version: 66.04
glider: 166
mission: 2
dive: 259
start: 6 26 109 20 26 55
data:
$ID,166
$MISSION,2
$DIVE,259
$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,-10522.88
$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,17
$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,1750
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,66
$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
$GPS1,201906,2443.363,12306.252,30,1.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.1
$GPS2,202634,2443.333,12306.456,10,1.9,12,-3.6
$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,226.4,28258,-13.9,-10.000
$D_GRID,1432
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.12,-243.4,0.0,0.0,0,104,0.00,0.00,-85.38,0.000,2,0.000,0.000,171,1674,2373
$GC,107,-1.12,-243.4,3.2,-5.8,13,165,9.32,2.08,-39.72,0.000,4,0.239,0.056,2413,333,3940
$GC,219,-0.51,-243.4,29.0,-29.1,31,227,0.68,2.08,0.00,0.000,6,0.145,0.031,2612,1746,3941
$GC,565,-0.69,-243.4,68.0,-7.0,92,572,0.15,2.10,0.00,0.000,4,0.054,0.038,2531,3146,3942
$GC,653,-0.73,-243.4,78.2,-14.3,107,661,0.00,2.03,0.00,0.000,6,0.000,0.028,2531,1768,3942
$GC,999,-0.80,-243.4,117.7,-11.0,168,1005,0.00,2.10,0.00,0.000,4,0.000,0.041,2531,3158,3943
$GC,1086,-0.93,-243.4,128.2,-11.9,183,1094,0.08,1.95,0.00,0.000,6,0.054,0.028,2453,1815,3943
$GC,1433,-0.66,-243.4,183.7,-15.0,244,1440,0.35,2.17,0.00,0.000,4,0.130,0.041,2561,354,3944
$GC,1481,-0.66,-243.4,189.4,-10.7,252,1487,0.00,2.15,0.00,0.000,6,0.000,0.028,2562,1827,3944
$GC,1826,-0.86,-243.4,224.1,-8.8,313,1833,0.17,1.98,0.00,0.000,4,0.055,0.041,2467,3162,3944
$GC,1935,-0.77,-243.4,236.2,-11.8,332,1942,0.15,1.90,0.00,0.000,6,0.114,0.028,2536,1848,3944
$GC,2283,-0.94,-243.4,265.1,-7.5,393,2289,0.17,1.95,0.00,0.000,4,0.054,0.042,2443,3155,3945
$GC,2346,-0.76,-243.4,272.1,-11.9,404,2354,0.25,1.83,0.00,0.000,6,0.119,0.030,2529,1897,3944
$GC,2689,-0.92,-243.4,305.6,-9.3,460,2693,0.15,1.90,0.00,0.000,4,0.059,0.044,2451,3160,3943
$GC,2772,-0.79,-243.4,315.5,-12.0,467,2780,0.25,1.75,0.00,0.000,6,0.116,0.030,2529,1944,3942
$GC,3097,-0.95,-243.4,344.4,-8.8,498,3101,0.15,1.83,0.00,0.000,4,0.058,0.044,2448,3161,3940
$GC,3142,-0.85,-243.4,349.4,-11.3,502,3147,0.20,1.67,0.00,0.000,6,0.126,0.030,2508,1993,3939
$GC,3475,-0.97,-243.4,380.9,-10.1,533,3479,0.12,2.47,0.00,0.000,4,0.064,0.044,2444,356,3937
$GC,3507,-0.83,-243.4,385.4,-13.7,535,3515,0.22,2.47,0.00,0.000,6,0.140,0.033,2510,2028,3937
$GC,3832,-1.01,-243.4,417.8,-9.3,566,3834,0.15,0.00,0.00,0.000,6,0.055,0.000,2434,2029,3934
$GC,4151,-0.82,-243.4,457.7,-13.6,596,4156,0.22,2.55,0.00,0.000,4,0.133,0.046,2509,363,3932
$GC,4236,-0.82,-243.4,467.6,-11.4,603,4240,0.00,2.53,0.00,0.000,6,0.000,0.035,2493,2065,3931
$GC,4572,-0.98,-243.4,502.7,-11.1,633,4575,0.00,1.62,0.00,0.000,4,0.000,0.051,2485,3148,3928
$GC,4644,-1.21,-243.4,511.8,-11.7,636,4648,0.22,1.55,0.00,0.000,6,0.038,0.033,2351,2096,3927
$GC,4973,-0.87,-243.4,562.5,-15.1,652,4978,0.43,2.67,0.00,0.000,4,0.143,0.048,2493,351,3925
$GC,5103,-0.87,-243.4,574.9,-8.9,658,5111,0.00,2.55,0.00,0.000,6,0.000,0.036,2485,2059,3924
$GC,5438,-1.04,-243.4,603.8,-9.2,674,5442,0.10,1.65,0.00,0.000,4,0.074,0.051,2423,3144,3922
$GC,5515,-1.04,-243.4,613.0,-11.4,677,5519,0.00,1.58,0.00,0.000,6,0.000,0.044,2425,2089,3921
$GC,5838,-1.08,-243.4,651.4,-11.3,693,5842,0.00,1.62,0.00,0.000,4,0.000,0.053,2423,3155,3919
$GC,5922,-1.12,-243.4,660.5,-10.6,696,5928,0.00,1.62,0.00,0.000,6,0.000,0.035,2425,2061,3919
$GC,6239,-1.19,-243.4,690.7,-9.4,712,6243,0.00,1.67,0.00,0.000,4,0.000,0.054,2423,3155,3917
$GC,6256,-1.26,-243.4,692.4,-9.1,712,6263,0.10,1.73,0.00,0.000,6,0.055,0.036,2367,1998,3917
$GC,6572,-0.99,-243.4,733.9,-14.4,728,6577,0.28,2.53,0.00,0.000,4,0.143,0.051,2454,362,3914
$GC,6683,-0.92,-243.4,747.0,-11.2,733,6688,0.12,2.42,0.00,0.000,6,0.141,0.040,2485,1969,3913
$GC,7008,-1.17,-243.4,774.7,-8.4,749,7014,0.20,1.80,0.00,0.000,4,0.052,0.055,2383,3141,3911
$GC,7064,-1.00,-243.4,781.4,-12.3,751,7068,0.20,1.70,0.00,0.000,6,0.128,0.038,2455,2009,3910
$GC,7386,-1.00,-243.4,810.9,-9.1,767,7390,0.00,2.55,0.00,0.000,4,0.000,0.054,2455,362,3908
$GC,7543,-0.97,-243.4,827.3,-10.4,774,7547,0.00,2.45,0.00,0.000,6,0.000,0.044,2453,1968,3907
$GC,7870,-0.97,-243.4,860.4,-10.2,790,7874,0.00,2.50,0.00,0.000,4,0.000,0.054,2453,364,3905
$GC,7981,-0.92,-243.4,872.8,-10.8,795,7986,0.12,2.38,0.00,0.000,6,0.144,0.041,2489,1924,3904
$GC,8304,-1.12,-243.4,903.2,-10.1,811,8308,0.17,1.90,0.00,0.000,4,0.057,0.056,2399,3152,3902
$GC,8427,-1.01,-243.4,919.4,-13.6,816,8432,0.15,1.75,0.00,0.000,6,0.130,0.040,2449,1998,3901
$GC,8749,-1.01,-243.4,955.9,-11.6,832,8753,0.00,2.55,0.00,0.000,4,0.000,0.055,2449,363,3900
$GC,8902,-0.96,-243.4,973.0,-10.9,839,8906,0.00,2.42,0.00,0.000,6,0.000,0.044,2450,1943,3899
$STATE,9082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9082,begin apogee
$GC,9088,-0.29,0.0,990.7,9.2,848,9298,0.73,0.00,206.73,1.486,6,0.114,0.000,2688,1305,2945
$STATE,9299,end apogee,CONTROL_FINISHED_OK
$STATE,9299,begin climb
$GC,9302,1.12,243.4,1002.7,0.0,858,9533,1.27,2.40,221.18,1.437,4,0.048,0.056,3154,2694,1951
$GC,9578,0.51,243.4,972.8,21.1,870,9586,0.82,2.28,0.00,0.000,6,0.180,0.047,2951,1305,1946
$GC,9893,0.43,264.0,941.4,9.4,886,9926,0.12,2.25,20.90,1.233,4,0.151,0.052,2915,2693,1868
$GC,9988,0.48,301.7,933.0,9.0,890,10035,0.00,2.17,37.22,1.318,6,0.000,0.048,2920,1309,1715
$GC,10353,0.56,365.5,902.9,8.2,908,10432,0.12,2.30,62.35,1.325,4,0.069,0.052,2979,2693,1455
$GC,10539,0.46,365.5,880.9,12.2,916,10543,0.22,2.15,0.00,0.000,6,0.146,0.048,2926,1325,1450
$GC,10861,0.58,404.8,852.1,8.9,932,10911,0.12,2.25,38.58,1.312,4,0.067,0.052,2985,2693,1293
$GC,10975,0.50,404.8,838.1,12.9,937,10979,0.20,2.12,0.00,0.000,6,0.143,0.048,2939,1340,1291
$GC,11299,0.60,435.3,808.1,9.2,953,11347,0.12,2.17,32.70,1.210,4,0.067,0.052,3000,2707,1170
$GC,11405,0.52,435.3,793.8,13.8,957,11412,0.22,2.12,0.00,0.000,6,0.139,0.046,2946,1350,1169
$GC,11721,0.59,435.3,759.9,10.7,973,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1350,1167
$GC,12030,0.67,435.3,726.0,10.4,988,12034,0.15,2.10,0.00,0.000,4,0.059,0.051,3024,2705,1166
$GC,12084,0.51,435.3,717.7,15.5,990,12093,0.22,2.10,0.00,0.000,6,0.136,0.048,2948,1365,1165
$GC,12401,0.60,438.2,684.7,9.9,1006,12404,0.00,2.05,0.00,0.000,4,0.000,0.051,2949,2705,1165
$GC,12439,0.67,438.2,680.5,10.5,1007,12446,0.10,2.05,0.00,0.000,6,0.074,0.045,3018,1367,1164
$GC,12756,0.57,438.2,640.0,13.2,1023,12760,0.20,1.83,0.00,0.000,4,0.135,0.058,2960,193,1164
$GC,12783,0.57,438.2,636.5,10.7,1024,12786,0.00,1.83,0.00,0.000,6,0.000,0.044,2959,1410,1162
$GC,13109,0.64,438.2,602.7,10.7,1040,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1410,1162
$GC,13420,0.83,438.2,568.5,10.7,1055,13424,0.20,1.98,0.00,0.000,4,0.054,0.048,3080,2705,1162
$GC,13465,0.53,438.2,561.7,16.4,1057,13470,0.47,2.03,0.00,0.000,6,0.146,0.045,2950,1371,1162
$GC,13798,0.87,485.9,530.4,8.7,1073,13871,0.28,2.15,52.17,1.085,4,0.045,0.050,3097,2693,964
$GC,13961,0.63,485.9,503.0,19.0,1080,13966,0.43,2.17,0.00,0.000,6,0.142,0.045,2984,1296,964
$GC,14290,0.93,485.9,467.4,11.5,1110,14294,0.22,1.73,0.00,0.000,4,0.048,0.057,3107,192,961
$GC,14380,0.69,485.9,452.7,17.2,1118,14385,0.35,1.62,0.00,0.000,6,0.141,0.042,3004,1278,961
$GC,14711,0.74,485.9,416.4,10.8,1149,14715,0.00,2.17,0.00,0.000,4,0.000,0.047,3005,2706,960
$GC,14780,0.74,485.9,408.7,11.8,1155,14784,0.00,2.20,0.00,0.000,6,0.000,0.048,3008,1266,960
$GC,15104,0.74,485.9,371.0,12.3,1185,15108,0.00,2.17,0.00,0.000,4,0.000,0.045,3008,2698,960
$GC,15161,0.74,485.9,363.4,13.3,1190,15165,0.00,2.15,0.00,0.000,6,0.000,0.042,3016,1286,960
$GC,15491,0.74,485.9,324.7,11.7,1221,15495,0.00,2.12,0.00,0.000,4,0.000,0.044,3015,2702,960
$GC,15529,0.74,485.9,319.9,11.9,1224,15536,0.00,2.12,0.00,0.000,6,0.000,0.041,3024,1318,960
$GC,15862,0.74,485.9,283.7,10.0,1268,15868,0.00,2.10,0.00,0.000,4,0.000,0.046,3025,2700,960
$GC,15930,0.74,485.9,276.4,10.8,1280,15937,0.00,2.05,0.00,0.000,6,0.000,0.040,3034,1335,960
$GC,16275,0.83,557.2,239.5,8.0,1341,16343,0.00,1.85,63.03,0.930,4,0.000,0.054,3042,206,672
$GC,16372,0.83,557.2,227.1,16.5,1357,16378,0.00,1.73,0.00,0.000,6,0.000,0.038,3043,1349,672
$GC,16716,0.93,557.2,182.4,10.5,1418,16724,0.10,1.80,0.00,0.000,4,0.071,0.051,3115,206,672
$GC,16793,0.84,557.2,170.8,14.8,1431,16800,0.17,1.62,0.00,0.000,6,0.123,0.037,3056,1291,671
$GC,17138,1.13,557.2,133.0,11.6,1492,17145,0.20,1.70,0.00,0.000,4,0.045,0.051,3177,206,671
$GC,17180,0.96,557.2,126.7,16.0,1499,17188,0.28,1.58,0.00,0.000,6,0.135,0.035,3089,1273,671
$GC,17527,1.23,588.8,91.1,9.1,1560,17561,0.20,1.70,28.00,0.770,4,0.048,0.050,3202,204,543
$GC,17635,1.05,588.8,74.7,17.9,1578,17643,0.28,1.52,0.00,0.000,6,0.127,0.034,3115,1232,542
$GC,17983,1.38,616.2,37.6,9.2,1639,18010,0.25,2.28,20.10,0.700,4,0.041,0.037,3246,2710,455
$GC,18090,1.14,616.2,20.5,17.7,1657,18098,0.32,2.25,0.00,0.000,6,0.145,0.035,3145,1233,455
$STATE,18249,end climb,SURFACE_DEPTH_REACHED
$STATE,18249,begin surface coast
$FINISH,1.0,1.021378
$STATE,18271,end surface coast,CONTROL_FINISHED_OK
$STATE,18272,begin surface
$SM_CCo,18349,0.00,0.000,0,0,453,611.29
$SM_GC,1.61,7.88,0.00,0.00,0.036,0.000,0.000,165,1758,453,-8.16,0.23,611.29
$IRIDIUM_FIX,2434.69,12307.20,200998,151549
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.00
$XPDR_PINGS,166
$24V_AH,22.8,56.886
$10V_AH,10.7,32.926
$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,31.175,169.425,782.950,0.000,0.000,23.770,34.343,244.895,49.500,0.000,0.000,12.753,3045.139,10608.370,906.896,3564.350,652.395,0.000,2560.343,0.000,3523.864,0.000,55.768,0.000
$DEVICE_MAMPS,239.304,58.292,1486.446,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.059,1153.697,1940.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97904,1689
$CAP_FILE_SIZE,197044,0
$CFSIZE,260165632,216506368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$CURRENT,0.206, 42.6,1
$GPS,270609,013401,2442.857,12306.811,42,1.9,42,-3.5