version: 66.04
glider: 166
mission: 2
dive: 415
start: 7 30 109 18 48 6
data:
$ID,166
$MISSION,2
$DIVE,415
$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,475
$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,-13675.798
$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,19
$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,32
$R_STBD_OVSHOOT,69
$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
$GPS1,182836,2411.332,12507.542,36,1.0,41,-3.6
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.7
$GPS2,184744,2411.272,12507.710,14,1.6,14,-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,336.6,25482,-17.3,-12.000
$D_GRID,1913
$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,16,-1.18,-219.0,0.0,0.0,0,100,0.00,0.00,-82.22,0.000,2,0.000,0.000,167,1696,2316
$GC,105,-1.18,-219.0,3.2,-6.9,13,163,9.07,2.10,-40.62,0.000,4,0.227,0.053,2378,3057,3840
$GC,304,-1.18,-219.0,39.2,-17.9,47,312,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,1648,3841
$GC,653,-1.18,-219.0,102.3,-17.2,108,660,0.00,2.03,0.00,0.000,4,0.000,0.038,2368,270,3840
$GC,752,-1.18,-219.0,119.9,-16.4,125,759,0.00,2.08,0.00,0.000,6,0.000,0.027,2366,1724,3840
$GC,1098,-1.18,-219.0,171.6,-14.2,186,1104,0.00,2.00,0.00,0.000,4,0.000,0.038,2366,3066,3841
$GC,1277,-1.18,-219.0,197.7,-14.3,217,1283,0.00,1.90,0.00,0.000,6,0.000,0.027,2367,1744,3841
$GC,1622,-1.18,-219.0,245.7,-13.0,278,1629,0.00,1.98,0.00,0.000,4,0.000,0.038,2366,3064,3840
$GC,1714,-1.18,-219.0,258.3,-13.8,294,1720,0.00,1.88,0.00,0.000,6,0.000,0.026,2367,1759,3840
$GC,2056,-1.18,-219.0,306.0,-13.9,351,2060,0.00,1.95,0.00,0.000,4,0.000,0.039,2365,3077,3839
$GC,2198,-1.18,-219.0,325.5,-14.0,363,2206,0.00,1.80,0.00,0.000,6,0.000,0.027,2365,1807,3838
$GC,2528,-1.18,-219.0,365.9,-11.9,394,2532,0.00,1.88,0.00,0.000,4,0.000,0.040,2365,3072,3837
$GC,2601,-1.18,-219.0,375.2,-11.9,400,2608,0.00,1.77,0.00,0.000,6,0.000,0.028,2365,1844,3837
$GC,2930,-1.18,-219.0,412.5,-12.1,431,2933,0.00,1.83,0.00,0.000,4,0.000,0.041,2366,3070,3834
$GC,2999,-1.18,-219.0,420.8,-11.9,437,3002,0.00,1.70,0.00,0.000,6,0.000,0.028,2366,1873,3834
$GC,3330,-1.18,-219.0,461.2,-12.3,468,3333,0.00,1.80,0.00,0.000,4,0.000,0.043,2366,3067,3832
$GC,3410,-1.18,-219.0,470.8,-12.0,475,3413,0.00,1.70,0.00,0.000,6,0.000,0.029,2367,1887,3832
$GC,3752,-1.18,-219.0,509.9,-11.8,503,3756,0.00,1.77,0.00,0.000,4,0.000,0.045,2371,3064,3829
$GC,3814,-1.18,-219.0,518.0,-12.4,505,3819,0.00,1.62,0.00,0.000,6,0.000,0.030,2370,1928,3829
$GC,4130,-1.18,-219.0,553.0,-10.3,521,4134,0.00,1.73,0.00,0.000,4,0.000,0.045,2381,3073,3826
$GC,4210,-1.18,-219.0,561.9,-11.6,524,4213,0.00,1.60,0.00,0.000,6,0.000,0.031,2381,1961,3825
$GC,4532,-1.18,-219.0,596.3,-10.8,540,4535,0.00,1.67,0.00,0.000,4,0.000,0.048,2381,3066,3822
$GC,4579,-1.18,-219.0,601.5,-11.9,542,4583,0.00,1.58,0.00,0.000,6,0.000,0.032,2379,1997,3822
$GC,4913,-1.18,-219.0,639.9,-11.6,558,4916,0.00,1.62,0.00,0.000,4,0.000,0.051,2382,3061,3818
$GC,4963,-1.18,-219.0,646.0,-12.5,560,4967,0.00,1.55,0.00,0.000,6,0.000,0.034,2380,2016,3818
$GC,5292,-1.18,-219.0,681.6,-10.4,576,5295,0.00,1.60,0.00,0.000,4,0.000,0.051,2378,3057,3815
$GC,5331,-1.18,-219.0,686.0,-10.7,577,5336,0.00,1.52,0.00,0.000,6,0.000,0.035,2379,2036,3814
$GC,5648,-1.18,-219.0,718.8,-10.5,593,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2036,3811
$GC,5958,-1.18,-219.0,752.3,-11.0,608,5962,0.00,1.60,0.00,0.000,4,0.000,0.054,2377,3050,3808
$GC,5986,-1.18,-219.0,755.8,-12.3,609,5989,0.00,1.52,0.00,0.000,6,0.000,0.037,2377,2042,3807
$GC,6313,-1.18,-219.0,791.5,-10.8,625,6318,0.00,2.72,0.00,0.000,4,0.000,0.051,2377,282,3805
$GC,6347,-1.18,-219.0,795.7,-13.1,626,6353,0.00,2.62,0.00,0.000,6,0.000,0.041,2367,2009,3804
$GC,6663,-1.18,-219.0,833.7,-11.9,642,6667,0.00,1.65,0.00,0.000,4,0.000,0.064,2360,3054,3802
$GC,6757,-1.18,-219.0,846.1,-13.0,646,6761,0.00,1.52,0.00,0.000,6,0.000,0.039,2361,2044,3801
$GC,7087,-1.18,-219.0,889.6,-13.6,662,7091,0.00,2.75,0.00,0.000,4,0.000,0.055,2361,295,3799
$GC,7131,-1.18,-219.0,896.6,-14.8,664,7136,0.12,2.60,0.00,0.000,6,0.166,0.042,2385,1993,3798
$GC,7454,-1.18,-219.0,936.7,-11.6,680,7458,0.00,2.67,0.00,0.000,4,0.000,0.054,2385,287,3796
$GC,7486,-1.18,-219.0,941.3,-13.2,681,7492,0.00,2.60,0.00,0.000,6,0.000,0.044,2379,1975,3795
$GC,7802,-1.18,-219.0,980.2,-12.3,697,7806,0.00,1.67,0.00,0.000,4,0.000,0.058,2373,3059,3793
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7888,-0.26,0.0,990.0,12.2,700,8080,0.95,0.00,185.93,1.458,6,0.131,0.000,2673,1367,2945
$STATE,8081,end apogee,CONTROL_FINISHED_OK
$STATE,8081,begin climb
$GC,8084,1.18,219.0,1003.4,0.0,710,8289,1.30,2.25,193.50,1.414,4,0.054,0.055,3141,2728,2051
$GC,8350,1.18,219.0,982.1,14.4,722,8354,0.00,2.17,0.00,0.000,6,0.000,0.046,3151,1343,2046
$GC,8672,1.18,219.0,935.6,14.4,738,8675,0.00,2.17,0.00,0.000,4,0.000,0.054,3148,2732,2043
$GC,8796,1.18,219.0,916.6,14.8,743,8799,0.00,2.10,0.00,0.000,6,0.000,0.046,3157,1368,2042
$GC,9118,1.18,219.0,868.0,14.9,759,9122,0.00,2.12,0.00,0.000,4,0.000,0.054,3155,2734,2040
$GC,9151,1.18,219.0,862.7,15.8,760,9154,0.00,2.10,0.00,0.000,6,0.000,0.046,3164,1370,2039
$GC,9475,1.18,219.0,817.6,13.5,776,9478,0.00,2.15,0.00,0.000,4,0.000,0.061,3163,2733,2038
$GC,9610,1.18,219.0,799.0,13.4,782,9614,0.00,2.05,0.00,0.000,6,0.000,0.046,3172,1400,2037
$GC,9942,1.18,219.0,756.3,13.1,798,9946,0.00,2.08,0.00,0.000,4,0.000,0.054,3172,2732,2037
$GC,10057,1.18,219.0,740.9,12.9,803,10062,0.15,2.05,0.00,0.000,6,0.198,0.046,3146,1399,2036
$GC,10391,1.18,219.0,697.5,13.4,819,10395,0.00,2.10,0.00,0.000,4,0.000,0.060,3139,2734,2036
$GC,10497,1.18,219.0,683.4,12.7,823,10503,0.00,2.03,0.00,0.000,6,0.000,0.045,3147,1412,2035
$GC,10814,1.19,225.3,644.1,11.8,839,10823,0.00,2.12,3.92,0.805,4,0.000,0.054,3144,2734,2026
$GC,10968,1.19,225.3,625.5,12.7,845,10974,0.00,2.00,0.00,0.000,6,0.000,0.044,3152,1430,2025
$GC,11284,1.20,233.4,589.7,11.7,861,11299,0.00,1.98,9.35,1.115,4,0.000,0.058,3163,202,1993
$GC,11330,1.20,233.4,583.9,13.0,863,11333,0.00,1.85,0.00,0.000,6,0.000,0.043,3162,1419,1991
$GC,11665,1.20,233.4,543.5,12.2,879,11668,0.00,2.05,0.00,0.000,4,0.000,0.052,3163,2747,1991
$GC,11810,1.20,233.4,525.9,12.4,885,11814,0.00,2.00,0.00,0.000,6,0.000,0.044,3174,1440,1991
$GC,12135,1.22,253.5,488.0,11.3,905,12160,0.00,2.10,19.05,1.116,4,0.000,0.052,3174,2737,1910
$GC,12188,1.22,253.5,481.2,12.7,909,12194,0.00,1.98,0.00,0.000,6,0.000,0.044,3181,1457,1909
$GC,12515,1.27,292.7,442.1,10.6,940,12555,0.00,2.08,35.50,1.091,4,0.000,0.055,3192,195,1750
$GC,12642,1.27,294.4,427.2,11.9,950,12650,0.00,1.88,0.00,0.000,6,0.000,0.041,3191,1404,1747
$GC,12972,1.27,294.4,385.6,12.3,981,12976,0.00,1.90,0.00,0.000,4,0.000,0.054,3202,193,1745
$GC,13086,1.27,295.0,371.4,12.0,991,13090,0.00,1.90,0.00,0.000,6,0.000,0.041,3202,1452,1745
$GC,13420,1.30,316.9,332.8,11.2,1022,13447,0.00,2.00,22.08,0.979,4,0.000,0.047,3202,2741,1651
$GC,13569,1.30,316.9,314.5,12.0,1035,13573,0.00,1.92,0.00,0.000,6,0.000,0.041,3210,1479,1649
$GC,13908,1.30,316.9,272.1,13.2,1085,13913,0.00,1.98,0.00,0.000,4,0.000,0.051,3219,195,1648
$GC,13970,1.30,316.9,263.7,12.5,1096,13977,0.10,1.92,0.00,0.000,6,0.172,0.038,3179,1465,1648
$GC,14318,1.38,382.0,227.2,9.6,1157,14380,0.00,2.08,56.90,0.888,4,0.000,0.049,3186,195,1386
$GC,14495,1.38,382.0,206.2,12.3,1187,14500,0.00,1.98,0.00,0.000,6,0.000,0.035,3186,1516,1383
$GC,14840,1.39,394.9,164.8,11.5,1248,14860,0.00,1.85,12.20,0.767,4,0.000,0.041,3186,2749,1334
$GC,14952,1.43,425.8,151.6,10.9,1267,14984,0.00,1.88,28.15,0.795,6,0.000,0.035,3192,1515,1209
$GC,15328,1.48,466.0,110.3,10.5,1332,15373,0.15,2.10,35.67,0.759,4,0.064,0.048,3274,193,1045
$GC,15482,1.48,466.0,88.8,13.1,1358,15490,0.12,2.05,0.00,0.000,6,0.171,0.031,3240,1592,1044
$GC,15831,1.51,487.6,50.5,11.2,1419,15857,0.00,2.20,19.67,0.685,4,0.000,0.044,3249,197,958
$GC,15965,1.51,487.6,34.9,12.2,1442,15973,0.00,2.10,0.00,0.000,6,0.000,0.030,3249,1642,957
$STATE,16259,end climb,SURFACE_DEPTH_REACHED
$STATE,16259,begin surface coast
$FINISH,0.8,1.019612
$STATE,16289,end surface coast,CONTROL_FINISHED_OK
$STATE,16289,begin surface
$SM_CCo,16368,0.00,0.000,0,0,954,488.39
$SM_GC,1.62,8.15,0.00,0.00,0.039,0.000,0.000,168,1644,954,-8.11,-0.88,488.39
$IRIDIUM_FIX,2401.56,12509.20,241098,181843
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.30
$XPDR_PINGS,151
$24V_AH,22.8,90.069
$10V_AH,10.6,59.800
$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,20.125,146.525,621.925,0.000,0.000,77.774,172.898,591.240,45.750,0.000,0.000,14.974,2637.335,9684.656,709.157,3165.052,1304.435,0.000,2156.164,0.000,3132.491,0.000,54.425,0.000
$DEVICE_MAMPS,227.032,63.661,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.638,1035.246,1738.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88534,1499
$CAP_FILE_SIZE,167242,0
$CFSIZE,260165632,201326592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 94.6,1
$GPS,300709,232207,2412.151,12509.251,36,1.4,36,-3.6