version: 66.04
glider: 166
mission: 2
dive: 249
start: 6 24 109 15 35 16
data:
$ID,166
$MISSION,2
$DIVE,249
$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,-10327.739
$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,34
$R_STBD_OVSHOOT,68
$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
$GPS1,152730,2438.814,12315.805,39,2.0,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.1
$GPS2,153456,2438.871,12315.893,16,1.9,16,-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,252.2,42141,-16.4,-12.000
$D_GRID,1095
$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,-1.18,-243.4,0.0,0.0,0,107,0.00,0.00,-88.53,0.000,2,0.000,0.000,173,1602,2442
$GC,110,-1.18,-243.4,3.4,-6.1,14,163,9.02,2.20,-38.12,0.000,4,0.234,0.054,2389,194,3939
$GC,261,-0.64,-243.4,42.9,-29.2,39,269,0.55,2.03,0.00,0.000,6,0.144,0.029,2564,1562,3941
$GC,608,-0.64,-243.4,94.3,-13.4,100,614,0.00,2.08,0.00,0.000,4,0.000,0.039,2564,2971,3942
$GC,746,-0.68,-243.4,110.5,-10.8,124,752,0.00,2.03,0.00,0.000,6,0.000,0.030,2565,1596,3942
$GC,1091,-0.81,-243.4,150.9,-10.4,185,1098,0.15,2.05,0.00,0.000,4,0.057,0.037,2489,2986,3944
$GC,1117,-0.81,-243.4,154.1,-12.5,189,1123,0.00,1.98,0.00,0.000,6,0.000,0.029,2489,1634,3943
$GC,1461,-0.73,-243.4,198.4,-12.6,250,1469,0.17,2.15,0.00,0.000,4,0.131,0.040,2548,208,3944
$GC,1508,-0.80,-243.4,203.7,-10.9,258,1515,0.00,2.05,0.00,0.000,6,0.000,0.027,2548,1654,3944
$GC,1853,-1.05,-243.4,236.8,-9.0,319,1861,0.28,2.15,0.00,0.000,4,0.043,0.041,2410,215,3944
$GC,2010,-0.76,-243.4,260.9,-16.4,346,2017,0.40,2.15,0.00,0.000,6,0.140,0.029,2531,1707,3944
$GC,2357,-1.03,-243.4,289.9,-8.3,407,2364,0.22,1.85,0.00,0.000,4,0.050,0.038,2417,2973,3943
$GC,2461,-0.87,-243.4,303.3,-14.7,423,2466,0.25,1.77,0.00,0.000,6,0.136,0.030,2492,1729,3943
$GC,2791,-0.87,-243.4,343.4,-10.2,454,2796,0.00,2.28,0.00,0.000,4,0.000,0.044,2491,211,3941
$GC,2820,-0.87,-243.4,346.4,-10.9,456,2824,0.00,2.22,0.00,0.000,6,0.000,0.029,2490,1741,3941
$GC,3145,-0.92,-243.4,377.8,-9.0,486,3149,0.00,1.83,0.00,0.000,4,0.000,0.043,2485,2983,3940
$GC,3229,-0.97,-243.4,385.0,-9.2,493,3235,0.00,1.80,0.00,0.000,6,0.000,0.031,2490,1733,3939
$GC,3557,-1.02,-243.4,416.9,-10.6,524,3561,0.12,2.30,0.00,0.000,4,0.067,0.045,2429,214,3936
$GC,3634,-0.85,-243.4,428.6,-14.6,530,3641,0.28,2.22,0.00,0.000,6,0.140,0.031,2504,1735,3935
$GC,3961,-1.11,-243.4,458.0,-8.5,561,3965,0.20,1.85,0.00,0.000,4,0.052,0.044,2391,2978,3933
$GC,3988,-1.11,-243.4,461.2,-11.1,563,3995,0.00,1.70,0.00,0.000,6,0.000,0.032,2400,1798,3933
$GC,4314,-0.93,-243.4,506.5,-14.9,592,4318,0.22,1.77,0.00,0.000,4,0.143,0.047,2463,2976,3930
$GC,4443,-0.99,-243.4,521.3,-11.1,597,4449,0.00,1.70,0.00,0.000,6,0.000,0.034,2465,1803,3929
$GC,4760,-1.04,-243.4,556.5,-10.9,613,4764,0.00,2.42,0.00,0.000,4,0.000,0.050,2465,214,3927
$GC,4826,-1.04,-243.4,564.5,-11.3,616,4830,0.00,2.35,0.00,0.000,6,0.000,0.040,2463,1789,3926
$GC,5154,-1.08,-243.4,596.3,-10.2,632,5159,0.00,2.42,0.00,0.000,4,0.000,0.056,2463,222,3924
$GC,5194,-1.08,-243.4,600.8,-11.1,634,5198,0.00,2.33,0.00,0.000,6,0.000,0.041,2462,1773,3923
$GC,5520,-1.12,-243.4,636.0,-11.4,650,5522,0.15,0.00,0.00,0.000,6,0.066,0.000,2392,1774,3922
$GC,5830,-0.97,-243.4,678.7,-13.1,665,5835,0.20,2.42,0.00,0.000,4,0.145,0.050,2457,210,3920
$GC,5879,-0.97,-243.4,684.2,-10.2,667,5883,0.00,2.33,0.00,0.000,6,0.000,0.041,2456,1758,3919
$GC,6201,-0.97,-243.4,711.2,-7.7,683,6204,0.00,1.85,0.00,0.000,4,0.000,0.052,2455,2976,3917
$GC,6247,-1.05,-243.4,714.9,-8.5,685,6251,0.00,1.80,0.00,0.000,6,0.000,0.044,2455,1765,3917
$GC,6580,-1.05,-243.4,746.4,-11.3,701,6584,0.00,2.38,0.00,0.000,4,0.000,0.053,2455,224,3914
$GC,6635,-0.99,-243.4,754.4,-17.5,703,6642,0.00,2.33,0.00,0.000,6,0.000,0.044,2455,1749,3914
$GC,6951,-1.04,-243.4,785.5,-11.1,719,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1751,3912
$GC,7260,-1.04,-243.4,809.9,-9.6,734,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1751,3909
$STATE,7381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7382,begin apogee
$GC,7388,-0.27,0.0,820.8,8.4,740,7591,0.70,0.00,200.38,1.346,6,0.110,0.000,2685,1501,2945
$STATE,7592,end apogee,CONTROL_FINISHED_OK
$STATE,7592,begin climb
$GC,7594,1.18,243.4,833.5,0.0,750,7815,1.27,2.40,210.27,1.299,4,0.042,0.053,3168,2888,1950
$GC,7888,0.60,243.4,805.6,19.9,763,7894,0.80,2.20,0.00,0.000,6,0.189,0.046,2970,1504,1945
$GC,8204,0.61,324.0,772.8,9.3,778,8289,0.00,2.17,72.12,1.244,4,0.000,0.064,2976,204,1624
$GC,8306,0.74,432.8,763.1,8.4,782,8411,0.05,2.03,98.60,1.265,6,0.041,0.039,3027,1484,1179
$GC,8729,0.69,432.8,702.2,14.6,803,8733,0.00,2.03,0.00,0.000,4,0.000,0.057,3037,198,1174
$GC,8775,0.61,432.8,694.7,16.2,805,8779,0.22,1.95,0.00,0.000,6,0.142,0.040,2973,1491,1172
$GC,9107,0.80,498.5,656.7,9.8,821,9173,0.17,2.17,59.05,1.220,4,0.057,0.057,3069,196,911
$GC,9207,0.70,498.5,639.8,19.0,825,9211,0.25,1.98,0.00,0.000,6,0.138,0.041,2998,1474,910
$GC,9523,0.82,507.3,601.4,11.7,840,9538,0.12,2.05,8.73,1.047,4,0.067,0.058,3070,205,877
$GC,9567,0.71,507.3,593.7,19.4,842,9571,0.25,1.90,0.00,0.000,6,0.148,0.041,2999,1460,876
$GC,9898,0.82,507.3,546.7,12.9,858,9900,0.12,0.00,0.00,0.000,6,0.067,0.000,3062,1461,875
$GC,10209,0.77,507.3,500.8,14.9,873,10213,0.15,1.98,0.00,0.000,4,0.150,0.055,3028,194,873
$GC,10258,0.81,507.3,493.7,14.3,876,10264,0.00,1.90,0.00,0.000,6,0.000,0.040,3027,1445,873
$GC,10585,0.86,507.3,449.1,14.3,907,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1445,873
$GC,10903,0.93,507.3,404.4,14.9,937,10907,0.12,1.95,0.00,0.000,4,0.066,0.059,3102,195,874
$GC,10941,0.80,507.3,397.3,19.3,940,10948,0.17,1.88,0.00,0.000,6,0.143,0.038,3033,1441,873
$GC,11268,0.86,511.3,357.3,11.9,971,11277,0.00,0.00,4.75,0.750,6,0.000,0.000,3033,1441,860
$GC,11596,0.94,511.3,313.3,15.3,1002,11600,0.12,1.92,0.00,0.000,4,0.064,0.054,3109,201,859
$GC,11612,0.94,511.3,310.1,16.0,1003,11620,0.08,1.85,0.00,0.000,6,0.153,0.037,3084,1436,860
$GC,11953,0.90,511.3,251.7,15.4,1059,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1436,860
$GC,12297,0.90,511.3,201.6,14.2,1120,12304,0.00,1.92,0.00,0.000,4,0.000,0.052,3092,203,859
$GC,12333,0.85,511.3,196.4,14.7,1126,12340,0.12,1.83,0.00,0.000,6,0.137,0.036,3051,1429,859
$GC,12680,1.11,634.1,162.3,7.9,1187,12775,0.17,2.00,87.05,0.854,4,0.054,0.051,3163,201,454
$GC,12912,1.11,634.1,127.2,16.4,1226,12919,0.08,1.83,0.00,0.000,6,0.135,0.034,3140,1408,452
$GC,13257,1.28,682.6,87.0,10.4,1287,13265,0.12,0.00,0.00,0.000,6,0.063,0.000,3209,1410,452
$GC,13603,1.23,682.6,35.6,16.0,1348,13610,0.15,2.22,0.00,0.000,4,0.133,0.035,3166,2916,452
$GC,13656,1.23,682.6,27.9,19.9,1357,13662,0.00,2.30,0.00,0.000,6,0.000,0.035,3171,1385,452
$STATE,13842,end climb,SURFACE_DEPTH_REACHED
$STATE,13842,begin surface coast
$FINISH,0.8,1.011396
$STATE,13864,end surface coast,CONTROL_FINISHED_OK
$STATE,13864,begin surface
$SM_CCo,13942,0.00,0.000,0,0,452,611.53
$SM_GC,1.46,7.95,0.00,0.00,0.040,0.000,0.000,169,1612,452,-8.13,1.07,611.53
$IRIDIUM_FIX,2427.58,12317.73,180998,111156
$TT8_MAMPS,0.026845
$HUMID,1573
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.10
$XPDR_PINGS,124
$ALTIM_BOTTOM_PING,776.2,69.6
$24V_AH,23.2,53.699
$10V_AH,10.7,31.206
$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,25.450,111.875,740.950,0.000,0.000,25.586,33.079,252.635,37.250,0.000,0.000,16.945,2430.042,7772.662,804.226,2774.353,596.521,0.000,2093.660,0.000,2753.095,0.000,45.338,0.000
$DEVICE_MAMPS,233.935,64.428,1346.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,943.243,983.549,1649.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79105,1394
$CAP_FILE_SIZE,149277,0
$CFSIZE,260165632,217595904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106, 35.6,1
$GPS,240609,192854,2438.870,12314.221,24,1.6,41,-3.5