version: 66.04
glider: 166
mission: 2
dive: 250
start: 6 24 109 19 37 56
data:
$ID,166
$MISSION,2
$DIVE,250
$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,425
$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,-10368.419
$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,18
$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,73
$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
$GPS1,192854,2438.870,12314.221,24,1.6,41,-3.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.8
$GPS2,193736,2438.750,12314.272,35,1.6,39,-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,256.5,39405,-16.4,-12.000
$D_GRID,1158
$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,12,begin dive
$GC,15,-1.21,-243.4,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,2,0.000,0.000,169,1612,2373
$GC,106,-1.21,-243.4,3.0,-5.2,13,164,9.00,2.17,-41.38,0.000,4,0.232,0.054,2383,182,3939
$GC,217,-0.67,-243.4,31.6,-30.1,31,226,0.60,2.03,0.00,0.000,6,0.156,0.028,2557,1581,3940
$GC,564,-0.59,-243.4,88.0,-16.0,92,571,0.12,2.08,0.00,0.000,4,0.138,0.039,2593,2964,3941
$GC,673,-0.70,-243.4,103.4,-12.8,111,682,0.12,2.03,0.00,0.000,6,0.064,0.028,2529,1553,3942
$GC,1019,-0.70,-243.4,146.7,-12.5,172,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1552,3943
$GC,1362,-0.70,-243.4,187.7,-11.8,233,1369,0.00,2.12,0.00,0.000,4,0.000,0.039,2529,2965,3944
$GC,1393,-0.77,-243.4,191.0,-11.1,238,1400,0.00,2.05,0.00,0.000,6,0.000,0.028,2528,1563,3944
$GC,1739,-0.83,-243.4,225.0,-9.4,299,1746,0.00,2.08,0.00,0.000,4,0.000,0.039,2528,2970,3944
$GC,1798,-0.94,-243.4,230.2,-8.6,309,1805,0.15,1.98,0.00,0.000,6,0.058,0.029,2452,1590,3944
$GC,2142,-0.81,-243.4,276.4,-13.2,370,2149,0.20,2.08,0.00,0.000,4,0.135,0.044,2517,204,3943
$GC,2229,-0.81,-243.4,286.3,-11.7,385,2235,0.00,1.95,0.00,0.000,6,0.000,0.028,2517,1571,3942
$GC,2563,-0.96,-243.4,320.7,-9.6,427,2567,0.15,2.08,0.00,0.000,4,0.061,0.041,2439,2973,3941
$GC,2647,-0.87,-243.4,330.4,-11.7,434,2652,0.20,2.00,0.00,0.000,6,0.133,0.031,2499,1592,3940
$GC,2977,-0.87,-243.4,366.6,-12.5,465,2981,0.00,2.08,0.00,0.000,4,0.000,0.047,2499,214,3940
$GC,2992,-0.87,-243.4,368.8,-12.8,466,2999,0.00,2.05,0.00,0.000,6,0.000,0.028,2494,1610,3939
$GC,3318,-0.92,-243.4,401.9,-10.1,497,3322,0.00,2.03,0.00,0.000,4,0.000,0.044,2482,2972,3936
$GC,3376,-1.00,-243.4,407.7,-10.2,502,3379,0.00,1.98,0.00,0.000,6,0.000,0.033,2486,1621,3936
$GC,3707,-1.06,-243.4,436.9,-8.2,533,3711,0.12,2.05,0.00,0.000,4,0.067,0.044,2417,2974,3933
$GC,3742,-1.00,-243.4,440.4,-11.0,536,3746,0.12,1.98,0.00,0.000,6,0.140,0.035,2457,1625,3933
$GC,4073,-1.00,-243.4,480.6,-12.9,567,4076,0.00,2.15,0.00,0.000,4,0.000,0.048,2455,204,3930
$GC,4112,-0.94,-243.4,486.1,-13.3,570,4118,0.00,2.08,0.00,0.000,6,0.000,0.032,2451,1628,3929
$GC,4441,-0.94,-243.4,520.9,-8.6,592,4445,0.00,2.03,0.00,0.000,4,0.000,0.051,2451,2964,3927
$GC,4514,-0.94,-243.4,527.5,-9.3,595,4517,0.00,1.95,0.00,0.000,6,0.000,0.035,2453,1634,3926
$GC,4841,-0.94,-243.4,560.8,-10.8,611,4844,0.00,2.20,0.00,0.000,4,0.000,0.054,2452,202,3924
$GC,4868,-0.89,-243.4,564.2,-12.2,612,4872,0.12,2.12,0.00,0.000,6,0.146,0.037,2490,1635,3924
$GC,5198,-1.10,-243.4,591.2,-8.3,628,5202,0.17,2.03,0.00,0.000,4,0.056,0.054,2393,2967,3921
$GC,5357,-1.01,-243.4,608.1,-10.1,635,5361,0.20,1.92,0.00,0.000,6,0.135,0.041,2453,1671,3920
$GC,5689,-1.01,-243.4,635.3,-10.0,651,5693,0.00,2.25,0.00,0.000,4,0.000,0.051,2452,201,3918
$GC,5712,-1.01,-243.4,637.9,-10.9,652,5716,0.00,2.22,0.00,0.000,6,0.000,0.035,2452,1688,3918
$GC,6045,-1.01,-243.4,670.0,-9.1,668,6049,0.00,1.95,0.00,0.000,4,0.000,0.051,2451,2975,3916
$GC,6129,-1.08,-243.4,678.0,-9.7,671,6137,0.00,1.90,0.00,0.000,6,0.000,0.037,2452,1685,3916
$GC,6445,-1.08,-243.4,707.6,-9.1,687,6449,0.00,2.28,0.00,0.000,4,0.000,0.053,2452,205,3913
$GC,6512,-1.08,-243.4,714.5,-9.9,690,6516,0.00,2.22,0.00,0.000,6,0.000,0.043,2451,1687,3913
$GC,6833,-1.08,-243.4,743.0,-8.1,706,6837,0.00,1.95,0.00,0.000,4,0.000,0.052,2450,2969,3911
$GC,6872,-1.15,-243.4,745.8,-6.9,707,6880,0.12,1.90,0.00,0.000,6,0.067,0.038,2392,1683,3910
$GC,7190,-1.00,-243.4,778.7,-11.3,723,7195,0.20,2.28,0.00,0.000,4,0.146,0.053,2456,212,3908
$GC,7217,-0.97,-243.4,782.2,-11.5,724,7221,0.00,2.20,0.00,0.000,6,0.000,0.037,2452,1684,3908
$GC,7539,-0.97,-243.4,809.5,-6.6,740,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1685,3907
$GC,7849,-0.97,-243.4,826.0,-5.6,755,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1685,3905
$GC,8158,-1.00,-243.4,850.7,-9.4,770,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1685,3903
$GC,8466,-1.00,-243.4,882.8,-12.0,785,8470,0.00,1.98,0.00,0.000,4,0.000,0.057,2450,2963,3902
$GC,8516,-1.10,-243.4,888.8,-11.7,787,8520,0.00,1.90,0.00,0.000,6,0.000,0.041,2451,1693,3902
$GC,8844,-1.14,-243.4,924.3,-12.7,803,8849,0.12,1.98,0.00,0.000,4,0.068,0.054,2388,2962,3899
$GC,8882,-1.05,-243.4,929.6,-13.3,804,8889,0.12,1.92,0.00,0.000,6,0.138,0.041,2430,1700,3899
$GC,9198,-1.05,-243.4,961.2,-9.8,820,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1700,3898
$STATE,9464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9464,begin apogee
$GC,9470,-0.28,0.0,992.5,12.2,833,9680,0.80,0.00,206.15,1.481,6,0.120,0.000,2688,1497,2945
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9681,begin climb
$GC,9683,1.21,243.4,1008.5,0.0,843,9917,1.35,2.25,220.57,1.437,4,0.048,0.058,3187,213,1949
$GC,10023,0.58,243.4,959.5,25.3,858,10030,0.75,2.03,0.00,0.000,6,0.186,0.041,2968,1486,1944
$GC,10339,0.49,243.4,911.6,14.7,874,10343,0.00,2.22,0.00,0.000,4,0.000,0.058,2966,2911,1942
$GC,10384,0.38,243.4,905.1,15.2,876,10389,0.25,2.15,0.00,0.000,6,0.156,0.047,2905,1514,1941
$GC,10718,0.59,350.7,869.6,8.4,892,10824,0.20,2.22,95.60,1.389,4,0.056,0.059,3011,205,1515
$GC,10880,0.52,411.8,851.3,10.0,899,10950,0.22,2.05,59.05,1.315,6,0.151,0.042,2950,1518,1266
$GC,11262,0.66,432.1,811.7,11.3,917,11294,0.12,2.17,21.50,1.188,4,0.069,0.059,3023,204,1182
$GC,11362,0.59,432.1,794.0,19.1,921,11369,0.20,1.98,0.00,0.000,6,0.138,0.041,2967,1496,1180
$GC,11679,0.76,498.6,758.0,9.8,937,11754,0.17,2.20,64.32,1.286,4,0.058,0.059,3068,200,911
$GC,11851,0.63,498.6,726.7,19.6,945,11855,0.30,1.98,0.00,0.000,6,0.142,0.041,2981,1481,908
$GC,12178,0.74,508.2,685.9,11.7,961,12192,0.12,2.05,9.38,1.139,4,0.067,0.058,3057,193,873
$GC,12282,0.63,508.2,667.8,18.1,965,12289,0.25,1.90,0.00,0.000,6,0.141,0.042,2985,1445,871
$GC,12599,0.75,508.2,623.3,13.8,981,12600,0.12,0.00,0.00,0.000,6,0.064,0.000,3051,1445,871
$GC,12907,0.70,508.2,573.2,15.4,996,12909,0.17,0.00,0.00,0.000,6,0.143,0.000,3001,1445,870
$GC,13216,0.79,508.2,534.0,12.7,1011,13218,0.10,0.00,0.00,0.000,6,0.074,0.000,3059,1445,870
$GC,13528,0.75,508.2,486.3,15.4,1030,13532,0.15,1.95,0.00,0.000,4,0.144,0.055,3025,196,870
$GC,13566,0.80,508.2,480.9,12.6,1033,13572,0.00,1.85,0.00,0.000,6,0.000,0.041,3025,1436,869
$GC,13893,0.93,551.9,444.4,10.6,1064,13950,0.15,2.03,42.45,1.069,4,0.059,0.055,3112,200,695
$GC,13966,0.78,551.9,432.1,20.3,1070,13973,0.25,1.90,0.00,0.000,6,0.143,0.039,3035,1420,693
$GC,14291,0.86,551.9,389.5,12.8,1101,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1419,693
$GC,14612,0.96,551.9,347.5,12.3,1131,14616,0.15,2.28,0.00,0.000,4,0.058,0.044,3111,2908,693
$GC,14634,0.96,551.9,344.0,14.5,1133,14638,0.12,2.30,0.00,0.000,6,0.163,0.040,3088,1389,693
$GC,14960,0.96,551.9,296.3,13.2,1165,14965,0.00,1.85,0.00,0.000,4,0.000,0.054,3095,187,692
$GC,15008,0.89,551.9,290.0,13.9,1173,15014,0.00,1.80,0.00,0.000,6,0.000,0.046,3095,1396,692
$GC,15351,0.89,551.9,240.0,16.0,1234,15357,0.00,1.88,0.00,0.000,4,0.000,0.054,3104,203,692
$GC,15397,0.86,551.9,232.1,16.8,1242,15404,0.12,1.80,0.00,0.000,6,0.138,0.045,3062,1395,691
$GC,15744,0.98,551.9,188.8,13.4,1303,15751,0.00,1.88,0.00,0.000,4,0.000,0.053,3069,199,691
$GC,15803,1.06,551.9,180.5,13.5,1313,15810,0.10,1.75,0.00,0.000,6,0.050,0.036,3140,1373,691
$GC,16147,0.99,551.9,128.6,13.2,1374,16154,0.15,1.83,0.00,0.000,4,0.147,0.049,3106,200,691
$GC,16241,1.10,551.9,115.3,15.4,1390,16248,0.00,1.67,0.00,0.000,6,0.000,0.035,3109,1337,691
$GC,16587,1.39,618.4,82.0,9.8,1451,16646,0.28,2.40,50.62,0.769,4,0.041,0.038,3250,2906,456
$GC,16687,1.20,618.4,65.0,21.0,1467,16696,0.32,2.40,0.47,0.088,6,0.154,0.038,3164,1335,455
$GC,17036,1.27,618.4,18.4,13.5,1528,17042,0.00,2.35,0.00,0.000,4,0.000,0.036,3164,2910,455
$GC,17061,1.36,618.4,14.9,12.3,1532,17068,0.12,2.35,0.00,0.000,6,0.065,0.035,3236,1328,455
$STATE,17130,end climb,SURFACE_DEPTH_REACHED
$STATE,17131,begin surface coast
$FINISH,0.8,1.021587
$STATE,17147,end surface coast,CONTROL_FINISHED_OK
$STATE,17148,begin surface
$SM_CCo,17225,0.00,0.000,0,0,454,611.04
$SM_GC,1.45,8.15,0.00,0.00,0.038,0.000,0.000,170,1588,454,-8.15,0.37,611.04
$IRIDIUM_FIX,2427.58,12319.71,180998,151514
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.10
$XPDR_PINGS,109
$24V_AH,22.9,54.014
$10V_AH,10.7,31.361
$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,27.100,144.275,770.125,0.000,0.000,22.800,32.875,308.892,35.250,0.000,0.000,40.052,2742.242,10263.070,871.734,3173.784,684.708,0.000,2341.946,0.000,3115.170,0.000,54.423,0.000
$DEVICE_MAMPS,232.401,59.826,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.853,1054.521,1771.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91670,1547
$CAP_FILE_SIZE,179183,0
$CFSIZE,260165632,217464832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.122, 16.6,1
$GPS,250609,002606,2439.519,12311.755,30,1.4,30,-3.5