version: 66.04
glider: 166
mission: 2
dive: 260
start: 6 27 109 1 45 34
data:
$ID,166
$MISSION,2
$DIVE,260
$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,-10538.252
$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,39
$R_STBD_OVSHOOT,42
$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
$GPS1,013401,2442.857,12306.811,42,1.9,42,-3.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.4
$GPS2,014513,2443.033,12307.034,9,1.1,14,-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,236.6,28965,-13.9,-10.000
$D_GRID,1308
$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,13,begin dive
$GC,15,-1.12,-243.4,0.0,0.0,0,101,0.00,0.00,-83.22,0.000,2,0.000,0.000,168,1758,2337
$GC,104,-1.12,-243.4,3.1,-5.4,13,162,9.23,2.15,-42.30,0.000,4,0.235,0.052,2414,335,3938
$GC,215,-0.52,-243.4,27.2,-28.9,31,224,0.68,2.10,0.00,0.000,6,0.145,0.029,2610,1773,3939
$GC,561,-0.70,-243.4,71.8,-11.3,92,568,0.17,2.08,0.00,0.000,4,0.054,0.038,2517,3153,3940
$GC,615,-0.50,-243.4,79.3,-15.0,101,623,0.32,2.03,0.00,0.000,6,0.120,0.028,2617,1740,3939
$GC,961,-0.85,-243.4,110.1,-9.6,162,968,0.28,2.08,0.00,0.000,4,0.044,0.039,2484,336,3941
$GC,991,-0.76,-243.4,114.0,-13.1,167,999,0.12,2.08,0.00,0.000,6,0.140,0.027,2525,1762,3941
$GC,1336,-0.69,-243.4,151.4,-10.2,228,1343,0.12,2.10,0.00,0.000,4,0.137,0.038,2563,353,3941
$GC,1396,-0.69,-243.4,157.3,-10.1,238,1403,0.00,2.00,0.00,0.000,6,0.000,0.026,2562,1738,3941
$GC,1741,-0.91,-243.4,189.7,-7.5,299,1748,0.20,2.10,0.00,0.000,4,0.051,0.038,2456,348,3941
$GC,1823,-0.65,-243.4,199.5,-14.2,313,1833,0.30,2.08,0.00,0.000,6,0.122,0.028,2570,1773,3941
$GC,2171,-0.95,-243.4,230.9,-11.7,374,2178,0.25,2.03,0.00,0.000,4,0.046,0.038,2440,3152,3941
$GC,2252,-0.78,-243.4,242.7,-15.6,388,2259,0.22,1.95,0.00,0.000,6,0.120,0.027,2530,1799,3940
$GC,2599,-0.97,-243.4,277.1,-8.9,449,2606,0.17,2.15,0.00,0.000,4,0.053,0.040,2431,354,3940
$GC,2660,-0.66,-243.4,284.8,-13.5,459,2666,0.43,2.22,0.00,0.000,6,0.130,0.030,2562,1882,3939
$GC,3001,-1.03,-243.4,314.5,-9.2,505,3003,0.32,0.00,0.00,0.000,6,0.048,0.000,2427,1884,3938
$GC,3319,-0.97,-243.4,352.7,-12.1,535,3323,0.15,2.30,0.00,0.000,4,0.131,0.042,2472,363,3936
$GC,3450,-0.83,-243.4,369.6,-12.4,546,3455,0.15,2.22,0.00,0.000,6,0.135,0.031,2517,1881,3935
$GC,3775,-1.01,-243.4,398.1,-8.1,576,3780,0.17,2.30,0.00,0.000,4,0.052,0.043,2433,364,3932
$GC,3906,-0.77,-243.4,414.5,-14.2,587,3911,0.35,2.35,0.00,0.000,6,0.133,0.034,2537,1946,3931
$GC,4232,-1.05,-243.4,444.0,-8.2,617,4236,0.20,1.80,0.00,0.000,4,0.051,0.047,2407,3146,3929
$GC,4289,-1.02,-243.4,450.0,-11.3,622,4294,0.15,1.70,0.00,0.000,6,0.128,0.031,2458,1968,3928
$GC,4620,-1.13,-243.4,479.4,-8.3,653,4625,0.12,2.42,0.00,0.000,4,0.067,0.045,2397,366,3925
$GC,4638,-1.13,-243.4,481.1,-8.7,654,4643,0.00,2.40,0.00,0.000,6,0.000,0.035,2390,1979,3925
$GC,4959,-0.89,-243.4,522.0,-13.6,676,4964,0.30,2.45,0.00,0.000,4,0.139,0.045,2496,372,3922
$GC,5026,-0.85,-243.4,530.3,-11.7,679,5030,0.00,2.35,0.00,0.000,6,0.000,0.034,2483,1957,3922
$GC,5347,-1.01,-243.4,566.8,-11.3,695,5351,0.00,1.83,0.00,0.000,4,0.000,0.053,2482,3137,3920
$GC,5369,-1.18,-243.4,569.3,-11.1,696,5373,0.22,1.62,0.00,0.000,6,0.048,0.041,2372,2030,3920
$GC,5703,-0.92,-243.4,615.9,-13.9,712,5708,0.32,2.55,0.00,0.000,4,0.139,0.053,2481,372,3917
$GC,5736,-0.88,-243.4,620.0,-9.8,713,5744,0.00,2.40,0.00,0.000,6,0.000,0.043,2477,1969,3917
$GC,6053,-1.04,-243.4,645.7,-7.6,729,6057,0.00,1.77,0.00,0.000,4,0.000,0.052,2477,3140,3915
$GC,6154,-1.29,-243.4,653.9,-8.4,733,6158,0.30,1.60,0.00,0.000,6,0.044,0.044,2344,2051,3914
$GC,6476,-0.96,-243.4,698.6,-15.2,749,6481,0.38,2.58,0.00,0.000,4,0.149,0.049,2464,375,3911
$GC,6600,-0.92,-243.4,710.9,-9.0,754,6607,0.12,2.45,0.00,0.000,6,0.140,0.041,2490,2003,3910
$GC,6917,-1.15,-243.4,734.3,-7.1,770,6921,0.20,1.73,0.00,0.000,4,0.051,0.053,2384,3134,3908
$GC,7023,-0.99,-243.4,745.6,-11.5,774,7029,0.22,1.60,0.00,0.000,6,0.127,0.037,2475,2063,3908
$GC,7339,-1.21,-243.4,770.8,-7.8,790,7345,0.20,2.60,0.00,0.000,4,0.052,0.051,2372,375,3905
$GC,7537,-0.90,-243.4,798.4,-15.7,799,7542,0.40,2.47,0.00,0.000,6,0.144,0.043,2491,1996,3904
$GC,7866,-1.14,-243.4,827.4,-9.2,815,7870,0.17,1.77,0.00,0.000,4,0.056,0.056,2397,3148,3902
$GC,7911,-1.05,-243.4,832.3,-10.9,817,7915,0.15,1.62,0.00,0.000,6,0.141,0.038,2438,2049,3901
$GC,8245,-0.99,-243.4,865.9,-9.5,833,8250,0.00,2.60,0.00,0.000,4,0.000,0.054,2439,373,3899
$GC,8422,-0.89,-243.4,883.4,-10.0,841,8427,0.17,2.50,0.00,0.000,6,0.137,0.044,2489,2002,3898
$GC,8751,-1.14,-243.4,903.9,-6.0,857,8755,0.17,1.75,0.00,0.000,4,0.055,0.057,2397,3133,3896
$GC,8783,-1.14,-243.4,906.6,-7.4,858,8786,0.00,1.62,0.00,0.000,6,0.000,0.038,2397,2055,3896
$GC,9105,-0.98,-243.4,937.6,-10.0,874,9110,0.20,2.62,0.00,0.000,4,0.140,0.054,2462,375,3894
$GC,9228,-0.98,-243.4,947.5,-8.3,879,9234,0.00,2.47,0.00,0.000,6,0.000,0.044,2457,1991,3894
$GC,9545,-0.98,-243.4,970.6,-7.9,895,9550,0.00,2.55,0.00,0.000,4,0.000,0.055,2459,367,3892
$GC,9658,-0.92,-243.4,981.4,-9.1,900,9662,0.00,2.45,0.00,0.000,6,0.000,0.045,2464,1961,3891
$STATE,9755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9756,begin apogee
$GC,9762,-0.29,0.0,990.7,9.3,905,9971,0.68,0.00,205.90,1.487,6,0.113,0.000,2685,1321,2945
$STATE,9972,end apogee,CONTROL_FINISHED_OK
$STATE,9972,begin climb
$GC,9975,1.12,243.4,1004.0,0.0,915,10208,1.27,0.00,221.60,1.437,6,0.046,0.000,3142,1320,1950
$GC,10516,0.54,243.4,926.8,18.9,941,10521,0.62,2.17,0.00,0.000,4,0.180,0.058,2963,2695,1943
$GC,10583,0.37,243.4,917.8,12.2,944,10588,0.25,2.17,0.00,0.000,6,0.153,0.051,2901,1306,1942
$GC,10905,0.41,272.9,888.5,9.2,960,10947,0.00,2.28,28.23,1.292,4,0.000,0.052,2900,2696,1830
$GC,11016,0.44,301.3,878.2,9.2,965,11059,0.00,2.17,28.85,1.280,6,0.000,0.048,2907,1312,1717
$GC,11368,0.59,384.6,849.3,7.7,982,11457,0.17,2.28,78.43,1.355,4,0.059,0.052,2986,2691,1377
$GC,11536,0.47,384.6,828.9,13.1,989,11542,0.22,2.15,0.00,0.000,6,0.143,0.048,2934,1334,1372
$GC,11852,0.55,405.9,798.2,9.4,1005,11895,0.00,2.22,22.02,1.212,4,0.000,0.051,2934,2701,1288
$GC,11947,0.62,420.8,789.1,9.6,1009,11977,0.12,2.12,17.25,1.142,6,0.064,0.046,3008,1340,1228
$GC,12296,0.51,420.8,746.3,12.2,1026,12301,0.20,2.12,0.00,0.000,4,0.137,0.051,2945,2703,1225
$GC,12358,0.63,479.5,739.8,8.4,1029,12432,0.00,2.05,59.15,1.250,6,0.000,0.047,2952,1374,990
$GC,12748,0.75,504.0,703.2,9.3,1048,12779,0.17,2.17,23.65,1.261,4,0.054,0.053,3047,2699,889
$GC,12807,0.61,504.0,694.7,16.3,1050,12815,0.20,2.10,0.00,0.000,6,0.135,0.048,2980,1386,889
$GC,13123,0.67,504.0,660.4,10.2,1066,13127,0.00,1.88,0.00,0.000,4,0.000,0.061,2987,190,888
$GC,13161,0.67,504.0,655.8,12.0,1067,13167,0.00,1.83,0.00,0.000,6,0.000,0.045,2986,1369,886
$GC,13478,0.72,504.0,617.7,11.9,1083,13482,0.00,2.03,0.00,0.000,4,0.000,0.051,2986,2690,885
$GC,13511,0.76,504.0,613.5,12.9,1084,13515,0.00,2.03,0.00,0.000,6,0.000,0.047,2997,1375,885
$GC,13832,0.76,504.0,575.7,11.7,1100,13833,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1375,885
$GC,14142,0.76,504.0,535.2,11.2,1115,14143,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1374,885
$GC,14451,0.82,519.5,501.6,9.6,1130,14476,0.12,0.00,17.05,1.017,6,0.064,0.000,3071,1374,827
$GC,14790,0.72,519.5,460.2,13.0,1161,14792,0.22,0.00,0.00,0.000,6,0.131,0.000,3009,1375,827
$GC,15113,0.95,519.5,424.9,12.1,1191,15117,0.20,1.83,0.00,0.000,4,0.049,0.057,3122,199,826
$GC,15135,0.95,519.5,421.2,14.0,1193,15140,0.12,1.80,0.00,0.000,6,0.151,0.042,3071,1376,826
$GC,15465,0.88,519.5,369.6,14.3,1224,15469,0.00,1.85,0.00,0.000,4,0.000,0.057,3077,191,826
$GC,15549,0.76,519.5,357.3,14.1,1231,15555,0.17,1.80,0.00,0.000,6,0.139,0.041,3026,1395,826
$GC,15874,0.81,519.5,322.9,11.1,1262,15877,0.00,1.98,0.00,0.000,4,0.000,0.046,3026,2706,826
$GC,15897,0.86,519.5,320.2,11.3,1264,15900,0.00,2.03,0.00,0.000,6,0.000,0.045,3030,1371,826
$GC,16231,1.04,519.5,279.5,12.3,1309,16237,0.20,1.80,0.00,0.000,4,0.048,0.054,3150,200,826
$GC,16299,0.76,519.5,266.8,20.4,1321,16306,0.43,1.73,0.00,0.000,6,0.140,0.047,3022,1366,826
$GC,16644,1.06,525.5,227.1,9.8,1382,16658,0.22,2.03,7.15,0.790,4,0.112,0.044,3140,2706,802
$GC,16733,0.83,525.5,213.2,17.0,1397,16740,0.35,2.17,0.00,0.000,6,0.140,0.041,3045,1269,802
$GC,17078,1.08,525.5,173.6,10.3,1458,17086,0.20,2.15,0.00,0.000,4,0.050,0.040,3163,2702,802
$GC,17144,0.84,525.5,163.5,17.0,1469,17151,0.40,2.12,0.00,0.000,6,0.141,0.039,3051,1285,801
$GC,17487,1.15,526.2,132.1,10.0,1530,17495,0.22,2.15,0.00,0.000,4,0.050,0.038,3178,2722,802
$GC,17629,0.92,526.2,109.0,20.2,1554,17637,0.38,2.05,0.00,0.000,6,0.138,0.038,3077,1347,802
$GC,17975,1.27,546.6,73.1,9.4,1615,18002,0.28,1.80,20.42,0.745,4,0.041,0.050,3233,200,715
$GC,18257,1.03,546.6,24.4,17.0,1664,18264,0.35,1.73,0.00,0.000,6,0.136,0.031,3108,1375,714
$STATE,18475,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
$FINISH,0.9,1.011003
$STATE,18514,end surface coast,CONTROL_FINISHED_OK
$STATE,18514,begin surface
$SM_CCo,18591,0.00,0.000,0,0,713,547.26
$SM_GC,1.63,7.82,0.00,0.00,0.041,0.000,0.000,169,1769,713,-8.14,0.54,547.26
$IRIDIUM_FIX,2432.32,12307.20,210998,010105
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.00
$XPDR_PINGS,148
$24V_AH,22.8,57.195
$10V_AH,10.7,33.100
$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,33.300,164.900,729.700,0.000,0.000,50.440,156.138,258.255,45.000,0.000,0.000,14.743,3105.232,10844.938,879.110,3590.552,824.415,0.000,2513.532,0.000,3547.619,0.000,56.138,0.000
$DEVICE_MAMPS,234.702,60.593,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.376,1185.629,1992.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97940,1710
$CAP_FILE_SIZE,200717,0
$CFSIZE,260165632,216395776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.161, 51.0,1
$GPS,270609,065637,2442.695,12306.459,37,1.0,37,-3.5