version: 66.04
glider: 166
mission: 2
dive: 392
start: 7 26 109 8 9 21
data:
$ID,166
$MISSION,2
$DIVE,392
$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,-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,-13212.636
$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,72
$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
$GPS1,080055,2356.834,12442.126,41,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.3
$GPS2,080856,2356.843,12442.322,12,1.2,12,-3.5
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.600,12444.000
$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,322.9,36699,-17.3,-12.000
$D_GRID,2628
$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,-1.20,-219.0,0.0,0.0,0,77,0.00,0.00,-59.75,0.000,2,0.000,0.000,168,1681,2254
$GC,80,-1.20,-219.0,3.1,-5.5,9,140,9.00,2.15,-43.03,0.000,4,0.228,0.051,2366,254,3839
$GC,194,-1.20,-219.0,23.9,-22.3,27,200,0.00,2.05,0.00,0.000,6,0.000,0.028,2365,1672,3839
$GC,539,-1.20,-219.0,97.4,-19.7,88,545,0.00,2.10,0.00,0.000,4,0.000,0.040,2364,3067,3840
$GC,716,-1.20,-219.0,131.0,-18.6,119,722,0.00,2.03,0.00,0.000,6,0.000,0.028,2362,1656,3841
$GC,1060,-1.20,-219.0,191.3,-16.0,180,1067,0.00,2.10,0.00,0.000,4,0.000,0.036,2352,3076,3842
$GC,1170,-1.20,-219.0,210.1,-17.8,199,1177,0.12,2.03,0.00,0.000,6,0.170,0.028,2374,1663,3842
$GC,1516,-1.20,-219.0,263.5,-15.5,260,1522,0.00,2.08,0.00,0.000,4,0.000,0.038,2375,3067,3843
$GC,1591,-1.20,-219.0,274.6,-15.2,273,1602,0.00,2.00,0.00,0.000,6,0.000,0.028,2371,1671,3843
$GC,1931,-1.20,-219.0,321.6,-12.6,319,1935,0.00,2.08,0.00,0.000,4,0.000,0.038,2362,3073,3842
$GC,2010,-1.20,-219.0,331.8,-12.6,326,2014,0.00,2.03,0.00,0.000,6,0.000,0.029,2366,1665,3842
$GC,2342,-1.20,-219.0,376.4,-13.9,357,2346,0.00,2.10,0.00,0.000,4,0.000,0.040,2357,3075,3841
$GC,2426,-1.20,-219.0,388.6,-14.4,364,2432,0.00,2.05,0.00,0.000,6,0.000,0.029,2358,1675,3841
$GC,2752,-1.20,-219.0,430.9,-12.0,395,2755,0.00,2.08,0.00,0.000,4,0.000,0.041,2356,3067,3840
$GC,2831,-1.20,-219.0,440.8,-12.2,402,2835,0.00,2.03,0.00,0.000,6,0.000,0.030,2357,1666,3839
$GC,3162,-1.20,-219.0,483.6,-13.6,433,3165,0.00,2.12,0.00,0.000,4,0.000,0.042,2357,3075,3838
$GC,3241,-1.20,-219.0,495.1,-15.0,440,3245,0.00,2.05,0.00,0.000,6,0.000,0.031,2358,1669,3837
$GC,3573,-1.20,-219.0,538.9,-12.2,458,3577,0.00,2.10,0.00,0.000,4,0.000,0.047,2358,276,3836
$GC,3597,-1.20,-219.0,541.7,-12.4,459,3601,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,1668,3836
$GC,3930,-1.20,-219.0,578.0,-10.9,475,3933,0.00,2.10,0.00,0.000,4,0.000,0.045,2379,3068,3833
$GC,4021,-1.20,-219.0,588.9,-12.6,479,4024,0.00,2.05,0.00,0.000,6,0.000,0.034,2377,1669,3832
$GC,4355,-1.20,-219.0,628.2,-11.6,495,4358,0.00,2.12,0.00,0.000,4,0.000,0.046,2371,3069,3831
$GC,4410,-1.20,-219.0,635.2,-12.6,497,4414,0.00,2.08,0.00,0.000,6,0.000,0.035,2370,1665,3830
$GC,4732,-1.20,-219.0,671.2,-11.6,513,4736,0.00,2.15,0.00,0.000,4,0.000,0.049,2366,3066,3827
$GC,4823,-1.20,-219.0,682.4,-12.2,517,4827,0.00,2.08,0.00,0.000,6,0.000,0.036,2366,1666,3826
$GC,5157,-1.20,-219.0,726.0,-13.7,533,5160,0.00,2.17,0.00,0.000,4,0.000,0.051,2367,3073,3823
$GC,5248,-1.20,-219.0,738.0,-12.9,537,5252,0.00,2.10,0.00,0.000,6,0.000,0.038,2367,1668,3822
$GC,5581,-1.20,-219.0,781.0,-12.8,553,5585,0.00,2.17,0.00,0.000,4,0.000,0.051,2366,3066,3819
$GC,5604,-1.20,-219.0,784.0,-12.9,554,5608,0.00,2.12,0.00,0.000,6,0.000,0.043,2366,1663,3819
$GC,5940,-1.20,-219.0,827.4,-13.0,570,5944,0.00,2.17,0.00,0.000,4,0.000,0.051,2357,3069,3815
$GC,5973,-1.20,-219.0,832.5,-13.3,571,5977,0.00,2.10,0.00,0.000,6,0.000,0.040,2357,1674,3815
$GC,6295,-1.20,-219.0,873.6,-12.4,587,6299,0.00,2.17,0.00,0.000,4,0.000,0.057,2353,3063,3812
$GC,6373,-1.20,-219.0,883.5,-12.6,590,6376,0.00,2.10,0.00,0.000,6,0.000,0.041,2354,1674,3811
$GC,6695,-1.20,-219.0,926.1,-13.5,606,6698,0.00,2.17,0.00,0.000,4,0.000,0.056,2353,3066,3808
$GC,6791,-1.20,-219.0,939.1,-13.3,610,6794,0.00,2.12,0.00,0.000,6,0.000,0.045,2353,1677,3807
$GC,7118,-1.20,-219.0,983.0,-13.3,626,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1677,3805
$STATE,7177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7177,begin apogee
$GC,7184,-0.27,0.0,991.3,13.4,629,7380,1.02,0.00,187.77,1.457,6,0.130,0.000,2671,1351,2944
$STATE,7381,end apogee,CONTROL_FINISHED_OK
$STATE,7381,begin climb
$GC,7385,1.20,219.0,1004.5,0.0,639,7590,1.33,2.35,193.18,1.415,4,0.056,0.052,3143,2748,2051
$GC,7629,1.20,219.0,986.3,15.1,650,7633,0.00,2.22,0.00,0.000,6,0.000,0.046,3151,1347,2047
$GC,7956,1.20,219.0,937.9,14.8,666,7959,0.00,1.80,0.00,0.000,4,0.000,0.061,3157,202,2044
$GC,7979,1.20,219.0,934.3,15.1,667,7983,0.00,1.73,0.00,0.000,6,0.000,0.041,3156,1354,2043
$GC,8312,1.20,219.0,883.8,15.0,683,8316,0.00,2.17,0.00,0.000,4,0.000,0.056,3155,2755,2041
$GC,8385,1.20,219.0,872.5,15.4,686,8389,0.00,2.17,0.00,0.000,6,0.000,0.053,3165,1348,2040
$GC,8706,1.20,219.0,825.4,14.2,702,8710,0.00,2.20,0.00,0.000,4,0.000,0.054,3164,2750,2039
$GC,8829,1.20,219.0,807.0,14.3,707,8833,0.00,2.17,0.00,0.000,6,0.000,0.046,3173,1340,2038
$GC,9152,1.20,219.0,759.8,15.2,723,9156,0.00,1.80,0.00,0.000,4,0.000,0.066,3183,208,2037
$GC,9198,1.20,219.0,752.4,17.0,725,9202,0.12,1.73,0.00,0.000,6,0.202,0.041,3156,1366,2037
$GC,9531,1.20,219.0,708.2,12.8,741,9535,0.00,2.15,0.00,0.000,4,0.000,0.052,3149,2755,2036
$GC,9564,1.20,219.0,703.6,12.1,742,9568,0.00,2.17,0.00,0.000,6,0.000,0.045,3157,1338,2035
$GC,9885,1.20,219.0,661.3,13.8,758,9889,0.00,2.20,0.00,0.000,4,0.000,0.052,3157,2753,2034
$GC,9969,1.20,219.0,649.3,14.1,761,9975,0.00,2.17,0.00,0.000,6,0.000,0.046,3167,1338,2034
$GC,10286,1.20,219.0,607.2,12.8,777,10290,0.00,1.80,0.00,0.000,4,0.000,0.065,3176,212,2034
$GC,10296,1.20,219.0,605.6,12.6,777,10300,0.00,1.75,0.00,0.000,6,0.000,0.043,3175,1373,2034
$GC,10618,1.20,219.0,567.6,12.2,793,10622,0.00,2.15,0.00,0.000,4,0.000,0.058,3172,2752,2033
$GC,10736,1.25,257.2,554.1,10.6,798,10780,0.00,2.15,33.80,1.137,6,0.000,0.045,3181,1347,1896
$GC,11104,1.30,298.8,513.2,10.5,816,11147,0.00,1.90,37.92,1.145,4,0.000,0.058,3190,202,1725
$GC,11244,1.30,298.8,494.4,13.9,823,11251,0.00,1.75,0.00,0.000,6,0.000,0.041,3190,1350,1722
$GC,11570,1.30,298.8,451.8,12.7,854,11574,0.00,2.17,0.00,0.000,4,0.000,0.049,3190,2760,1720
$GC,11587,1.30,298.8,449.3,12.8,855,11594,0.00,2.17,0.00,0.000,6,0.000,0.043,3199,1341,1719
$GC,11915,1.30,298.8,407.5,13.1,886,11918,0.00,1.77,0.00,0.000,4,0.000,0.056,3211,198,1719
$GC,12028,1.30,298.8,391.3,13.7,896,12032,0.00,1.75,0.00,0.000,6,0.000,0.041,3210,1353,1719
$GC,12360,1.31,303.7,348.5,11.8,927,12372,0.00,2.15,4.80,0.739,4,0.000,0.046,3214,2752,1706
$GC,12453,1.33,320.9,337.1,11.4,935,12478,0.12,2.15,17.30,0.960,6,0.193,0.041,3195,1334,1636
$GC,12796,1.35,338.3,298.0,11.4,968,12821,0.00,2.17,17.08,0.917,4,0.000,0.042,3188,2749,1563
$GC,12828,1.36,346.1,294.3,11.7,973,12841,0.00,2.15,8.12,0.798,6,0.000,0.039,3196,1340,1534
$GC,13180,1.36,346.1,250.2,12.1,1035,13188,0.00,1.75,0.00,0.000,4,0.000,0.051,3205,199,1533
$GC,13264,1.36,350.1,239.9,11.9,1049,13276,0.00,1.70,5.35,0.681,6,0.000,0.035,3205,1361,1516
$GC,13615,1.36,350.1,199.9,12.4,1111,13623,0.00,2.08,0.00,0.000,4,0.000,0.040,3201,2752,1516
$GC,13692,1.36,350.1,190.3,12.7,1124,13698,0.00,2.15,0.00,0.000,6,0.000,0.037,3209,1340,1516
$GC,14038,1.40,382.0,150.3,10.8,1185,14076,0.00,2.17,29.20,0.799,4,0.000,0.038,3209,2737,1387
$GC,14192,1.41,389.4,133.6,11.7,1211,14207,0.00,2.12,8.00,0.674,6,0.000,0.036,3219,1348,1356
$GC,14545,1.47,433.9,94.7,10.4,1273,14591,0.00,2.20,39.80,0.744,4,0.000,0.037,3217,2745,1174
$GC,14745,1.48,445.3,70.9,11.6,1307,14765,0.00,2.10,11.38,0.659,6,0.000,0.035,3225,1347,1128
$GC,15104,1.53,482.8,32.8,10.6,1370,15145,0.00,1.75,32.90,0.680,4,0.000,0.047,3234,206,975
$GC,15233,1.54,491.7,18.8,11.7,1391,15247,0.00,1.67,9.05,0.584,6,0.000,0.031,3234,1352,940
$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15378,begin surface coast
$FINISH,0.9,1.021305
$STATE,15405,end surface coast,CONTROL_FINISHED_OK
$STATE,15406,begin surface
$SM_CCo,15485,0.00,0.000,0,0,937,492.56
$SM_GC,1.78,8.15,0.00,0.00,0.039,0.000,0.000,169,1698,937,-8.10,0.65,492.56
$IRIDIUM_FIX,2349.77,12439.62,201098,030322
$TT8_MAMPS,0.026845
$HUMID,1609
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,147
$24V_AH,23.1,84.383
$10V_AH,10.6,56.367
$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,19.875,148.875,635.650,0.000,0.000,25.595,33.775,264.379,44.750,0.000,0.000,12.893,2483.069,9057.440,714.516,2977.909,724.335,0.000,2084.400,0.000,2941.242,0.000,54.436,0.000
$DEVICE_MAMPS,227.799,65.962,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.893,981.852,1650.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82145,1421
$CAP_FILE_SIZE,151984,0
$CFSIZE,260165632,203354112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240,118.8,1
$GPS,260709,122837,2356.887,12443.614,34,1.0,34,-3.5