version: 66.04
glider: 166
mission: 2
dive: 400
start: 7 27 109 20 13 24
data:
$ID,166
$MISSION,2
$DIVE,400
$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,-13350.869
$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,46
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,195637,2400.764,12451.732,36,1.0,36,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.4
$GPS2,201301,2400.834,12451.970,14,1.7,14,-3.5
$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,315.0,32149,-17.3,-12.000
$D_GRID,2516
$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,-219.0,0.0,0.0,0,85,0.00,0.00,-68.03,0.000,2,0.000,0.000,169,1727,2291
$GC,89,-1.20,-219.0,3.1,-5.8,10,148,8.73,2.22,-42.00,0.000,4,0.219,0.052,2368,257,3837
$GC,218,-1.20,-219.0,27.3,-22.0,31,225,0.00,2.03,0.00,0.000,6,0.000,0.028,2364,1663,3838
$GC,565,-1.20,-219.0,96.8,-17.6,92,571,0.00,2.10,0.00,0.000,4,0.000,0.038,2365,267,3838
$GC,584,-1.20,-219.0,100.4,-17.7,95,591,0.00,2.03,0.00,0.000,6,0.000,0.027,2364,1686,3838
$GC,929,-1.20,-219.0,161.4,-16.5,156,936,0.00,2.10,0.00,0.000,4,0.000,0.038,2363,261,3838
$GC,1040,-1.20,-219.0,181.0,-17.5,175,1047,0.00,2.03,0.00,0.000,6,0.000,0.027,2358,1683,3839
$GC,1386,-1.20,-219.0,239.1,-17.2,236,1392,0.00,2.10,0.00,0.000,4,0.000,0.038,2357,260,3838
$GC,1483,-1.20,-219.0,256.1,-17.6,253,1489,0.00,2.03,0.00,0.000,6,0.000,0.027,2348,1678,3838
$GC,1825,-1.20,-219.0,306.4,-13.6,310,1829,0.12,2.10,0.00,0.000,4,0.168,0.038,2378,266,3838
$GC,1891,-1.20,-219.0,315.8,-13.4,315,1898,0.00,2.03,0.00,0.000,6,0.000,0.026,2372,1686,3838
$GC,2216,-1.20,-219.0,359.3,-13.2,346,2220,0.00,2.12,0.00,0.000,4,0.000,0.039,2373,258,3837
$GC,2297,-1.20,-219.0,370.3,-14.1,353,2300,0.00,2.03,0.00,0.000,6,0.000,0.028,2370,1675,3837
$GC,2628,-1.20,-219.0,412.1,-12.8,384,2631,0.00,2.10,0.00,0.000,4,0.000,0.041,2370,267,3836
$GC,2690,-1.20,-219.0,420.5,-13.8,389,2696,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,1675,3835
$GC,3015,-1.20,-219.0,462.1,-12.2,420,3019,0.00,2.10,0.00,0.000,4,0.000,0.041,2368,270,3834
$GC,3084,-1.20,-219.0,471.3,-13.5,426,3088,0.00,2.03,0.00,0.000,6,0.000,0.028,2369,1679,3834
$GC,3415,-1.20,-219.0,509.7,-10.9,453,3418,0.00,2.12,0.00,0.000,4,0.000,0.043,2368,265,3831
$GC,3510,-1.20,-219.0,521.7,-12.5,457,3514,0.00,2.05,0.00,0.000,6,0.000,0.030,2373,1681,3831
$GC,3838,-1.20,-219.0,560.4,-11.6,473,3842,0.00,2.15,0.00,0.000,4,0.000,0.044,2373,259,3829
$GC,3916,-1.20,-219.0,570.6,-12.2,476,3920,0.00,2.08,0.00,0.000,6,0.000,0.031,2378,1680,3828
$GC,4239,-1.20,-219.0,606.3,-11.5,492,4243,0.00,2.08,0.00,0.000,4,0.000,0.046,2390,3066,3826
$GC,4312,-1.20,-219.0,614.6,-10.8,495,4316,0.00,2.05,0.00,0.000,6,0.000,0.034,2389,1664,3825
$GC,4639,-1.20,-219.0,648.1,-10.2,511,4643,0.00,2.12,0.00,0.000,4,0.000,0.049,2389,264,3823
$GC,4731,-1.20,-219.0,658.7,-12.1,515,4735,0.00,2.10,0.00,0.000,6,0.000,0.035,2391,1684,3821
$GC,5064,-1.20,-219.0,697.1,-11.4,531,5068,0.00,2.17,0.00,0.000,4,0.000,0.050,2391,268,3818
$GC,5166,-1.20,-219.0,710.4,-13.3,535,5170,0.00,2.10,0.00,0.000,6,0.000,0.035,2391,1684,3817
$GC,5487,-1.20,-219.0,749.1,-11.8,551,5491,0.00,2.20,0.00,0.000,4,0.000,0.054,2391,270,3813
$GC,5593,-1.20,-219.0,762.7,-12.0,555,5601,0.00,2.10,0.00,0.000,6,0.000,0.036,2383,1681,3812
$GC,5911,-1.20,-219.0,802.1,-12.5,571,5915,0.00,2.15,0.00,0.000,4,0.000,0.051,2373,3087,3809
$GC,6079,-1.20,-219.0,824.3,-13.6,578,6083,0.00,2.10,0.00,0.000,6,0.000,0.040,2373,1683,3807
$GC,6402,-1.20,-219.0,868.8,-14.4,594,6406,0.00,2.17,0.00,0.000,4,0.000,0.058,2366,3075,3804
$GC,6474,-1.20,-219.0,879.4,-14.2,597,6478,0.00,2.12,0.00,0.000,6,0.000,0.042,2366,1673,3804
$GC,6804,-1.20,-219.0,925.5,-13.9,613,6807,0.00,2.17,0.00,0.000,4,0.000,0.056,2366,3069,3801
$GC,6905,-1.20,-219.0,939.7,-13.6,617,6909,0.00,2.12,0.00,0.000,6,0.000,0.049,2365,1676,3800
$GC,7227,-1.20,-219.0,982.3,-12.7,633,7231,0.00,2.20,0.00,0.000,4,0.000,0.057,2356,3076,3798
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7286,begin apogee
$GC,7296,-0.27,0.0,990.5,13.5,635,7486,1.00,0.00,186.50,1.452,6,0.132,0.000,2669,1349,2945
$STATE,7487,end apogee,CONTROL_FINISHED_OK
$STATE,7487,begin climb
$GC,7490,1.20,219.0,1002.2,0.0,645,7694,1.35,2.33,192.82,1.408,4,0.055,0.054,3157,2743,2051
$GC,7746,1.20,219.0,981.3,15.6,656,7753,0.00,2.20,0.00,0.000,6,0.000,0.046,3166,1337,2047
$GC,8062,1.20,219.0,935.6,14.3,672,8065,0.00,2.22,0.00,0.000,4,0.000,0.053,3160,2756,2043
$GC,8123,1.20,219.0,926.6,14.8,674,8129,0.00,2.20,0.00,0.000,6,0.000,0.046,3167,1349,2041
$GC,8440,1.20,219.0,882.0,13.9,690,8444,0.00,2.20,0.00,0.000,4,0.000,0.054,3165,2753,2041
$GC,8607,1.20,219.0,857.7,13.8,697,8611,0.00,2.17,0.00,0.000,6,0.000,0.050,3173,1338,2039
$GC,8930,1.20,219.0,813.8,13.5,713,8934,0.00,2.20,0.00,0.000,4,0.000,0.053,3173,2753,2038
$GC,9036,1.20,219.0,798.3,14.9,717,9044,0.12,2.17,0.00,0.000,6,0.208,0.045,3156,1335,2037
$GC,9352,1.20,219.0,757.5,13.0,733,9356,0.00,2.20,0.00,0.000,4,0.000,0.058,3155,2752,2036
$GC,9444,1.20,219.0,745.5,13.2,737,9447,0.00,2.15,0.00,0.000,6,0.000,0.044,3163,1346,2035
$GC,9776,1.20,219.0,700.7,13.6,753,9780,0.00,2.22,0.00,0.000,4,0.000,0.058,3163,2761,2035
$GC,9844,1.20,219.0,691.0,14.6,756,9848,0.00,2.17,0.00,0.000,6,0.000,0.046,3172,1342,2034
$GC,10171,1.20,219.0,647.9,13.4,772,10175,0.00,2.20,0.00,0.000,4,0.000,0.051,3171,2759,2034
$GC,10310,1.20,219.0,628.5,13.4,778,10314,0.00,2.20,0.00,0.000,6,0.000,0.046,3180,1339,2033
$GC,10638,1.20,219.0,585.3,13.3,794,10641,0.00,2.20,0.00,0.000,4,0.000,0.053,3180,2753,2033
$GC,10846,1.20,219.0,558.0,12.4,803,10851,0.15,2.17,0.00,0.000,6,0.198,0.051,3155,1348,2032
$GC,11169,1.26,264.8,524.3,10.3,819,11219,0.00,2.28,40.30,1.124,4,0.000,0.055,3152,2747,1865
$GC,11305,1.26,264.8,508.5,12.4,825,11308,0.00,2.17,0.00,0.000,6,0.000,0.047,3161,1349,1861
$GC,11631,1.26,268.8,471.2,11.9,852,11643,0.00,1.83,4.15,0.747,4,0.000,0.057,3174,207,1849
$GC,11851,1.30,300.6,443.9,10.8,871,11885,0.00,1.73,30.08,1.080,6,0.000,0.041,3175,1364,1719
$GC,12204,1.30,300.6,401.2,12.0,904,12207,0.00,2.12,0.00,0.000,4,0.000,0.048,3177,2750,1715
$GC,12339,1.30,300.6,384.9,12.2,916,12343,0.00,2.15,0.00,0.000,6,0.000,0.041,3184,1336,1714
$GC,12672,1.30,300.6,344.3,12.1,947,12676,0.00,2.15,0.00,0.000,4,0.000,0.045,3185,2749,1714
$GC,12722,1.30,300.6,337.8,12.2,951,12728,0.00,2.12,0.00,0.000,6,0.000,0.041,3193,1343,1714
$GC,13051,1.31,308.7,301.2,11.7,982,13063,0.00,2.20,8.10,0.837,4,0.000,0.044,3192,2749,1686
$GC,13256,1.34,331.0,276.1,11.2,1017,13288,0.00,2.12,21.42,0.906,6,0.000,0.038,3200,1339,1595
$GC,13626,1.34,331.0,233.1,12.0,1082,13632,0.00,1.75,0.00,0.000,4,0.000,0.050,3209,209,1593
$GC,13773,1.35,335.0,215.9,11.9,1108,13786,0.00,1.70,4.95,0.637,6,0.000,0.034,3209,1357,1578
$GC,14126,1.38,360.4,175.7,11.1,1170,14158,0.00,2.12,23.77,0.812,4,0.000,0.039,3209,2738,1474
$GC,14256,1.40,382.1,160.9,11.2,1192,14282,0.00,2.12,19.90,0.780,6,0.000,0.036,3218,1343,1387
$GC,14623,1.42,395.1,117.7,11.5,1256,14644,0.00,2.15,12.88,0.715,4,0.000,0.042,3218,2741,1334
$GC,14760,1.43,407.2,102.5,11.6,1279,14779,0.00,2.10,12.15,0.692,6,0.000,0.035,3226,1353,1285
$GC,15119,1.50,464.2,63.4,9.9,1342,15175,0.00,1.77,49.88,0.712,4,0.000,0.046,3235,198,1052
$GC,15233,1.55,498.9,51.0,10.7,1361,15272,0.00,1.70,30.33,0.682,6,0.000,0.031,3235,1354,911
$GC,15615,1.59,537.2,11.2,10.6,1427,15654,0.12,2.15,33.25,0.647,4,0.068,0.034,3299,2752,755
$STATE,15675,end climb,SURFACE_DEPTH_REACHED
$STATE,15675,begin surface coast
$FINISH,0.8,1.010746
$STATE,15699,end surface coast,CONTROL_FINISHED_OK
$STATE,15699,begin surface
$SM_CCo,15780,0.00,0.000,0,0,753,537.70
$SM_GC,1.65,8.38,0.00,0.00,0.040,0.000,0.000,162,1671,753,-8.12,-0.11,537.70
$IRIDIUM_FIX,2354.48,12452.75,211098,202007
$TT8_MAMPS,0.026845
$HUMID,1600
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.60
$XPDR_PINGS,140
$24V_AH,23.2,86.298
$10V_AH,10.6,57.531
$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,19.975,151.550,670.475,0.000,0.000,95.112,198.893,338.189,43.000,0.000,0.000,14.297,2536.537,9267.566,737.341,3162.787,1047.968,0.000,2186.983,0.000,3117.946,0.000,54.424,0.000
$DEVICE_MAMPS,219.362,58.292,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.052,993.768,1673.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85365,1441
$CAP_FILE_SIZE,158787,0
$CFSIZE,260165632,202661888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181, 82.9,1
$GPS,280709,003737,2401.298,12453.219,37,1.0,37,-3.5