version: 66.04
glider: 166
mission: 2
dive: 255
start: 6 25 109 22 39 30
data:
$ID,166
$MISSION,2
$DIVE,255
$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,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,-10462.424
$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,1650
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,46
$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
$GPS1,222430,2440.246,12308.611,41,1.4,41,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.6
$GPS2,223908,2440.486,12308.965,14,1.5,14,-3.5
$SPEED_LIMITS,0.173,0.326
$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,256.1,30878,-13.9,-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,-1.07,-243.4,0.0,0.0,0,96,0.00,0.00,-79.47,0.000,2,0.000,0.000,169,1562,2245
$GC,99,-1.07,-243.4,3.0,-6.3,12,163,9.20,2.05,-45.67,0.000,4,0.232,0.054,2427,232,3940
$GC,193,-0.52,-243.4,21.3,-28.0,27,201,0.57,2.12,0.00,0.000,6,0.138,0.029,2613,1663,3941
$GC,538,-0.57,-243.4,64.2,-10.0,88,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1664,3941
$GC,880,-0.96,-243.4,95.2,-9.2,149,887,0.35,2.15,0.00,0.000,4,0.051,0.040,2466,228,3942
$GC,967,-0.67,-243.4,108.7,-17.2,164,974,0.32,2.03,0.00,0.000,6,0.127,0.027,2566,1645,3941
$GC,1312,-0.67,-243.4,146.4,-10.3,225,1319,0.00,2.05,0.00,0.000,4,0.000,0.039,2566,3045,3942
$GC,1361,-0.72,-243.4,151.8,-11.4,233,1367,0.00,2.08,0.00,0.000,6,0.000,0.027,2567,1591,3942
$GC,1706,-0.84,-243.4,190.0,-9.8,294,1715,0.17,2.05,0.00,0.000,4,0.054,0.041,2473,234,3942
$GC,1788,-0.61,-243.4,202.6,-15.2,308,1795,0.35,2.12,0.00,0.000,6,0.130,0.027,2579,1721,3942
$GC,2131,-0.92,-243.4,235.8,-10.4,369,2138,0.25,1.95,0.00,0.000,4,0.049,0.036,2459,3057,3941
$GC,2228,-0.85,-243.4,248.9,-15.0,386,2237,0.10,1.98,0.00,0.000,6,0.100,0.028,2510,1695,3941
$GC,2575,-0.85,-243.4,288.5,-9.0,447,2581,0.00,2.15,0.00,0.000,4,0.000,0.043,2510,252,3939
$GC,2640,-0.78,-243.4,294.5,-9.4,458,2647,0.00,2.10,0.00,0.000,6,0.000,0.028,2510,1718,3940
$GC,2970,-0.88,-243.4,320.2,-8.6,494,2974,0.00,2.20,0.00,0.000,4,0.000,0.043,2509,255,3938
$GC,2998,-0.93,-243.4,322.9,-9.2,496,3004,0.00,2.25,0.00,0.000,6,0.000,0.029,2508,1806,3938
$GC,3324,-1.05,-243.4,357.6,-11.8,527,3329,0.20,2.35,0.00,0.000,4,0.053,0.043,2406,251,3936
$GC,3402,-0.73,-243.4,370.5,-17.1,533,3409,0.45,2.40,0.00,0.000,6,0.133,0.032,2546,1881,3935
$GC,3727,-1.05,-243.4,399.4,-7.2,564,3731,0.25,1.73,0.00,0.000,4,0.046,0.044,2408,3045,3933
$GC,3767,-0.95,-243.4,403.1,-9.6,567,3773,0.20,1.65,0.00,0.000,6,0.127,0.031,2476,1893,3932
$GC,4092,-0.90,-243.4,426.6,-7.3,598,4097,0.00,2.47,0.00,0.000,4,0.000,0.046,2470,260,3930
$GC,4211,-0.77,-243.4,437.9,-10.7,608,4215,0.22,2.35,0.00,0.000,6,0.125,0.033,2537,1844,3928
$GC,4541,-1.06,-243.4,467.9,-10.5,639,4546,0.22,1.80,0.00,0.000,4,0.049,0.047,2411,3043,3925
$GC,4648,-0.92,-243.4,483.1,-14.2,648,4655,0.20,1.67,0.00,0.000,6,0.117,0.034,2485,1914,3924
$GC,4972,-1.08,-243.4,518.1,-10.0,671,4976,0.15,2.53,0.00,0.000,4,0.061,0.047,2411,259,3921
$GC,4988,-1.08,-243.4,520.2,-9.8,672,4993,0.10,2.47,0.00,0.000,6,0.172,0.035,2429,1920,3921
$GC,5318,-0.95,-243.4,551.3,-8.3,688,5322,0.15,2.55,0.00,0.000,4,0.140,0.048,2475,263,3919
$GC,5390,-0.89,-243.4,557.2,-7.7,691,5394,0.00,2.45,0.00,0.000,6,0.000,0.041,2469,1894,3918
$GC,5706,-1.01,-243.4,580.0,-8.1,706,5709,0.00,1.73,0.00,0.000,4,0.000,0.051,2469,3042,3916
$GC,5730,-1.19,-243.4,582.2,-9.0,707,5735,0.20,1.62,0.00,0.000,6,0.051,0.038,2368,1941,3916
$GC,6065,-0.92,-243.4,632.4,-16.8,723,6070,0.32,2.58,0.00,0.000,4,0.140,0.049,2477,264,3914
$GC,6154,-0.92,-243.4,643.2,-11.2,727,6158,0.00,2.45,0.00,0.000,6,0.000,0.036,2474,1897,3913
$GC,6477,-1.08,-243.4,673.8,-9.4,743,6481,0.12,1.73,0.00,0.000,4,0.065,0.052,2409,3035,3910
$GC,6561,-0.98,-243.4,683.1,-10.6,746,6569,0.12,1.58,0.00,0.000,6,0.127,0.045,2457,1984,3910
$GC,6876,-0.98,-243.4,713.8,-10.0,762,6880,0.00,2.65,0.00,0.000,4,0.000,0.052,2455,263,3907
$GC,6987,-0.91,-243.4,726.4,-11.1,767,6992,0.12,2.53,0.00,0.000,6,0.139,0.039,2489,1935,3907
$GC,7311,-1.10,-243.4,755.0,-8.9,783,7316,0.17,2.60,0.00,0.000,4,0.056,0.051,2396,258,3905
$GC,7495,-0.87,-243.4,780.7,-14.4,791,7501,0.35,2.62,0.00,0.000,6,0.137,0.041,2503,1982,3903
$GC,7811,-1.16,-243.4,805.8,-7.5,806,7815,0.22,1.60,0.00,0.000,4,0.051,0.054,2386,3033,3902
$GC,7856,-1.03,-243.4,810.0,-10.6,808,7860,0.17,1.52,0.00,0.000,6,0.134,0.038,2444,2014,3901
$GC,8190,-0.98,-243.4,840.4,-9.0,824,8194,0.00,2.72,0.00,0.000,4,0.000,0.053,2444,257,3899
$GC,8312,-0.89,-243.4,852.7,-10.2,829,8319,0.17,2.60,0.00,0.000,6,0.134,0.041,2497,1958,3898
$GC,8630,-1.17,-243.4,877.4,-8.0,845,8635,0.22,1.65,0.00,0.000,4,0.051,0.056,2388,3032,3896
$GC,8677,-1.06,-243.4,882.4,-11.0,847,8681,0.15,1.52,0.00,0.000,6,0.139,0.039,2432,2018,3895
$GC,9012,-0.98,-243.4,917.4,-10.5,863,9016,0.00,2.72,0.00,0.000,4,0.000,0.054,2433,258,3895
$GC,9152,-0.88,-243.4,933.7,-11.3,869,9157,0.22,2.60,0.00,0.000,6,0.133,0.044,2502,1950,3894
$GC,9468,-1.15,-243.4,954.8,-5.9,884,9472,0.22,1.67,0.00,0.000,4,0.053,0.057,2397,3037,3892
$GC,9558,-0.98,-243.4,963.2,-10.2,888,9563,0.20,1.55,0.00,0.000,6,0.130,0.041,2467,2017,3891
$STATE,9888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9888,begin apogee
$GC,9895,-0.28,0.0,990.4,8.6,904,10104,0.68,0.00,205.27,1.486,6,0.111,0.000,2691,1414,2945
$STATE,10105,end apogee,CONTROL_FINISHED_OK
$STATE,10105,begin climb
$GC,10107,1.07,243.4,1004.6,0.0,914,10339,1.20,2.12,221.05,1.438,4,0.042,0.061,3144,209,1951
$GC,10530,0.46,243.4,951.6,18.9,933,10535,0.75,1.83,0.00,0.000,6,0.176,0.045,2931,1391,1945
$GC,10853,0.49,331.7,925.9,7.6,949,10947,0.00,2.35,81.20,1.384,4,0.000,0.053,2931,2794,1591
$GC,11015,0.50,343.5,911.5,9.7,956,11031,0.00,2.20,11.88,1.258,6,0.000,0.051,2942,1406,1544
$GC,11353,0.52,358.2,879.6,9.6,973,11379,0.00,1.92,16.30,1.167,4,0.000,0.061,2951,193,1485
$GC,11418,0.52,358.2,872.7,10.7,976,11422,0.00,1.90,0.00,0.000,6,0.000,0.050,2949,1408,1483
$GC,11745,0.52,358.2,839.5,10.2,992,11749,0.00,2.15,0.00,0.000,4,0.000,0.053,2948,2802,1481
$GC,11769,0.48,358.2,836.9,10.6,993,11773,0.00,2.15,0.00,0.000,6,0.000,0.045,2960,1407,1479
$GC,12102,0.43,358.2,799.0,11.1,1009,12106,0.15,2.17,0.00,0.000,4,0.146,0.052,2916,2807,1479
$GC,12129,0.48,358.2,796.0,10.2,1010,12132,0.00,2.12,0.00,0.000,6,0.000,0.045,2924,1420,1479
$GC,12450,0.54,363.2,764.8,9.9,1026,12460,0.00,2.15,5.38,1.030,4,0.000,0.052,2924,2804,1463
$GC,12493,0.54,363.2,760.2,10.6,1028,12497,0.00,2.15,0.00,0.000,6,0.000,0.046,2936,1427,1463
$GC,12821,0.59,363.2,726.2,10.7,1044,12825,0.10,1.92,0.00,0.000,4,0.077,0.060,2996,195,1462
$GC,12898,0.45,363.2,715.7,13.4,1047,12903,0.22,1.85,0.00,0.000,6,0.137,0.044,2930,1422,1462
$GC,13221,0.53,375.5,684.7,9.7,1063,13242,0.00,0.00,14.85,1.098,6,0.000,0.000,2930,1422,1414
$GC,13549,0.88,472.2,657.1,7.3,1079,13661,0.32,2.05,94.18,1.239,4,0.043,0.058,3092,208,1020
$GC,13773,0.60,472.2,620.1,17.7,1089,13778,0.40,1.88,0.00,0.000,6,0.145,0.043,2975,1419,1015
$GC,14101,0.65,472.2,585.4,10.7,1105,14102,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1419,1013
$GC,14412,0.73,472.2,550.2,11.3,1120,14416,0.12,1.92,0.00,0.000,4,0.067,0.058,3057,196,1012
$GC,14444,0.60,472.2,545.1,15.4,1121,14449,0.28,1.85,0.00,0.000,6,0.133,0.043,2976,1419,1011
$GC,14766,0.70,472.2,509.7,10.8,1137,14770,0.00,1.92,0.00,0.000,4,0.000,0.058,2982,195,1011
$GC,14789,0.80,472.2,506.7,12.8,1138,14793,0.15,1.83,0.00,0.000,6,0.063,0.042,3058,1407,1010
$GC,15118,0.68,472.2,454.1,15.0,1166,15122,0.20,1.90,0.00,0.000,4,0.135,0.057,3003,193,1010
$GC,15157,0.72,472.2,449.0,11.1,1169,15163,0.00,1.83,0.00,0.000,6,0.000,0.042,3002,1412,1010
$GC,15485,0.74,492.3,416.5,9.4,1200,15508,0.00,1.98,17.95,1.064,4,0.000,0.057,3014,193,938
$GC,15532,0.75,500.8,411.5,9.8,1204,15547,0.00,1.85,9.50,0.960,6,0.000,0.041,3013,1414,902
$GC,15874,0.80,500.8,374.0,11.4,1236,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1414,901
$GC,16193,0.86,500.8,338.1,11.7,1266,16197,0.12,1.90,0.00,0.000,4,0.064,0.055,3090,198,901
$GC,16209,0.86,500.8,335.6,13.0,1267,16217,0.10,1.83,0.00,0.000,6,0.146,0.039,3057,1398,900
$GC,16539,0.81,500.8,287.2,13.8,1305,16545,0.00,2.15,0.00,0.000,4,0.000,0.045,3058,2809,900
$GC,16568,0.75,500.8,282.6,15.1,1310,16575,0.15,2.17,0.00,0.000,6,0.141,0.048,3019,1380,900
$GC,16914,0.84,500.8,238.7,11.2,1371,16921,0.00,1.83,0.00,0.000,4,0.000,0.054,3027,190,900
$GC,16961,0.84,500.8,232.8,11.4,1379,16969,0.00,1.77,0.00,0.000,6,0.000,0.038,3027,1395,900
$GC,17307,1.02,500.8,193.0,14.1,1440,17314,0.17,1.88,0.00,0.000,4,0.051,0.052,3142,200,900
$GC,17362,0.80,500.8,185.0,16.1,1449,17368,0.28,1.70,0.00,0.000,6,0.129,0.037,3038,1344,900
$GC,17709,1.21,574.5,153.0,8.0,1510,17781,0.32,2.28,64.10,0.844,4,0.041,0.045,3200,2809,603
$GC,17810,0.94,574.5,137.6,16.9,1526,17817,0.38,2.28,0.00,0.000,6,0.142,0.038,3083,1356,603
$GC,18155,0.99,574.5,102.7,10.3,1587,18162,0.00,1.80,0.00,0.000,4,0.000,0.052,3094,202,602
$GC,18249,0.99,574.5,92.0,11.0,1603,18256,0.00,1.67,0.00,0.000,6,0.000,0.033,3094,1328,601
$GC,18596,1.27,584.7,53.6,9.7,1664,18615,0.22,2.25,10.20,0.666,4,0.046,0.037,3222,2802,560
$GC,18622,1.27,584.7,50.4,11.6,1668,18629,0.17,2.35,0.00,0.000,6,0.160,0.035,3185,1235,560
$GC,18968,1.23,584.7,9.0,10.8,1729,18974,0.00,1.60,0.00,0.000,4,0.000,0.050,3193,199,561
$STATE,19014,end climb,SURFACE_DEPTH_REACHED
$STATE,19014,begin surface coast
$FINISH,1.0,1.008491
$STATE,19036,end surface coast,CONTROL_FINISHED_OK
$STATE,19036,begin surface
$SM_CCo,19115,0.00,0.000,0,0,560,585.04
$SM_GC,1.63,8.07,0.00,0.00,0.043,0.000,0.000,167,1671,560,-8.16,0.57,585.04
$IRIDIUM_FIX,2432.32,12309.18,190998,222238
$TT8_MAMPS,0.026845
$HUMID,1531
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.10
$XPDR_PINGS,146
$24V_AH,22.8,55.622
$10V_AH,10.7,32.238
$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,31.075,178.525,751.850,0.000,0.000,78.107,103.819,413.081,44.500,0.000,0.000,15.650,3156.506,11307.604,882.290,3647.924,980.616,0.000,2557.651,0.000,3605.828,0.000,54.409,0.000
$DEVICE_MAMPS,231.634,60.593,1486.446,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1182.684,1206.711,2026.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100988,1741
$CAP_FILE_SIZE,208980,0
$CFSIZE,260165632,216911872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.162, 45.1,1
$GPS,260609,035907,2441.037,12308.162,27,1.2,27,-3.5