version: 66.04
glider: 166
mission: 2
dive: 252
start: 6 25 109 6 5 23
data:
$ID,166
$MISSION,2
$DIVE,252
$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,330
$T_MISSION,396
$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,275
$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,-10417.599
$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,30
$R_STBD_OVSHOOT,61
$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
$GPS1,055724,2439.313,12310.610,41,2.0,41,-3.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.0
$GPS2,060501,2439.459,12310.741,15,2.0,32,-3.5
$SPEED_LIMITS,0.173,0.339
$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,250.9,33580,-13.2,-10.000
$D_GRID,1172
$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,-1.06,-267.7,0.0,0.0,0,108,0.00,0.00,-89.85,0.000,2,0.000,0.000,172,1601,2477
$GC,111,-1.06,-267.7,3.5,-7.4,14,164,9.23,2.17,-36.42,0.000,4,0.232,0.058,2423,183,3961
$GC,238,-0.52,-267.7,32.8,-23.8,35,245,0.60,2.03,0.00,0.000,6,0.139,0.031,2608,1569,3962
$GC,584,-0.52,-267.7,73.8,-8.7,96,591,0.00,2.10,0.00,0.000,4,0.000,0.041,2607,2986,3963
$GC,677,-0.57,-267.7,81.9,-10.1,112,685,0.00,2.08,0.00,0.000,6,0.000,0.030,2604,1581,3963
$GC,1023,-0.94,-267.7,112.6,-7.4,173,1030,0.32,2.05,0.00,0.000,4,0.052,0.043,2462,210,3964
$GC,1076,-0.62,-267.7,119.3,-15.5,182,1083,0.32,2.05,0.00,0.000,6,0.121,0.028,2580,1610,3963
$GC,1418,-0.76,-267.7,153.4,-10.1,243,1425,0.15,2.00,0.00,0.000,4,0.058,0.038,2499,2974,3965
$GC,1529,-0.71,-267.7,166.9,-13.7,262,1536,0.10,1.98,0.00,0.000,6,0.091,0.030,2551,1621,3965
$GC,1871,-0.89,-267.7,202.7,-7.3,323,1878,0.17,2.10,0.00,0.000,4,0.054,0.043,2459,214,3965
$GC,1924,-0.62,-267.7,207.8,-10.7,332,1932,0.40,2.12,0.00,0.000,6,0.126,0.028,2584,1697,3965
$GC,2271,-1.08,-267.7,229.3,-9.8,393,2278,0.40,1.88,0.00,0.000,4,0.062,0.040,2441,2974,3964
$GC,2347,-0.88,-267.7,238.8,-13.8,406,2354,0.25,2.00,0.00,0.000,6,0.129,0.031,2499,1608,3964
$GC,2691,-0.88,-267.7,282.2,-12.7,467,2698,0.00,2.10,0.00,0.000,4,0.000,0.045,2498,208,3963
$GC,2728,-0.82,-267.7,286.8,-13.1,473,2734,0.00,2.03,0.00,0.000,6,0.000,0.028,2504,1619,3963
$GC,3060,-0.88,-267.7,322.1,-9.7,514,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1620,3962
$GC,3381,-0.98,-267.7,349.2,-8.3,544,3385,0.12,2.03,0.00,0.000,4,0.067,0.043,2428,2974,3960
$GC,3492,-0.82,-267.7,361.9,-11.7,554,3497,0.28,1.85,0.00,0.000,6,0.123,0.033,2516,1701,3959
$GC,3823,-1.02,-267.7,394.0,-10.1,585,3827,0.17,1.90,0.00,0.000,4,0.053,0.044,2423,2974,3957
$GC,3948,-0.85,-267.7,409.8,-13.5,596,3952,0.25,1.75,0.00,0.000,6,0.122,0.032,2503,1765,3956
$GC,4279,-1.01,-267.7,445.8,-10.9,627,4284,0.15,2.35,0.00,0.000,4,0.057,0.047,2422,216,3954
$GC,4390,-0.77,-267.7,461.5,-14.6,636,4397,0.35,2.40,0.00,0.000,6,0.126,0.033,2531,1841,3953
$GC,4716,-1.05,-267.7,486.7,-6.6,667,4720,0.22,1.67,0.00,0.000,4,0.048,0.046,2415,2966,3950
$GC,4830,-0.91,-267.7,498.6,-10.6,677,4834,0.22,1.60,0.00,0.000,6,0.123,0.033,2485,1855,3950
$GC,5163,-1.05,-267.7,526.3,-8.7,694,5167,0.12,1.67,0.00,0.000,4,0.069,0.048,2423,2966,3947
$GC,5292,-0.93,-267.7,540.3,-11.2,699,5300,0.12,1.52,0.00,0.000,6,0.121,0.035,2480,1931,3946
$GC,5609,-0.93,-267.7,571.5,-10.2,715,5613,0.00,1.60,0.00,0.000,4,0.000,0.053,2479,2982,3944
$GC,5715,-1.12,-267.7,582.6,-10.5,719,5723,0.12,1.62,0.00,0.000,6,0.046,0.035,2386,1887,3944
$GC,6032,-0.86,-267.7,623.2,-12.8,735,6036,0.32,1.65,0.00,0.000,4,0.136,0.050,2492,2963,3942
$GC,6145,-1.09,-267.7,632.4,-7.8,740,6149,0.15,1.67,0.00,0.000,6,0.043,0.044,2406,1853,3941
$GC,6480,-0.88,-267.7,661.8,-9.4,756,6484,0.25,1.70,0.00,0.000,4,0.133,0.051,2489,2965,3939
$GC,6593,-0.96,-267.7,669.0,-6.0,761,6597,0.00,1.67,0.00,0.000,6,0.000,0.036,2489,1835,3938
$GC,6928,-1.13,-267.7,697.3,-10.6,777,6933,0.17,2.50,0.00,0.000,4,0.056,0.051,2395,210,3936
$GC,7047,-0.87,-267.7,716.3,-16.5,782,7053,0.32,2.53,0.00,0.000,6,0.140,0.038,2493,1884,3935
$GC,7364,-1.10,-267.7,744.6,-9.0,797,7368,0.17,1.65,0.00,0.000,4,0.057,0.051,2401,2973,3933
$GC,7453,-0.93,-267.7,754.4,-11.7,801,7458,0.22,1.55,0.00,0.000,6,0.127,0.037,2477,1935,3932
$GC,7787,-0.93,-267.7,780.3,-7.5,817,7791,0.00,2.67,0.00,0.000,4,0.000,0.053,2477,206,3929
$GC,7909,-0.93,-267.7,790.2,-8.0,822,7916,0.00,2.53,0.00,0.000,6,0.000,0.038,2476,1884,3928
$GC,8225,-0.93,-267.7,812.4,-7.4,838,8229,0.00,2.60,0.00,0.000,4,0.000,0.053,2476,213,3927
$GC,8287,-0.93,-267.7,817.9,-9.8,841,8291,0.00,2.50,0.00,0.000,6,0.000,0.039,2476,1863,3927
$GC,8615,-0.93,-267.7,845.3,-8.1,857,8620,0.00,2.58,0.00,0.000,4,0.000,0.054,2476,214,3924
$GC,8671,-0.93,-267.7,850.4,-8.8,859,8679,0.00,2.47,0.00,0.000,6,0.000,0.040,2477,1844,3923
$GC,8987,-0.93,-267.7,874.9,-7.6,875,8995,0.00,2.55,0.00,0.000,4,0.000,0.054,2479,214,3922
$GC,9040,-0.93,-267.7,879.2,-8.0,877,9044,0.00,2.45,0.00,0.000,6,0.000,0.040,2481,1828,3922
$GC,9362,-0.93,-267.7,901.3,-7.5,893,9366,0.00,2.53,0.00,0.000,4,0.000,0.054,2482,216,3920
$GC,9394,-0.93,-267.7,904.2,-8.9,894,9400,0.00,2.42,0.00,0.000,6,0.000,0.041,2484,1818,3920
$GC,9710,-0.93,-267.7,926.7,-7.1,910,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1817,3918
$GC,10019,-0.93,-267.7,949.0,-7.0,925,10023,0.00,2.50,0.00,0.000,4,0.000,0.055,2483,220,3917
$GC,10069,-0.93,-267.7,953.2,-8.4,927,10073,0.00,2.42,0.00,0.000,6,0.000,0.040,2490,1813,3917
$GC,10385,-0.93,-267.7,975.8,-8.2,942,10389,0.00,2.53,0.00,0.000,4,0.000,0.056,2485,210,3916
$GC,10429,-0.93,-267.7,978.9,-7.5,944,10433,0.00,2.42,0.00,0.000,6,0.000,0.041,2483,1798,3915
$STATE,10650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10650,begin apogee
$GC,10656,-0.28,0.0,990.5,5.2,955,10873,0.62,0.00,211.18,1.487,6,0.104,0.000,2693,1507,2945
$STATE,10873,end apogee,CONTROL_FINISHED_OK
$STATE,10873,begin climb
$GC,10875,1.06,267.7,999.3,0.0,966,11126,1.23,0.00,244.50,1.430,6,0.038,0.000,3139,1506,1852
$GC,11449,0.48,267.7,899.9,20.5,994,11454,0.70,2.17,0.00,0.000,4,0.176,0.052,2936,2886,1845
$GC,11482,0.32,267.7,895.0,11.9,995,11490,0.20,2.12,0.00,0.000,6,0.143,0.048,2887,1516,1844
$GC,11799,0.39,292.5,866.9,9.4,1011,11843,0.00,2.15,26.48,1.177,4,0.000,0.062,2886,204,1751
$GC,11876,0.45,292.5,858.8,10.4,1014,11881,0.12,2.00,0.00,0.000,6,0.069,0.042,2945,1506,1750
$GC,12197,0.35,292.5,818.1,12.8,1030,12199,0.17,0.00,0.00,0.000,6,0.136,0.000,2896,1507,1747
$GC,12508,0.43,324.8,788.4,9.2,1045,12550,0.00,2.17,32.08,1.280,4,0.000,0.060,2903,199,1620
$GC,12578,0.54,362.8,782.0,9.0,1048,12629,0.15,2.00,38.20,1.270,6,0.063,0.042,2972,1499,1464
$GC,12945,0.44,362.8,738.9,11.1,1066,12947,0.17,0.00,0.00,0.000,6,0.137,0.000,2923,1499,1458
$GC,13255,0.58,439.7,713.8,8.1,1081,13341,0.12,2.20,72.40,1.282,4,0.068,0.061,2995,202,1152
$GC,13402,0.49,439.7,696.7,11.2,1087,13411,0.20,2.00,0.00,0.000,6,0.133,0.042,2939,1487,1148
$GC,13719,0.58,440.0,667.0,10.0,1103,13722,0.00,2.05,0.00,0.000,4,0.000,0.060,2946,190,1145
$GC,13765,0.63,440.0,662.2,10.3,1105,13769,0.10,1.95,0.00,0.000,6,0.079,0.043,2996,1476,1144
$GC,14097,0.56,440.0,618.3,13.3,1121,14101,0.12,2.03,0.00,0.000,4,0.138,0.058,2970,192,1143
$GC,14129,0.56,440.0,613.9,12.4,1122,14133,0.00,1.92,0.00,0.000,6,0.000,0.042,2970,1450,1143
$GC,14450,0.56,440.0,577.7,11.1,1138,14454,0.00,1.98,0.00,0.000,4,0.000,0.059,2981,192,1143
$GC,14466,0.56,440.0,575.7,11.2,1138,14473,0.00,1.92,0.00,0.000,6,0.000,0.042,2981,1451,1142
$GC,14782,0.56,440.0,535.7,13.0,1154,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1452,1142
$GC,15092,0.61,480.8,504.4,9.0,1169,15135,0.00,2.03,36.90,1.155,4,0.000,0.058,2991,195,983
$GC,15162,0.71,557.1,498.5,8.1,1172,15238,0.00,1.95,70.62,1.133,6,0.000,0.040,2990,1450,672
$GC,15563,0.76,557.1,462.6,10.0,1210,15568,0.10,2.00,0.00,0.000,4,0.073,0.062,3058,187,669
$GC,15624,0.67,557.1,453.3,15.8,1215,15632,0.20,1.85,0.00,0.000,6,0.133,0.040,2999,1418,668
$GC,15949,0.96,557.1,415.8,11.2,1246,15954,0.22,2.25,0.00,0.000,4,0.048,0.044,3127,2899,669
$GC,16038,0.61,557.1,398.3,22.7,1253,16045,0.52,2.42,0.00,0.000,6,0.148,0.042,2982,1310,668
$GC,16365,1.03,561.1,363.9,9.9,1284,16377,0.32,1.75,4.15,0.683,4,0.059,0.058,3118,204,656
$GC,16457,0.80,561.1,349.4,19.5,1292,16462,0.22,1.65,0.00,0.000,6,0.133,0.039,3045,1293,657
$GC,16787,0.80,561.1,309.6,13.3,1323,16791,0.00,2.45,0.00,0.000,4,0.000,0.051,3045,2910,657
$GC,16826,0.80,561.1,303.9,14.5,1326,16832,0.00,2.45,0.00,0.000,6,0.000,0.041,3053,1291,656
$GC,17168,0.80,561.1,254.2,11.4,1385,17175,0.00,2.45,0.00,0.000,4,0.000,0.043,3054,2909,657
$GC,17205,0.80,561.1,249.5,14.5,1391,17212,0.00,2.42,0.00,0.000,6,0.000,0.040,3065,1305,657
$GC,17549,0.88,624.6,207.6,8.4,1452,17598,0.00,0.00,44.45,0.899,6,0.000,0.000,3065,1305,455
$GC,17937,0.94,624.6,163.0,12.7,1520,17943,0.00,2.42,0.00,0.000,4,0.000,0.040,3066,2903,454
$GC,17973,1.00,624.6,158.2,13.2,1526,17980,0.00,2.40,0.00,0.000,6,0.000,0.038,3078,1306,454
$GC,18317,1.08,624.6,117.9,13.6,1587,18324,0.12,1.73,0.00,0.000,4,0.060,0.051,3161,197,454
$GC,18353,0.96,624.6,112.4,16.6,1593,18361,0.20,1.67,0.00,0.000,6,0.125,0.034,3093,1328,454
$GC,18701,1.08,644.6,75.7,9.5,1654,18708,0.10,2.35,0.00,0.000,4,0.073,0.038,3158,2915,454
$GC,18732,1.03,644.6,71.6,12.9,1659,18739,0.20,2.40,0.00,0.000,6,0.137,0.036,3111,1302,454
$GC,19078,1.28,682.6,36.8,9.0,1720,19085,0.17,2.40,0.00,0.000,4,0.049,0.036,3216,2917,453
$GC,19198,1.15,682.6,19.3,13.9,1741,19207,0.25,2.47,0.00,0.000,6,0.117,0.039,3149,1258,454
$STATE,19334,end climb,SURFACE_DEPTH_REACHED
$STATE,19334,begin surface coast
$FINISH,0.9,1.009059
$STATE,19359,end surface coast,CONTROL_FINISHED_OK
$STATE,19360,begin surface
$SM_CCo,19437,0.00,0.000,0,0,454,611.04
$SM_GC,1.47,7.78,0.00,0.00,0.035,0.000,0.000,151,1600,454,-8.15,0.71,611.04
$IRIDIUM_FIX,2429.95,12312.47,190998,000056
$TT8_MAMPS,0.026845
$HUMID,1543
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.10
$XPDR_PINGS,101
$24V_AH,22.8,54.648
$10V_AH,10.7,31.711
$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,30.075,173.850,780.950,0.000,0.000,22.989,31.347,239.982,33.250,0.000,0.000,32.860,3177.966,11445.245,945.539,3665.941,640.411,0.000,2603.124,0.000,3602.109,0.000,55.826,0.000
$DEVICE_MAMPS,232.401,62.127,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1201.516,1221.979,2055.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104155,1769
$CAP_FILE_SIZE,201611,0
$CFSIZE,260165632,217231360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.126, 51.7,1
$GPS,250609,113036,2439.435,12309.843,41,1.0,41,-3.5