version: 66.04
glider: 166
mission: 2
dive: 406
start: 7 28 109 23 43 25
data:
$ID,166
$MISSION,2
$DIVE,406
$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,-13486.904
$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,54
$R_STBD_OVSHOOT,45
$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
$GPS1,233554,2405.513,12458.083,25,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.9
$GPS2,234302,2405.517,12458.232,13,1.4,13,-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,282.0,31602,-17.3,-12.000
$D_GRID,2098
$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,-219.0,0.0,0.0,0,77,0.00,0.00,-59.58,0.000,2,0.000,0.000,160,1650,2235
$GC,81,-1.20,-219.0,3.0,-5.2,9,140,9.05,2.15,-44.92,0.000,4,0.229,0.053,2360,273,3839
$GC,186,-1.20,-219.0,21.0,-21.0,26,193,0.00,2.10,0.00,0.000,6,0.000,0.028,2359,1689,3841
$GC,532,-1.20,-219.0,90.1,-19.9,87,539,0.00,2.12,0.00,0.000,4,0.000,0.038,2359,258,3841
$GC,636,-1.20,-219.0,109.4,-18.2,105,643,0.08,2.12,0.00,0.000,6,0.178,0.028,2369,1711,3841
$GC,982,-1.20,-219.0,161.7,-15.5,166,988,0.00,2.12,0.00,0.000,4,0.000,0.038,2371,273,3843
$GC,1051,-1.20,-219.0,172.8,-16.8,178,1057,0.00,2.17,0.00,0.000,6,0.000,0.027,2362,1762,3843
$GC,1397,-1.20,-219.0,225.9,-14.9,239,1404,0.00,2.22,0.00,0.000,4,0.000,0.038,2362,267,3843
$GC,1468,-1.20,-219.0,236.8,-15.0,251,1475,0.00,2.25,0.00,0.000,6,0.000,0.027,2356,1828,3843
$GC,1814,-1.20,-219.0,286.1,-15.0,312,1820,0.00,1.85,0.00,0.000,4,0.000,0.039,2359,3070,3843
$GC,2006,-1.20,-219.0,315.4,-14.7,337,2010,0.00,1.77,0.00,0.000,6,0.000,0.027,2357,1824,3843
$GC,2338,-1.20,-219.0,359.2,-11.7,368,2341,0.00,1.85,0.00,0.000,4,0.000,0.038,2345,3079,3842
$GC,2376,-1.20,-219.0,364.3,-12.6,371,2384,0.12,1.75,0.00,0.000,6,0.159,0.027,2377,1841,3842
$GC,2703,-1.20,-219.0,400.0,-11.1,402,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1841,3841
$GC,3022,-1.20,-219.0,436.7,-11.5,432,3026,0.00,1.83,0.00,0.000,4,0.000,0.040,2377,3075,3839
$GC,3080,-1.20,-219.0,443.9,-12.7,437,3083,0.00,1.75,0.00,0.000,6,0.000,0.029,2377,1851,3839
$GC,3411,-1.20,-219.0,481.0,-10.6,468,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1851,3838
$GC,3726,-1.20,-219.0,513.1,-10.1,492,3730,0.00,2.38,0.00,0.000,4,0.000,0.044,2379,274,3835
$GC,3771,-1.20,-219.0,518.2,-11.8,494,3775,0.00,2.35,0.00,0.000,6,0.000,0.031,2383,1875,3835
$GC,4092,-1.20,-219.0,553.2,-11.4,510,4096,0.00,2.42,0.00,0.000,4,0.000,0.044,2386,277,3833
$GC,4200,-1.20,-219.0,566.2,-12.6,515,4204,0.00,2.40,0.00,0.000,6,0.000,0.033,2393,1896,3832
$GC,4534,-1.20,-219.0,601.4,-10.4,531,4538,0.00,1.77,0.00,0.000,4,0.000,0.048,2402,3079,3830
$GC,4581,-1.20,-219.0,606.6,-11.4,533,4584,0.00,1.73,0.00,0.000,6,0.000,0.033,2402,1918,3830
$GC,4915,-1.20,-219.0,642.7,-10.8,549,4918,0.00,1.75,0.00,0.000,4,0.000,0.049,2402,3064,3827
$GC,4932,-1.20,-219.0,644.8,-10.2,549,4938,0.00,1.67,0.00,0.000,6,0.000,0.034,2402,1918,3827
$GC,5248,-1.20,-219.0,678.1,-10.6,565,5252,0.00,1.75,0.00,0.000,4,0.000,0.051,2402,3067,3825
$GC,5283,-1.20,-219.0,681.8,-10.5,566,5286,0.00,1.65,0.00,0.000,6,0.000,0.035,2402,1941,3824
$GC,5606,-1.20,-219.0,713.5,-9.4,582,5609,0.00,1.73,0.00,0.000,4,0.000,0.052,2396,3073,3821
$GC,5652,-1.20,-219.0,718.3,-10.6,584,5656,0.00,1.62,0.00,0.000,6,0.000,0.036,2397,1970,3820
$GC,5989,-1.20,-219.0,751.9,-10.4,600,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1970,3817
$GC,6295,-1.20,-219.0,785.8,-10.9,615,6298,0.00,1.70,0.00,0.000,4,0.000,0.055,2391,3061,3814
$GC,6346,-1.20,-219.0,791.5,-11.0,617,6349,0.00,1.62,0.00,0.000,6,0.000,0.039,2393,1970,3814
$GC,6674,-1.20,-219.0,827.4,-10.8,633,6678,0.00,2.62,0.00,0.000,4,0.000,0.053,2392,281,3811
$GC,6713,-1.20,-219.0,832.1,-13.0,635,6718,0.00,2.55,0.00,0.000,6,0.000,0.044,2373,1939,3811
$GC,7041,-1.20,-219.0,872.0,-12.4,651,7045,0.00,1.75,0.00,0.000,4,0.000,0.063,2358,3061,3809
$GC,7133,-1.20,-219.0,883.6,-12.7,655,7136,0.00,1.65,0.00,0.000,6,0.000,0.049,2361,1974,3808
$GC,7467,-1.20,-219.0,922.9,-11.6,671,7471,0.00,2.67,0.00,0.000,4,0.000,0.061,2361,276,3805
$GC,7507,-1.20,-219.0,928.1,-13.1,673,7511,0.00,2.60,0.00,0.000,6,0.000,0.048,2352,1952,3805
$GC,7833,-1.20,-219.0,968.8,-12.5,689,7837,0.00,1.73,0.00,0.000,4,0.000,0.058,2348,3063,3803
$GC,7866,-1.20,-219.0,973.2,-12.7,690,7871,0.12,1.67,0.00,0.000,6,0.159,0.041,2380,1968,3803
$STATE,8020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8020,begin apogee
$GC,8029,-0.27,0.0,991.1,11.3,698,8228,0.93,0.00,190.20,1.449,6,0.120,0.000,2679,1370,2945
$STATE,8228,end apogee,CONTROL_FINISHED_OK
$STATE,8228,begin climb
$GC,8231,1.20,219.0,1006.5,0.0,708,8438,1.27,2.30,194.35,1.418,4,0.049,0.054,3154,2735,2052
$GC,8550,1.20,219.0,981.9,14.6,722,8554,0.00,2.17,0.00,0.000,6,0.000,0.048,3163,1345,2045
$GC,8872,1.20,219.0,937.4,14.5,738,8876,0.00,2.20,0.00,0.000,4,0.000,0.055,3162,2746,2043
$GC,8963,1.20,219.0,923.5,14.8,742,8966,0.00,2.15,0.00,0.000,6,0.000,0.046,3173,1352,2042
$GC,9295,1.20,219.0,873.0,15.2,758,9299,0.00,2.17,0.00,0.000,4,0.000,0.055,3172,2744,2041
$GC,9352,1.20,219.0,864.0,15.4,760,9355,0.00,2.12,0.00,0.000,6,0.000,0.047,3181,1365,2040
$GC,9674,1.20,219.0,816.5,14.4,776,9678,0.00,2.15,0.00,0.000,4,0.000,0.054,3180,2743,2039
$GC,9825,1.20,219.0,794.5,14.5,782,9832,0.15,2.12,0.00,0.000,6,0.202,0.047,3154,1360,2038
$GC,10142,1.20,219.0,752.3,13.6,798,10146,0.00,2.17,0.00,0.000,4,0.000,0.054,3152,2753,2038
$GC,10220,1.20,219.0,741.0,13.6,801,10223,0.00,2.12,0.00,0.000,6,0.000,0.047,3159,1386,2037
$GC,10543,1.21,221.4,700.7,11.9,817,10547,0.00,2.12,0.00,0.000,4,0.000,0.058,3159,2744,2037
$GC,10644,1.21,221.4,687.8,12.6,821,10648,0.00,2.05,0.00,0.000,6,0.000,0.046,3167,1413,2036
$GC,10966,1.21,221.4,647.5,12.6,837,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1413,2036
$GC,11275,1.21,221.4,607.8,13.5,852,11279,0.00,2.08,0.00,0.000,4,0.000,0.053,3165,2747,2035
$GC,11376,1.21,221.4,593.8,13.7,856,11380,0.00,2.03,0.00,0.000,6,0.000,0.045,3173,1447,2034
$GC,11697,1.23,244.2,555.6,11.2,872,11730,0.00,2.05,23.08,1.101,4,0.000,0.051,3173,2745,1947
$GC,11962,1.23,244.2,522.9,13.8,884,11966,0.00,1.95,0.00,0.000,6,0.000,0.044,3182,1479,1943
$GC,12290,1.24,245.3,482.0,12.0,906,12293,0.00,1.98,0.00,0.000,4,0.000,0.051,3183,2753,1942
$GC,12340,1.26,261.8,476.1,11.4,910,12360,0.00,1.98,16.48,1.095,6,0.000,0.043,3190,1477,1877
$GC,12688,1.26,261.8,434.7,12.5,943,12692,0.00,1.98,0.00,0.000,4,0.000,0.051,3192,2746,1873
$GC,12738,1.26,261.8,427.8,13.7,947,12744,0.12,1.95,0.00,0.000,6,0.195,0.042,3172,1472,1873
$GC,13063,1.32,314.4,393.0,10.1,978,13118,0.00,2.08,47.10,1.051,4,0.000,0.048,3171,2750,1663
$GC,13315,1.33,318.9,363.7,11.8,1000,13325,0.00,1.90,5.07,0.755,6,0.000,0.040,3177,1523,1645
$GC,13641,1.33,318.9,323.5,12.3,1031,13644,0.00,2.05,0.00,0.000,4,0.000,0.051,3189,199,1642
$GC,13755,1.36,343.4,309.7,11.1,1041,13782,0.00,1.98,23.15,0.946,6,0.000,0.038,3190,1522,1545
$GC,14120,1.36,349.5,266.1,11.8,1098,14133,0.00,1.88,6.65,0.762,4,0.000,0.042,3193,2758,1519
$GC,14242,1.36,349.5,250.7,13.3,1119,14248,0.00,1.85,0.00,0.000,6,0.000,0.038,3201,1531,1519
$GC,14586,1.42,395.2,210.3,10.3,1180,14636,0.00,2.12,41.72,0.864,4,0.000,0.052,3211,203,1332
$GC,14648,1.45,420.5,203.8,11.1,1190,14680,0.00,2.08,23.62,0.820,6,0.000,0.034,3211,1593,1229
$GC,15021,1.46,430.9,160.0,11.6,1255,15036,0.00,1.80,10.25,0.730,4,0.000,0.041,3211,2755,1188
$GC,15140,1.46,430.9,144.6,12.4,1275,15146,0.00,1.77,0.00,0.000,6,0.000,0.035,3219,1576,1188
$GC,15485,1.48,440.5,101.7,11.6,1336,15501,0.00,1.83,9.98,0.680,4,0.000,0.038,3219,2755,1150
$GC,15531,1.48,447.7,96.2,11.7,1343,15546,0.00,1.75,8.52,0.648,6,0.000,0.035,3225,1586,1119
$GC,15885,1.55,501.2,57.6,10.0,1405,15938,0.10,1.83,46.45,0.712,4,0.077,0.037,3279,2754,901
$GC,15991,1.55,501.2,45.5,12.9,1422,15997,0.00,1.75,0.00,0.000,6,0.000,0.032,3287,1591,902
$STATE,16327,end climb,SURFACE_DEPTH_REACHED
$STATE,16327,begin surface coast
$FINISH,0.8,1.008424
$STATE,16356,end surface coast,CONTROL_FINISHED_OK
$STATE,16356,begin surface
$SM_CCo,16436,0.00,0.000,0,0,898,502.13
$SM_GC,1.71,8.35,0.00,0.00,0.044,0.000,0.000,168,1692,898,-8.11,0.51,502.13
$IRIDIUM_FIX,2354.48,12457.97,221098,191919
$TT8_MAMPS,0.026845
$HUMID,1588
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,157
$24V_AH,23.2,87.739
$10V_AH,10.6,58.418
$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,20.300,141.400,646.625,0.000,0.000,26.118,31.646,208.301,47.250,0.000,0.000,13.497,2621.439,9689.714,711.093,3131.855,696.292,0.000,2139.520,0.000,3102.756,0.000,54.423,0.000
$DEVICE_MAMPS,229.333,65.195,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.644,1018.057,1707.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88433,1487
$CAP_FILE_SIZE,159676,0
$CFSIZE,260165632,202137600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.218, 64.6,1
$GPS,290709,041837,2406.327,12458.842,40,1.4,40,-3.6