version: 66.04
glider: 166
mission: 2
dive: 397
start: 7 27 109 6 36 1
data:
$ID,166
$MISSION,2
$DIVE,397
$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,-13300.232
$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,70
$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
$GPS1,062507,2359.277,12448.498,31,0.9,31,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.1
$GPS2,063538,2359.368,12448.729,14,1.7,14,-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,317.3,32897,-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,-219.0,0.0,0.0,0,79,0.00,0.00,-61.62,0.000,2,0.000,0.000,157,1683,2282
$GC,82,-1.20,-219.0,3.1,-5.4,9,141,8.85,2.15,-43.55,0.000,4,0.222,0.053,2366,266,3838
$GC,195,-1.20,-219.0,22.8,-22.3,27,203,0.00,2.03,0.00,0.000,6,0.000,0.028,2353,1668,3839
$GC,541,-1.20,-219.0,97.1,-18.3,88,548,0.00,2.12,0.00,0.000,4,0.000,0.039,2360,268,3840
$GC,614,-1.20,-219.0,110.2,-18.5,100,620,0.00,2.03,0.00,0.000,6,0.000,0.028,2358,1680,3840
$GC,958,-1.20,-219.0,168.0,-15.7,161,965,0.00,2.15,0.00,0.000,4,0.000,0.039,2360,260,3841
$GC,1080,-1.20,-219.0,189.2,-16.9,182,1086,0.00,2.03,0.00,0.000,6,0.000,0.025,2348,1687,3841
$GC,1426,-1.20,-219.0,247.2,-15.9,243,1434,0.15,2.12,0.00,0.000,4,0.166,0.038,2388,261,3841
$GC,1509,-1.20,-219.0,259.3,-14.8,257,1515,0.00,2.03,0.00,0.000,6,0.000,0.027,2374,1679,3841
$GC,1852,-1.20,-219.0,302.8,-13.1,316,1856,0.00,2.12,0.00,0.000,4,0.000,0.039,2375,254,3841
$GC,1909,-1.20,-219.0,310.9,-14.5,321,1913,0.00,2.05,0.00,0.000,6,0.000,0.027,2371,1685,3841
$GC,2240,-1.20,-219.0,356.9,-13.7,352,2243,0.00,2.03,0.00,0.000,4,0.000,0.040,2369,3063,3840
$GC,2346,-1.20,-219.0,371.7,-13.5,361,2352,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,1654,3840
$GC,2671,-1.20,-219.0,415.6,-14.0,392,2675,0.00,2.12,0.00,0.000,4,0.000,0.040,2371,3076,3839
$GC,2762,-1.20,-219.0,427.8,-13.4,400,2766,0.00,2.03,0.00,0.000,6,0.000,0.028,2369,1668,3839
$GC,3093,-1.20,-219.0,469.4,-11.8,431,3097,0.00,2.10,0.00,0.000,4,0.000,0.041,2373,3067,3837
$GC,3172,-1.20,-219.0,479.3,-12.1,438,3176,0.00,2.03,0.00,0.000,6,0.000,0.030,2372,1668,3836
$GC,3502,-1.20,-219.0,517.2,-11.4,462,3505,0.00,2.10,0.00,0.000,4,0.000,0.042,2380,3066,3834
$GC,3574,-1.20,-219.0,526.1,-11.6,465,3578,0.00,2.03,0.00,0.000,6,0.000,0.030,2380,1670,3833
$GC,3903,-1.20,-219.0,561.7,-11.0,481,3906,0.00,2.10,0.00,0.000,4,0.000,0.044,2388,3064,3832
$GC,4009,-1.20,-219.0,573.8,-11.7,485,4015,0.00,2.03,0.00,0.000,6,0.000,0.032,2386,1678,3831
$GC,4325,-1.20,-219.0,609.1,-11.3,501,4329,0.00,2.15,0.00,0.000,4,0.000,0.048,2387,268,3829
$GC,4432,-1.20,-219.0,623.2,-12.9,505,4438,0.00,2.08,0.00,0.000,6,0.000,0.033,2391,1679,3828
$GC,4749,-1.20,-219.0,662.3,-12.1,521,4752,0.00,2.15,0.00,0.000,4,0.000,0.048,2391,279,3825
$GC,4862,-1.20,-219.0,677.3,-12.7,526,4866,0.00,2.08,0.00,0.000,6,0.000,0.035,2391,1680,3824
$GC,5195,-1.20,-219.0,717.1,-11.7,542,5199,0.00,2.17,0.00,0.000,4,0.000,0.050,2391,270,3820
$GC,5289,-1.20,-219.0,730.1,-13.8,546,5293,0.00,2.10,0.00,0.000,6,0.000,0.035,2383,1684,3819
$GC,5617,-1.20,-219.0,773.0,-13.5,562,5621,0.00,2.17,0.00,0.000,4,0.000,0.051,2382,279,3816
$GC,5723,-1.20,-219.0,788.7,-14.6,566,5730,0.00,2.12,0.00,0.000,6,0.000,0.037,2373,1698,3815
$GC,6039,-1.20,-219.0,831.1,-12.9,582,6043,0.00,2.15,0.00,0.000,4,0.000,0.058,2366,3081,3812
$GC,6168,-1.20,-219.0,847.7,-12.9,587,6175,0.00,2.10,0.00,0.000,6,0.000,0.039,2366,1678,3811
$GC,6484,-1.20,-219.0,886.9,-12.4,603,6488,0.00,2.17,0.00,0.000,4,0.000,0.054,2357,3081,3807
$GC,6563,-1.20,-219.0,896.9,-12.9,606,6567,0.00,2.12,0.00,0.000,6,0.000,0.041,2357,1669,3807
$GC,6885,-1.20,-219.0,936.9,-12.3,622,6889,0.00,2.22,0.00,0.000,4,0.000,0.063,2354,3078,3804
$GC,6941,-1.20,-219.0,943.9,-12.0,624,6945,0.00,2.12,0.00,0.000,6,0.000,0.041,2354,1674,3804
$GC,7263,-1.20,-219.0,983.1,-12.1,640,7267,0.00,2.22,0.00,0.000,4,0.000,0.064,2354,3078,3802
$STATE,7316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7316,begin apogee
$GC,7325,-0.27,0.0,990.2,12.0,642,7518,1.00,0.00,187.32,1.450,6,0.135,0.000,2667,1354,2945
$STATE,7518,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7522,1.20,219.0,1000.6,0.0,652,7726,1.35,2.35,193.38,1.408,4,0.057,0.054,3147,2752,2051
$GC,7822,1.20,219.0,972.8,15.6,665,7828,0.00,2.20,0.00,0.000,6,0.000,0.047,3153,1346,2045
$GC,8139,1.20,219.0,927.5,14.3,681,8143,0.00,2.20,0.00,0.000,4,0.000,0.054,3152,2752,2043
$GC,8240,1.20,219.0,912.8,14.5,685,8243,0.00,2.17,0.00,0.000,6,0.000,0.047,3161,1341,2041
$GC,8562,1.20,219.0,867.9,14.1,701,8566,0.00,2.22,0.00,0.000,4,0.000,0.054,3160,2759,2040
$GC,8646,1.20,219.0,855.4,13.7,704,8654,0.00,2.20,0.00,0.000,6,0.000,0.047,3170,1350,2039
$GC,8963,1.20,219.0,808.3,14.9,720,8967,0.00,2.20,0.00,0.000,4,0.000,0.054,3170,2759,2038
$GC,9122,1.20,219.0,783.5,15.7,727,9126,0.00,2.20,0.00,0.000,6,0.000,0.051,3180,1337,2037
$GC,9455,1.20,219.0,731.9,15.1,743,9459,0.00,2.20,0.00,0.000,4,0.000,0.054,3179,2752,2037
$GC,9516,1.20,219.0,722.3,15.2,745,9523,0.15,2.17,0.00,0.000,6,0.202,0.048,3156,1340,2036
$GC,9834,1.20,219.0,678.7,13.3,761,9838,0.00,2.20,0.00,0.000,4,0.000,0.053,3151,2753,2035
$GC,9912,1.20,219.0,667.8,13.4,764,9916,0.00,2.17,0.00,0.000,6,0.000,0.044,3159,1336,2034
$GC,10233,1.20,219.0,625.1,13.2,780,10237,0.00,2.20,0.00,0.000,4,0.000,0.051,3159,2752,2034
$GC,10423,1.20,219.0,598.9,14.1,788,10427,0.00,2.15,0.00,0.000,6,0.000,0.043,3167,1340,2033
$GC,10744,1.21,221.1,558.7,11.9,804,10748,0.00,2.22,0.00,0.000,4,0.000,0.056,3164,2755,2033
$GC,10928,1.22,233.0,538.1,11.6,812,10943,0.00,2.15,10.40,1.101,6,0.000,0.045,3172,1346,1995
$GC,11254,1.25,260.1,500.1,11.0,827,11287,0.00,1.83,25.60,1.136,4,0.000,0.054,3182,195,1882
$GC,11384,1.25,260.1,484.9,12.2,837,11390,0.00,1.77,0.00,0.000,6,0.000,0.041,3182,1366,1880
$GC,11710,1.27,272.2,449.1,11.6,868,11727,0.00,2.17,11.52,1.028,4,0.000,0.049,3184,2745,1835
$GC,11739,1.27,272.2,445.4,12.4,870,11746,0.00,2.15,0.00,0.000,6,0.000,0.041,3194,1341,1834
$GC,12067,1.27,272.2,406.4,12.2,901,12070,0.00,1.75,0.00,0.000,4,0.000,0.053,3208,204,1833
$GC,12128,1.27,272.2,398.4,12.2,906,12135,0.10,1.75,0.00,0.000,6,0.183,0.038,3180,1355,1832
$GC,12454,1.32,311.2,362.7,10.6,937,12502,0.00,2.20,37.42,0.968,4,0.000,0.044,3174,2744,1676
$GC,12615,1.34,326.4,345.2,11.4,951,12639,0.00,2.12,15.02,0.937,6,0.000,0.038,3181,1348,1614
$GC,12956,1.34,333.4,303.5,11.7,983,12966,0.00,0.00,7.72,0.815,6,0.000,0.000,3182,1348,1585
$GC,13302,1.38,359.5,265.1,11.0,1042,13333,0.00,2.17,24.38,0.896,4,0.000,0.040,3178,2763,1478
$GC,13408,1.38,360.9,252.8,12.0,1060,13415,0.00,2.17,0.00,0.000,6,0.000,0.036,3185,1349,1477
$GC,13755,1.42,396.1,210.9,10.7,1121,13792,0.10,0.00,33.00,0.850,6,0.080,0.000,3234,1349,1329
$GC,14131,1.42,396.1,159.8,13.6,1187,14137,0.00,2.10,0.00,0.000,4,0.000,0.038,3230,2755,1328
$GC,14250,1.42,396.1,142.3,15.0,1208,14258,0.00,2.10,0.00,0.000,6,0.000,0.035,3238,1340,1327
$GC,14599,1.42,396.1,95.8,13.2,1269,14605,0.00,2.12,0.00,0.000,4,0.000,0.038,3237,2768,1327
$GC,14648,1.42,396.1,89.9,12.4,1277,14654,0.00,2.10,0.00,0.000,6,0.000,0.033,3245,1343,1327
$GC,14993,1.49,450.4,52.1,10.0,1338,15049,0.00,2.17,47.60,0.713,4,0.000,0.035,3245,2757,1108
$GC,15149,1.50,458.0,35.5,11.7,1364,15164,0.00,2.12,8.10,0.584,6,0.000,0.032,3254,1350,1077
$STATE,15426,end climb,SURFACE_DEPTH_REACHED
$STATE,15426,begin surface coast
$FINISH,0.8,0.998752
$STATE,15455,end surface coast,CONTROL_FINISHED_OK
$STATE,15455,begin surface
$SM_CCo,15535,0.00,0.000,0,0,1074,458.71
$SM_GC,1.78,8.23,0.00,0.00,0.042,0.000,0.000,167,1707,1074,-8.11,0.90,458.71
$IRIDIUM_FIX,2347.41,12402.33,211098,060629
$TT8_MAMPS,0.027612
$HUMID,1576
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.60
$XPDR_PINGS,137
$24V_AH,22.8,85.558
$10V_AH,10.6,57.088
$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,19.925,144.775,601.475,0.000,0.000,52.961,73.753,276.757,42.250,0.000,0.000,14.739,2504.866,9063.225,691.050,3091.172,803.189,0.000,2093.683,0.000,3046.906,0.000,54.440,0.000
$DEVICE_MAMPS,222.430,64.428,1450.397,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.652,968.349,1628.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82319,1418
$CAP_FILE_SIZE,152912,0
$CFSIZE,260165632,202924032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208, 99.0,1
$GPS,270709,105607,2359.624,12450.106,35,1.0,35,-3.5