version: 66.04
glider: 166
mission: 2
dive: 404
start: 7 28 109 14 34 19
data:
$ID,166
$MISSION,2
$DIVE,404
$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,-13456.409
$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,35
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,142607,2403.801,12456.741,26,1.8,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.3
$GPS2,143358,2403.794,12456.842,10,99.0,29,-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,297.8,32133,-17.3,-12.000
$D_GRID,2143
$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,13,begin dive
$GC,16,-1.20,-219.0,0.0,0.0,0,87,0.00,0.00,-69.00,0.000,2,0.000,0.000,150,1707,2265
$GC,91,-1.20,-219.0,3.2,-6.0,11,149,8.75,2.20,-42.92,0.000,4,0.219,0.051,2370,244,3838
$GC,212,-1.20,-219.0,25.7,-21.5,31,219,0.00,2.10,0.00,0.000,6,0.000,0.028,2355,1669,3839
$GC,556,-1.20,-219.0,91.4,-17.0,92,563,0.00,2.10,0.00,0.000,4,0.000,0.038,2358,255,3840
$GC,671,-1.20,-219.0,112.3,-18.2,112,677,0.00,2.10,0.00,0.000,6,0.000,0.028,2353,1712,3840
$GC,1016,-1.20,-219.0,169.8,-16.3,173,1023,0.00,2.17,0.00,0.000,4,0.000,0.039,2357,249,3841
$GC,1098,-1.20,-219.0,182.9,-16.0,187,1105,0.12,2.15,0.00,0.000,6,0.179,0.026,2372,1760,3841
$GC,1444,-1.20,-219.0,235.7,-15.4,248,1450,0.00,1.95,0.00,0.000,4,0.000,0.038,2365,3069,3841
$GC,1576,-1.20,-219.0,256.4,-16.1,271,1582,0.00,1.92,0.00,0.000,6,0.000,0.028,2370,1744,3841
$GC,1920,-1.20,-219.0,304.6,-13.3,329,1923,0.00,1.98,0.00,0.000,4,0.000,0.038,2361,3076,3841
$GC,2010,-1.20,-219.0,316.8,-12.7,337,2014,0.00,1.85,0.00,0.000,6,0.000,0.028,2363,1782,3840
$GC,2341,-1.20,-219.0,360.9,-13.3,368,2344,0.00,1.92,0.00,0.000,4,0.000,0.039,2358,3075,3840
$GC,2386,-1.20,-219.0,367.2,-14.2,372,2390,0.00,1.83,0.00,0.000,6,0.000,0.028,2358,1795,3840
$GC,2717,-1.20,-219.0,409.3,-12.3,403,2721,0.00,1.90,0.00,0.000,4,0.000,0.040,2361,3070,3839
$GC,2778,-1.20,-219.0,417.2,-13.0,408,2784,0.00,1.83,0.00,0.000,6,0.000,0.028,2359,1820,3839
$GC,3103,-1.20,-219.0,459.2,-12.9,439,3107,0.00,1.88,0.00,0.000,4,0.000,0.041,2365,3072,3838
$GC,3152,-1.20,-219.0,465.2,-12.7,443,3155,0.00,1.77,0.00,0.000,6,0.000,0.029,2360,1830,3837
$GC,3492,-1.20,-219.0,506.0,-12.1,473,3497,0.00,2.38,0.00,0.000,4,0.000,0.043,2360,250,3836
$GC,3511,-1.20,-219.0,508.1,-12.1,474,3515,0.00,2.38,0.00,0.000,6,0.000,0.030,2359,1871,3835
$GC,3839,-1.20,-219.0,547.2,-11.5,490,3842,0.00,1.77,0.00,0.000,4,0.000,0.044,2363,3064,3834
$GC,3917,-1.20,-219.0,556.8,-12.3,493,3921,0.00,1.75,0.00,0.000,6,0.000,0.031,2358,1856,3833
$GC,4240,-1.20,-219.0,591.9,-11.0,509,4244,0.00,1.85,0.00,0.000,4,0.000,0.046,2365,3061,3831
$GC,4267,-1.20,-219.0,595.3,-11.0,510,4271,0.00,1.73,0.00,0.000,6,0.000,0.032,2360,1871,3831
$GC,4595,-1.20,-219.0,633.9,-11.9,526,4599,0.00,1.83,0.00,0.000,4,0.000,0.048,2365,3071,3828
$GC,4629,-1.20,-219.0,638.2,-12.3,527,4633,0.00,1.73,0.00,0.000,6,0.000,0.034,2363,1890,3827
$GC,4954,-1.20,-219.0,676.3,-12.0,543,4957,0.00,1.80,0.00,0.000,4,0.000,0.051,2364,3067,3825
$GC,5039,-1.20,-219.0,687.4,-12.7,546,5045,0.00,1.70,0.00,0.000,6,0.000,0.035,2366,1926,3824
$GC,5356,-1.20,-219.0,728.2,-13.2,562,5360,0.00,2.58,0.00,0.000,4,0.000,0.051,2365,254,3820
$GC,5395,-1.20,-219.0,734.0,-15.1,564,5399,0.00,2.50,0.00,0.000,6,0.000,0.037,2351,1912,3820
$GC,5723,-1.20,-219.0,776.1,-12.9,580,5727,0.00,1.75,0.00,0.000,4,0.000,0.054,2349,3058,3816
$GC,5869,-1.20,-219.0,795.7,-13.1,586,5873,0.08,1.67,0.00,0.000,6,0.153,0.038,2371,1947,3815
$GC,6190,-1.20,-219.0,834.1,-12.1,602,6193,0.00,1.73,0.00,0.000,4,0.000,0.054,2354,3065,3813
$GC,6215,-1.20,-219.0,836.9,-11.9,603,6218,0.00,1.65,0.00,0.000,6,0.000,0.038,2357,1956,3812
$GC,6548,-1.20,-219.0,880.0,-12.9,619,6552,0.00,2.65,0.00,0.000,4,0.000,0.058,2354,266,3810
$GC,6588,-1.20,-219.0,885.5,-14.2,621,6593,0.12,2.60,0.00,0.000,6,0.170,0.047,2376,1950,3809
$GC,6917,-1.20,-219.0,921.6,-10.3,637,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1950,3806
$GC,7224,-1.20,-219.0,952.1,-9.8,652,7227,0.00,1.70,0.00,0.000,4,0.000,0.058,2368,3058,3804
$GC,7271,-1.20,-219.0,956.9,-11.2,654,7275,0.00,1.62,0.00,0.000,6,0.000,0.041,2368,1977,3803
$STATE,7582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7582,begin apogee
$GC,7590,-0.27,0.0,990.6,10.8,669,7788,0.98,0.00,189.77,1.447,6,0.127,0.000,2677,1346,2945
$STATE,7789,end apogee,CONTROL_FINISHED_OK
$STATE,7789,begin climb
$GC,7792,1.20,219.0,1003.3,0.0,679,7997,1.27,2.33,193.88,1.414,4,0.047,0.055,3157,2746,2051
$GC,8081,1.20,219.0,977.7,15.6,692,8085,0.00,2.20,0.00,0.000,6,0.000,0.047,3168,1347,2046
$GC,8409,1.20,219.0,929.4,15.4,708,8412,0.00,2.20,0.00,0.000,4,0.000,0.061,3167,2741,2043
$GC,8532,1.20,219.0,909.7,16.0,713,8535,0.00,2.12,0.00,0.000,6,0.000,0.048,3176,1365,2041
$GC,8853,1.20,219.0,859.3,15.5,729,8857,0.00,2.15,0.00,0.000,4,0.000,0.056,3175,2738,2040
$GC,8990,1.20,219.0,837.9,14.9,735,8994,0.12,2.08,0.00,0.000,6,0.209,0.046,3158,1391,2039
$GC,9323,1.20,219.0,791.4,13.6,751,9326,0.00,2.12,0.00,0.000,4,0.000,0.054,3154,2752,2039
$GC,9452,1.20,219.0,773.0,14.7,756,9458,0.00,2.03,0.00,0.000,6,0.000,0.045,3160,1427,2037
$GC,9768,1.20,219.0,731.2,13.3,772,9771,0.00,2.05,0.00,0.000,4,0.000,0.054,3160,2740,2037
$GC,9836,1.20,219.0,721.6,14.4,775,9840,0.00,1.98,0.00,0.000,6,0.000,0.053,3169,1459,2036
$GC,10170,1.20,219.0,675.6,13.5,791,10173,0.00,2.03,0.00,0.000,4,0.000,0.058,3167,2748,2036
$GC,10197,1.20,219.0,671.6,14.2,792,10200,0.00,1.95,0.00,0.000,6,0.000,0.045,3174,1476,2035
$GC,10524,1.20,219.0,629.9,12.7,808,10527,0.00,2.00,0.00,0.000,4,0.000,0.061,3174,2750,2035
$GC,10670,1.20,219.0,610.6,12.8,814,10674,0.12,1.92,0.00,0.000,6,0.206,0.051,3157,1516,2034
$GC,10991,1.20,219.0,571.2,12.3,830,10995,0.00,1.92,0.00,0.000,4,0.000,0.058,3149,2745,2034
$GC,11098,1.21,224.1,558.4,11.8,834,11105,0.00,1.90,0.00,0.000,6,0.000,0.044,3156,1519,2033
$GC,11415,1.25,258.1,523.8,10.8,850,11467,0.00,2.10,36.83,1.071,4,0.000,0.056,3168,205,1891
$GC,11570,1.25,258.1,505.2,12.3,857,11574,0.00,1.95,0.00,0.000,6,0.000,0.042,3168,1481,1888
$GC,11899,1.31,302.3,470.3,10.4,885,11945,0.00,2.08,39.95,1.106,4,0.000,0.054,3181,193,1711
$GC,12024,1.31,302.3,455.2,12.2,896,12028,0.00,2.03,0.00,0.000,6,0.000,0.041,3180,1516,1708
$GC,12358,1.34,331.9,416.4,10.9,927,12393,0.00,1.92,27.10,1.043,4,0.000,0.048,3182,2753,1590
$GC,12500,1.34,331.9,398.8,12.1,939,12506,0.00,1.88,0.00,0.000,6,0.000,0.041,3185,1527,1587
$GC,12828,1.34,331.9,357.4,12.7,970,12831,0.00,2.05,0.00,0.000,4,0.000,0.053,3198,202,1587
$GC,12867,1.34,331.9,351.9,13.4,973,12875,0.00,1.95,0.00,0.000,6,0.000,0.038,3198,1509,1586
$GC,13196,1.35,341.1,312.5,11.7,1004,13209,0.00,1.95,8.77,0.854,4,0.000,0.044,3202,2754,1553
$GC,13362,1.36,348.1,291.6,11.7,1024,13377,0.00,1.88,7.95,0.813,6,0.000,0.047,3204,1539,1526
$GC,13716,1.36,350.5,246.6,11.9,1086,13728,0.00,1.90,3.92,0.570,4,0.000,0.043,3205,2755,1516
$GC,13751,1.36,350.5,242.0,12.5,1092,13759,0.00,1.85,0.00,0.000,6,0.000,0.037,3213,1532,1516
$GC,14098,1.36,350.5,202.3,12.0,1153,14104,0.00,2.05,0.00,0.000,4,0.000,0.048,3223,187,1516
$GC,14174,1.36,350.5,193.0,12.2,1166,14180,0.00,2.03,0.00,0.000,6,0.000,0.034,3223,1549,1516
$GC,14520,1.36,350.5,151.5,12.1,1227,14526,0.00,1.80,0.00,0.000,4,0.000,0.040,3225,2749,1516
$GC,14556,1.39,367.8,147.4,11.4,1233,14581,0.00,1.85,17.45,0.772,6,0.000,0.035,3235,1513,1445
$GC,14922,1.46,423.8,106.2,9.9,1297,14979,0.00,1.90,49.25,0.755,4,0.000,0.038,3235,2756,1216
$GC,15017,1.46,423.8,95.7,13.0,1312,15023,0.00,1.85,0.00,0.000,6,0.000,0.034,3243,1542,1216
$GC,15362,1.50,463.3,56.9,10.5,1373,15403,0.00,1.85,34.70,0.697,4,0.000,0.035,3243,2765,1055
$GC,15514,1.52,480.3,39.5,11.4,1398,15540,0.00,1.80,16.05,0.648,6,0.000,0.033,3251,1567,986
$STATE,15844,end climb,SURFACE_DEPTH_REACHED
$STATE,15844,begin surface coast
$FINISH,0.7,1.012620
$STATE,15874,end surface coast,CONTROL_FINISHED_OK
$STATE,15874,begin surface
$SM_CCo,15954,0.00,0.000,0,0,984,481.03
$SM_GC,1.79,8.18,0.00,0.00,0.039,0.000,0.000,165,1687,984,-8.12,0.34,481.03
$IRIDIUM_FIX,2354.48,12457.97,221098,090956
$TT8_MAMPS,0.026845
$HUMID,1603
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.60
$XPDR_PINGS,141
$24V_AH,23.2,87.261
$10V_AH,10.6,58.122
$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,19.750,143.725,625.625,0.000,0.000,23.666,36.115,230.384,43.250,0.000,0.000,30.934,2577.279,9311.512,713.195,3102.654,705.426,0.000,2128.657,0.000,3051.633,0.000,54.428,0.000
$DEVICE_MAMPS,218.595,60.593,1446.562,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.265,1009.852,1695.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85252,1461
$CAP_FILE_SIZE,155864,0
$CFSIZE,260165632,202317824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.183, 62.6,1
$GPS,280709,190131,2404.947,12457.031,41,1.4,41,-3.6