version: 66.04
glider: 166
mission: 2
dive: 398
start: 7 27 109 11 3 53
data:
$ID,166
$MISSION,2
$DIVE,398
$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,-13318.752
$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,75
$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
$GPS1,105607,2359.624,12450.106,35,1.0,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.8
$GPS2,110331,2359.609,12450.237,12,1.7,17,-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,311.2,33182,-17.3,-12.000
$D_GRID,2646
$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,-219.0,0.0,0.0,0,70,0.00,0.00,-52.88,0.000,2,0.000,0.000,166,1708,2284
$GC,74,-1.20,-219.0,3.2,-6.0,9,133,8.93,2.17,-41.85,0.000,4,0.225,0.052,2367,267,3838
$GC,186,-1.20,-219.0,23.6,-22.1,27,193,0.00,2.03,0.00,0.000,6,0.000,0.028,2355,1669,3839
$GC,533,-1.20,-219.0,91.9,-17.5,88,540,0.00,2.12,0.00,0.000,4,0.000,0.038,2363,264,3840
$GC,581,-1.20,-219.0,100.6,-18.2,96,587,0.00,2.08,0.00,0.000,6,0.000,0.028,2355,1683,3840
$GC,926,-1.20,-219.0,159.7,-16.9,157,932,0.00,2.12,0.00,0.000,4,0.000,0.038,2356,252,3841
$GC,1029,-1.20,-219.0,177.6,-17.7,175,1038,0.10,2.08,0.00,0.000,6,0.173,0.026,2372,1682,3841
$GC,1376,-1.20,-219.0,232.7,-16.3,236,1382,0.00,2.12,0.00,0.000,4,0.000,0.038,2372,251,3842
$GC,1457,-1.20,-219.0,246.5,-17.4,250,1463,0.00,2.08,0.00,0.000,6,0.000,0.028,2362,1676,3841
$GC,1802,-1.20,-219.0,297.2,-12.8,311,1809,0.00,2.10,0.00,0.000,4,0.000,0.038,2364,264,3842
$GC,1843,-1.20,-219.0,303.1,-13.7,316,1849,0.00,2.05,0.00,0.000,6,0.000,0.028,2357,1671,3842
$GC,2170,-1.20,-219.0,346.4,-13.7,347,2173,0.00,2.10,0.00,0.000,4,0.000,0.039,2358,267,3841
$GC,2277,-1.20,-219.0,363.0,-15.4,356,2283,0.00,2.05,0.00,0.000,6,0.000,0.028,2357,1676,3841
$GC,2602,-1.20,-219.0,407.2,-12.7,387,2605,0.00,2.12,0.00,0.000,4,0.000,0.041,2358,255,3840
$GC,2675,-1.20,-219.0,417.6,-13.4,393,2681,0.00,2.05,0.00,0.000,6,0.000,0.028,2358,1679,3840
$GC,3000,-1.20,-219.0,457.6,-12.5,424,3004,0.00,2.12,0.00,0.000,4,0.000,0.042,2361,264,3839
$GC,3073,-1.20,-219.0,467.6,-13.1,430,3079,0.00,2.08,0.00,0.000,6,0.000,0.028,2361,1676,3838
$GC,3398,-1.20,-219.0,507.6,-12.0,458,3402,0.00,2.08,0.00,0.000,4,0.000,0.043,2369,3068,3837
$GC,3546,-1.20,-219.0,525.2,-11.2,464,3550,0.00,2.05,0.00,0.000,6,0.000,0.031,2364,1657,3837
$GC,3867,-1.20,-219.0,562.7,-11.7,480,3871,0.00,2.12,0.00,0.000,4,0.000,0.044,2376,3064,3834
$GC,3946,-1.20,-219.0,572.7,-11.9,483,3950,0.00,2.03,0.00,0.000,6,0.000,0.032,2375,1675,3834
$GC,4269,-1.20,-219.0,609.4,-10.9,499,4273,0.00,2.10,0.00,0.000,4,0.000,0.045,2369,3063,3832
$GC,4337,-1.20,-219.0,617.8,-12.0,502,4341,0.00,2.05,0.00,0.000,6,0.000,0.033,2367,1666,3831
$GC,4669,-1.20,-219.0,659.7,-13.1,518,4673,0.00,2.15,0.00,0.000,4,0.000,0.048,2366,3073,3829
$GC,4793,-1.20,-219.0,676.7,-13.4,523,4797,0.00,2.08,0.00,0.000,6,0.000,0.035,2367,1672,3827
$GC,5115,-1.20,-219.0,719.9,-13.2,539,5118,0.00,2.15,0.00,0.000,4,0.000,0.051,2366,3063,3824
$GC,5126,-1.20,-219.0,721.5,-12.9,539,5130,0.00,2.08,0.00,0.000,6,0.000,0.037,2366,1669,3824
$GC,5448,-1.20,-219.0,761.6,-12.7,555,5452,0.00,2.15,0.00,0.000,4,0.000,0.052,2366,273,3821
$GC,5488,-1.20,-219.0,766.9,-13.1,556,5495,0.00,2.08,0.00,0.000,6,0.000,0.037,2357,1668,3821
$GC,5805,-1.20,-219.0,807.3,-12.6,572,5808,0.00,2.17,0.00,0.000,4,0.000,0.053,2353,3082,3817
$GC,5953,-1.20,-219.0,825.5,-12.5,578,5957,0.00,2.12,0.00,0.000,6,0.000,0.040,2354,1667,3815
$GC,6274,-1.20,-219.0,865.9,-12.9,594,6277,0.00,2.20,0.00,0.000,4,0.000,0.056,2353,3076,3813
$GC,6375,-1.20,-219.0,879.1,-12.6,598,6379,0.00,2.12,0.00,0.000,6,0.000,0.041,2353,1670,3812
$GC,6696,-1.20,-219.0,922.0,-13.4,614,6700,0.00,2.20,0.00,0.000,4,0.000,0.056,2353,3076,3809
$GC,6798,-1.20,-219.0,935.1,-12.9,618,6802,0.00,2.12,0.00,0.000,6,0.000,0.041,2353,1673,3808
$GC,7119,-1.20,-219.0,978.7,-13.8,634,7123,0.00,2.20,0.00,0.000,4,0.000,0.055,2344,3079,3806
$STATE,7200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7200,begin apogee
$GC,7209,-0.27,0.0,990.6,14.0,637,7409,1.05,0.00,190.52,1.447,6,0.134,0.000,2673,1344,2945
$STATE,7409,end apogee,CONTROL_FINISHED_OK
$STATE,7410,begin climb
$GC,7413,1.20,219.0,1005.6,0.0,647,7619,1.33,2.38,194.30,1.419,4,0.054,0.054,3152,2747,2051
$GC,7653,1.20,219.0,992.0,14.0,658,7657,0.00,2.22,0.00,0.000,6,0.000,0.047,3159,1345,2048
$GC,7980,1.20,219.0,948.6,13.3,674,7984,0.00,2.22,0.00,0.000,4,0.000,0.054,3154,2758,2043
$GC,8126,1.20,219.0,928.3,14.2,680,8130,0.00,2.20,0.00,0.000,6,0.000,0.048,3162,1337,2042
$GC,8447,1.20,219.0,883.9,14.3,696,8451,0.00,2.22,0.00,0.000,4,0.000,0.054,3160,2759,2040
$GC,8516,1.20,219.0,873.7,15.1,699,8520,0.00,2.17,0.00,0.000,6,0.000,0.047,3169,1345,2039
$GC,8843,1.20,219.0,824.4,15.0,715,8846,0.00,2.22,0.00,0.000,4,0.000,0.057,3166,2758,2039
$GC,8972,1.20,219.0,804.6,15.1,720,8979,0.00,2.17,0.00,0.000,6,0.000,0.048,3173,1344,2038
$GC,9288,1.20,219.0,756.2,15.0,736,9292,0.00,2.20,0.00,0.000,4,0.000,0.054,3173,2750,2037
$GC,9425,1.20,219.0,734.7,14.9,742,9429,0.12,2.15,0.00,0.000,6,0.209,0.045,3157,1347,2036
$GC,9751,1.20,219.0,690.7,12.6,758,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1347,2036
$GC,10061,1.20,219.0,652.1,12.5,773,10064,0.00,2.20,0.00,0.000,4,0.000,0.053,3147,2753,2035
$GC,10224,1.20,219.0,631.7,12.8,780,10228,0.00,2.17,0.00,0.000,6,0.000,0.045,3155,1337,2034
$GC,10551,1.21,225.8,593.6,11.8,796,10557,0.00,0.00,4.22,0.837,6,0.000,0.000,3155,1337,2024
$GC,10861,1.22,234.0,557.5,11.7,811,10875,0.00,2.22,9.45,1.103,4,0.000,0.052,3150,2751,1990
$GC,10965,1.22,234.0,544.5,12.0,815,10972,0.00,2.17,0.00,0.000,6,0.000,0.044,3159,1340,1988
$GC,11282,1.25,258.3,507.7,11.1,831,11309,0.00,2.25,22.98,1.142,4,0.000,0.056,3160,2755,1891
$GC,11558,1.25,258.3,474.7,12.6,852,11562,0.00,2.17,0.00,0.000,6,0.000,0.044,3172,1343,1886
$GC,11892,1.31,302.1,440.1,10.4,883,11938,0.00,2.22,39.60,1.086,4,0.000,0.048,3174,2752,1713
$GC,12146,1.31,302.1,408.1,13.4,905,12152,0.00,2.17,0.00,0.000,6,0.000,0.042,3187,1337,1709
$GC,12474,1.31,302.1,364.3,13.1,936,12478,0.00,2.17,0.00,0.000,4,0.000,0.046,3189,2753,1709
$GC,12547,1.31,302.1,354.0,12.9,942,12553,0.00,2.12,0.00,0.000,6,0.000,0.041,3198,1349,1708
$GC,12875,1.33,325.1,316.1,11.2,973,12901,0.00,2.20,21.50,0.951,4,0.000,0.044,3199,2768,1619
$GC,13105,1.33,325.1,287.0,13.2,1001,13111,0.00,2.17,0.00,0.000,6,0.000,0.040,3209,1341,1617
$GC,13449,1.34,333.2,242.3,11.7,1062,13463,0.00,2.25,8.50,0.795,4,0.000,0.042,3209,2770,1586
$GC,13494,1.35,341.0,237.0,11.7,1069,13508,0.00,2.15,8.70,0.785,6,0.000,0.038,3219,1347,1554
$GC,13847,1.35,342.3,194.4,12.0,1131,13854,0.00,2.12,0.00,0.000,4,0.000,0.041,3217,2759,1554
$GC,14015,1.38,364.2,174.0,11.2,1160,14042,0.00,2.12,21.75,0.815,6,0.000,0.037,3225,1338,1459
$GC,14381,1.42,394.8,131.2,10.9,1224,14414,0.00,1.80,27.65,0.779,4,0.000,0.048,3234,206,1335
$GC,14521,1.46,426.9,115.2,10.8,1247,14555,0.00,1.73,29.08,0.755,6,0.000,0.031,3234,1373,1204
$GC,14897,1.46,427.8,70.6,12.0,1312,14903,0.00,1.80,0.00,0.000,4,0.000,0.047,3242,214,1203
$GC,15022,1.49,450.7,55.0,11.2,1334,15049,0.00,1.65,22.10,0.695,6,0.000,0.031,3242,1346,1106
$GC,15389,1.52,480.0,16.3,10.9,1398,15421,0.00,1.75,25.98,0.664,4,0.000,0.045,3251,203,987
$GC,15476,1.53,485.4,6.0,11.8,1412,15489,0.00,1.67,6.10,0.518,6,0.000,0.029,3252,1352,966
$STATE,15499,end climb,SURFACE_DEPTH_REACHED
$STATE,15500,begin surface coast
$FINISH,0.8,1.000583
$STATE,15528,end surface coast,CONTROL_FINISHED_OK
$STATE,15528,begin surface
$SM_CCo,15607,0.00,0.000,0,0,965,485.69
$SM_GC,1.73,8.25,0.00,0.00,0.041,0.000,0.000,168,1695,965,-8.11,0.59,485.69
$IRIDIUM_FIX,2352.12,12451.41,211098,060637
$TT8_MAMPS,0.026845
$HUMID,1599
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,145
$24V_AH,23.2,85.794
$10V_AH,10.6,57.233
$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,19.775,144.400,632.425,0.000,0.000,23.313,33.056,223.287,44.250,0.000,0.000,17.893,2509.311,9053.732,707.532,3088.586,679.159,0.000,2099.319,0.000,3042.999,0.000,54.422,0.000
$DEVICE_MAMPS,225.498,56.758,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.942,982.183,1650.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82167,1421
$CAP_FILE_SIZE,151162,0
$CFSIZE,260165632,202846208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123, 94.2,1
$GPS,270709,152507,2359.925,12450.854,31,0.9,31,-3.5