version: 66.04
glider: 166
mission: 2
dive: 411
start: 7 29 109 23 33 45
data:
$ID,166
$MISSION,2
$DIVE,411
$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,-13614.348
$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,36
$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
$GPS1,232224,2408.508,12503.675,25,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.0
$GPS2,233319,2408.573,12503.891,10,1.4,15,-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,275.2,36724,-17.3,-12.000
$D_GRID,2217
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.20,-219.0,0.0,0.0,0,98,0.00,0.00,-80.68,0.000,2,0.000,0.000,174,1713,2280
$GC,101,-1.20,-219.0,3.0,-5.2,12,159,8.75,2.22,-42.58,0.000,4,0.221,0.053,2365,246,3838
$GC,270,-1.20,-219.0,35.2,-21.4,40,277,0.00,2.08,0.00,0.000,6,0.000,0.028,2359,1680,3839
$GC,615,-1.20,-219.0,101.6,-16.4,101,623,0.00,2.05,0.00,0.000,4,0.000,0.039,2357,3072,3840
$GC,777,-1.20,-219.0,128.5,-16.8,129,785,0.12,2.03,0.00,0.000,6,0.166,0.028,2374,1653,3840
$GC,1124,-1.20,-219.0,180.5,-14.4,190,1130,0.00,2.03,0.00,0.000,4,0.000,0.038,2372,277,3841
$GC,1218,-1.20,-219.0,195.0,-15.7,206,1224,0.00,2.15,0.00,0.000,6,0.000,0.026,2369,1780,3840
$GC,1564,-1.20,-219.0,245.9,-15.1,267,1570,0.00,2.25,0.00,0.000,4,0.000,0.038,2373,271,3840
$GC,1645,-1.20,-219.0,257.8,-15.2,281,1652,0.00,2.22,0.00,0.000,6,0.000,0.027,2366,1816,3840
$GC,1992,-1.20,-219.0,301.9,-12.6,341,1996,0.00,2.30,0.00,0.000,4,0.000,0.038,2367,276,3839
$GC,2067,-1.20,-219.0,312.3,-13.6,347,2071,0.00,2.28,0.00,0.000,6,0.000,0.027,2366,1853,3839
$GC,2392,-1.20,-219.0,354.0,-12.4,377,2396,0.00,2.35,0.00,0.000,4,0.000,0.039,2366,286,3838
$GC,2501,-1.20,-219.0,368.7,-13.4,386,2505,0.00,2.33,0.00,0.000,6,0.000,0.028,2364,1886,3837
$GC,2826,-1.20,-219.0,409.7,-12.7,416,2829,0.00,1.75,0.00,0.000,4,0.000,0.041,2364,3078,3836
$GC,2910,-1.20,-219.0,420.8,-13.1,423,2915,0.00,1.70,0.00,0.000,6,0.000,0.028,2364,1887,3836
$GC,3235,-1.20,-219.0,459.2,-11.5,454,3239,0.00,1.77,0.00,0.000,4,0.000,0.043,2365,3076,3833
$GC,3293,-1.20,-219.0,466.2,-12.5,459,3296,0.00,1.67,0.00,0.000,6,0.000,0.030,2365,1905,3833
$GC,3634,-1.20,-219.0,502.7,-10.1,490,3638,0.00,2.42,0.00,0.000,4,0.000,0.042,2366,291,3831
$GC,3673,-1.20,-219.0,507.1,-11.6,491,3679,0.00,2.35,0.00,0.000,6,0.000,0.031,2367,1890,3831
$GC,3990,-1.20,-219.0,539.6,-10.3,507,3993,0.00,1.75,0.00,0.000,4,0.000,0.045,2382,3076,3829
$GC,4081,-1.20,-219.0,549.8,-10.7,511,4089,0.00,1.65,0.00,0.000,6,0.000,0.031,2382,1931,3828
$GC,4418,-1.20,-219.0,589.4,-11.8,527,4421,0.00,1.73,0.00,0.000,4,0.000,0.047,2389,3070,3826
$GC,4473,-1.20,-219.0,596.6,-12.1,529,4477,0.00,1.65,0.00,0.000,6,0.000,0.033,2386,1955,3825
$GC,4796,-1.20,-219.0,634.8,-12.2,545,4800,0.00,1.70,0.00,0.000,4,0.000,0.048,2391,3075,3823
$GC,4830,-1.20,-219.0,639.1,-11.9,546,4833,0.00,1.62,0.00,0.000,6,0.000,0.034,2389,1958,3822
$GC,5154,-1.20,-219.0,677.0,-11.4,562,5158,0.00,1.73,0.00,0.000,4,0.000,0.051,2391,3066,3819
$GC,5187,-1.20,-219.0,681.3,-12.0,563,5191,0.00,1.62,0.00,0.000,6,0.000,0.036,2389,1980,3818
$GC,5510,-1.20,-219.0,717.6,-11.3,579,5514,0.00,2.60,0.00,0.000,4,0.000,0.050,2389,292,3815
$GC,5550,-1.20,-219.0,722.5,-12.6,581,5554,0.00,2.50,0.00,0.000,6,0.000,0.037,2382,1949,3814
$GC,5877,-1.20,-219.0,759.9,-11.5,597,5880,0.00,1.67,0.00,0.000,4,0.000,0.054,2379,3058,3812
$GC,5946,-1.20,-219.0,768.0,-12.4,600,5950,0.00,1.60,0.00,0.000,6,0.000,0.038,2379,1996,3811
$GC,6278,-1.20,-219.0,808.6,-12.4,616,6283,0.00,2.67,0.00,0.000,4,0.000,0.058,2379,286,3808
$GC,6323,-1.20,-219.0,814.7,-13.4,618,6327,0.00,2.53,0.00,0.000,6,0.000,0.040,2368,1949,3808
$GC,6645,-1.20,-219.0,857.2,-13.2,634,6648,0.00,1.73,0.00,0.000,4,0.000,0.063,2367,3057,3805
$GC,6751,-1.20,-219.0,872.2,-14.1,638,6757,0.00,1.58,0.00,0.000,6,0.000,0.039,2367,2016,3804
$GC,7068,-1.20,-219.0,916.4,-14.2,654,7073,0.00,2.67,0.00,0.000,4,0.000,0.054,2366,298,3802
$GC,7089,-1.20,-219.0,920.0,-15.3,655,7094,0.00,2.58,0.00,0.000,6,0.000,0.041,2355,1980,3802
$GC,7412,-1.20,-219.0,965.7,-13.9,671,7415,0.00,1.70,0.00,0.000,4,0.000,0.066,2353,3064,3800
$GC,7439,-1.20,-219.0,969.7,-15.0,672,7443,0.00,1.65,0.00,0.000,6,0.000,0.046,2354,1999,3800
$STATE,7598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7598,begin apogee
$GC,7607,-0.27,0.0,992.9,15.0,680,7802,1.05,0.00,187.07,1.459,6,0.133,0.000,2676,1368,2944
$STATE,7803,end apogee,CONTROL_FINISHED_OK
$STATE,7803,begin climb
$GC,7805,1.20,219.0,1008.7,0.0,690,8010,1.30,2.28,193.40,1.416,4,0.053,0.053,3150,2747,2051
$GC,8094,1.20,219.0,987.6,14.5,703,8098,0.00,2.20,0.00,0.000,6,0.000,0.046,3158,1341,2045
$GC,8422,1.20,219.0,940.0,15.0,719,8426,0.00,2.20,0.00,0.000,4,0.000,0.054,3154,2743,2043
$GC,8506,1.20,219.0,926.6,15.8,722,8514,0.00,2.12,0.00,0.000,6,0.000,0.046,3163,1382,2041
$GC,8823,1.20,219.0,878.8,14.9,738,8827,0.00,2.12,0.00,0.000,4,0.000,0.054,3162,2744,2040
$GC,8948,1.20,219.0,859.2,15.0,743,8951,0.00,2.08,0.00,0.000,6,0.000,0.044,3171,1390,2039
$GC,9270,1.20,219.0,809.4,15.8,759,9273,0.00,2.12,0.00,0.000,4,0.000,0.054,3170,2750,2038
$GC,9376,1.20,219.0,792.1,16.7,763,9382,0.00,2.03,0.00,0.000,6,0.000,0.045,3178,1426,2038
$GC,9693,1.20,219.0,742.5,15.2,779,9697,0.00,2.05,0.00,0.000,4,0.000,0.053,3178,2742,2037
$GC,9726,1.20,219.0,736.7,16.1,780,9731,0.15,2.05,0.00,0.000,6,0.199,0.048,3152,1416,2036
$GC,10049,1.20,219.0,691.5,13.8,796,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1416,2036
$GC,10359,1.20,219.0,650.2,12.9,811,10362,0.00,2.10,0.00,0.000,4,0.000,0.055,3149,2749,2035
$GC,10405,1.20,219.0,644.0,13.1,813,10408,0.00,2.05,0.00,0.000,6,0.000,0.046,3156,1424,2034
$GC,10738,1.22,233.4,604.3,11.5,829,10760,0.00,2.08,11.32,1.118,4,0.000,0.051,3152,2747,1993
$GC,10911,1.22,233.4,582.2,12.4,836,10917,0.00,2.03,0.00,0.000,6,0.000,0.044,3160,1453,1992
$GC,11227,1.22,233.4,543.0,12.3,852,11230,0.00,1.95,0.00,0.000,4,0.000,0.056,3170,202,1992
$GC,11379,1.22,233.4,524.2,12.3,858,11386,0.00,1.85,0.00,0.000,6,0.000,0.043,3170,1408,1991
$GC,11699,1.23,237.2,487.1,11.9,879,11710,0.00,2.08,4.80,0.843,4,0.000,0.051,3171,2744,1978
$GC,11890,1.28,281.3,465.2,10.4,896,11935,0.00,2.08,40.38,1.113,6,0.000,0.049,3181,1403,1798
$GC,12255,1.30,297.4,423.0,11.4,930,12279,0.00,2.17,15.27,1.028,4,0.000,0.049,3185,2752,1731
$GC,12409,1.30,297.4,404.3,12.5,943,12415,0.00,2.03,0.00,0.000,6,0.000,0.041,3194,1433,1728
$GC,12737,1.31,302.5,365.1,11.8,974,12750,0.00,2.03,5.78,0.815,4,0.000,0.047,3195,2744,1711
$GC,12789,1.31,302.5,357.8,12.2,978,12797,0.00,1.98,0.00,0.000,6,0.000,0.041,3204,1463,1710
$GC,13118,1.31,302.5,316.7,12.1,1009,13122,0.00,1.95,0.00,0.000,4,0.000,0.052,3213,198,1711
$GC,13203,1.32,311.1,305.9,11.7,1016,13220,0.00,1.90,9.38,0.875,6,0.000,0.038,3213,1460,1675
$GC,13555,1.32,311.1,265.2,13.1,1074,13562,0.00,1.98,0.00,0.000,4,0.000,0.044,3211,2749,1674
$GC,13632,1.32,311.1,255.7,12.2,1087,13637,0.00,1.95,0.00,0.000,6,0.000,0.038,3219,1449,1674
$GC,13976,1.34,328.1,216.3,11.4,1148,13997,0.00,2.05,16.58,0.846,4,0.000,0.042,3218,2753,1606
$GC,14044,1.34,328.1,208.5,12.2,1159,14051,0.12,1.95,0.00,0.000,6,0.182,0.036,3197,1458,1604
$GC,14390,1.36,347.8,170.7,11.3,1220,14416,0.00,1.98,18.17,0.803,4,0.000,0.051,3205,200,1526
$GC,14509,1.42,396.3,157.8,10.2,1240,14560,0.00,1.88,42.58,0.806,6,0.000,0.033,3204,1459,1329
$GC,14899,1.45,421.7,115.1,11.1,1308,14931,0.00,1.98,23.23,0.749,4,0.000,0.038,3202,2746,1225
$GC,15022,1.49,454.9,101.5,10.8,1329,15062,0.08,1.92,29.75,0.738,6,0.061,0.034,3269,1472,1089
$GC,15404,1.55,504.0,58.7,10.2,1395,15455,0.00,2.00,42.35,0.704,4,0.000,0.046,3278,200,890
$GC,15467,1.55,504.0,50.9,12.1,1405,15474,0.00,1.95,0.00,0.000,6,0.000,0.031,3278,1510,890
$GC,15813,1.55,504.0,7.4,12.6,1466,15820,0.00,1.85,0.00,0.000,4,0.000,0.036,3278,2747,890
$STATE,15847,end climb,SURFACE_DEPTH_REACHED
$STATE,15847,begin surface coast
$FINISH,0.8,1.008967
$STATE,15876,end surface coast,CONTROL_FINISHED_OK
$STATE,15876,begin surface
$SM_CCo,15957,0.00,0.000,0,0,887,504.58
$SM_GC,1.63,8.27,0.00,0.00,0.043,0.000,0.000,161,1654,887,-8.10,-0.59,504.58
$IRIDIUM_FIX,2359.20,12502.62,231098,181849
$TT8_MAMPS,0.026845
$HUMID,1615
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.60
$XPDR_PINGS,149
$24V_AH,23.2,89.003
$10V_AH,10.6,59.179
$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,19.850,150.475,640.050,0.000,0.000,21.751,31.348,435.717,45.250,0.000,0.000,15.925,2574.173,9230.525,753.552,3124.035,918.778,0.000,2185.177,0.000,3085.733,0.000,56.405,0.000
$DEVICE_MAMPS,220.896,65.962,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.376,1019.431,1714.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85299,1477
$CAP_FILE_SIZE,163477,0
$CFSIZE,260165632,201691136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218, 69.3,1
$GPS,300709,040101,2409.312,12504.565,43,1.2,43,-3.6