version: 66.04
glider: 166
mission: 2
dive: 258
start: 6 26 109 15 1 42
data:
$ID,166
$MISSION,2
$DIVE,258
$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,-10509.5
$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,1650
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,52
$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
$GPS1,145006,2442.939,12306.542,27,1.2,27,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.7
$GPS2,150120,2443.321,12306.398,12,1.3,12,-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,218.9,28160,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.12,-243.4,0.0,0.0,0,90,0.00,0.00,-73.60,0.000,2,0.000,0.000,170,1659,2412
$GC,94,-1.12,-243.4,3.2,-5.4,11,152,9.12,2.25,-39.25,0.000,4,0.232,0.054,2413,224,3940
$GC,198,-0.51,-243.4,27.7,-30.3,28,205,0.62,2.12,0.00,0.000,6,0.146,0.029,2616,1653,3942
$GC,543,-0.79,-243.4,68.2,-11.1,89,552,0.22,2.08,0.00,0.000,4,0.050,0.037,2500,3063,3942
$GC,609,-0.73,-243.4,77.6,-15.6,100,616,0.15,2.03,0.00,0.000,6,0.124,0.028,2545,1651,3942
$GC,955,-0.65,-243.4,124.5,-12.7,161,962,0.00,2.08,0.00,0.000,4,0.000,0.043,2545,258,3943
$GC,974,-0.57,-243.4,127.2,-12.1,164,981,0.17,2.05,0.00,0.000,6,0.124,0.028,2598,1686,3943
$GC,1319,-0.88,-243.4,157.6,-6.6,225,1327,0.25,2.15,0.00,0.000,4,0.048,0.041,2480,253,3943
$GC,1384,-0.61,-243.4,164.5,-12.0,236,1391,0.32,2.12,0.00,0.000,6,0.123,0.028,2580,1728,3943
$GC,1728,-0.91,-243.4,191.4,-9.1,297,1737,0.22,1.98,0.00,0.000,4,0.049,0.039,2458,3048,3943
$GC,1857,-0.75,-243.4,209.9,-15.8,319,1864,0.28,1.88,0.00,0.000,6,0.127,0.030,2542,1744,3943
$GC,2204,-0.87,-243.4,250.3,-9.8,380,2211,0.12,2.22,0.00,0.000,4,0.066,0.043,2475,256,3944
$GC,2325,-0.70,-243.4,265.0,-11.8,401,2332,0.25,2.30,0.00,0.000,6,0.125,0.029,2552,1835,3943
$GC,2673,-0.92,-243.4,291.6,-7.4,462,2680,0.17,2.38,0.00,0.000,4,0.053,0.043,2454,257,3942
$GC,2781,-0.71,-243.4,304.5,-12.1,478,2788,0.32,2.38,0.00,0.000,6,0.127,0.031,2553,1884,3942
$GC,3106,-1.02,-243.4,335.1,-10.3,509,3110,0.25,1.73,0.00,0.000,4,0.048,0.042,2431,3050,3939
$GC,3185,-0.84,-243.4,345.3,-13.1,516,3189,0.25,1.65,0.00,0.000,6,0.126,0.031,2507,1900,3939
$GC,3516,-0.97,-243.4,371.6,-6.2,547,3520,0.12,1.73,0.00,0.000,4,0.067,0.044,2444,3047,3937
$GC,3590,-0.92,-243.4,377.7,-8.6,553,3598,0.15,1.58,0.00,0.000,6,0.129,0.031,2489,1966,3937
$GC,3915,-1.01,-243.4,409.2,-10.5,584,3918,0.00,1.62,0.00,0.000,4,0.000,0.047,2473,3047,3935
$GC,3976,-1.16,-243.4,416.2,-11.5,589,3984,0.15,1.55,0.00,0.000,6,0.031,0.032,2383,1991,3933
$GC,4301,-0.86,-243.4,466.5,-15.8,620,4306,0.35,2.65,0.00,0.000,4,0.140,0.046,2494,252,3930
$GC,4408,-0.76,-243.4,478.5,-10.8,629,4413,0.15,2.53,0.00,0.000,6,0.130,0.034,2532,1954,3930
$GC,4743,-1.06,-243.4,505.6,-8.1,657,4747,0.22,1.65,0.00,0.000,4,0.048,0.047,2409,3034,3927
$GC,4833,-0.89,-243.4,515.1,-11.6,661,4837,0.20,1.52,0.00,0.000,6,0.120,0.033,2492,2002,3926
$GC,5168,-1.07,-243.4,549.1,-9.9,677,5173,0.15,2.65,0.00,0.000,4,0.061,0.047,2417,264,3924
$GC,5189,-1.07,-243.4,551.9,-11.4,678,5193,0.00,2.60,0.00,0.000,6,0.000,0.035,2413,1999,3923
$GC,5517,-0.90,-243.4,590.7,-11.5,694,5522,0.20,2.70,0.00,0.000,4,0.137,0.053,2484,255,3921
$GC,5580,-0.90,-243.4,596.4,-8.4,697,5584,0.00,2.60,0.00,0.000,6,0.000,0.041,2481,1982,3921
$GC,5907,-1.06,-243.4,624.3,-9.8,713,5915,0.12,1.60,0.00,0.000,4,0.064,0.051,2413,3039,3919
$GC,6016,-0.99,-243.4,638.4,-13.6,717,6023,0.12,1.52,0.00,0.000,6,0.123,0.038,2457,2014,3918
$GC,6334,-1.11,-243.4,676.8,-12.3,733,6338,0.10,1.58,0.00,0.000,4,0.077,0.052,2402,3045,3916
$GC,6389,-1.11,-243.4,684.9,-14.4,735,6393,0.00,1.52,0.00,0.000,6,0.000,0.036,2403,2016,3915
$GC,6712,-0.95,-243.4,728.1,-12.5,751,6717,0.20,2.72,0.00,0.000,4,0.139,0.054,2470,260,3913
$GC,6819,-0.95,-243.4,738.6,-9.5,756,6823,0.00,2.60,0.00,0.000,6,0.000,0.043,2467,1970,3912
$GC,7145,-0.95,-243.4,764.3,-7.7,772,7149,0.00,2.65,0.00,0.000,4,0.000,0.051,2468,260,3909
$GC,7240,-0.91,-243.4,772.5,-8.7,776,7244,0.00,2.53,0.00,0.000,6,0.000,0.038,2466,1931,3908
$GC,7557,-0.91,-243.4,799.9,-9.3,791,7562,0.00,2.60,0.00,0.000,4,0.000,0.054,2467,257,3907
$GC,7640,-0.91,-243.4,809.0,-11.0,794,7647,0.00,2.50,0.00,0.000,6,0.000,0.040,2467,1909,3906
$GC,7956,-0.91,-243.4,839.1,-9.4,810,7960,0.00,2.58,0.00,0.000,4,0.000,0.054,2468,256,3904
$GC,8028,-0.91,-243.4,846.5,-9.9,813,8033,0.00,2.50,0.00,0.000,6,0.000,0.041,2469,1898,3903
$GC,8344,-0.91,-243.4,873.6,-8.5,828,8349,0.00,2.55,0.00,0.000,4,0.000,0.055,2469,266,3902
$GC,8411,-0.91,-243.4,880.0,-9.8,831,8415,0.00,2.45,0.00,0.000,6,0.000,0.041,2472,1871,3901
$GC,8733,-0.91,-243.4,908.7,-9.1,847,8737,0.00,2.53,0.00,0.000,4,0.000,0.054,2472,257,3899
$GC,8783,-0.91,-243.4,914.0,-10.5,849,8787,0.00,2.42,0.00,0.000,6,0.000,0.042,2481,1848,3899
$GC,9106,-0.91,-243.4,943.9,-9.4,865,9110,0.00,2.47,0.00,0.000,4,0.000,0.055,2480,269,3897
$GC,9161,-0.91,-243.4,949.7,-10.3,867,9168,0.00,2.40,0.00,0.000,6,0.000,0.042,2481,1838,3896
$GC,9478,-0.91,-243.4,978.7,-9.0,883,9483,0.00,2.47,0.00,0.000,4,0.000,0.056,2482,261,3895
$GC,9518,-0.91,-243.4,983.0,-10.9,885,9522,0.00,2.40,0.00,0.000,6,0.000,0.042,2479,1829,3896
$STATE,9615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9615,begin apogee
$GC,9622,-0.29,0.0,991.4,8.9,890,9831,0.62,0.00,206.38,1.487,6,0.105,0.000,2687,1410,2945
$STATE,9832,end apogee,CONTROL_FINISHED_OK
$STATE,9832,begin climb
$GC,9834,1.12,243.4,1004.3,0.0,900,10069,1.27,2.12,221.32,1.437,4,0.046,0.063,3150,207,1951
$GC,10093,0.50,243.4,978.7,22.0,912,10099,0.77,1.92,0.00,0.000,6,0.180,0.047,2947,1397,1948
$GC,10422,0.39,247.0,944.0,9.9,928,10427,0.15,2.17,0.00,0.000,4,0.142,0.058,2902,2796,1943
$GC,10471,0.44,287.0,939.3,8.9,930,10523,0.00,2.15,41.30,1.340,6,0.000,0.046,2910,1404,1773
$GC,10844,0.53,363.4,908.5,7.9,948,10930,0.12,2.28,71.80,1.371,4,0.069,0.052,2969,2803,1463
$GC,10979,0.44,363.4,893.5,12.3,954,10983,0.20,2.20,0.00,0.000,6,0.150,0.046,2927,1414,1460
$GC,11306,0.51,388.4,862.5,9.3,970,11347,0.00,0.00,27.25,1.186,6,0.000,0.000,2927,1414,1361
$GC,11655,0.64,426.9,830.7,8.9,987,11716,0.17,2.30,41.05,1.259,4,0.058,0.054,3006,2812,1204
$GC,11732,0.52,426.9,820.7,12.9,990,11739,0.25,2.20,0.00,0.000,6,0.143,0.047,2947,1421,1203
$GC,12049,0.57,431.2,789.6,9.9,1006,12058,0.00,1.92,4.85,0.961,4,0.000,0.061,2954,202,1186
$GC,12087,0.61,431.2,785.5,11.1,1007,12094,0.00,1.85,0.00,0.000,6,0.000,0.044,2954,1419,1186
$GC,12402,0.61,431.2,754.2,10.0,1023,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1419,1186
$GC,12712,0.67,445.1,723.8,9.6,1038,12739,0.12,1.92,16.52,1.141,4,0.067,0.059,3031,196,1130
$GC,12755,0.52,445.1,717.8,14.2,1040,12760,0.28,1.88,0.00,0.000,6,0.143,0.044,2952,1421,1130
$GC,13083,0.59,445.1,683.7,10.4,1056,13087,0.00,1.92,0.00,0.000,4,0.000,0.060,2959,198,1128
$GC,13116,0.59,445.1,679.9,11.0,1057,13120,0.00,1.88,0.00,0.000,6,0.000,0.044,2960,1413,1127
$GC,13440,0.64,445.1,647.0,10.1,1073,13443,0.00,2.15,0.00,0.000,4,0.000,0.053,2959,2809,1127
$GC,13485,0.64,445.1,642.1,10.0,1075,13489,0.00,2.12,0.00,0.000,6,0.000,0.045,2974,1421,1126
$GC,13817,0.64,445.9,608.4,10.0,1091,13821,0.00,1.90,0.00,0.000,4,0.000,0.061,2983,201,1126
$GC,13867,0.64,445.9,602.7,11.6,1093,13871,0.00,1.88,0.00,0.000,6,0.000,0.043,2983,1428,1126
$GC,14195,0.65,450.3,567.5,9.9,1109,14205,0.00,1.92,5.82,0.980,4,0.000,0.060,2997,193,1109
$GC,14234,0.65,450.3,563.6,10.2,1111,14237,0.00,1.85,0.00,0.000,6,0.000,0.044,2995,1415,1109
$GC,14566,0.65,450.3,526.0,11.5,1127,14570,0.00,2.12,0.00,0.000,4,0.000,0.051,2997,2804,1109
$GC,14593,0.65,450.3,523.0,10.9,1128,14597,0.00,2.12,0.00,0.000,6,0.000,0.044,3008,1412,1108
$GC,14913,0.65,450.3,485.7,10.3,1149,14917,0.00,1.88,0.00,0.000,4,0.000,0.058,3018,202,1109
$GC,14952,0.61,450.3,481.4,11.0,1152,14959,0.10,1.85,0.00,0.000,6,0.134,0.042,2984,1420,1109
$GC,15277,0.91,514.2,454.7,8.2,1183,15346,0.22,2.22,59.25,1.117,4,0.047,0.048,3100,2796,848
$GC,15416,0.70,514.2,434.4,17.0,1195,15421,0.38,2.30,0.00,0.000,6,0.144,0.043,3002,1326,847
$GC,15741,0.90,514.2,395.1,12.3,1225,15746,0.20,2.30,0.00,0.000,4,0.048,0.045,3107,2812,845
$GC,15838,0.69,514.2,378.8,17.7,1233,15843,0.38,2.40,0.00,0.000,6,0.140,0.043,3005,1251,845
$GC,16163,0.90,531.1,351.2,9.5,1263,16188,0.17,2.45,16.05,0.992,4,0.050,0.046,3107,2807,779
$GC,16227,0.69,531.1,340.6,18.7,1268,16235,0.40,2.38,0.00,0.000,6,0.136,0.042,2999,1259,780
$GC,16553,1.30,531.1,301.8,11.4,1299,16557,0.55,1.65,0.00,0.000,4,0.094,0.057,3185,196,779
$GC,16592,1.09,531.1,296.0,15.4,1304,16599,0.17,1.77,0.00,0.000,6,0.166,0.044,3137,1355,778
$GC,16938,0.90,531.1,232.0,13.9,1365,16945,0.20,1.80,0.00,0.000,4,0.143,0.054,3075,193,779
$GC,16958,0.77,531.1,229.0,14.0,1368,16966,0.12,1.73,0.00,0.000,6,0.130,0.040,3032,1331,778
$GC,17303,1.10,578.9,196.4,8.7,1429,17356,0.25,2.33,42.30,0.890,4,0.044,0.044,3167,2797,585
$GC,17463,0.91,578.9,172.9,16.9,1456,17470,0.35,2.38,0.00,0.000,6,0.138,0.041,3074,1248,585
$GC,17808,1.16,578.9,135.1,10.3,1517,17814,0.17,0.00,0.00,0.000,6,0.048,0.000,3179,1248,582
$GC,18151,1.03,578.9,82.3,14.6,1578,18160,0.20,1.62,0.00,0.000,4,0.137,0.051,3120,199,583
$GC,18208,1.05,594.7,76.6,9.6,1587,18227,0.00,1.52,15.07,0.731,6,0.000,0.035,3122,1235,519
$GC,18567,1.18,645.8,39.1,8.6,1650,18589,0.10,2.38,15.38,0.689,4,0.072,0.040,3182,2818,455
$GC,18659,1.13,645.8,27.3,10.9,1665,18666,0.17,2.40,0.00,0.000,6,0.133,0.036,3144,1217,454
$STATE,18874,end climb,SURFACE_DEPTH_REACHED
$STATE,18874,begin surface coast
$FINISH,1.2,1.021436
$STATE,18902,end surface coast,CONTROL_FINISHED_OK
$STATE,18902,begin surface
$SM_CCo,18979,0.00,0.000,0,0,453,611.29
$SM_GC,1.59,7.85,0.00,0.00,0.036,0.000,0.000,170,1674,453,-8.14,0.68,611.29
$IRIDIUM_FIX,2432.32,12307.20,200998,151507
$TT8_MAMPS,0.026845
$HUMID,1560
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.10
$XPDR_PINGS,150
$24V_AH,22.8,56.576
$10V_AH,10.7,32.758
$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,30.975,188.775,784.350,0.000,0.000,51.020,72.853,337.154,45.500,0.000,0.000,14.219,3099.126,11240.833,929.160,3548.005,816.964,0.000,2575.956,0.000,3499.961,0.000,55.780,0.000
$DEVICE_MAMPS,231.634,62.894,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1160.117,1184.167,1986.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97946,1708
$CAP_FILE_SIZE,204764,0
$CFSIZE,260165632,216604672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.227, 30.3,1
$GPS,260609,201906,2443.363,12306.252,30,1.0,30,-3.6