version: 66.04
glider: 166
mission: 2
dive: 410
start: 7 29 109 18 49 32
data:
$ID,166
$MISSION,2
$DIVE,410
$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,-13597.793
$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,67
$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
$GPS1,183431,2408.160,12502.383,37,1.3,37,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.9
$GPS2,184910,2408.159,12502.495,10,2.8,29,-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,275.7,34919,-17.3,-12.000
$D_GRID,2166
$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,-219.0,0.0,0.0,0,101,0.00,0.00,-83.80,0.000,2,0.000,0.000,170,1688,2375
$GC,105,-1.20,-219.0,3.3,-6.6,13,158,8.80,2.12,-38.88,0.000,4,0.222,0.051,2362,3061,3840
$GC,289,-1.20,-219.0,39.3,-21.0,44,296,0.00,2.08,0.00,0.000,6,0.000,0.029,2353,1653,3841
$GC,635,-1.20,-219.0,103.2,-17.6,105,641,0.00,2.05,0.00,0.000,4,0.000,0.039,2352,266,3841
$GC,711,-1.20,-219.0,116.9,-18.1,118,719,0.12,2.08,0.00,0.000,6,0.175,0.027,2375,1723,3841
$GC,1057,-1.20,-219.0,172.0,-16.1,179,1063,0.00,2.15,0.00,0.000,4,0.000,0.038,2376,271,3842
$GC,1098,-1.20,-219.0,178.8,-15.5,186,1105,0.00,2.15,0.00,0.000,6,0.000,0.026,2372,1774,3841
$GC,1446,-1.20,-219.0,229.3,-14.8,247,1452,0.00,2.25,0.00,0.000,4,0.000,0.038,2374,263,3841
$GC,1520,-1.20,-219.0,240.5,-14.6,260,1527,0.00,2.22,0.00,0.000,6,0.000,0.027,2366,1815,3841
$GC,1865,-1.20,-219.0,286.4,-12.4,321,1871,0.00,2.30,0.00,0.000,4,0.000,0.038,2367,272,3840
$GC,1952,-1.20,-219.0,298.0,-13.9,336,1959,0.00,2.28,0.00,0.000,6,0.000,0.028,2365,1852,3840
$GC,2279,-1.20,-219.0,340.8,-13.0,368,2282,0.00,1.77,0.00,0.000,4,0.000,0.039,2366,3069,3839
$GC,2427,-1.20,-219.0,360.1,-12.8,381,2430,0.00,1.70,0.00,0.000,6,0.000,0.028,2366,1869,3838
$GC,2757,-1.20,-219.0,401.8,-12.3,412,2761,0.00,1.80,0.00,0.000,4,0.000,0.040,2365,3070,3837
$GC,2806,-1.20,-219.0,408.4,-13.1,416,2813,0.00,1.73,0.00,0.000,6,0.000,0.028,2367,1880,3836
$GC,3136,-1.20,-219.0,448.6,-11.7,447,3139,0.00,1.75,0.00,0.000,4,0.000,0.041,2364,3072,3834
$GC,3221,-1.20,-219.0,459.2,-12.1,454,3228,0.00,1.67,0.00,0.000,6,0.000,0.029,2365,1921,3833
$GC,3551,-1.20,-219.0,493.9,-10.6,485,3555,0.00,2.47,0.00,0.000,4,0.000,0.042,2365,270,3832
$GC,3590,-1.20,-219.0,498.9,-11.7,488,3595,0.00,2.40,0.00,0.000,6,0.000,0.030,2365,1910,3832
$GC,3919,-1.20,-219.0,534.5,-11.3,504,3923,0.00,1.73,0.00,0.000,4,0.000,0.045,2372,3069,3829
$GC,3936,-1.20,-219.0,536.8,-11.6,504,3942,0.00,1.62,0.00,0.000,6,0.000,0.031,2375,1961,3829
$GC,4252,-1.20,-219.0,572.2,-10.8,520,4255,0.00,1.67,0.00,0.000,4,0.000,0.047,2380,3067,3827
$GC,4331,-1.20,-219.0,580.9,-11.7,523,4335,0.00,1.65,0.00,0.000,6,0.000,0.032,2381,1927,3826
$GC,4654,-1.20,-219.0,613.9,-10.2,539,4658,0.00,1.73,0.00,0.000,4,0.000,0.048,2389,3060,3823
$GC,4746,-1.20,-219.0,623.5,-10.4,543,4749,0.00,1.62,0.00,0.000,6,0.000,0.034,2388,1949,3822
$GC,5080,-1.20,-219.0,658.2,-10.7,559,5084,0.00,1.70,0.00,0.000,4,0.000,0.049,2391,3066,3818
$GC,5119,-1.20,-219.0,662.9,-11.4,560,5125,0.00,1.62,0.00,0.000,6,0.000,0.035,2390,1978,3818
$GC,5436,-1.20,-219.0,699.1,-11.6,576,5440,0.00,1.65,0.00,0.000,4,0.000,0.051,2391,3057,3815
$GC,5469,-1.20,-219.0,703.3,-12.4,577,5473,0.00,1.60,0.00,0.000,6,0.000,0.036,2391,1990,3815
$GC,5792,-1.20,-219.0,739.5,-11.1,593,5796,0.00,2.65,0.00,0.000,4,0.000,0.052,2392,283,3811
$GC,5818,-1.20,-219.0,742.9,-12.1,594,5822,0.00,2.53,0.00,0.000,6,0.000,0.038,2381,1955,3811
$GC,6141,-1.20,-219.0,779.7,-11.5,610,6145,0.00,1.67,0.00,0.000,4,0.000,0.053,2374,3055,3808
$GC,6231,-1.20,-219.0,790.8,-12.0,614,6235,0.00,1.60,0.00,0.000,6,0.000,0.038,2374,1998,3807
$GC,6565,-1.20,-219.0,831.5,-12.1,630,6569,0.00,2.67,0.00,0.000,4,0.000,0.055,2374,288,3804
$GC,6614,-1.20,-219.0,838.3,-13.5,632,6618,0.00,2.58,0.00,0.000,6,0.000,0.044,2366,1969,3803
$GC,6933,-1.20,-219.0,877.1,-12.0,647,6937,0.00,1.67,0.00,0.000,4,0.000,0.056,2362,3058,3802
$GC,7002,-1.20,-219.0,885.7,-11.7,650,7006,0.00,1.60,0.00,0.000,6,0.000,0.040,2365,2005,3801
$GC,7336,-1.20,-219.0,925.9,-12.0,666,7340,0.00,2.67,0.00,0.000,4,0.000,0.055,2363,293,3799
$GC,7379,-1.20,-219.0,932.0,-12.6,668,7384,0.15,2.60,0.00,0.000,6,0.163,0.047,2380,1975,3798
$GC,7702,-1.20,-219.0,968.1,-11.6,684,7705,0.00,1.67,0.00,0.000,4,0.000,0.056,2367,3063,3795
$GC,7759,-1.20,-219.0,975.5,-13.2,686,7763,0.00,1.60,0.00,0.000,6,0.000,0.042,2370,1996,3795
$STATE,7872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7872,begin apogee
$GC,7880,-0.27,0.0,990.3,12.8,692,8077,0.95,0.00,187.88,1.448,6,0.123,0.000,2669,1364,2945
$STATE,8078,end apogee,CONTROL_FINISHED_OK
$STATE,8078,begin climb
$GC,8081,1.20,219.0,1006.7,0.0,702,8286,1.30,2.30,193.25,1.417,4,0.051,0.053,3152,2731,2051
$GC,8354,1.20,219.0,989.3,13.4,714,8357,0.00,2.17,0.00,0.000,6,0.000,0.045,3162,1338,2045
$GC,8675,1.20,219.0,946.1,14.0,730,8679,0.00,2.20,0.00,0.000,4,0.000,0.054,3161,2743,2043
$GC,8834,1.20,219.0,923.3,15.1,737,8838,0.00,2.12,0.00,0.000,6,0.000,0.047,3171,1367,2041
$GC,9169,1.20,219.0,874.0,14.7,753,9172,0.00,2.15,0.00,0.000,4,0.000,0.054,3171,2743,2040
$GC,9337,1.20,219.0,847.6,14.9,760,9341,0.00,2.05,0.00,0.000,6,0.000,0.044,3180,1392,2038
$GC,9658,1.20,219.0,799.7,14.6,776,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1392,2037
$GC,9969,1.20,219.0,754.1,14.7,791,9973,0.00,2.10,0.00,0.000,4,0.000,0.054,3179,2737,2036
$GC,10070,1.20,219.0,738.9,15.0,795,10074,0.15,2.03,0.00,0.000,6,0.199,0.044,3152,1410,2035
$GC,10391,1.20,219.0,698.1,12.4,811,10395,0.00,1.90,0.00,0.000,4,0.000,0.056,3159,212,2035
$GC,10430,1.20,219.0,692.8,13.5,812,10437,0.00,1.83,0.00,0.000,6,0.000,0.043,3159,1400,2035
$GC,10749,1.21,222.7,654.5,11.9,828,10752,0.00,2.08,0.00,0.000,4,0.000,0.052,3159,2750,2034
$GC,10839,1.21,222.7,642.8,12.8,832,10843,0.00,2.05,0.00,0.000,6,0.000,0.043,3167,1407,2034
$GC,11171,1.21,222.7,602.6,12.2,848,11175,0.00,2.10,0.00,0.000,4,0.000,0.058,3167,2752,2034
$GC,11348,1.21,222.7,580.3,13.3,855,11354,0.00,1.98,0.00,0.000,6,0.000,0.041,3175,1448,2033
$GC,11664,1.21,222.7,540.2,12.6,871,11668,0.00,1.98,0.00,0.000,4,0.000,0.057,3185,183,2033
$GC,11827,1.21,222.7,518.1,12.3,878,11832,0.12,1.85,0.00,0.000,6,0.196,0.042,3157,1416,2033
$GC,12151,1.29,289.6,482.9,9.5,901,12223,0.00,2.15,61.92,1.106,4,0.000,0.054,3151,2758,1763
$GC,12287,1.29,289.6,467.6,12.1,912,12294,0.00,2.05,0.00,0.000,6,0.000,0.041,3158,1430,1759
$GC,12615,1.31,305.3,432.9,11.4,943,12642,0.00,2.08,16.55,0.930,4,0.000,0.048,3160,2755,1699
$GC,12804,1.31,305.3,407.4,12.7,959,12810,0.00,1.98,0.00,0.000,6,0.000,0.040,3172,1460,1697
$GC,13133,1.33,321.0,367.9,11.4,990,13152,0.00,2.03,15.10,0.982,4,0.000,0.049,3174,2762,1636
$GC,13247,1.33,323.7,354.1,11.9,999,13253,0.00,1.95,0.00,0.000,6,0.000,0.039,3179,1476,1633
$GC,13575,1.33,323.7,315.4,12.2,1030,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1476,1633
$GC,13911,1.37,358.0,275.2,10.7,1080,13954,0.00,2.03,33.30,0.928,4,0.000,0.044,3184,2755,1484
$GC,14007,1.37,358.0,264.3,12.4,1096,14014,0.00,1.92,0.00,0.000,6,0.000,0.036,3191,1503,1483
$GC,14352,1.42,397.3,224.3,10.6,1157,14395,0.00,2.08,34.90,0.877,4,0.000,0.047,3202,196,1324
$GC,14481,1.42,397.3,206.8,13.2,1179,14487,0.00,1.95,0.00,0.000,6,0.000,0.034,3202,1509,1322
$GC,14826,1.43,402.3,162.0,11.8,1240,14839,0.00,2.08,5.45,0.630,4,0.000,0.050,3209,196,1305
$GC,14944,1.43,402.3,148.0,12.7,1260,14950,0.00,1.98,0.00,0.000,6,0.000,0.033,3210,1525,1305
$GC,15289,1.48,444.6,107.7,10.4,1321,15334,0.00,1.88,38.20,0.769,4,0.000,0.038,3214,2768,1131
$GC,15375,1.49,453.3,97.7,11.7,1335,15389,0.00,1.92,9.50,0.664,6,0.000,0.034,3223,1506,1095
$GC,15728,1.56,513.0,59.2,9.8,1397,15787,0.12,1.92,51.35,0.716,4,0.070,0.036,3282,2768,853
$GC,15884,1.56,513.0,39.4,13.0,1423,15890,0.00,1.88,0.00,0.000,6,0.000,0.033,3287,1526,853
$STATE,16165,end climb,SURFACE_DEPTH_REACHED
$STATE,16165,begin surface coast
$FINISH,0.9,1.008100
$STATE,16189,end surface coast,CONTROL_FINISHED_OK
$STATE,16189,begin surface
$SM_CCo,16209,80.97,0.659,0,0,454,610.80
$SM_GC,1.44,0.00,0.00,80.97,0.000,0.000,0.659,127,1713,454,-8.22,1.07,610.80
$IRIDIUM_FIX,2401.56,12502.62,231098,181808
$TT8_MAMPS,0.026845
$HUMID,1571
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.50
$XPDR_PINGS,147
$24V_AH,23.2,88.752
$10V_AH,10.6,59.027
$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,19.950,145.025,647.400,80.975,0.000,122.219,329.288,0.000,44.750,0.000,0.000,30.667,2597.229,9694.033,821.618,3167.677,877.387,0.000,2267.068,0.000,3107.455,0.000,54.429,0.000
$DEVICE_MAMPS,221.663,58.292,1448.096,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.551,1009.938,1700.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85326,1477
$CAP_FILE_SIZE,156906,0
$CFSIZE,260165632,201732096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.231, 80.9,1
$GPS,290709,232224,2408.508,12503.675,25,1.1,42,-3.6