version: 66.04
glider: 166
mission: 2
dive: 396
start: 7 27 109 2 2 37
data:
$ID,166
$MISSION,2
$DIVE,396
$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,-13284.864
$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,73
$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
$GPS1,015507,2358.717,12447.310,38,1.8,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.8
$GPS2,020214,2358.733,12447.377,12,1.9,12,-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,313.0,33578,-17.3,-12.000
$D_GRID,2631
$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,-219.0,0.0,0.0,0,75,0.00,0.00,-58.15,0.000,2,0.000,0.000,164,1692,2259
$GC,79,-1.20,-219.0,3.0,-5.8,9,138,8.90,2.17,-43.05,0.000,4,0.225,0.052,2366,255,3839
$GC,195,-1.20,-219.0,25.0,-22.6,28,203,0.00,2.05,0.00,0.000,6,0.000,0.028,2354,1671,3840
$GC,544,-1.20,-219.0,96.4,-18.9,89,550,0.00,2.10,0.00,0.000,4,0.000,0.038,2358,261,3841
$GC,619,-1.20,-219.0,111.0,-18.1,102,626,0.08,2.08,0.00,0.000,6,0.179,0.028,2370,1683,3841
$GC,965,-1.20,-219.0,167.9,-15.2,163,971,0.00,2.10,0.00,0.000,4,0.000,0.038,2377,261,3842
$GC,1034,-1.20,-219.0,179.5,-16.3,175,1041,0.00,2.05,0.00,0.000,6,0.000,0.027,2363,1676,3842
$GC,1378,-1.20,-219.0,233.1,-14.5,236,1386,0.00,2.10,0.00,0.000,4,0.000,0.039,2369,263,3843
$GC,1451,-1.20,-219.0,243.9,-15.0,248,1458,0.00,2.03,0.00,0.000,6,0.000,0.027,2357,1689,3843
$GC,1796,-1.20,-219.0,294.1,-14.0,309,1802,0.00,2.12,0.00,0.000,4,0.000,0.038,2359,260,3843
$GC,1859,-1.20,-219.0,303.7,-14.9,318,1865,0.00,2.05,0.00,0.000,6,0.000,0.028,2347,1670,3843
$GC,2184,-1.20,-219.0,352.9,-14.6,349,2188,0.12,2.08,0.00,0.000,4,0.172,0.038,2376,3072,3842
$GC,2332,-1.20,-219.0,373.3,-14.0,362,2336,0.00,2.05,0.00,0.000,6,0.000,0.029,2376,1651,3842
$GC,2665,-1.20,-219.0,416.8,-12.7,393,2668,0.00,2.12,0.00,0.000,4,0.000,0.040,2375,3073,3841
$GC,2750,-1.20,-219.0,427.0,-11.4,400,2757,0.00,2.03,0.00,0.000,6,0.000,0.029,2377,1666,3840
$GC,3077,-1.20,-219.0,466.1,-11.8,431,3081,0.00,2.10,0.00,0.000,4,0.000,0.041,2377,3072,3839
$GC,3172,-1.20,-219.0,478.5,-12.9,439,3178,0.00,2.03,0.00,0.000,6,0.000,0.030,2376,1672,3838
$GC,3494,-1.20,-219.0,517.8,-11.7,463,3497,0.00,2.10,0.00,0.000,4,0.000,0.043,2384,3065,3837
$GC,3612,-1.20,-219.0,532.1,-11.6,468,3616,0.00,2.03,0.00,0.000,6,0.000,0.031,2381,1673,3836
$GC,3940,-1.20,-219.0,567.3,-10.5,484,3944,0.00,2.10,0.00,0.000,4,0.000,0.044,2385,3066,3834
$GC,4032,-1.20,-219.0,577.9,-11.1,488,4036,0.00,2.05,0.00,0.000,6,0.000,0.033,2383,1667,3833
$GC,4365,-1.20,-219.0,616.0,-11.5,504,4369,0.00,2.12,0.00,0.000,4,0.000,0.047,2382,266,3831
$GC,4443,-1.20,-219.0,626.4,-13.0,507,4447,0.00,2.08,0.00,0.000,6,0.000,0.033,2391,1677,3831
$GC,4766,-1.20,-219.0,662.5,-11.0,523,4770,0.00,2.15,0.00,0.000,4,0.000,0.049,2389,276,3829
$GC,4849,-1.20,-219.0,672.8,-12.3,526,4856,0.00,2.10,0.00,0.000,6,0.000,0.035,2391,1674,3827
$GC,5165,-1.20,-219.0,709.0,-11.6,542,5168,0.00,2.15,0.00,0.000,4,0.000,0.051,2391,280,3826
$GC,5281,-1.20,-219.0,723.8,-13.0,547,5284,0.00,2.08,0.00,0.000,6,0.000,0.036,2383,1676,3824
$GC,5615,-1.20,-219.0,764.7,-11.9,563,5619,0.00,2.17,0.00,0.000,4,0.000,0.052,2382,273,3821
$GC,5707,-1.20,-219.0,776.8,-13.0,567,5711,0.00,2.10,0.00,0.000,6,0.000,0.037,2373,1684,3820
$GC,6040,-1.20,-219.0,818.8,-12.5,583,6043,0.00,2.15,0.00,0.000,4,0.000,0.058,2365,3070,3817
$GC,6176,-1.20,-219.0,835.9,-12.7,589,6180,0.00,2.10,0.00,0.000,6,0.000,0.047,2365,1683,3815
$GC,6509,-1.20,-219.0,879.8,-13.3,605,6513,0.00,2.17,0.00,0.000,4,0.000,0.054,2356,3085,3812
$GC,6537,-1.20,-219.0,883.8,-14.4,606,6540,0.00,2.12,0.00,0.000,6,0.000,0.041,2355,1672,3811
$GC,6865,-1.20,-219.0,926.1,-12.7,622,6869,0.00,2.17,0.00,0.000,4,0.000,0.055,2354,3071,3809
$GC,6938,-1.20,-219.0,936.0,-12.7,625,6941,0.00,2.15,0.00,0.000,6,0.000,0.048,2353,1665,3808
$GC,7265,-1.20,-219.0,978.6,-13.0,641,7269,0.00,2.22,0.00,0.000,4,0.000,0.058,2353,3082,3806
$STATE,7354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7354,begin apogee
$GC,7364,-0.27,0.0,990.7,13.6,645,7564,1.02,0.00,190.52,1.445,6,0.130,0.000,2671,1347,2945
$STATE,7564,end apogee,CONTROL_FINISHED_OK
$STATE,7564,begin climb
$GC,7567,1.20,219.0,1003.4,0.0,655,7772,1.33,2.35,193.25,1.413,4,0.057,0.054,3142,2747,2051
$GC,7824,1.20,219.0,983.9,14.1,666,7830,0.00,2.20,0.00,0.000,6,0.000,0.046,3147,1349,2047
$GC,8139,1.20,219.0,940.5,13.6,682,8143,0.00,2.20,0.00,0.000,4,0.000,0.054,3146,2757,2043
$GC,8269,1.20,219.0,922.8,13.9,687,8276,0.00,2.20,0.00,0.000,6,0.000,0.049,3156,1339,2042
$GC,8584,1.20,219.0,881.1,13.1,703,8588,0.00,2.22,0.00,0.000,4,0.000,0.054,3156,2762,2041
$GC,8617,1.20,219.0,876.4,14.1,704,8621,0.00,2.20,0.00,0.000,6,0.000,0.047,3165,1337,2040
$GC,8940,1.20,219.0,833.0,14.0,720,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1337,2039
$GC,9248,1.20,219.0,790.7,13.6,735,9252,0.00,1.77,0.00,0.000,4,0.000,0.060,3173,204,2038
$GC,9281,1.20,219.0,786.0,13.7,736,9285,0.00,1.75,0.00,0.000,6,0.000,0.045,3173,1361,2038
$GC,9604,1.20,219.0,741.1,13.8,752,9608,0.00,2.15,0.00,0.000,4,0.000,0.053,3172,2752,2036
$GC,9687,1.20,219.0,728.5,14.9,755,9695,0.12,2.17,0.00,0.000,6,0.209,0.047,3155,1335,2036
$GC,10003,1.20,219.0,685.1,13.9,771,10007,0.00,2.20,0.00,0.000,4,0.000,0.053,3152,2747,2035
$GC,10156,1.20,219.0,662.8,14.3,777,10162,0.00,2.17,0.00,0.000,6,0.000,0.046,3160,1342,2034
$GC,10472,1.20,219.0,618.8,13.7,793,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1342,2034
$GC,10781,1.21,226.4,580.5,11.7,808,10790,0.00,2.22,4.80,0.895,4,0.000,0.051,3159,2755,2021
$GC,10922,1.21,226.4,562.9,12.3,814,10925,0.00,2.17,0.00,0.000,6,0.000,0.044,3168,1337,2020
$GC,11248,1.21,226.4,522.2,12.4,830,11252,0.00,1.80,0.00,0.000,4,0.000,0.064,3177,195,2020
$GC,11389,1.22,230.0,505.3,11.9,836,11398,0.00,1.75,4.65,0.844,6,0.000,0.043,3177,1359,2007
$GC,11723,1.27,275.2,470.5,10.3,865,11779,0.00,1.88,43.50,1.080,4,0.000,0.057,3187,199,1822
$GC,11940,1.27,275.2,444.8,13.2,884,11947,0.00,1.77,0.00,0.000,6,0.000,0.045,3188,1347,1818
$GC,12268,1.27,275.2,404.5,12.1,915,12272,0.00,2.15,0.00,0.000,4,0.000,0.047,3190,2753,1817
$GC,12460,1.28,284.4,380.3,11.7,932,12476,0.00,2.15,8.98,0.924,6,0.000,0.041,3204,1339,1784
$GC,12802,1.28,284.4,337.2,12.7,964,12806,0.00,2.17,0.00,0.000,4,0.000,0.045,3200,2761,1784
$GC,12991,1.28,284.4,313.7,13.0,980,12998,0.12,2.15,0.00,0.000,6,0.189,0.041,3181,1340,1783
$GC,13328,1.32,310.4,277.2,11.0,1030,13360,0.00,2.22,24.35,0.917,4,0.000,0.043,3175,2786,1678
$GC,13452,1.34,332.8,263.7,11.2,1051,13478,0.00,2.20,20.90,0.884,6,0.000,0.038,3183,1335,1588
$GC,13818,1.37,356.3,221.8,11.1,1115,13849,0.00,1.80,21.98,0.847,4,0.000,0.051,3192,201,1492
$GC,13946,1.39,371.6,206.4,11.4,1137,13966,0.00,1.70,14.98,0.804,6,0.000,0.035,3191,1363,1428
$GC,14306,1.46,427.3,164.2,10.0,1200,14364,0.12,2.15,48.97,0.808,4,0.072,0.039,3244,2743,1203
$GC,14467,1.46,427.3,142.0,14.3,1227,14475,0.00,2.10,0.00,0.000,6,0.000,0.037,3252,1349,1203
$GC,14813,1.46,427.3,95.2,13.0,1288,14820,0.00,1.75,0.00,0.000,4,0.000,0.048,3261,209,1200
$GC,14843,1.46,427.3,91.0,13.6,1293,14850,0.00,1.67,0.00,0.000,6,0.000,0.031,3261,1355,1201
$GC,15189,1.53,488.5,51.1,9.7,1354,15247,0.00,2.15,52.88,0.703,4,0.000,0.035,3261,2742,953
$GC,15311,1.55,504.9,37.3,11.4,1374,15332,0.00,2.12,15.73,0.643,6,0.000,0.034,3270,1347,886
$STATE,15578,end climb,SURFACE_DEPTH_REACHED
$STATE,15578,begin surface coast
$FINISH,0.8,1.008972
$STATE,15603,end surface coast,CONTROL_FINISHED_OK
$STATE,15603,begin surface
$SM_CCo,15682,0.00,0.000,0,0,884,505.56
$SM_GC,1.75,8.23,0.00,0.00,0.038,0.000,0.000,165,1683,884,-8.11,0.23,505.56
$IRIDIUM_FIX,2347.41,12448.12,201098,212125
$TT8_MAMPS,0.026845
$HUMID,1576
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,137
$24V_AH,22.9,85.322
$10V_AH,10.6,56.943
$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,20.050,142.450,645.475,0.000,0.000,24.433,31.368,207.560,42.250,0.000,0.000,12.246,2504.345,9111.340,720.101,3087.234,675.351,0.000,2130.408,0.000,3058.651,0.000,56.334,0.000
$DEVICE_MAMPS,224.731,64.428,1445.028,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,962.738,973.971,1635.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85322,1425
$CAP_FILE_SIZE,151683,0
$CFSIZE,260165632,203010048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.180, 87.4,1
$GPS,270709,062507,2359.277,12448.498,31,0.9,31,-3.5