version: 66.04
glider: 166
mission: 2
dive: 402
start: 7 28 109 5 21 36
data:
$ID,166
$MISSION,2
$DIVE,402
$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,-13391.155
$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,46
$R_STBD_OVSHOOT,79
$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
$GPS1,051407,2402.219,12454.359,31,0.8,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.2
$GPS2,052113,2402.260,12454.478,12,1.0,12,-3.6
$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,300.1,31910,-17.3,-12.000
$D_GRID,2329
$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,-219.0,0.0,0.0,0,78,0.00,0.00,-60.60,0.000,2,0.000,0.000,168,1688,2274
$GC,82,-1.20,-219.0,3.1,-5.6,9,140,8.75,2.15,-42.83,0.000,4,0.219,0.051,2364,261,3838
$GC,186,-1.20,-219.0,22.0,-22.1,26,193,0.00,2.05,0.00,0.000,6,0.000,0.029,2359,1647,3839
$GC,532,-1.20,-219.0,92.0,-18.8,87,538,0.00,2.05,0.00,0.000,4,0.000,0.038,2352,266,3840
$GC,629,-1.20,-219.0,110.9,-18.9,104,637,0.00,2.05,0.00,0.000,6,0.000,0.028,2352,1690,3841
$GC,977,-1.20,-219.0,170.0,-16.7,165,983,0.00,2.12,0.00,0.000,4,0.000,0.038,2348,254,3842
$GC,1050,-1.20,-219.0,183.1,-17.7,178,1057,0.15,2.05,0.00,0.000,6,0.172,0.026,2375,1693,3842
$GC,1397,-1.20,-219.0,238.6,-16.1,239,1403,0.00,2.12,0.00,0.000,4,0.000,0.038,2377,265,3842
$GC,1450,-1.20,-219.0,247.3,-17.3,248,1458,0.00,2.03,0.00,0.000,6,0.000,0.026,2371,1688,3842
$GC,1796,-1.20,-219.0,298.4,-14.3,309,1801,0.00,2.12,0.00,0.000,4,0.000,0.038,2371,260,3842
$GC,1865,-1.20,-219.0,308.9,-15.2,316,1869,0.00,2.05,0.00,0.000,6,0.000,0.028,2369,1686,3842
$GC,2196,-1.20,-219.0,354.0,-13.5,347,2199,0.00,2.12,0.00,0.000,4,0.000,0.040,2369,261,3841
$GC,2253,-1.20,-219.0,362.6,-15.4,352,2257,0.00,2.05,0.00,0.000,6,0.000,0.028,2368,1691,3841
$GC,2584,-1.20,-219.0,407.8,-13.1,383,2587,0.00,2.15,0.00,0.000,4,0.000,0.041,2368,257,3840
$GC,2668,-1.20,-219.0,420.2,-14.3,390,2676,0.00,2.05,0.00,0.000,6,0.000,0.029,2368,1680,3840
$GC,2994,-1.20,-219.0,463.9,-13.2,421,2997,0.00,2.05,0.00,0.000,4,0.000,0.041,2368,3064,3838
$GC,3108,-1.20,-219.0,477.9,-12.0,431,3112,0.00,2.03,0.00,0.000,6,0.000,0.030,2369,1665,3838
$GC,3437,-1.20,-219.0,513.5,-10.6,456,3440,0.00,2.12,0.00,0.000,4,0.000,0.042,2370,3076,3837
$GC,3487,-1.20,-219.0,519.2,-10.6,458,3491,0.00,2.05,0.00,0.000,6,0.000,0.031,2369,1665,3837
$GC,3815,-1.20,-219.0,555.0,-11.2,474,3819,0.00,2.10,0.00,0.000,4,0.000,0.045,2369,273,3834
$GC,3910,-1.20,-219.0,567.5,-12.6,478,3914,0.00,2.05,0.00,0.000,6,0.000,0.031,2371,1677,3833
$GC,4238,-1.20,-219.0,603.8,-10.2,494,4242,0.00,2.12,0.00,0.000,4,0.000,0.047,2373,280,3831
$GC,4322,-1.20,-219.0,613.9,-12.0,497,4328,0.00,2.05,0.00,0.000,6,0.000,0.034,2373,1673,3831
$GC,4639,-1.20,-219.0,649.8,-11.7,513,4644,0.00,2.15,0.00,0.000,4,0.000,0.049,2371,270,3828
$GC,4712,-1.20,-219.0,659.7,-13.3,516,4716,0.00,2.08,0.00,0.000,6,0.000,0.035,2362,1674,3827
$GC,5039,-1.20,-219.0,699.6,-11.9,532,5044,0.00,2.15,0.00,0.000,4,0.000,0.051,2365,282,3824
$GC,5140,-1.20,-219.0,712.3,-13.1,536,5144,0.00,2.10,0.00,0.000,6,0.000,0.038,2358,1685,3823
$GC,5462,-1.20,-219.0,750.1,-12.0,552,5465,0.00,2.17,0.00,0.000,4,0.000,0.053,2355,283,3820
$GC,5568,-1.20,-219.0,764.3,-13.3,556,5576,0.12,2.12,0.00,0.000,6,0.170,0.038,2376,1703,3819
$GC,5885,-1.20,-219.0,798.3,-10.9,572,5888,0.00,2.22,0.00,0.000,4,0.000,0.058,2375,285,3815
$GC,5986,-1.20,-219.0,811.0,-12.7,576,5989,0.00,2.10,0.00,0.000,6,0.000,0.040,2371,1678,3815
$GC,6308,-1.20,-219.0,849.7,-11.9,592,6316,0.00,2.17,0.00,0.000,4,0.000,0.054,2377,283,3811
$GC,6395,-1.20,-219.0,860.6,-13.0,595,6401,0.00,2.10,0.00,0.000,6,0.000,0.041,2369,1674,3811
$GC,6712,-1.20,-219.0,896.8,-11.4,611,6715,0.00,2.20,0.00,0.000,4,0.000,0.061,2369,285,3808
$GC,6819,-1.20,-219.0,910.2,-11.9,615,6825,0.00,2.12,0.00,0.000,6,0.000,0.042,2369,1684,3807
$GC,7135,-1.20,-219.0,948.2,-11.9,631,7139,0.00,2.20,0.00,0.000,4,0.000,0.061,2369,3078,3805
$GC,7260,-1.20,-219.0,963.2,-11.8,636,7263,0.00,2.10,0.00,0.000,6,0.000,0.041,2370,1687,3804
$STATE,7496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7496,begin apogee
$GC,7503,-0.27,0.0,991.9,11.9,648,7698,0.95,0.00,187.95,1.461,6,0.121,0.000,2675,1345,2944
$STATE,7699,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7702,1.20,219.0,1006.0,0.0,658,7904,1.30,0.00,193.98,1.419,6,0.048,0.000,3157,1344,2052
$GC,8204,1.20,219.0,952.4,14.3,682,8208,0.00,2.22,0.00,0.000,4,0.000,0.055,3157,2762,2044
$GC,8334,1.20,219.0,933.0,15.9,687,8340,0.00,2.20,0.00,0.000,6,0.000,0.048,3166,1339,2043
$GC,8649,1.20,219.0,887.1,14.5,703,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1338,2041
$GC,8958,1.20,219.0,843.0,14.4,718,8962,0.00,2.25,0.00,0.000,4,0.000,0.058,3166,2765,2040
$GC,9021,1.20,219.0,834.0,14.0,720,9028,0.00,2.17,0.00,0.000,6,0.000,0.048,3174,1352,2039
$GC,9336,1.20,219.0,789.2,14.4,736,9340,0.00,2.20,0.00,0.000,4,0.000,0.054,3174,2760,2038
$GC,9369,1.20,219.0,784.1,14.8,737,9374,0.12,2.17,0.00,0.000,6,0.209,0.047,3157,1342,2038
$GC,9686,1.20,219.0,741.5,13.1,752,9689,0.00,2.22,0.00,0.000,4,0.000,0.054,3156,2766,2038
$GC,9878,1.20,219.0,715.3,13.6,760,9882,0.00,2.20,0.00,0.000,6,0.000,0.050,3164,1349,2036
$GC,10200,1.20,219.0,673.8,12.8,776,10203,0.00,2.20,0.00,0.000,4,0.000,0.054,3163,2755,2036
$GC,10300,1.20,219.0,660.3,13.2,780,10304,0.00,2.17,0.00,0.000,6,0.000,0.046,3172,1341,2035
$GC,10623,1.20,219.0,617.7,13.2,796,10626,0.00,2.22,0.00,0.000,4,0.000,0.054,3172,2764,2035
$GC,10775,1.20,219.0,597.5,12.9,802,10781,0.00,2.17,0.00,0.000,6,0.000,0.047,3181,1347,2034
$GC,11090,1.25,260.2,562.2,10.5,818,11146,0.00,2.30,38.80,1.110,4,0.000,0.054,3178,2758,1883
$GC,11253,1.25,260.2,541.5,12.5,825,11257,0.00,2.20,0.00,0.000,6,0.000,0.045,3187,1341,1879
$GC,11578,1.25,260.2,497.8,13.9,841,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1342,1878
$GC,11904,1.25,260.2,457.8,12.2,872,11907,0.00,2.20,0.00,0.000,4,0.000,0.051,3188,2759,1877
$GC,12023,1.27,272.8,443.7,11.5,882,12052,0.00,2.17,13.73,0.911,6,0.000,0.045,3198,1338,1832
$GC,12370,1.27,272.8,401.8,12.2,915,12374,0.00,2.20,0.00,0.000,4,0.000,0.049,3199,2759,1830
$GC,12409,1.27,272.8,396.7,12.7,918,12416,0.10,2.17,0.00,0.000,6,0.185,0.043,3177,1357,1829
$GC,12735,1.36,342.7,363.3,9.4,949,12811,0.00,1.85,64.82,0.995,4,0.000,0.053,3183,199,1546
$GC,12918,1.36,342.7,341.4,13.1,965,12924,0.00,1.77,0.00,0.000,6,0.000,0.038,3184,1374,1543
$GC,13246,1.36,344.4,301.4,11.9,996,13249,0.00,2.10,0.00,0.000,4,0.000,0.044,3186,2759,1541
$GC,13353,1.37,352.2,288.0,11.7,1014,13372,0.00,2.15,8.90,0.832,6,0.000,0.040,3189,1333,1509
$GC,13713,1.38,360.0,246.3,11.7,1077,13726,0.00,1.80,8.85,0.794,4,0.000,0.051,3200,196,1476
$GC,13822,1.38,360.0,233.2,12.5,1096,13830,0.00,1.73,0.00,0.000,6,0.000,0.035,3196,1354,1476
$GC,14169,1.39,369.4,193.1,11.7,1157,14188,0.00,1.80,10.30,0.767,4,0.000,0.056,3205,212,1438
$GC,14259,1.39,369.4,181.9,12.2,1172,14267,0.00,1.70,0.00,0.000,6,0.000,0.034,3208,1360,1438
$GC,14607,1.43,406.4,140.7,10.6,1233,14645,0.00,1.85,33.12,0.788,4,0.000,0.048,3215,205,1288
$GC,14761,1.48,442.8,123.8,10.7,1259,14800,0.00,1.70,33.00,0.757,6,0.000,0.031,3218,1358,1138
$GC,15143,1.51,471.4,82.0,10.9,1325,15176,0.10,2.08,25.70,0.712,4,0.079,0.036,3266,2741,1022
$GC,15214,1.51,471.4,72.6,13.6,1336,15222,0.00,2.10,0.00,0.000,6,0.000,0.035,3276,1331,1022
$GC,15561,1.53,484.5,31.0,11.5,1397,15580,0.00,2.10,13.10,0.634,4,0.000,0.035,3276,2743,968
$GC,15655,1.53,484.5,19.5,12.6,1413,15662,0.00,2.08,0.00,0.000,6,0.000,0.034,3285,1337,968
$STATE,15780,end climb,SURFACE_DEPTH_REACHED
$STATE,15780,begin surface coast
$FINISH,0.8,0.997997
$STATE,15805,end surface coast,CONTROL_FINISHED_OK
$STATE,15805,begin surface
$SM_CCo,15884,0.00,0.000,0,0,967,485.20
$SM_GC,1.81,8.27,0.00,0.00,0.041,0.000,0.000,168,1697,967,-8.10,0.59,485.20
$IRIDIUM_FIX,2352.12,12451.41,221098,000052
$TT8_MAMPS,0.026845
$HUMID,1583
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.70
$XPDR_PINGS,137
$24V_AH,23.2,86.776
$10V_AH,10.6,57.826
$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,19.875,143.225,632.250,0.000,0.000,23.562,32.631,210.130,42.250,0.000,0.000,12.157,2525.571,9266.915,734.623,3080.480,688.907,0.000,2152.700,0.000,3051.724,0.000,54.456,0.000
$DEVICE_MAMPS,219.362,60.593,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.600,988.802,1657.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85425,1439
$CAP_FILE_SIZE,152963,0
$CFSIZE,260165632,202489856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.222, 74.3,1
$GPS,280709,094737,2403.063,12456.087,41,1.2,41,-3.6