version: 66.04
glider: 166
mission: 2
dive: 390
start: 7 25 109 22 58 39
data:
$ID,166
$MISSION,2
$DIVE,390
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-13186.824
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,224637,2356.540,12439.730,26,1.6,26,-3.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.5
$GPS2,225816,2356.506,12439.788,15,2.5,34,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_5
$TGT_LATLONG,2412.100,12421.900
$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,291.8,41798,-16.0,-11.000
$D_GRID,2626
$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,15,-1.14,-219.0,0.0,0.0,0,78,0.00,0.00,-60.67,0.000,2,0.000,0.000,167,1700,2316
$GC,81,-1.14,-219.0,3.1,-6.4,10,139,8.85,2.17,-41.40,0.000,4,0.220,0.054,2392,264,3839
$GC,185,-1.14,-219.0,21.8,-22.6,27,193,0.00,2.05,0.00,0.000,6,0.000,0.029,2382,1653,3840
$GC,533,-1.14,-219.0,87.8,-17.0,88,539,0.00,2.08,0.00,0.000,4,0.000,0.041,2392,262,3840
$GC,643,-1.14,-219.0,107.5,-17.5,107,651,0.00,2.05,0.00,0.000,6,0.000,0.028,2391,1689,3840
$GC,988,-1.14,-219.0,164.1,-16.2,168,994,0.00,2.08,0.00,0.000,4,0.000,0.041,2391,3073,3841
$GC,1136,-1.14,-219.0,188.7,-17.1,194,1143,0.00,2.08,0.00,0.000,6,0.000,0.030,2391,1661,3841
$GC,1484,-1.14,-219.0,246.5,-16.0,255,1491,0.00,2.10,0.00,0.000,4,0.000,0.039,2381,3070,3841
$GC,1599,-1.14,-219.0,265.8,-15.8,275,1606,0.00,2.03,0.00,0.000,6,0.000,0.031,2379,1671,3841
$GC,1938,-1.14,-219.0,314.2,-13.2,326,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1671,3840
$GC,2259,-1.14,-219.0,356.9,-13.5,356,2263,0.00,2.10,0.00,0.000,4,0.000,0.041,2362,3063,3840
$GC,2317,-1.14,-219.0,364.9,-13.2,361,2322,0.10,2.03,0.00,0.000,6,0.160,0.031,2394,1672,3840
$GC,2648,-1.14,-219.0,405.8,-13.0,392,2652,0.00,2.10,0.00,0.000,4,0.000,0.041,2381,3071,3839
$GC,2695,-1.14,-219.0,411.8,-13.1,396,2699,0.00,2.05,0.00,0.000,6,0.000,0.031,2387,1663,3838
$GC,3029,-1.14,-219.0,449.8,-10.3,427,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1662,3837
$GC,3357,-1.14,-219.0,486.5,-12.1,458,3360,0.00,2.15,0.00,0.000,4,0.000,0.044,2385,3076,3835
$GC,3391,-1.14,-219.0,491.2,-13.1,461,3395,0.00,2.08,0.00,0.000,6,0.000,0.033,2384,1669,3834
$GC,3715,-1.14,-219.0,528.1,-10.7,480,3719,0.00,2.12,0.00,0.000,4,0.000,0.048,2385,271,3832
$GC,3743,-1.14,-219.0,531.6,-12.0,481,3747,0.00,2.05,0.00,0.000,6,0.000,0.030,2382,1681,3832
$GC,4071,-1.14,-219.0,565.4,-10.9,497,4074,0.00,2.15,0.00,0.000,4,0.000,0.047,2382,271,3830
$GC,4177,-1.14,-219.0,578.4,-11.7,501,4183,0.00,2.05,0.00,0.000,6,0.000,0.031,2384,1676,3829
$GC,4495,-1.14,-219.0,612.3,-10.6,517,4499,0.00,2.10,0.00,0.000,4,0.000,0.046,2391,3069,3827
$GC,4551,-1.14,-219.0,618.7,-11.6,519,4554,0.00,2.08,0.00,0.000,6,0.000,0.035,2391,1663,3827
$GC,4875,-1.14,-219.0,652.1,-10.4,535,4878,0.00,2.15,0.00,0.000,4,0.000,0.048,2391,3068,3824
$GC,4931,-1.14,-219.0,658.5,-10.7,537,4934,0.00,2.08,0.00,0.000,6,0.000,0.035,2391,1666,3824
$GC,5252,-1.14,-219.0,693.7,-11.3,553,5256,0.00,2.15,0.00,0.000,4,0.000,0.050,2391,3064,3821
$GC,5337,-1.14,-219.0,703.8,-12.0,556,5343,0.00,2.05,0.00,0.000,6,0.000,0.037,2391,1678,3820
$GC,5653,-1.14,-219.0,739.1,-11.0,572,5656,0.00,2.15,0.00,0.000,4,0.000,0.051,2383,3073,3817
$GC,5703,-1.14,-219.0,744.9,-11.8,574,5707,0.00,2.08,0.00,0.000,6,0.000,0.038,2383,1676,3816
$GC,6030,-1.14,-219.0,782.9,-11.6,590,6034,0.00,2.15,0.00,0.000,4,0.000,0.051,2379,3067,3813
$GC,6103,-1.14,-219.0,791.5,-12.1,593,6106,0.00,2.10,0.00,0.000,6,0.000,0.039,2379,1669,3813
$GC,6430,-1.14,-219.0,831.4,-12.2,609,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1669,3810
$GC,6740,-1.14,-219.0,867.5,-11.6,624,6743,0.00,2.20,0.00,0.000,4,0.000,0.057,2379,258,3807
$GC,6785,-1.14,-219.0,873.5,-12.9,626,6790,0.12,2.12,0.00,0.000,6,0.165,0.038,2400,1675,3807
$GC,7114,-1.14,-219.0,906.8,-10.4,642,7118,0.00,2.17,0.00,0.000,4,0.000,0.054,2395,3079,3804
$GC,7215,-1.14,-219.0,917.5,-10.3,646,7219,0.00,2.12,0.00,0.000,6,0.000,0.043,2395,1676,3803
$GC,7537,-1.14,-219.0,949.2,-9.6,662,7540,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,3085,3801
$GC,7593,-1.14,-219.0,954.8,-9.5,664,7597,0.00,2.15,0.00,0.000,6,0.000,0.047,2385,1675,3800
$STATE,7912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7912,begin apogee
$GC,7919,-0.27,0.0,990.3,11.5,680,8117,0.93,0.00,188.90,1.451,6,0.122,0.000,2678,1348,2945
$STATE,8117,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8121,1.14,219.0,1002.3,0.0,690,8326,1.25,1.95,193.57,1.417,4,0.055,0.063,3131,211,2051
$GC,8393,1.14,219.0,980.3,14.4,702,8397,0.00,1.77,0.00,0.000,6,0.000,0.041,3128,1368,2047
$GC,8715,1.14,219.0,935.1,14.0,718,8719,0.00,2.15,0.00,0.000,4,0.000,0.052,3126,2756,2043
$GC,8909,1.14,219.0,907.3,15.0,726,8913,0.00,2.17,0.00,0.000,6,0.000,0.048,3135,1344,2041
$GC,9226,1.14,219.0,863.0,13.6,741,9229,0.00,2.20,0.00,0.000,4,0.000,0.059,3134,2749,2040
$GC,9253,1.14,219.0,858.9,14.1,742,9257,0.00,2.17,0.00,0.000,6,0.000,0.049,3144,1339,2040
$GC,9574,1.14,219.0,813.1,14.4,758,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1339,2039
$GC,9885,1.14,219.0,768.7,14.3,773,9889,0.00,2.20,0.00,0.000,4,0.000,0.053,3143,2753,2037
$GC,9963,1.14,219.0,756.7,15.7,776,9967,0.00,2.17,0.00,0.000,6,0.000,0.046,3151,1338,2037
$GC,10284,1.14,219.0,709.3,14.0,792,10288,0.00,2.20,0.00,0.000,4,0.000,0.051,3149,2755,2036
$GC,10424,1.14,219.0,689.1,13.6,798,10428,0.00,2.17,0.00,0.000,6,0.000,0.048,3157,1339,2035
$GC,10750,1.14,219.0,644.9,13.4,814,10754,0.00,2.20,0.00,0.000,4,0.000,0.052,3157,2753,2035
$GC,10850,1.14,219.0,631.2,13.4,818,10855,0.15,2.17,0.00,0.000,6,0.196,0.045,3132,1337,2034
$GC,11167,1.14,219.0,594.3,11.1,833,11171,0.00,1.80,0.00,0.000,4,0.000,0.059,3139,210,2034
$GC,11349,1.14,219.0,571.7,12.2,841,11353,0.00,1.77,0.00,0.000,6,0.000,0.047,3138,1357,2034
$GC,11683,1.16,237.0,534.8,10.4,857,11709,0.00,1.85,16.35,1.028,4,0.000,0.058,3145,193,1978
$GC,11789,1.16,237.0,522.4,11.9,862,11792,0.00,1.77,0.00,0.000,6,0.000,0.044,3145,1364,1977
$GC,12116,1.16,237.0,486.2,11.4,883,12119,0.00,2.12,0.00,0.000,4,0.000,0.050,3139,2751,1976
$GC,12166,1.16,237.0,480.3,11.2,887,12172,0.00,2.17,0.00,0.000,6,0.000,0.046,3148,1342,1975
$GC,12495,1.18,254.3,445.0,10.4,918,12519,0.00,1.83,16.35,1.065,4,0.000,0.057,3159,202,1907
$GC,12587,1.19,264.8,435.0,10.6,926,12611,0.00,1.73,11.10,0.992,6,0.000,0.040,3159,1358,1865
$GC,12930,1.19,264.8,395.6,12.7,958,12934,0.00,2.12,0.00,0.000,4,0.000,0.047,3157,2749,1863
$GC,13077,1.19,264.8,378.0,11.8,971,13081,0.00,2.12,0.00,0.000,6,0.000,0.041,3169,1349,1861
$GC,13411,1.21,277.1,340.2,10.6,1002,13427,0.00,2.17,12.10,0.933,4,0.000,0.044,3170,2759,1816
$GC,13496,1.21,277.1,330.2,11.8,1009,13500,0.00,2.15,0.00,0.000,6,0.000,0.041,3180,1346,1814
$GC,13825,1.27,323.9,296.7,9.4,1042,13874,0.00,2.20,42.40,0.946,4,0.000,0.042,3179,2750,1623
$GC,13931,1.27,323.9,285.1,12.0,1060,13937,0.00,2.15,0.00,0.000,6,0.000,0.038,3186,1340,1621
$GC,14277,1.27,323.9,243.5,12.3,1121,14283,0.00,2.15,0.00,0.000,4,0.000,0.041,3186,2758,1620
$GC,14301,1.27,323.9,240.7,11.9,1125,14307,0.00,2.12,0.00,0.000,6,0.000,0.038,3194,1348,1619
$GC,14645,1.27,331.9,205.5,10.7,1186,14660,0.00,2.15,8.20,0.749,4,0.000,0.040,3192,2764,1590
$GC,14762,1.30,353.7,193.2,10.3,1206,14789,0.00,2.12,20.58,0.821,6,0.000,0.037,3201,1343,1502
$GC,15128,1.30,353.7,152.8,11.3,1270,15135,0.00,2.12,0.00,0.000,4,0.000,0.039,3200,2759,1501
$GC,15249,1.31,359.7,138.5,10.8,1291,15262,0.00,2.10,6.75,0.650,6,0.000,0.035,3210,1346,1477
$GC,15602,1.38,419.0,100.2,9.0,1353,15658,0.00,1.83,51.72,0.752,4,0.000,0.048,3219,205,1236
$GC,15688,1.38,419.0,91.3,11.2,1367,15695,0.00,1.73,0.00,0.000,6,0.000,0.031,3219,1368,1236
$GC,16034,1.43,459.9,55.6,9.6,1428,16078,0.00,2.10,35.83,0.696,4,0.000,0.036,3219,2741,1069
$GC,16120,1.44,466.1,46.4,10.8,1442,16134,0.00,2.08,7.07,0.565,6,0.000,0.034,3229,1349,1043
$GC,16474,1.44,466.1,8.8,11.1,1504,16480,0.00,1.75,0.00,0.000,4,0.000,0.048,3238,206,1043
$STATE,16524,end climb,SURFACE_DEPTH_REACHED
$STATE,16524,begin surface coast
$FINISH,0.9,1.011871
$STATE,16547,end surface coast,CONTROL_FINISHED_OK
$STATE,16547,begin surface
$SM_CCo,16628,0.00,0.000,0,0,1041,467.05
$SM_GC,1.80,8.12,0.00,0.00,0.039,0.000,0.000,169,1707,1041,-8.10,0.90,467.05
$IRIDIUM_FIX,2345.05,12441.56,191098,222253
$TT8_MAMPS,0.026845
$HUMID,1569
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.80
$XPDR_PINGS,151
$24V_AH,23.2,83.906
$10V_AH,10.6,56.083
$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,19.525,150.025,610.925,0.000,0.000,49.401,159.784,241.020,45.750,0.000,0.000,35.596,2651.992,9896.007,700.105,3206.808,858.888,0.000,2140.057,0.000,3142.312,0.000,54.440,0.000
$DEVICE_MAMPS,220.129,62.894,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.031,1045.780,1759.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88507,1517
$CAP_FILE_SIZE,159231,0
$CFSIZE,260165632,203526144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.241,101.3,1
$GPS,260709,033701,2356.587,12440.972,38,1.6,38,-3.5