version: 66.04
glider: 166
mission: 2
dive: 254
start: 6 25 109 17 16 14
data:
$ID,166
$MISSION,2
$DIVE,254
$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,-10446.145
$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,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
$GPS1,170800,2439.778,12309.039,41,1.8,46,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.3
$GPS2,171550,2439.773,12309.337,14,1.9,14,-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,257.4,31298,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.06,-267.7,0.0,0.0,0,100,0.00,0.00,-83.47,0.000,2,0.000,0.000,170,1557,2347
$GC,103,-1.06,-267.7,3.2,-5.9,13,162,9.23,2.05,-41.88,0.000,4,0.231,0.054,2433,194,3961
$GC,219,-0.56,-267.7,28.5,-24.1,32,227,0.55,2.03,0.00,0.000,6,0.138,0.028,2599,1590,3961
$GC,564,-0.53,-267.7,69.2,-12.0,93,570,0.00,2.03,0.00,0.000,4,0.000,0.039,2598,2970,3962
$GC,655,-0.53,-267.7,78.6,-10.9,109,662,0.00,2.03,0.00,0.000,6,0.000,0.028,2599,1582,3962
$GC,999,-0.57,-267.7,115.6,-9.4,170,1006,0.00,2.05,0.00,0.000,4,0.000,0.037,2599,2977,3963
$GC,1042,-0.73,-267.7,119.8,-10.7,177,1049,0.10,1.98,0.00,0.000,6,0.028,0.028,2508,1617,3963
$GC,1387,-0.57,-267.7,163.3,-12.7,238,1395,0.25,2.12,0.00,0.000,4,0.120,0.040,2591,191,3963
$GC,1496,-0.57,-267.7,173.7,-9.2,257,1502,0.00,2.12,0.00,0.000,6,0.000,0.026,2592,1689,3963
$GC,1839,-1.01,-267.7,203.6,-8.4,318,1847,0.32,2.20,0.00,0.000,4,0.055,0.040,2455,221,3964
$GC,1870,-1.01,-267.7,206.8,-10.7,323,1876,0.00,2.00,0.00,0.000,6,0.000,0.027,2452,1622,3964
$GC,2212,-0.78,-267.7,251.8,-12.6,384,2220,0.22,1.98,0.00,0.000,4,0.130,0.039,2520,2964,3964
$GC,2301,-0.82,-267.7,259.8,-8.9,399,2307,0.00,1.92,0.00,0.000,6,0.000,0.029,2518,1621,3964
$GC,2646,-0.93,-267.7,287.6,-7.4,460,2654,0.00,2.10,0.00,0.000,4,0.000,0.044,2516,214,3963
$GC,2661,-1.02,-267.7,288.7,-7.0,462,2668,0.20,2.17,0.00,0.000,6,0.055,0.028,2424,1730,3962
$GC,2998,-0.78,-267.7,331.7,-15.2,502,3000,0.32,0.00,0.00,0.000,6,0.124,0.000,2532,1731,3960
$GC,3318,-0.96,-267.7,364.9,-9.5,532,3322,0.17,1.85,0.00,0.000,4,0.053,0.043,2437,2973,3958
$GC,3423,-0.83,-267.7,376.7,-10.8,541,3430,0.25,1.85,0.00,0.000,6,0.120,0.031,2519,1691,3957
$GC,3749,-0.94,-267.7,399.2,-7.5,572,3753,0.12,2.22,0.00,0.000,4,0.064,0.045,2446,217,3955
$GC,3788,-0.74,-267.7,403.3,-11.3,575,3793,0.32,2.30,0.00,0.000,6,0.128,0.031,2544,1778,3954
$GC,4114,-1.04,-267.7,430.5,-9.7,605,4118,0.25,1.77,0.00,0.000,4,0.054,0.044,2426,2974,3952
$GC,4152,-0.94,-267.7,435.1,-12.4,608,4159,0.12,1.75,0.00,0.000,6,0.125,0.033,2472,1790,3951
$GC,4477,-1.06,-267.7,474.4,-11.4,639,4485,0.00,2.40,0.00,0.000,4,0.000,0.048,2472,209,3949
$GC,4507,-1.06,-267.7,478.1,-12.0,641,4513,0.00,2.30,0.00,0.000,6,0.000,0.032,2471,1773,3948
$GC,4830,-1.13,-267.7,514.2,-11.3,666,4835,0.17,2.38,0.00,0.000,4,0.058,0.047,2382,219,3946
$GC,4874,-0.77,-267.7,520.7,-15.8,668,4879,0.50,2.42,0.00,0.000,6,0.138,0.035,2531,1849,3946
$GC,5197,-1.11,-267.7,547.4,-6.5,684,5201,0.28,1.67,0.00,0.000,4,0.087,0.047,2413,2967,3943
$GC,5242,-1.11,-267.7,550.9,-8.1,686,5245,0.00,1.62,0.00,0.000,6,0.000,0.038,2415,1862,3943
$GC,5574,-0.92,-267.7,588.2,-12.8,702,5579,0.20,2.53,0.00,0.000,4,0.131,0.049,2481,220,3941
$GC,5674,-0.86,-267.7,599.6,-10.7,706,5682,0.00,2.45,0.00,0.000,6,0.000,0.035,2480,1844,3940
$GC,5991,-0.96,-267.7,630.6,-9.8,722,5995,0.00,2.53,0.00,0.000,4,0.000,0.051,2479,212,3938
$GC,6052,-0.96,-267.7,636.9,-10.0,725,6057,0.00,2.58,0.00,0.000,6,0.000,0.035,2478,1922,3938
$GC,6380,-1.10,-267.7,667.4,-8.6,741,6385,0.15,2.62,0.00,0.000,4,0.058,0.048,2399,219,3936
$GC,6499,-0.85,-267.7,681.7,-12.4,746,6504,0.35,2.55,0.00,0.000,6,0.133,0.037,2506,1903,3934
$GC,6815,-1.14,-267.7,705.9,-7.7,761,6820,0.22,1.62,0.00,0.000,4,0.048,0.054,2387,2956,3932
$GC,6865,-1.08,-267.7,711.3,-11.2,763,6869,0.12,1.52,0.00,0.000,6,0.126,0.035,2432,1928,3932
$GC,7193,-0.97,-267.7,748.4,-12.0,779,7198,0.12,2.65,0.00,0.000,4,0.145,0.051,2470,224,3930
$GC,7278,-0.92,-267.7,758.7,-11.8,783,7282,0.00,2.53,0.00,0.000,6,0.000,0.037,2469,1900,3930
$GC,7604,-0.92,-267.7,793.1,-10.3,799,7608,0.00,2.62,0.00,0.000,4,0.000,0.052,2469,211,3927
$GC,7693,-0.88,-267.7,803.5,-11.2,803,7697,0.00,2.50,0.00,0.000,6,0.000,0.038,2469,1866,3927
$GC,8014,-0.88,-267.7,833.9,-8.9,819,8018,0.00,2.58,0.00,0.000,4,0.000,0.052,2469,211,3924
$GC,8069,-0.88,-267.7,839.5,-9.4,821,8075,0.00,2.47,0.00,0.000,6,0.000,0.038,2470,1851,3924
$GC,8385,-0.88,-267.7,866.5,-9.0,837,8389,0.00,2.55,0.00,0.000,4,0.000,0.053,2470,216,3922
$GC,8434,-0.88,-267.7,871.5,-9.9,839,8438,0.00,2.47,0.00,0.000,6,0.000,0.039,2470,1846,3922
$GC,8756,-0.88,-267.7,903.6,-10.0,855,8760,0.00,2.55,0.00,0.000,4,0.000,0.055,2471,219,3920
$GC,8805,-0.88,-267.7,909.1,-11.2,857,8809,0.00,2.47,0.00,0.000,6,0.000,0.042,2473,1819,3920
$GC,9127,-0.88,-267.7,939.9,-9.3,873,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1819,3918
$GC,9436,-0.88,-267.7,967.0,-8.7,888,9441,0.00,2.53,0.00,0.000,4,0.000,0.057,2473,213,3917
$GC,9469,-0.88,-267.7,970.2,-9.6,889,9475,0.00,2.45,0.00,0.000,6,0.000,0.042,2476,1810,3916
$STATE,9680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9680,begin apogee
$GC,9686,-0.28,0.0,990.5,10.3,900,9903,0.65,0.00,210.35,1.484,6,0.104,0.000,2692,1518,2944
$STATE,9904,end apogee,CONTROL_FINISHED_OK
$STATE,9904,begin climb
$GC,9906,1.06,267.7,1008.5,0.0,911,10160,1.25,2.35,242.88,1.438,4,0.047,0.054,3136,2878,1851
$GC,10207,0.47,267.7,978.0,20.4,925,10212,0.77,2.25,0.00,0.000,6,0.178,0.049,2939,1498,1848
$GC,10534,0.36,267.7,937.6,12.1,941,10539,0.15,2.20,0.00,0.000,4,0.141,0.059,2894,2895,1845
$GC,10566,0.36,267.7,933.8,11.0,942,10573,0.00,2.20,0.00,0.000,6,0.000,0.046,2901,1495,1844
$GC,10882,0.38,284.5,902.4,9.6,958,10909,0.00,2.08,17.05,1.198,4,0.000,0.060,2910,190,1785
$GC,10976,0.39,292.3,893.1,9.8,962,10991,0.00,1.98,8.95,1.217,6,0.000,0.043,2910,1483,1753
$GC,11319,0.48,364.5,863.7,8.2,979,11399,0.00,2.15,68.97,1.365,4,0.000,0.061,2915,196,1457
$GC,11415,0.67,476.2,855.8,7.2,982,11534,0.22,2.03,107.40,1.353,6,0.057,0.041,3014,1493,1002
$GC,11856,0.56,476.2,798.2,13.1,1004,11861,0.20,2.08,0.00,0.000,4,0.131,0.060,2959,193,998
$GC,11905,0.56,476.2,792.7,10.7,1006,11909,0.00,1.95,0.00,0.000,6,0.000,0.044,2958,1471,996
$GC,12227,0.59,476.2,760.0,10.6,1022,12231,0.00,2.03,0.00,0.000,4,0.000,0.061,2968,190,995
$GC,12259,0.59,476.2,756.2,11.7,1023,12264,0.00,1.95,0.00,0.000,6,0.000,0.044,2968,1456,996
$GC,12583,0.59,476.2,721.0,10.5,1039,12587,0.00,1.98,0.00,0.000,4,0.000,0.061,2978,198,996
$GC,12622,0.59,476.2,716.3,11.4,1040,12629,0.00,1.90,0.00,0.000,6,0.000,0.043,2978,1441,994
$GC,12938,0.59,476.2,672.8,15.3,1056,12942,0.00,2.28,0.00,0.000,4,0.000,0.058,2978,2907,994
$GC,12964,0.59,476.2,668.3,16.1,1057,12968,0.00,2.28,0.00,0.000,6,0.000,0.045,2990,1442,993
$GC,13286,0.59,476.2,620.0,14.0,1073,13290,0.00,1.95,0.00,0.000,4,0.000,0.061,2999,194,993
$GC,13358,0.55,476.2,609.8,15.0,1076,13363,0.15,1.88,0.00,0.000,6,0.133,0.043,2956,1441,992
$GC,13687,0.83,516.6,577.4,9.0,1092,13743,0.20,2.33,40.38,1.121,4,0.053,0.052,3073,2905,839
$GC,13789,0.59,516.6,561.6,18.6,1096,13796,0.40,2.45,0.00,0.000,6,0.143,0.044,2970,1335,839
$GC,14105,0.86,516.6,529.0,11.3,1112,14110,0.20,2.42,0.00,0.000,4,0.048,0.048,3076,2901,837
$GC,14194,0.63,516.6,512.8,19.4,1116,14199,0.35,2.55,0.00,0.000,6,0.143,0.044,2985,1249,837
$GC,14522,0.84,516.6,465.6,14.9,1143,14527,0.17,2.55,0.00,0.000,4,0.054,0.047,3087,2911,837
$GC,14596,0.59,516.6,450.9,21.0,1149,14601,0.43,2.50,0.00,0.000,6,0.140,0.044,2972,1275,837
$GC,14922,1.00,536.9,412.7,9.5,1179,14946,0.32,1.75,19.67,1.060,4,0.054,0.058,3120,193,756
$GC,15063,0.73,536.9,389.6,17.9,1191,15067,0.35,1.62,0.00,0.000,6,0.140,0.042,3015,1273,755
$GC,15392,0.73,536.9,352.5,10.5,1222,15396,0.00,2.50,0.00,0.000,4,0.000,0.052,3016,2905,754
$GC,15429,0.73,536.9,348.3,11.6,1225,15436,0.00,2.55,0.00,0.000,6,0.000,0.044,3025,1246,754
$GC,15757,0.73,536.9,307.5,13.6,1256,15761,0.00,2.55,0.00,0.000,4,0.000,0.045,3026,2912,754
$GC,15807,0.73,536.9,300.4,13.7,1260,15811,0.00,2.50,0.00,0.000,6,0.000,0.041,3037,1280,754
$GC,16151,0.73,536.9,259.0,11.7,1320,16157,0.00,2.47,0.00,0.000,4,0.000,0.045,3038,2907,754
$GC,16175,0.73,536.9,256.0,11.4,1324,16182,0.12,2.45,0.00,0.000,6,0.140,0.041,3012,1286,754
$GC,16521,1.26,667.5,228.3,6.7,1385,16595,0.43,1.77,65.12,0.913,4,0.048,0.057,3201,196,455
$GC,16793,0.97,667.5,168.8,22.3,1432,16800,0.30,1.60,0.00,0.000,6,0.139,0.037,3094,1253,452
$GC,17137,0.97,669.6,128.2,9.9,1493,17143,0.00,2.50,0.00,0.000,4,0.000,0.041,3100,2910,452
$GC,17178,0.97,669.6,123.1,12.7,1500,17185,0.00,2.53,0.00,0.000,6,0.000,0.038,3110,1236,452
$GC,17522,1.03,669.6,85.6,10.7,1561,17528,0.00,1.60,0.00,0.000,4,0.000,0.053,3118,202,452
$GC,17581,1.03,669.6,79.2,11.1,1571,17588,0.00,1.52,0.00,0.000,6,0.000,0.035,3118,1238,452
$GC,17927,1.09,669.6,42.4,10.7,1632,17934,0.00,1.60,0.00,0.000,4,0.000,0.051,3122,201,452
$GC,17963,1.17,669.6,38.3,10.7,1638,17969,0.00,1.50,0.00,0.000,6,0.000,0.033,3124,1229,452
$GC,18305,1.38,669.6,4.5,10.4,1699,18313,0.22,2.50,0.00,0.000,4,0.048,0.035,3239,2919,452
$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18318,begin surface coast
$FINISH,0.9,1.012118
$STATE,18341,end surface coast,CONTROL_FINISHED_OK
$STATE,18341,begin surface
$SM_CCo,18420,0.00,0.000,0,0,452,611.53
$SM_GC,1.61,8.18,0.00,0.00,0.044,0.000,0.000,169,1561,452,-8.16,-0.40,611.53
$IRIDIUM_FIX,2425.21,12116.11,190998,111143
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.20
$XPDR_PINGS,151
$24V_AH,22.8,55.304
$10V_AH,10.7,32.059
$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,29.650,192.425,780.775,0.000,0.000,24.509,44.963,245.994,45.750,0.000,0.000,14.253,3052.576,10708.508,911.975,3530.086,669.201,0.000,2546.245,0.000,3489.289,0.000,55.757,0.000
$DEVICE_MAMPS,230.867,61.360,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.182,1183.533,1987.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97942,1705
$CAP_FILE_SIZE,195911,0
$CFSIZE,260165632,217034752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.192, 67.2,1
$GPS,250609,222430,2440.246,12308.611,41,1.4,41,-3.5