version: 66.04
glider: 166
mission: 2
dive: 414
start: 7 30 109 13 53 13
data:
$ID,166
$MISSION,2
$DIVE,414
$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,610.797
$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,-13660.195
$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,33
$R_STBD_OVSHOOT,65
$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
$GPS1,133737,2410.736,12506.727,42,1.2,42,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.7
$GPS2,135250,2410.736,12506.938,13,1.6,13,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2425.000,12506.700
$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,328.6,26420,-17.3,-12.000
$D_GRID,2006
$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,-219.0,0.0,0.0,0,87,0.00,0.00,-70.25,0.000,2,0.000,0.000,155,1702,2338
$GC,91,-1.20,-219.0,3.2,-5.6,11,149,9.07,2.10,-40.80,0.000,4,0.229,0.053,2367,3059,3840
$GC,269,-1.20,-219.0,37.5,-21.4,41,277,0.00,2.05,0.00,0.000,6,0.000,0.028,2362,1640,3841
$GC,617,-1.20,-219.0,103.6,-17.8,102,623,0.00,2.03,0.00,0.000,4,0.000,0.038,2381,263,3841
$GC,687,-1.20,-219.0,115.7,-16.5,114,693,0.00,2.08,0.00,0.000,6,0.000,0.027,2378,1717,3841
$GC,1032,-1.20,-219.0,168.4,-16.1,175,1039,0.00,2.15,0.00,0.000,4,0.000,0.038,2379,264,3842
$GC,1145,-1.20,-219.0,187.0,-16.0,195,1152,0.00,2.17,0.00,0.000,6,0.000,0.026,2365,1759,3842
$GC,1492,-1.20,-219.0,239.0,-15.3,256,1499,0.00,2.20,0.00,0.000,4,0.000,0.037,2358,271,3842
$GC,1545,-1.20,-219.0,247.0,-15.0,265,1553,0.12,2.22,0.00,0.000,6,0.173,0.026,2383,1819,3841
$GC,1892,-1.20,-219.0,292.1,-11.9,326,1898,0.00,2.30,0.00,0.000,4,0.000,0.038,2373,270,3840
$GC,1977,-1.20,-219.0,303.7,-13.5,339,1983,0.00,2.28,0.00,0.000,6,0.000,0.027,2370,1844,3840
$GC,2304,-1.20,-219.0,345.4,-14.0,370,2308,0.00,2.35,0.00,0.000,4,0.000,0.038,2370,273,3840
$GC,2401,-1.20,-219.0,359.8,-13.7,378,2405,0.00,2.33,0.00,0.000,6,0.000,0.028,2365,1872,3839
$GC,2726,-1.20,-219.0,401.3,-12.6,408,2730,0.00,2.40,0.00,0.000,4,0.000,0.040,2365,270,3837
$GC,2846,-1.20,-219.0,416.8,-13.0,418,2850,0.00,2.38,0.00,0.000,6,0.000,0.029,2364,1897,3837
$GC,3170,-1.20,-219.0,456.0,-12.1,448,3174,0.00,1.73,0.00,0.000,4,0.000,0.042,2364,3067,3834
$GC,3277,-1.20,-219.0,469.2,-12.4,457,3284,0.00,1.65,0.00,0.000,6,0.000,0.028,2364,1908,3833
$GC,3615,-1.20,-219.0,505.1,-10.3,487,3618,0.00,1.75,0.00,0.000,4,0.000,0.044,2368,3070,3832
$GC,3661,-1.20,-219.0,510.4,-10.6,489,3665,0.00,1.62,0.00,0.000,6,0.000,0.030,2368,1940,3831
$GC,3997,-1.20,-219.0,545.9,-10.5,505,4000,0.00,1.70,0.00,0.000,4,0.000,0.045,2370,3060,3829
$GC,4047,-1.20,-219.0,551.8,-11.3,507,4051,0.00,1.58,0.00,0.000,6,0.000,0.031,2372,1987,3829
$GC,4377,-1.20,-219.0,586.7,-11.2,523,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1987,3826
$GC,4684,-1.20,-219.0,620.7,-11.1,538,4688,0.00,1.65,0.00,0.000,4,0.000,0.049,2372,3063,3823
$GC,4724,-1.20,-219.0,625.3,-11.3,539,4730,0.00,1.60,0.00,0.000,6,0.000,0.034,2374,1963,3822
$GC,5042,-1.20,-219.0,660.1,-10.6,555,5045,0.00,1.67,0.00,0.000,4,0.000,0.051,2380,3055,3819
$GC,5114,-1.20,-219.0,668.4,-10.6,558,5118,0.00,1.52,0.00,0.000,6,0.000,0.035,2383,2030,3818
$GC,5443,-1.20,-219.0,701.3,-10.0,574,5448,0.00,2.70,0.00,0.000,4,0.000,0.050,2380,276,3815
$GC,5529,-1.20,-219.0,711.3,-11.7,578,5534,0.00,2.58,0.00,0.000,6,0.000,0.038,2385,1977,3814
$GC,5857,-1.20,-219.0,747.8,-11.3,594,5861,0.00,1.65,0.00,0.000,4,0.000,0.054,2391,3059,3811
$GC,5958,-1.20,-219.0,759.7,-11.7,598,5962,0.00,1.52,0.00,0.000,6,0.000,0.038,2391,2043,3810
$GC,6280,-1.20,-219.0,794.8,-10.8,614,6285,0.00,2.72,0.00,0.000,4,0.000,0.052,2391,286,3807
$GC,6313,-1.20,-219.0,798.8,-12.1,615,6319,0.00,2.62,0.00,0.000,6,0.000,0.040,2379,2009,3807
$GC,6630,-1.20,-219.0,834.2,-11.2,631,6634,0.00,1.65,0.00,0.000,4,0.000,0.061,2372,3051,3804
$GC,6677,-1.20,-219.0,839.7,-12.0,633,6680,0.00,1.55,0.00,0.000,6,0.000,0.038,2373,2026,3804
$GC,7012,-1.20,-219.0,880.5,-12.0,649,7016,0.00,2.72,0.00,0.000,4,0.000,0.054,2373,280,3802
$GC,7053,-1.20,-219.0,885.7,-13.2,651,7057,0.00,2.62,0.00,0.000,6,0.000,0.043,2366,1987,3801
$GC,7381,-1.20,-219.0,924.3,-11.7,667,7386,0.00,2.67,0.00,0.000,4,0.000,0.054,2366,283,3800
$GC,7414,-1.20,-219.0,928.9,-14.2,668,7418,0.00,2.60,0.00,0.000,6,0.000,0.047,2354,1963,3799
$GC,7731,-1.20,-219.0,966.8,-12.3,683,7735,0.00,1.70,0.00,0.000,4,0.000,0.059,2353,3055,3796
$GC,7781,-1.20,-219.0,973.6,-13.2,685,7785,0.00,1.62,0.00,0.000,6,0.000,0.043,2351,2005,3796
$STATE,7920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7920,begin apogee
$GC,7928,-0.27,0.0,990.9,12.5,692,8126,1.05,0.00,188.62,1.450,6,0.140,0.000,2670,1359,2945
$STATE,8127,end apogee,CONTROL_FINISHED_OK
$STATE,8127,begin climb
$GC,8129,1.20,219.0,1003.9,0.0,702,8334,1.33,2.30,193.68,1.420,4,0.056,0.054,3150,2728,2051
$GC,8419,1.20,219.0,978.2,15.2,715,8423,0.00,2.15,0.00,0.000,6,0.000,0.045,3160,1351,2045
$GC,8747,1.20,219.0,931.8,13.6,731,8751,0.00,2.17,0.00,0.000,4,0.000,0.055,3159,2733,2043
$GC,8876,1.20,219.0,913.8,14.6,736,8882,0.00,2.12,0.00,0.000,6,0.000,0.046,3167,1376,2041
$GC,9193,1.20,219.0,871.9,13.5,752,9196,0.00,2.15,0.00,0.000,4,0.000,0.061,3165,2740,2040
$GC,9209,1.20,219.0,869.4,13.4,752,9215,0.00,2.12,0.00,0.000,6,0.000,0.051,3173,1365,2040
$GC,9525,1.20,219.0,825.5,13.7,768,9528,0.00,2.15,0.00,0.000,4,0.000,0.054,3170,2741,2039
$GC,9693,1.20,219.0,801.4,14.3,775,9697,0.00,2.05,0.00,0.000,6,0.000,0.046,3176,1407,2038
$GC,10015,1.20,219.0,755.8,14.1,791,10019,0.00,2.08,0.00,0.000,4,0.000,0.059,3175,2735,2037
$GC,10107,1.20,219.0,743.0,15.2,795,10112,0.12,2.05,0.00,0.000,6,0.202,0.046,3157,1404,2036
$GC,10441,1.20,219.0,701.5,12.1,811,10444,0.00,2.08,0.00,0.000,4,0.000,0.054,3153,2734,2036
$GC,10600,1.20,219.0,681.9,12.4,818,10603,0.00,2.03,0.00,0.000,6,0.000,0.046,3161,1421,2035
$GC,10932,1.20,219.0,640.7,12.7,834,10936,0.00,2.05,0.00,0.000,4,0.000,0.053,3154,2737,2035
$GC,11091,1.20,219.0,620.3,12.9,841,11095,0.00,1.98,0.00,0.000,6,0.000,0.045,3162,1452,2034
$GC,11426,1.22,236.5,580.8,11.4,857,11451,0.00,2.03,16.02,1.052,4,0.000,0.053,3164,2738,1980
$GC,11509,1.22,236.5,570.4,12.1,861,11513,0.00,1.98,0.00,0.000,6,0.000,0.044,3174,1460,1979
$GC,11843,1.24,249.3,531.0,11.5,877,11864,0.00,2.05,12.73,1.115,4,0.000,0.057,3185,198,1927
$GC,11920,1.25,255.2,521.1,11.8,880,11933,0.00,1.90,6.97,0.977,6,0.000,0.042,3185,1447,1903
$GC,12248,1.29,292.8,485.3,10.6,902,12296,0.00,2.10,36.35,1.081,4,0.000,0.052,3183,2737,1750
$GC,12386,1.29,292.8,467.4,12.9,914,12394,0.00,2.00,0.00,0.000,6,0.000,0.044,3191,1464,1747
$GC,12715,1.30,298.7,427.5,11.8,945,12727,0.00,1.92,6.32,0.890,4,0.000,0.056,3202,201,1726
$GC,12788,1.30,298.7,417.6,12.5,951,12794,0.00,1.90,0.00,0.000,6,0.000,0.041,3202,1458,1726
$GC,13116,1.30,298.7,376.8,12.2,982,13120,0.00,1.95,0.00,0.000,4,0.000,0.048,3201,2738,1725
$GC,13174,1.30,298.7,369.7,12.3,987,13177,0.00,1.95,0.00,0.000,6,0.000,0.041,3208,1456,1724
$GC,13507,1.30,299.2,331.4,12.0,1018,13511,0.00,1.95,0.00,0.000,4,0.000,0.047,3207,2736,1724
$GC,13626,1.30,299.2,316.2,12.9,1028,13633,0.08,1.92,0.00,0.000,6,0.180,0.040,3181,1481,1725
$GC,13964,1.36,350.3,277.6,10.1,1076,14019,0.00,2.00,46.10,0.937,4,0.000,0.044,3176,2731,1515
$GC,14037,1.36,350.3,268.8,12.3,1088,14043,0.00,1.88,0.00,0.000,6,0.000,0.038,3183,1526,1514
$GC,14381,1.38,360.4,229.1,11.6,1149,14396,0.00,2.12,10.02,0.803,4,0.000,0.050,3193,190,1474
$GC,14494,1.41,386.1,216.4,11.1,1168,14525,0.00,2.08,23.62,0.853,6,0.000,0.035,3192,1587,1370
$GC,14864,1.45,419.0,174.1,10.8,1233,14904,0.12,1.80,30.10,0.818,4,0.074,0.044,3246,2740,1236
$GC,15008,1.45,419.0,155.5,13.1,1257,15014,0.00,1.77,0.00,0.000,6,0.000,0.036,3253,1572,1234
$GC,15352,1.45,419.0,110.4,12.7,1318,15360,0.00,2.12,0.00,0.000,4,0.000,0.047,3263,197,1233
$GC,15459,1.46,426.0,97.4,11.7,1336,15472,0.00,2.03,7.15,0.635,6,0.000,0.031,3263,1587,1208
$GC,15811,1.54,492.6,60.3,9.6,1398,15875,0.00,1.75,58.22,0.719,4,0.000,0.037,3263,2750,935
$GC,15951,1.54,492.6,43.7,12.9,1421,15957,0.00,1.80,0.00,0.000,6,0.000,0.033,3271,1558,935
$STATE,16292,end climb,SURFACE_DEPTH_REACHED
$STATE,16292,begin surface coast
$FINISH,0.8,1.010652
$STATE,16324,end surface coast,CONTROL_FINISHED_OK
$STATE,16325,begin surface
$SM_CCo,16344,98.70,0.655,0,0,455,610.80
$SM_GC,1.50,0.00,0.00,98.70,0.000,0.000,0.655,167,1696,455,-8.12,0.59,610.80
$IRIDIUM_FIX,2401.56,12505.91,241098,131302
$TT8_MAMPS,0.026845
$HUMID,1569
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.50
$XPDR_PINGS,142
$24V_AH,23.2,89.803
$10V_AH,10.6,59.641
$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,20.075,152.075,635.925,98.700,0.000,119.535,375.776,0.000,43.500,0.000,0.000,13.881,2618.406,9792.145,832.208,3177.210,923.980,0.000,2281.879,0.000,3131.808,0.000,54.436,0.000
$DEVICE_MAMPS,229.333,61.360,1450.397,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.957,1017.005,1712.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85583,1487
$CAP_FILE_SIZE,159370,0
$CFSIZE,260165632,201392128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.131, 93.3,1
$GPS,300709,182836,2411.332,12507.542,36,1.0,41,-3.6