108,0.00,0.00,-89.53,0.000,2,0.000,0.000,170,1566,2519
$GC,111,-1.18,-243.4,3.6,-7.0,14,163,8.98,2.10,-34.12,0.000,4,0.231,0.055,2388,207,3940
$GC,227,-0.64,-243.4,35.3,-31.6,33,234,0.55,2.05,0.00,0.000,6,0.153,0.029,2563,1590,3941
$GC,572,-0.58,-243.4,90.6,-15.6,94,578,0.00,2.05,0.00,0.000,4,0.000,0.040,2560,2983,3941
$GC,648,-0.58,-243.4,101.3,-13.6,107,654,0.00,2.05,0.00,0.000,6,0.000,0.030,2561,1560,3942
$GC,992,-0.58,-243.4,147.1,-12.5,168,1000,0.00,2.12,0.00,0.000,4,0.000,0.038,2560,2973,3942
$GC,1052,-0.63,-243.4,153.4,-10.3,178,1059,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,1585,3942
$GC,1398,-0.90,-243.4,183.9,-9.4,239,1405,0.17,2.05,0.00,0.000,4,0.054,0.035,2459,2986,3944
$GC,1507,-0.82,-243.4,198.0,-13.9,258,1514,0.15,1.95,0.00,0.000,6,0.127,0.029,2509,1641,3944
$GC,1855,-0.82,-243.4,237.4,-12.0,319,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1641,3944
$GC,2197,-0.85,-243.4,277.3,-10.9,380,2204,0.00,2.00,0.00,0.000,4,0.000,0.040,2509,2971,3944
$GC,2279,-0.96,-243.4,285.5,-9.8,394,2285,0.10,1.90,0.00,0.000,6,0.051,0.029,2448,1665,3944
$GC,2615,-0.82,-243.4,326.7,-12.9,436,2620,0.20,2.17,0.00,0.000,4,0.135,0.043,2512,214,3942
$GC,2666,-0.86,-243.4,333.0,-12.0,440,2669,0.00,2.10,0.00,0.000,6,0.000,0.029,2508,1671,3942
$GC,3000,-1.05,-243.4,367.8,-10.4,471,3004,0.17,1.92,0.00,0.000,4,0.056,0.041,2418,2972,3940
$GC,3024,-1.05,-243.4,370.8,-11.4,473,3027,0.00,1.85,0.00,0.000,6,0.000,0.031,2413,1717,3940
$GC,3354,-0.88,-243.4,413.4,-11.7,504,3358,0.22,1.90,0.00,0.000,4,0.140,0.044,2492,2976,3938
$GC,3468,-0.96,-243.4,422.7,-7.7,514,3471,0.00,1.85,0.00,0.000,6,0.000,0.031,2489,1701,3937
$GC,3800,-1.02,-243.4,452.6,-10.7,545,3801,0.12,0.00,0.00,0.000,6,0.067,0.000,2427,1701,3934
$GC,4118,-0.89,-243.4,497.6,-13.9,575,4123,0.17,2.28,0.00,0.000,4,0.140,0.048,2484,210,3932
$GC,4144,-0.89,-243.4,501.4,-12.1,576,4148,0.00,2.22,0.00,0.000,6,0.000,0.032,2473,1719,3931
$GC,4468,-0.93,-243.4,535.9,-10.7,592,4472,0.00,1.88,0.00,0.000,4,0.000,0.048,2471,2971,3929
$GC,4502,-1.01,-243.4,539.7,-10.1,593,4505,0.00,1.85,0.00,0.000,6,0.000,0.035,2472,1712,3928
$GC,4824,-1.07,-243.4,569.6,-9.0,609,4829,0.12,2.28,0.00,0.000,4,0.069,0.050,2412,223,3925
$GC,4857,-0.93,-243.4,574.2,-14.3,610,4865,0.22,2.20,0.00,0.000,6,0.144,0.040,2475,1704,3925
$GC,5174,-1.01,-243.4,606.3,-9.2,626,5178,0.00,1.95,0.00,0.000,4,0.000,0.054,2474,2967,3923
$GC,5208,-1.12,-243.4,609.3,-8.5,627,5212,0.12,1.90,0.00,0.000,6,0.048,0.039,2389,1706,3923
$GC,5529,-0.96,-243.4,650.6,-13.4,643,5534,0.20,2.28,0.00,0.000,4,0.146,0.051,2454,227,3921
$GC,5562,-0.93,-243.4,655.0,-11.9,644,5570,0.00,2.17,0.00,0.000,6,0.000,0.035,2451,1698,3920
$GC,5878,-0.93,-243.4,687.1,-10.1,660,5882,0.00,2.28,0.00,0.000,4,0.000,0.053,2451,227,3918
$GC,5918,-0.93,-243.4,691.4,-11.2,662,5921,0.00,2.17,0.00,0.000,6,0.000,0.035,2452,1688,3918
$GC,6251,-0.93,-243.4,725.1,-9.9,678,6255,0.00,1.95,0.00,0.000,4,0.000,0.052,2452,2971,3915
$GC,6297,-1.00,-243.4,728.8,-7.2,680,6300,0.00,1.88,0.00,0.000,6,0.000,0.038,2453,1706,3915
$GC,6629,-1.05,-243.4,753.7,-0.7,696,6633,0.00,2.30,0.00,0.000,4,0.000,0.054,2453,213,3912
$GC,6702,-1.05,-243.4,758.3,-12.1,699,6706,0.00,2.20,0.00,0.000,6,0.000,0.038,2451,1686,3912
$GC,7020,-1.05,-243.4,775.4,-5.2,714,7023,0.00,1.98,0.00,0.000,4,0.000,0.054,2451,2974,3910
$GC,7098,-1.09,-243.4,785.2,-13.1,717,7102,0.00,1.88,0.00,0.000,6,0.000,0.038,2451,1708,3909
$STATE,7293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7294,begin apogee
$GC,7299,-0.27,0.0,812.6,14.8,727,7503,0.75,0.00,199.85,1.341,6,0.127,0.000,2689,1516,2945
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7506,1.18,243.4,828.3,0.0,737,7725,1.27,2.22,209.95,1.292,4,0.048,0.054,3170,204,1952
$GC,7978,0.58,243.4,739.7,25.4,758,7985,0.75,2.00,0.00,0.000,6,0.187,0.044,2968,1491,1943
$GC,8294,0.61,320.5,705.7,9.4,774,8368,0.00,2.33,66.47,1.240,4,0.000,0.049,2968,2909,1637
$GC,8385,0.79,465.0,698.7,7.2,778,8524,0.15,2.22,129.80,1.232,6,0.064,0.042,3041,1497,1049
$GC,8832,0.74,465.0,641.6,14.2,800,8835,0.00,2.03,0.00,0.000,4,0.000,0.056,3052,201,1043
$GC,8893,0.63,465.0,631.4,17.4,802,8900,0.22,1.98,0.00,0.000,6,0.135,0.045,2969,1487,1042
$GC,9209,0.83,500.9,595.3,10.8,818,9248,0.20,0.00,32.85,1.167,6,0.051,0.000,3066,1487,901
$GC,9558,0.75,500.9,538.3,16.1,835,9560,0.17,0.00,0.00,0.000,6,0.146,0.000,3017,1487,897
$GC,9868,0.82,500.9,496.6,14.0,851,9872,0.00,2.00,0.00,0.000,4,0.000,0.056,3024,196,896
$GC,9902,0.88,500.9,491.4,14.9,854,9906,0.00,1.95,0.00,0.000,6,0.000,0.039,3024,1478,895
$GC,10235,0.95,500.9,445.0,13.4,885,10240,0.15,2.00,0.00,0.000,4,0.059,0.054,3109,195,895
$GC,10281,0.76,500.9,436.7,20.1,889,10286,0.30,1.88,0.00,0.000,6,0.150,0.038,3021,1460,895
$GC,10611,0.85,500.9,392.3,13.7,920,10615,0.00,1.95,0.00,0.000,4,0.000,0.055,3028,196,895
$GC,10646,0.92,500.9,387.4,14.1,923,10650,0.12,1.90,0.00,0.000,6,0.069,0.044,3090,1451,895
$GC,10976,0.82,500.9,331.7,16.7,954,10980,0.17,1.95,0.00,0.000,4,0.145,0.053,3048,190,894
$GC,10998,0.82,500.9,328.2,15.0,956,11002,0.00,1.85,0.00,0.000,6,0.000,0.038,3047,1441,895
$GC,11328,0.84,516.4,286.1,11.5,996,11348,0.00,1.92,14.38,0.936,4,0.000,0.054,3057,193,838
$GC,11383,0.84,516.4,279.2,13.8,1005,11391,0.00,1.85,0.00,0.000,6,0.000,0.037,3057,1445,838
$GC,11729,0.89,516.4,236.7,12.5,1066,11735,0.00,1.95,0.00,0.000,4,0.000,0.054,3066,202,838
$GC,11759,0.94,516.4,232.6,12.9,1071,11765,0.00,1.80,0.00,0.000,6,0.000,0.037,3066,1424,837
$GC,12104,1.00,516.4,185.3,13.3,1132,12110,0.00,1.92,0.00,0.000,4,0.000,0.053,3077,193,837
$GC,12190,1.04,516.4,172.6,13.9,1147,12196,0.00,1.77,0.00,0.000,6,0.000,0.036,3077,1385,838
$GC,12535,1.12,516.4,131.6,12.4,1208,12542,0.15,1.85,0.00,0.000,4,0.059,0.050,3170,174,837
$GC,12605,0.98,516.4,121.8,15.9,1220,12612,0.25,1.77,0.00,0.000,6,0.136,0.033,3078,1374,838
$GC,12951,1.47,642.4,86.9,7.8,1281,13042,0.40,2.40,80.65,0.765,4,0.036,0.039,3268,2905,454
$GC,13196,1.19,642.4,39.2,22.1,1322,13203,0.43,2.40,0.00,0.000,6,0.166,0.036,3162,1314,454
$STATE,13466,end climb,SURFACE_DEPTH_REACHED
$STATE,13466,begin surface coast
$FINISH,0.9,1.021643
$STATE,13490,end surface coast,CONTROL_FINISHED_OK
$STATE,13490,begin surface
$SM_CCo,13568,0.00,0.000,0,0,452,611.53
$SM_GC,1.57,8.00,0.00,0.00,0.044,0.000,0.000,156,1601,452,-8.14,0.74,611.53
$IRIDIUM_FIX,2427.58,12316.43,180998,070701
$TT8_MAMPS,0.026078
$HUMID,1544
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.90
$XPDR_PINGS,127
$ALTIM_BOTTOM_PING,775.4,61.2
$24V_AH,23.2,53.420
$10V_AH,10.7,31.067
$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,25.025,118.275,733.950,0.000,0.000,26.534,62.127,266.905,38.000,0.000,0.000,14.591,2406.728,7466.023,797.400,2749.932,622.756,0.000,2069.574,0.000,2717.765,0.000,45.308,0.000
$DEVICE_MAMPS,230.867,57.525,1341.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,929.021,968.047,1628.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79035,1374
$CAP_FILE_SIZE,148111,0
$CFSIZE,260165632,217677824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 35.9,1
$GPS,240609,152730,2438.814,12315.805,39,2.0,44,-3.5