version: 66.04
glider: 166
mission: 2
dive: 245
start: 6 23 109 22 29 44
data:
$ID,166
$MISSION,2
$DIVE,245
$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,275
$T_MISSION,330
$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,-10241.826
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,221337,2436.097,12319.744,41,1.0,41,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.5
$GPS2,222925,2436.327,12320.088,16,1.4,34,-3.5
$SPEED_LIMITS,0.208,0.348
$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,274.1,49195,-16.4,-12.000
$D_GRID,889
$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,-1.16,-243.4,0.0,0.0,0,106,0.00,0.00,-88.18,0.000,2,0.000,0.000,171,1588,2459
$GC,109,-1.16,-243.4,3.2,-4.9,14,162,9.18,2.20,-37.72,0.000,4,0.238,0.057,2394,188,3940
$GC,332,-0.61,-243.4,65.3,-30.5,52,340,0.62,2.03,0.00,0.000,6,0.143,0.031,2578,1577,3940
$GC,677,-0.61,-243.4,110.0,-13.7,113,684,0.00,2.10,0.00,0.000,4,0.000,0.043,2578,2970,3941
$GC,752,-0.70,-243.4,120.0,-13.0,126,759,0.00,2.05,0.00,0.000,6,0.000,0.031,2578,1562,3941
$GC,1098,-0.90,-243.4,157.1,-9.9,187,1105,0.22,2.03,0.00,0.000,4,0.046,0.043,2460,207,3942
$GC,1206,-0.67,-243.4,173.4,-16.1,206,1213,0.28,2.17,0.00,0.000,6,0.127,0.030,2561,1682,3942
$GC,1553,-0.81,-243.4,202.2,-7.9,267,1560,0.15,2.22,0.00,0.000,4,0.060,0.044,2485,205,3942
$GC,1578,-0.81,-243.4,205.2,-11.4,271,1585,0.12,2.12,0.00,0.000,6,0.152,0.029,2519,1674,3942
$GC,1922,-0.81,-243.4,243.6,-11.0,332,1930,0.00,1.95,0.00,0.000,4,0.000,0.044,2519,2971,3941
$GC,1954,-0.86,-243.4,247.1,-10.9,337,1960,0.00,1.92,0.00,0.000,6,0.000,0.031,2518,1640,3941
$GC,2298,-0.90,-243.4,283.0,-10.1,398,2304,0.00,2.15,0.00,0.000,4,0.000,0.046,2517,205,3940
$GC,2373,-0.90,-243.4,290.8,-10.6,411,2379,0.00,2.10,0.00,0.000,6,0.000,0.030,2519,1657,3940
$GC,2709,-0.96,-243.4,320.8,-9.0,451,2713,0.15,1.98,0.00,0.000,4,0.062,0.044,2439,2979,3938
$GC,2744,-0.90,-243.4,324.5,-11.0,454,2749,0.15,1.92,0.00,0.000,6,0.136,0.031,2485,1649,3938
$GC,3075,-0.90,-243.4,358.9,-11.8,485,3079,0.00,2.17,0.00,0.000,4,0.000,0.047,2480,205,3937
$GC,3120,-0.90,-243.4,364.7,-12.9,489,3124,0.00,2.10,0.00,0.000,6,0.000,0.031,2478,1646,3936
$GC,3451,-0.90,-243.4,403.9,-12.0,520,3454,0.00,2.00,0.00,0.000,4,0.000,0.047,2475,2981,3934
$GC,3485,-0.96,-243.4,407.7,-10.9,523,3489,0.00,1.98,0.00,0.000,6,0.000,0.034,2482,1629,3934
$GC,3817,-0.96,-243.4,440.6,-9.1,554,3821,0.00,2.03,0.00,0.000,4,0.000,0.048,2469,2972,3930
$GC,3867,-1.03,-243.4,445.5,-9.4,558,3874,0.00,1.98,0.00,0.000,6,0.000,0.035,2473,1643,3930
$GC,4193,-1.03,-243.4,484.7,-13.3,589,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1643,3928
$GC,4517,-1.07,-243.4,519.7,-10.4,611,4521,0.12,2.03,0.00,0.000,4,0.067,0.050,2402,2970,3925
$GC,4577,-0.97,-243.4,527.7,-13.6,613,4584,0.20,1.98,0.00,0.000,6,0.135,0.037,2465,1632,3925
$GC,4894,-0.97,-243.4,561.3,-10.5,629,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1632,3921
$GC,5202,-0.97,-243.4,594.1,-11.0,644,5205,0.00,2.05,0.00,0.000,4,0.000,0.054,2461,2968,3920
$GC,5235,-1.03,-243.4,598.0,-11.4,645,5239,0.00,1.98,0.00,0.000,6,0.000,0.045,2461,1642,3919
$GC,5557,-1.03,-243.4,634.1,-10.7,661,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1641,3917
$GC,5865,-1.03,-243.4,664.8,-9.6,676,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1641,3914
$GC,6175,-1.03,-243.4,695.2,-10.5,691,6179,0.00,2.05,0.00,0.000,4,0.000,0.054,2456,2973,3912
$GC,6214,-1.09,-243.4,699.6,-11.9,692,6226,0.05,1.98,0.00,0.000,6,0.035,0.039,2405,1662,3911
$GC,6531,-0.95,-243.4,743.2,-11.3,708,6536,0.17,2.25,0.00,0.000,4,0.144,0.053,2460,209,3909
$GC,6558,-0.95,-243.4,746.2,-9.9,709,6562,0.00,2.17,0.00,0.000,6,0.000,0.038,2451,1661,3909
$GC,6881,-0.95,-243.4,776.1,-10.7,725,6884,0.00,2.03,0.00,0.000,4,0.000,0.055,2450,2975,3907
$GC,6982,-1.02,-243.4,786.2,-9.5,729,6986,0.00,1.98,0.00,0.000,6,0.000,0.040,2451,1651,3906
$GC,7303,-1.02,-243.4,819.6,-9.7,745,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1650,3904
$GC,7612,-1.02,-243.4,845.3,-7.5,760,7615,0.00,2.22,0.00,0.000,4,0.000,0.056,2450,217,3902
$GC,7639,-1.02,-243.4,847.7,-9.3,761,7643,0.00,2.17,0.00,0.000,6,0.000,0.038,2441,1665,3902
$GC,7967,-1.02,-243.4,874.0,-8.1,777,7970,0.00,2.03,0.00,0.000,4,0.000,0.057,2437,2976,3901
$GC,8000,-1.06,-243.4,876.6,-7.8,778,8004,0.00,1.95,0.00,0.000,6,0.000,0.041,2438,1669,3900
$STATE,8155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8155,begin apogee
$GC,8161,-0.26,0.0,890.5,9.5,786,8366,0.77,0.00,201.23,1.396,6,0.113,0.000,2691,1497,2945
$STATE,8366,end apogee,CONTROL_FINISHED_OK
$STATE,8367,begin climb
$GC,8369,1.16,243.4,905.3,0.0,796,8590,1.25,0.00,214.23,1.353,6,0.041,0.000,3161,1497,1952
$GC,8912,0.62,243.4,827.9,20.4,822,8914,0.68,0.00,0.00,0.000,6,0.206,0.000,2983,1497,1943
$GC,9222,0.55,279.3,790.2,10.8,837,9266,0.12,2.15,33.22,1.233,4,0.176,0.059,2958,199,1805
$GC,9346,0.61,333.0,777.3,10.2,842,9401,0.00,2.00,48.72,1.290,6,0.000,0.048,2958,1500,1587
$GC,9709,0.61,333.0,736.7,12.9,860,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1500,1581
$GC,10017,0.63,350.7,700.1,11.4,875,10039,0.00,2.08,16.23,1.222,4,0.000,0.058,2968,198,1514
$GC,10129,0.63,350.7,685.2,14.1,880,10133,0.00,1.98,0.00,0.000,6,0.000,0.042,2968,1496,1512
$GC,10462,0.63,350.7,644.3,12.7,896,10465,0.00,2.03,0.00,0.000,4,0.000,0.058,2977,210,1510
$GC,10530,0.63,350.7,634.9,13.8,899,10533,0.00,1.92,0.00,0.000,6,0.000,0.042,2977,1479,1510
$GC,10862,0.63,350.7,588.9,13.9,915,10866,0.00,2.00,0.00,0.000,4,0.000,0.057,2986,199,1508
$GC,10901,0.63,350.7,583.0,15.3,916,10909,0.00,1.92,0.00,0.000,6,0.000,0.041,2986,1463,1508
$GC,11216,0.72,421.2,545.3,9.7,932,11284,0.00,2.33,62.70,1.184,4,0.000,0.051,2986,2906,1228
$GC,11303,0.82,456.6,536.1,10.8,936,11351,0.12,2.28,35.50,1.089,6,0.072,0.043,3048,1465,1082
$GC,11671,0.75,456.6,482.1,13.8,959,11675,0.12,1.98,0.00,0.000,4,0.170,0.056,3026,204,1076
$GC,11716,0.75,459.4,476.4,11.9,963,11720,0.00,1.95,0.00,0.000,6,0.000,0.042,3026,1487,1076
$GC,12048,0.79,494.1,441.4,10.9,994,12086,0.00,0.00,33.65,1.086,6,0.000,0.000,3026,1488,929
$GC,12406,0.86,498.1,402.2,11.9,1028,12418,0.00,2.05,4.22,0.708,4,0.000,0.055,3037,205,913
$GC,12474,0.86,498.1,392.6,13.9,1034,12478,0.00,1.88,0.00,0.000,6,0.000,0.039,3039,1451,913
$GC,12808,0.90,498.1,348.0,12.4,1065,12812,0.00,1.95,0.00,0.000,4,0.000,0.055,3047,199,913
$GC,12841,0.90,498.1,343.2,13.2,1068,12845,0.00,1.85,0.00,0.000,6,0.000,0.039,3047,1441,913
$GC,13174,0.94,498.1,298.8,13.7,1099,13180,0.00,1.92,0.00,0.000,4,0.000,0.055,3056,202,913
$GC,13242,0.94,498.1,288.9,14.6,1111,13248,0.00,1.80,0.00,0.000,6,0.000,0.046,3056,1411,913
$GC,13585,1.02,529.7,246.2,11.0,1172,13623,0.15,1.95,29.38,0.933,4,0.077,0.054,3129,199,784
$GC,13721,0.90,529.7,223.9,19.3,1195,13728,0.22,1.77,0.00,0.000,6,0.153,0.038,3066,1388,782
$GC,14066,0.99,529.7,176.1,12.4,1256,14073,0.00,1.88,0.00,0.000,4,0.000,0.054,3074,198,782
$GC,14104,1.04,529.7,171.0,13.9,1262,14111,0.08,1.73,0.00,0.000,6,0.067,0.036,3121,1353,781
$GC,14449,1.08,529.7,119.7,12.0,1323,14456,0.00,1.80,0.00,0.000,4,0.000,0.052,3129,199,781
$GC,14503,1.08,529.7,113.1,13.1,1332,14511,0.00,1.70,0.00,0.000,6,0.000,0.035,3130,1350,781
$GC,14850,1.19,563.7,70.8,10.9,1393,14887,0.00,2.40,29.85,0.757,4,0.000,0.041,3134,2905,645
$GC,14917,1.32,599.8,63.0,10.8,1404,14957,0.17,2.40,32.03,0.734,6,0.055,0.038,3224,1315,499
$STATE,15294,end climb,SURFACE_DEPTH_REACHED
$STATE,15294,begin surface coast
$FINISH,0.8,1.012913
$STATE,15316,end surface coast,CONTROL_FINISHED_OK
$STATE,15317,begin surface
$SM_CCo,15394,0.00,0.000,0,0,496,600.74
$SM_GC,1.38,8.15,0.00,0.00,0.041,0.000,0.000,170,1595,496,-8.13,0.57,600.74
$IRIDIUM_FIX,2427.58,12317.73,170998,222240
$TT8_MAMPS,0.026845
$HUMID,1580
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.80
$XPDR_PINGS,115
$24V_AH,23.0,52.558
$10V_AH,10.7,30.639
$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,23.275,122.350,740.950,0.000,0.000,70.238,110.570,402.680,35.750,0.000,0.000,34.216,2546.068,9064.143,814.286,2938.078,965.558,0.000,2162.904,0.000,2891.101,0.000,49.465,0.000
$DEVICE_MAMPS,237.770,59.826,1395.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.982,1017.039,1707.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85355,1474
$CAP_FILE_SIZE,160664,0
$CFSIZE,260165632,217927680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.160,108.1,1
$GPS,240609,024731,2436.439,12318.991,39,1.5,39,-3.5