version: 66.04
glider: 166
mission: 2
dive: 394
start: 7 26 109 17 12 19
data:
$ID,166
$MISSION,2
$DIVE,394
$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,-13244.295
$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,45
$R_STBD_OVSHOOT,65
$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
$GPS1,170407,2357.571,12444.259,31,1.1,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.2
$GPS2,171156,2357.561,12444.373,13,1.6,13,-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,337.0,35266,-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,-219.0,0.0,0.0,0,69,0.00,0.00,-50.88,0.000,2,0.000,0.000,168,1692,2236
$GC,72,-1.20,-219.0,3.1,-5.9,8,131,8.85,2.25,-43.70,0.000,4,0.222,0.053,2370,255,3841
$GC,189,-1.20,-219.0,25.0,-22.6,27,195,0.00,2.08,0.00,0.000,6,0.000,0.030,2366,1678,3842
$GC,535,-1.20,-219.0,93.3,-17.1,88,542,0.00,2.05,0.00,0.000,4,0.000,0.038,2354,3073,3842
$GC,638,-1.20,-219.0,112.8,-18.9,106,646,0.00,2.05,0.00,0.000,6,0.000,0.029,2356,1652,3843
$GC,986,-1.20,-219.0,174.4,-17.2,167,992,0.00,2.10,0.00,0.000,4,0.000,0.038,2349,3073,3844
$GC,1022,-1.20,-219.0,181.0,-17.7,173,1028,0.00,2.03,0.00,0.000,6,0.000,0.028,2350,1662,3843
$GC,1366,-1.20,-219.0,241.1,-16.9,234,1374,0.00,2.10,0.00,0.000,4,0.000,0.038,2345,3079,3844
$GC,1405,-1.20,-219.0,247.1,-16.4,240,1412,0.12,2.03,0.00,0.000,6,0.171,0.028,2378,1657,3845
$GC,1749,-1.20,-219.0,299.2,-14.5,301,1755,0.00,2.10,0.00,0.000,4,0.000,0.038,2368,3074,3845
$GC,1845,-1.20,-219.0,312.7,-13.9,310,1853,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,1656,3844
$GC,2170,-1.20,-219.0,357.6,-14.6,341,2174,0.00,2.12,0.00,0.000,4,0.000,0.039,2365,3083,3844
$GC,2317,-1.20,-219.0,378.9,-14.2,354,2321,0.00,2.03,0.00,0.000,6,0.000,0.029,2366,1667,3844
$GC,2650,-1.20,-219.0,422.9,-13.1,385,2653,0.00,2.10,0.00,0.000,4,0.000,0.040,2367,3076,3843
$GC,2734,-1.20,-219.0,434.5,-13.1,392,2741,0.00,2.05,0.00,0.000,6,0.000,0.029,2367,1677,3843
$GC,3060,-1.20,-219.0,479.0,-13.6,423,3063,0.00,2.10,0.00,0.000,4,0.000,0.042,2373,3078,3841
$GC,3122,-1.20,-219.0,487.7,-13.9,428,3128,0.00,2.05,0.00,0.000,6,0.000,0.031,2368,1663,3841
$GC,3440,-1.20,-219.0,527.8,-11.8,448,3444,0.00,2.12,0.00,0.000,4,0.000,0.043,2374,3073,3840
$GC,3490,-1.20,-219.0,534.2,-12.7,450,3494,0.00,2.05,0.00,0.000,6,0.000,0.031,2371,1668,3839
$GC,3818,-1.20,-219.0,574.2,-11.9,466,3826,0.00,2.12,0.00,0.000,4,0.000,0.044,2378,3069,3838
$GC,3882,-1.20,-219.0,581.8,-11.1,468,3888,0.00,2.05,0.00,0.000,6,0.000,0.032,2375,1666,3838
$GC,4198,-1.20,-219.0,617.9,-11.8,484,4202,0.00,2.15,0.00,0.000,4,0.000,0.045,2370,3072,3835
$GC,4281,-1.20,-219.0,628.7,-12.5,487,4288,0.00,2.08,0.00,0.000,6,0.000,0.034,2370,1667,3834
$GC,4598,-1.20,-219.0,670.9,-13.3,503,4602,0.00,2.12,0.00,0.000,4,0.000,0.048,2367,3063,3833
$GC,4734,-1.20,-219.0,689.3,-13.6,509,4738,0.00,2.08,0.00,0.000,6,0.000,0.037,2366,1666,3832
$GC,5067,-1.20,-219.0,733.0,-12.6,525,5070,0.00,2.17,0.00,0.000,4,0.000,0.051,2366,3076,3828
$GC,5145,-1.20,-219.0,743.0,-12.6,528,5149,0.00,2.10,0.00,0.000,6,0.000,0.038,2367,1671,3828
$GC,5467,-1.20,-219.0,782.9,-12.3,544,5471,0.00,2.17,0.00,0.000,4,0.000,0.052,2366,3075,3825
$GC,5612,-1.20,-219.0,801.5,-13.0,550,5616,0.00,2.10,0.00,0.000,6,0.000,0.039,2365,1675,3823
$GC,5934,-1.20,-219.0,844.4,-13.5,566,5938,0.00,2.17,0.00,0.000,4,0.000,0.061,2362,3059,3819
$GC,6118,-1.20,-219.0,868.8,-13.6,574,6121,0.00,2.12,0.00,0.000,6,0.000,0.044,2362,1664,3818
$GC,6452,-1.20,-219.0,914.6,-12.7,590,6456,0.00,2.20,0.00,0.000,4,0.000,0.061,2353,3060,3815
$GC,6508,-1.20,-219.0,921.8,-11.6,592,6511,0.00,2.10,0.00,0.000,6,0.000,0.042,2352,1672,3814
$GC,6829,-1.20,-219.0,962.9,-13.0,608,6832,0.00,2.17,0.00,0.000,4,0.000,0.057,2351,3060,3812
$GC,6913,-1.20,-219.0,974.2,-13.2,611,6919,0.00,2.12,0.00,0.000,6,0.000,0.044,2350,1663,3811
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7040,begin apogee
$GC,7047,-0.27,0.0,991.7,13.5,618,7247,1.05,0.00,191.15,1.450,6,0.130,0.000,2679,1337,2945
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7252,1.20,219.0,1005.3,0.0,628,7456,1.30,2.33,194.18,1.419,4,0.054,0.053,3144,2744,2051
$GC,7485,1.20,219.0,989.6,14.3,639,7489,0.00,2.22,0.00,0.000,6,0.000,0.047,3152,1347,2048
$GC,7814,1.20,219.0,942.8,14.5,655,7817,0.00,2.20,0.00,0.000,4,0.000,0.054,3151,2749,2043
$GC,7926,1.20,219.0,925.2,15.7,660,7930,0.00,2.17,0.00,0.000,6,0.000,0.048,3159,1340,2041
$GC,8253,1.20,219.0,874.8,15.8,676,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1341,2040
$GC,8564,1.20,219.0,828.2,15.2,691,8568,0.00,2.20,0.00,0.000,4,0.000,0.053,3158,2743,2039
$GC,8625,1.20,219.0,818.7,15.0,693,8631,0.00,2.15,0.00,0.000,6,0.000,0.048,3167,1348,2037
$GC,8942,1.20,219.0,773.3,14.5,709,8946,0.00,2.20,0.00,0.000,4,0.000,0.058,3166,2750,2037
$GC,9079,1.20,219.0,753.1,14.3,715,9083,0.00,2.17,0.00,0.000,6,0.000,0.047,3173,1346,2036
$GC,9406,1.20,219.0,705.7,14.4,731,9410,0.00,2.20,0.00,0.000,4,0.000,0.054,3172,2752,2035
$GC,9575,1.20,219.0,680.0,15.4,738,9580,0.12,2.17,0.00,0.000,6,0.209,0.047,3156,1340,2034
$GC,9891,1.20,219.0,636.2,13.3,753,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1339,2034
$GC,10200,1.20,219.0,596.4,12.7,768,10203,0.00,2.22,0.00,0.000,4,0.000,0.054,3153,2752,2033
$GC,10251,1.20,219.0,590.0,13.8,770,10254,0.00,2.17,0.00,0.000,6,0.000,0.046,3160,1340,2032
$GC,10577,1.23,244.3,552.4,11.1,786,10609,0.00,1.88,22.58,1.105,4,0.000,0.058,3169,194,1947
$GC,10655,1.23,244.3,543.0,13.0,789,10661,0.00,1.75,0.00,0.000,6,0.000,0.044,3167,1348,1944
$GC,10973,1.28,280.0,509.0,10.7,805,11015,0.00,2.28,32.30,1.151,4,0.000,0.050,3166,2750,1803
$GC,11166,1.28,280.0,485.3,12.4,818,11173,0.00,2.20,0.00,0.000,6,0.000,0.044,3175,1350,1800
$GC,11495,1.28,280.0,444.3,12.7,849,11498,0.00,1.80,0.00,0.000,4,0.000,0.057,3188,191,1799
$GC,11556,1.28,280.0,436.0,12.0,854,11562,0.00,1.77,0.00,0.000,6,0.000,0.040,3187,1359,1798
$GC,11886,1.31,308.9,398.6,10.9,885,11919,0.00,2.17,26.60,1.040,4,0.000,0.046,3186,2756,1684
$GC,11942,1.33,318.6,391.5,11.6,890,11957,0.00,2.17,10.32,0.933,6,0.000,0.041,3195,1345,1646
$GC,12284,1.33,318.6,346.9,12.4,922,12287,0.00,1.77,0.00,0.000,4,0.000,0.054,3206,198,1642
$GC,12351,1.33,318.6,338.3,12.8,928,12355,0.00,1.73,0.00,0.000,6,0.000,0.038,3206,1364,1642
$GC,12679,1.33,318.6,296.9,13.1,960,12686,0.00,2.10,0.00,0.000,4,0.000,0.043,3207,2758,1642
$GC,12811,1.33,318.6,279.2,13.0,983,12818,0.00,2.12,0.00,0.000,6,0.000,0.039,3217,1347,1642
$GC,13157,1.33,318.6,234.6,12.1,1044,13164,0.00,2.12,0.00,0.000,4,0.000,0.042,3215,2750,1642
$GC,13211,1.33,318.6,228.0,12.5,1053,13218,0.12,2.12,0.00,0.000,6,0.185,0.038,3195,1335,1642
$GC,13555,1.36,350.5,190.4,10.8,1114,13593,0.00,2.20,28.95,0.834,4,0.000,0.046,3189,2740,1516
$GC,13648,1.38,359.2,179.9,11.7,1129,13666,0.00,2.12,9.52,0.731,6,0.000,0.044,3196,1342,1480
$GC,14007,1.45,421.1,138.4,9.7,1192,14066,0.10,2.25,54.03,0.787,4,0.081,0.038,3240,2755,1228
$GC,14148,1.45,421.1,120.8,13.8,1215,14155,0.00,2.15,0.00,0.000,6,0.000,0.035,3248,1352,1227
$GC,14492,1.45,421.1,76.6,12.8,1276,14500,0.00,2.10,0.00,0.000,4,0.000,0.036,3248,2759,1226
$GC,14571,1.45,421.1,66.9,12.3,1289,14578,0.00,2.10,0.00,0.000,6,0.000,0.035,3258,1344,1227
$GC,14916,1.51,466.7,26.8,10.3,1350,14962,0.00,1.80,39.33,0.680,4,0.000,0.047,3267,205,1043
$GC,14987,1.51,466.7,18.3,12.9,1361,14993,0.00,1.70,0.00,0.000,6,0.000,0.030,3267,1367,1042
$STATE,15115,end climb,SURFACE_DEPTH_REACHED
$STATE,15115,begin surface coast
$FINISH,0.8,1.008554
$STATE,15141,end surface coast,CONTROL_FINISHED_OK
$STATE,15141,begin surface
$SM_CCo,15220,0.00,0.000,0,0,1040,467.30
$SM_GC,1.67,8.27,0.00,0.00,0.041,0.000,0.000,163,1680,1040,-8.11,0.14,467.30
$IRIDIUM_FIX,2349.77,12441.56,201098,121211
$TT8_MAMPS,0.026845
$HUMID,1565
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.50
$XPDR_PINGS,146
$24V_AH,23.2,84.852
$10V_AH,10.6,56.654
$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,19.950,143.225,608.950,0.000,0.000,33.073,43.705,227.465,44.500,0.000,0.000,13.914,2452.224,8857.314,699.735,2972.261,696.087,0.000,2062.970,0.000,2930.721,0.000,54.438,0.000
$DEVICE_MAMPS,221.663,60.593,1450.397,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.967,955.831,1607.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82177,1388
$CAP_FILE_SIZE,147943,0
$CFSIZE,260165632,203186176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.215,107.6,1
$GPS,260709,212706,2358.144,12445.889,30,1.3,30,-3.5