version: 66.04
glider: 166
mission: 2
dive: 407
start: 7 29 109 4 26 36
data:
$ID,166
$MISSION,2
$DIVE,407
$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,-13504.417
$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,31
$R_STBD_OVSHOOT,62
$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
$GPS1,041837,2406.327,12458.842,40,1.4,40,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.8
$GPS2,042613,2406.385,12458.978,11,1.4,16,-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,274.8,31580,-17.3,-12.000
$D_GRID,2047
$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,-60.03,0.000,2,0.000,0.000,166,1692,2260
$GC,82,-1.20,-219.0,3.2,-6.0,9,141,9.12,2.25,-43.55,0.000,4,0.232,0.052,2368,249,3840
$GC,171,-1.20,-219.0,18.2,-23.1,23,177,0.00,2.10,0.00,0.000,6,0.000,0.028,2355,1670,3842
$GC,516,-1.20,-219.0,86.3,-17.1,84,522,0.00,2.12,0.00,0.000,4,0.000,0.039,2356,240,3842
$GC,602,-1.20,-219.0,101.4,-17.3,99,609,0.10,2.15,0.00,0.000,6,0.170,0.027,2370,1714,3842
$GC,949,-1.20,-219.0,157.1,-14.9,160,955,0.00,2.17,0.00,0.000,4,0.000,0.038,2374,245,3843
$GC,1042,-1.20,-219.0,171.4,-15.0,176,1048,0.00,2.20,0.00,0.000,6,0.000,0.027,2362,1774,3843
$GC,1389,-1.20,-219.0,223.6,-14.3,237,1395,0.00,2.28,0.00,0.000,4,0.000,0.038,2363,246,3844
$GC,1481,-1.20,-219.0,238.5,-16.1,253,1487,0.00,2.28,0.00,0.000,6,0.000,0.027,2355,1822,3844
$GC,1825,-1.20,-219.0,288.1,-13.5,314,1833,0.00,1.85,0.00,0.000,4,0.000,0.039,2355,3063,3844
$GC,1962,-1.20,-219.0,307.3,-14.8,334,1966,0.00,1.80,0.00,0.000,6,0.000,0.027,2355,1797,3844
$GC,2293,-1.20,-219.0,354.2,-13.5,365,2297,0.00,1.90,0.00,0.000,4,0.000,0.041,2354,3072,3843
$GC,2384,-1.20,-219.0,366.7,-13.8,373,2388,0.00,1.77,0.00,0.000,6,0.000,0.028,2354,1830,3843
$GC,2716,-1.20,-219.0,410.9,-13.6,404,2719,0.00,1.85,0.00,0.000,4,0.000,0.040,2345,3074,3842
$GC,2840,-1.20,-219.0,428.9,-14.8,415,2844,0.12,1.75,0.00,0.000,6,0.157,0.028,2377,1852,3841
$GC,3170,-1.20,-219.0,468.4,-11.0,446,3174,0.00,1.83,0.00,0.000,4,0.000,0.042,2378,3071,3840
$GC,3254,-1.20,-219.0,477.8,-11.4,453,3260,0.00,1.70,0.00,0.000,6,0.000,0.029,2379,1882,3840
$GC,3590,-1.20,-219.0,510.5,-10.1,480,3594,0.00,1.80,0.00,0.000,4,0.000,0.044,2378,3075,3838
$GC,3660,-1.20,-219.0,518.3,-11.3,483,3663,0.00,1.70,0.00,0.000,6,0.000,0.030,2378,1896,3837
$GC,3993,-1.20,-219.0,555.6,-10.8,499,3998,0.00,2.50,0.00,0.000,4,0.000,0.044,2378,246,3835
$GC,4039,-1.20,-219.0,560.9,-11.5,501,4043,0.00,2.47,0.00,0.000,6,0.000,0.032,2380,1924,3834
$GC,4366,-1.20,-219.0,596.7,-11.1,517,4370,0.00,1.70,0.00,0.000,4,0.000,0.048,2383,3058,3832
$GC,4457,-1.20,-219.0,607.2,-11.8,521,4461,0.00,1.65,0.00,0.000,6,0.000,0.033,2382,1947,3832
$GC,4792,-1.20,-219.0,643.4,-10.9,537,4796,0.00,2.60,0.00,0.000,4,0.000,0.048,2382,251,3828
$GC,4819,-1.20,-219.0,646.9,-12.3,538,4823,0.00,2.55,0.00,0.000,6,0.000,0.035,2376,1949,3828
$GC,5136,-1.20,-219.0,681.2,-10.9,553,5140,0.00,1.73,0.00,0.000,4,0.000,0.052,2376,3061,3826
$GC,5213,-1.20,-219.0,690.2,-11.4,556,5217,0.00,1.60,0.00,0.000,6,0.000,0.036,2375,1970,3825
$GC,5535,-1.20,-219.0,725.0,-10.7,572,5540,0.00,1.67,0.00,0.000,4,0.000,0.053,2375,3058,3822
$GC,5591,-1.20,-219.0,731.2,-11.2,574,5595,0.00,1.58,0.00,0.000,6,0.000,0.037,2375,2005,3821
$GC,5913,-1.20,-219.0,766.7,-11.2,590,5916,0.00,1.65,0.00,0.000,4,0.000,0.064,2374,3057,3818
$GC,6028,-1.20,-219.0,780.1,-11.7,595,6031,0.00,1.62,0.00,0.000,6,0.000,0.038,2374,1963,3816
$GC,6362,-1.20,-219.0,818.1,-11.3,611,6365,0.00,1.73,0.00,0.000,4,0.000,0.064,2371,3047,3814
$GC,6395,-1.20,-219.0,822.3,-12.5,612,6398,0.00,1.62,0.00,0.000,6,0.000,0.047,2371,1991,3814
$GC,6717,-1.20,-219.0,860.4,-12.0,628,6722,0.00,2.72,0.00,0.000,4,0.000,0.057,2372,258,3811
$GC,6807,-1.20,-219.0,872.2,-13.0,632,6811,0.00,2.62,0.00,0.000,6,0.000,0.046,2363,1956,3810
$GC,7127,-1.20,-219.0,911.5,-12.3,648,7131,0.00,1.70,0.00,0.000,4,0.000,0.057,2352,3060,3808
$GC,7167,-1.20,-219.0,916.6,-12.9,649,7173,0.00,1.65,0.00,0.000,6,0.000,0.041,2353,1956,3807
$GC,7485,-1.20,-219.0,956.2,-12.3,665,7489,0.00,2.67,0.00,0.000,4,0.000,0.060,2353,264,3805
$GC,7525,-1.20,-219.0,961.7,-13.8,667,7530,0.12,2.60,0.00,0.000,6,0.170,0.050,2374,1934,3805
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7787,begin apogee
$GC,7795,-0.27,0.0,991.8,11.1,680,7995,0.93,0.00,190.52,1.452,6,0.119,0.000,2674,1346,2945
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7996,begin climb
$GC,7998,1.20,219.0,1005.8,0.0,690,8203,1.30,1.95,194.38,1.421,4,0.050,0.061,3163,206,2052
$GC,8243,1.20,219.0,987.4,15.8,701,8247,0.00,1.77,0.00,0.000,6,0.000,0.042,3163,1330,2047
$GC,8570,1.20,219.0,936.2,15.6,717,8574,0.00,2.22,0.00,0.000,4,0.000,0.054,3164,2759,2043
$GC,8716,1.20,219.0,913.0,15.9,723,8720,0.00,2.15,0.00,0.000,6,0.000,0.053,3172,1371,2041
$GC,9038,1.20,219.0,864.1,14.4,739,9042,0.00,2.17,0.00,0.000,4,0.000,0.056,3173,2762,2040
$GC,9066,1.20,219.0,859.6,15.6,740,9070,0.12,2.15,0.00,0.000,6,0.206,0.047,3156,1368,2040
$GC,9393,1.20,219.0,816.0,12.7,756,9397,0.00,2.17,0.00,0.000,4,0.000,0.054,3152,2759,2039
$GC,9426,1.20,219.0,811.5,13.8,757,9430,0.00,2.10,0.00,0.000,6,0.000,0.046,3160,1393,2039
$GC,9748,1.20,219.0,769.8,13.4,773,9752,0.00,2.12,0.00,0.000,4,0.000,0.055,3159,2750,2038
$GC,9931,1.20,219.0,745.7,14.1,781,9935,0.00,2.05,0.00,0.000,6,0.000,0.045,3167,1413,2037
$GC,10264,1.20,219.0,702.1,12.6,797,10268,0.00,2.10,0.00,0.000,4,0.000,0.054,3165,2758,2037
$GC,10343,1.20,219.0,691.9,12.9,800,10347,0.00,2.05,0.00,0.000,6,0.000,0.048,3172,1425,2036
$GC,10664,1.20,219.0,651.2,12.6,816,10668,0.00,2.08,0.00,0.000,4,0.000,0.054,3172,2755,2036
$GC,10904,1.20,219.0,617.9,13.1,826,10912,0.00,1.98,0.00,0.000,6,0.000,0.045,3181,1484,2035
$GC,11220,1.20,219.0,576.8,12.8,842,11224,0.00,2.03,0.00,0.000,4,0.000,0.060,3179,2765,2035
$GC,11455,1.20,219.0,546.5,12.4,852,11459,0.15,1.92,0.00,0.000,6,0.199,0.044,3153,1506,2034
$GC,11777,1.22,229.2,509.3,11.6,868,11790,0.00,2.03,7.18,1.009,4,0.000,0.052,3149,2759,2010
$GC,12004,1.24,245.3,482.4,11.4,884,12024,0.00,1.92,16.12,1.104,6,0.000,0.044,3156,1522,1945
$GC,12351,1.30,297.8,446.0,10.1,917,12411,0.00,2.12,49.60,1.065,4,0.000,0.055,3166,204,1730
$GC,12417,1.30,297.8,438.5,12.3,922,12424,0.00,2.03,0.00,0.000,6,0.000,0.041,3166,1512,1729
$GC,12747,1.31,307.9,397.6,11.6,953,12761,0.00,2.10,9.88,0.956,4,0.000,0.060,3174,192,1689
$GC,12848,1.31,307.9,384.5,12.9,962,12851,0.00,2.00,0.00,0.000,6,0.000,0.040,3175,1509,1688
$GC,13181,1.31,307.9,343.4,12.4,993,13184,0.00,1.90,0.00,0.000,4,0.000,0.047,3175,2762,1688
$GC,13312,1.31,308.1,326.7,12.0,1004,13318,0.00,1.90,0.00,0.000,6,0.000,0.041,3182,1523,1686
$GC,13642,1.32,313.0,288.1,11.8,1044,13655,0.00,1.90,6.15,0.771,4,0.000,0.044,3181,2768,1667
$GC,13678,1.34,329.5,283.7,11.4,1050,13710,0.00,1.88,18.35,0.826,6,0.000,0.039,3188,1543,1600
$GC,14052,1.34,333.1,239.3,11.9,1115,14064,0.00,1.90,4.55,0.631,4,0.000,0.043,3188,2758,1587
$GC,14116,1.38,363.1,231.2,10.9,1126,14149,0.00,1.83,28.12,0.877,6,0.000,0.038,3196,1557,1463
$GC,14490,1.39,371.6,185.8,11.7,1191,14504,0.00,2.10,8.73,0.742,4,0.000,0.054,3208,190,1429
$GC,14546,1.39,371.6,178.7,12.1,1200,14552,0.00,2.08,0.00,0.000,6,0.000,0.034,3210,1595,1429
$GC,14891,1.40,375.8,140.4,11.8,1261,14905,0.00,1.77,5.53,0.614,4,0.000,0.041,3213,2761,1412
$GC,14962,1.40,375.8,131.6,12.1,1273,14969,0.00,1.80,0.00,0.000,6,0.000,0.035,3221,1563,1412
$GC,15309,1.48,444.6,93.9,9.5,1334,15374,0.00,1.90,60.35,0.753,4,0.000,0.038,3223,2766,1132
$GC,15398,1.51,470.2,84.7,11.1,1348,15429,0.00,1.77,23.20,0.708,6,0.000,0.034,3233,1604,1028
$GC,15769,1.53,486.7,44.7,11.4,1413,15790,0.00,2.22,15.73,0.656,4,0.000,0.044,3244,187,960
$GC,15861,1.55,501.1,34.4,11.5,1428,15881,0.00,2.12,13.48,0.632,6,0.000,0.029,3244,1656,902
$STATE,16143,end climb,SURFACE_DEPTH_REACHED
$STATE,16144,begin surface coast
$FINISH,0.7,1.002003
$STATE,16175,end surface coast,CONTROL_FINISHED_OK
$STATE,16175,begin surface
$SM_CCo,16254,0.00,0.000,0,0,901,501.39
$SM_GC,1.72,8.18,0.00,0.00,0.041,0.000,0.000,169,1658,901,-8.10,-0.48,501.39
$IRIDIUM_FIX,2356.84,12459.33,221098,232314
$TT8_MAMPS,0.026845
$HUMID,1581
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.70
$XPDR_PINGS,155
$24V_AH,23.2,87.980
$10V_AH,10.6,58.568
$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,20.150,149.375,651.850,0.000,0.000,23.582,37.646,228.033,46.750,0.000,0.000,16.883,2613.770,9443.421,723.730,3201.156,713.360,0.000,2184.463,0.000,3159.526,0.000,54.433,0.000
$DEVICE_MAMPS,231.634,64.428,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.924,1026.281,1724.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88254,1483
$CAP_FILE_SIZE,161537,0
$CFSIZE,260165632,202043392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.282, 71.9,1
$GPS,290709,085837,2407.265,12500.564,31,1.4,31,-3.6