version: 66.04
glider: 166
mission: 2
dive: 253
start: 6 25 109 11 46 54
data:
$ID,166
$MISSION,2
$DIVE,253
$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,-10431.262
$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,70
$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
$GPS1,113036,2439.435,12309.843,41,1.0,41,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.2
$GPS2,114632,2439.532,12310.101,12,1.5,12,-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,255.8,32522,-13.2,-10.000
$D_GRID,1148
$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,15,-1.06,-267.7,0.0,0.0,0,105,0.00,0.00,-86.82,0.000,2,0.000,0.000,175,1600,2450
$GC,107,-1.06,-267.7,3.3,-6.2,14,161,9.20,2.22,-38.58,0.000,4,0.232,0.056,2432,185,3962
$GC,207,-0.53,-267.7,25.0,-25.0,30,215,0.52,2.05,0.00,0.000,6,0.134,0.029,2609,1570,3963
$GC,552,-0.53,-267.7,70.6,-12.4,91,559,0.00,2.08,0.00,0.000,4,0.000,0.041,2608,2976,3964
$GC,696,-0.74,-267.7,85.3,-10.9,116,705,0.17,2.03,0.00,0.000,6,0.051,0.032,2510,1581,3964
$GC,1043,-0.58,-267.7,127.0,-14.4,177,1051,0.20,2.10,0.00,0.000,4,0.120,0.040,2576,2967,3964
$GC,1136,-0.67,-267.7,137.1,-10.6,193,1142,0.00,1.98,0.00,0.000,6,0.000,0.031,2578,1621,3964
$GC,1482,-0.85,-267.7,172.0,-10.6,254,1489,0.20,2.00,0.00,0.000,4,0.051,0.039,2474,2972,3964
$GC,1643,-0.69,-267.7,193.6,-13.3,282,1650,0.25,1.90,0.00,0.000,6,0.112,0.031,2551,1679,3963
$GC,1989,-0.96,-267.7,222.1,-7.6,343,1995,0.20,1.90,0.00,0.000,4,0.051,0.038,2457,2970,3963
$GC,2076,-0.84,-267.7,230.5,-10.1,358,2082,0.15,1.80,0.00,0.000,6,0.118,0.030,2504,1731,3963
$GC,2420,-0.94,-267.7,266.7,-11.8,419,2426,0.00,2.30,0.00,0.000,4,0.000,0.045,2507,200,3962
$GC,2479,-0.84,-267.7,274.0,-12.9,429,2485,0.00,2.35,0.00,0.000,6,0.000,0.028,2507,1823,3962
$GC,2824,-0.80,-267.7,305.8,-7.8,484,2828,0.00,2.45,0.00,0.000,4,0.000,0.044,2499,204,3960
$GC,2858,-0.73,-267.7,309.0,-9.2,486,2865,0.15,2.33,0.00,0.000,6,0.128,0.028,2546,1809,3960
$GC,3184,-1.01,-267.7,341.1,-10.9,517,3188,0.20,1.73,0.00,0.000,4,0.053,0.041,2435,2979,3958
$GC,3267,-0.92,-267.7,351.9,-12.1,524,3276,0.12,1.67,0.00,0.000,6,0.120,0.030,2479,1826,3957
$GC,3593,-0.96,-267.7,385.2,-9.6,555,3596,0.00,1.73,0.00,0.000,4,0.000,0.045,2476,2976,3955
$GC,3666,-1.02,-267.7,392.4,-9.5,561,3672,0.00,1.58,0.00,0.000,6,0.000,0.031,2478,1900,3954
$GC,3992,-1.11,-267.7,422.9,-8.9,592,3996,0.15,1.60,0.00,0.000,4,0.061,0.044,2399,2967,3951
$GC,4072,-0.87,-267.7,431.8,-11.8,599,4076,0.25,1.52,0.00,0.000,6,0.125,0.033,2501,1924,3950
$GC,4402,-0.96,-267.7,461.7,-9.9,630,4406,0.00,1.60,0.00,0.000,4,0.000,0.047,2492,2987,3947
$GC,4448,-1.07,-267.7,466.4,-11.0,634,4452,0.17,1.58,0.00,0.000,6,0.055,0.033,2410,1916,3947
$GC,4786,-0.84,-267.7,513.2,-14.6,662,4791,0.28,2.60,0.00,0.000,4,0.132,0.048,2505,213,3945
$GC,4886,-0.84,-267.7,524.3,-10.1,666,4893,0.00,2.53,0.00,0.000,6,0.000,0.033,2498,1918,3943
$GC,5202,-1.02,-267.7,547.9,-6.9,682,5207,0.12,2.62,0.00,0.000,4,0.066,0.046,2425,211,3941
$GC,5343,-0.83,-267.7,562.5,-11.3,688,5348,0.30,2.55,0.00,0.000,6,0.129,0.035,2518,1919,3940
$GC,5661,-1.12,-267.7,586.1,-7.6,703,5665,0.25,1.58,0.00,0.000,4,0.048,0.048,2388,2966,3938
$GC,5716,-1.03,-267.7,591.9,-11.2,705,5720,0.12,1.55,0.00,0.000,6,0.117,0.038,2446,1921,3938
$GC,6040,-1.09,-267.7,621.6,-9.3,721,6045,0.00,2.62,0.00,0.000,4,0.000,0.054,2445,213,3935
$GC,6057,-1.09,-267.7,623.6,-9.2,722,6062,0.00,2.55,0.00,0.000,6,0.000,0.035,2441,1918,3935
$GC,6384,-1.09,-267.7,657.8,-10.2,738,6388,0.00,2.65,0.00,0.000,4,0.000,0.051,2442,202,3932
$GC,6491,-0.95,-267.7,670.5,-11.1,743,6496,0.12,2.53,0.00,0.000,6,0.143,0.035,2476,1887,3931
$GC,6821,-1.08,-267.7,695.4,-7.7,759,6825,0.12,1.62,0.00,0.000,4,0.064,0.050,2409,2964,3929
$GC,6959,-0.97,-267.7,709.0,-10.3,765,6963,0.15,1.55,0.00,0.000,6,0.120,0.036,2474,1926,3928
$GC,7294,-1.10,-267.7,733.2,-7.1,781,7298,0.15,1.60,0.00,0.000,4,0.059,0.051,2399,2970,3927
$GC,7355,-0.95,-267.7,739.6,-10.5,783,7362,0.20,1.58,0.00,0.000,6,0.127,0.046,2467,1928,3926
$GC,7673,-0.95,-267.7,769.3,-9.9,799,7678,0.00,2.65,0.00,0.000,4,0.000,0.053,2466,213,3923
$GC,7784,-0.89,-267.7,781.7,-10.4,804,7788,0.00,2.58,0.00,0.000,6,0.000,0.043,2466,1904,3923
$GC,8111,-0.89,-267.7,811.7,-9.2,820,8115,0.00,2.65,0.00,0.000,4,0.000,0.053,2466,213,3921
$GC,8183,-0.84,-267.7,819.7,-11.8,823,8188,0.15,2.53,0.00,0.000,6,0.133,0.039,2512,1881,3920
$GC,8499,-1.13,-267.7,846.7,-8.6,838,8503,0.25,1.65,0.00,0.000,4,0.056,0.052,2401,2968,3918
$GC,8681,-1.00,-267.7,867.9,-10.8,846,8685,0.15,1.58,0.00,0.000,6,0.118,0.040,2463,1928,3917
$GC,9013,-1.00,-267.7,895.7,-8.1,862,9018,0.00,2.67,0.00,0.000,4,0.000,0.055,2463,213,3915
$GC,9109,-0.96,-267.7,904.7,-9.5,866,9113,0.00,2.55,0.00,0.000,6,0.000,0.041,2464,1885,3915
$GC,9425,-0.96,-267.7,930.6,-8.1,881,9429,0.00,2.62,0.00,0.000,4,0.000,0.055,2464,211,3913
$GC,9469,-0.90,-267.7,935.3,-11.3,883,9473,0.00,2.55,0.00,0.000,6,0.000,0.041,2468,1879,3912
$GC,9790,-0.90,-267.7,966.9,-10.5,899,9794,0.00,2.62,0.00,0.000,4,0.000,0.056,2467,210,3911
$GC,9834,-0.85,-267.7,972.2,-11.9,901,9839,0.12,2.55,0.00,0.000,6,0.137,0.042,2510,1875,3911
$STATE,10049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10049,begin apogee
$GC,10055,-0.28,0.0,991.8,8.9,912,10274,0.52,0.00,211.23,1.479,6,0.081,0.000,2693,1504,2945
$STATE,10275,end apogee,CONTROL_FINISHED_OK
$STATE,10275,begin climb
$GC,10277,1.06,267.7,1008.5,0.0,923,10534,1.20,2.25,243.20,1.437,4,0.048,0.057,3130,204,1851
$GC,10595,0.45,267.7,973.0,19.9,937,10602,0.75,2.05,0.00,0.000,6,0.171,0.041,2925,1491,1848
$GC,10912,0.45,331.0,944.5,8.4,953,10994,0.00,2.35,61.55,1.330,4,0.000,0.054,2925,2901,1595
$GC,11004,0.54,403.6,937.1,8.2,957,11094,0.00,2.22,72.32,1.326,6,0.000,0.046,2933,1508,1298
$GC,11411,0.56,423.0,899.9,9.5,977,11441,0.00,2.10,20.40,1.220,4,0.000,0.061,2942,202,1220
$GC,11537,0.56,423.0,886.4,10.8,983,11541,0.00,1.98,0.00,0.000,6,0.000,0.042,2942,1494,1218
$GC,11870,0.56,423.0,849.7,11.0,999,11874,0.00,2.05,0.00,0.000,4,0.000,0.061,2951,198,1216
$GC,11919,0.56,423.0,843.6,11.7,1001,11924,0.00,1.98,0.00,0.000,6,0.000,0.042,2951,1478,1215
$GC,12247,0.56,423.0,807.8,10.8,1017,12250,0.00,2.03,0.00,0.000,4,0.000,0.059,2960,190,1214
$GC,12269,0.56,423.0,805.1,11.2,1018,12273,0.00,1.95,0.00,0.000,6,0.000,0.043,2960,1484,1214
$GC,12601,0.56,423.0,766.9,10.9,1034,12605,0.00,2.03,0.00,0.000,4,0.000,0.060,2970,196,1214
$GC,12624,0.56,423.0,764.4,11.2,1035,12628,0.00,1.92,0.00,0.000,6,0.000,0.041,2970,1474,1213
$GC,12957,0.52,423.0,729.4,10.3,1051,12961,0.00,2.00,0.00,0.000,4,0.000,0.060,2979,200,1213
$GC,12980,0.45,423.0,726.7,11.2,1052,12985,0.17,1.90,0.00,0.000,6,0.135,0.043,2929,1462,1212
$GC,13315,0.60,486.0,698.0,8.4,1068,13394,0.15,2.08,62.83,1.250,4,0.062,0.059,3013,202,962
$GC,13419,0.53,486.0,685.3,12.2,1072,13423,0.22,1.95,0.00,0.000,6,0.129,0.042,2948,1451,961
$GC,13752,0.62,486.0,653.1,10.1,1088,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1451,959
$GC,14060,0.72,486.0,619.6,11.3,1103,14065,0.20,2.25,0.00,0.000,4,0.053,0.050,3050,2909,956
$GC,14077,0.72,486.0,617.3,12.2,1104,14082,0.17,2.28,0.00,0.000,6,0.152,0.045,3013,1433,957
$GC,14404,0.66,486.0,574.1,12.2,1120,14408,0.00,1.92,0.00,0.000,4,0.000,0.059,3021,198,956
$GC,14473,0.58,486.0,565.3,12.2,1123,14477,0.20,1.85,0.00,0.000,6,0.132,0.042,2962,1425,956
$GC,14805,0.82,486.0,532.3,10.6,1139,14810,0.20,2.25,0.00,0.000,4,0.050,0.048,3068,2896,955
$GC,14907,0.56,486.0,514.8,19.3,1143,14915,0.40,2.38,0.00,0.000,6,0.146,0.044,2962,1341,955
$GC,15231,0.84,486.0,474.6,12.1,1168,15236,0.20,2.40,0.00,0.000,4,0.052,0.046,3078,2908,955
$GC,15338,0.58,486.0,455.6,18.3,1177,15343,0.43,2.53,0.00,0.000,6,0.143,0.044,2965,1255,955
$GC,15663,0.98,592.1,426.0,7.3,1207,15765,0.32,1.77,94.57,1.088,4,0.041,0.057,3135,199,531
$GC,15872,0.72,592.1,387.9,19.3,1225,15878,0.35,1.55,0.00,0.000,6,0.130,0.041,3012,1198,528
$GC,16199,1.11,600.6,355.1,9.8,1256,16213,0.30,1.62,8.57,0.898,4,0.100,0.058,3149,199,496
$GC,16247,0.83,600.6,347.4,19.7,1260,16251,0.28,1.52,0.00,0.000,6,0.137,0.041,3051,1194,496
$GC,16577,0.83,600.6,302.8,14.2,1291,16581,0.00,2.62,0.00,0.000,4,0.000,0.044,3051,2914,496
$GC,16645,0.83,600.6,293.1,14.2,1300,16653,0.00,2.60,0.00,0.000,6,0.000,0.041,3059,1208,496
$GC,16991,0.83,600.6,247.8,12.8,1361,16997,0.00,2.60,0.00,0.000,4,0.000,0.048,3059,2910,496
$GC,17039,0.83,600.6,241.9,13.4,1369,17045,0.00,2.55,0.00,0.000,6,0.000,0.040,3068,1229,495
$GC,17383,0.83,600.6,201.4,10.7,1430,17389,0.00,2.55,0.00,0.000,4,0.000,0.042,3068,2913,496
$GC,17447,0.83,600.6,194.2,11.2,1441,17454,0.12,2.47,0.00,0.000,6,0.139,0.038,3045,1271,496
$GC,17788,1.28,600.6,158.0,12.1,1502,17795,0.38,1.67,0.00,0.000,4,0.064,0.052,3196,197,496
$GC,17881,1.02,600.6,141.2,22.3,1518,17888,0.25,1.77,0.00,0.000,6,0.138,0.035,3104,1389,495
$GC,18227,1.15,622.5,98.9,9.4,1579,18243,0.12,1.90,10.35,0.719,4,0.063,0.051,3192,189,454
$GC,18290,1.02,622.5,90.4,14.2,1589,18297,0.25,1.75,0.00,0.000,6,0.125,0.034,3110,1371,454
$GC,18634,1.28,627.8,54.5,9.9,1650,18641,0.17,2.28,0.00,0.000,4,0.049,0.036,3219,2906,454
$GC,18721,1.09,627.8,42.2,16.2,1665,18728,0.35,2.47,0.00,0.000,6,0.133,0.037,3127,1251,454
$GC,19064,1.16,627.8,5.0,10.9,1726,19071,0.00,2.45,0.00,0.000,4,0.000,0.035,3126,2914,454
$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FINISH,1.0,1.021335
$STATE,19106,end surface coast,CONTROL_FINISHED_OK
$STATE,19106,begin surface
$SM_CCo,19185,0.00,0.000,0,0,454,611.04
$SM_GC,1.49,7.75,0.00,0.00,0.035,0.000,0.000,169,1557,454,-8.16,-0.51,611.04
$IRIDIUM_FIX,2432.32,12309.18,190998,111135
$TT8_MAMPS,0.026845
$HUMID,1537
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.40
$XPDR_PINGS,135
$24V_AH,22.8,54.984
$10V_AH,10.7,31.889
$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,29.925,191.275,785.025,0.000,0.000,112.049,142.322,368.037,41.750,0.000,0.000,13.036,3163.320,11375.932,921.249,3673.249,988.127,0.000,2613.898,0.000,3633.891,0.000,54.420,0.000
$DEVICE_MAMPS,232.401,60.593,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1177.934,1192.115,2001.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101148,1733
$CAP_FILE_SIZE,209471,0
$CFSIZE,260165632,217120768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.148, 62.3,1
$GPS,250609,170800,2439.778,12309.039,41,1.8,46,-3.5