version: 66.04
glider: 166
mission: 2
dive: 412
start: 7 30 109 4 16 31
data:
$ID,166
$MISSION,2
$DIVE,412
$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,-13629.047
$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,51
$R_STBD_OVSHOOT,57
$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
$GPS1,040101,2409.312,12504.565,43,1.2,43,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.1
$GPS2,041608,2409.520,12504.686,13,1.5,13,-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,268.5,37303,-17.3,-12.000
$D_GRID,2233
$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,-219.0,0.0,0.0,0,78,0.00,0.00,-60.80,0.000,2,0.000,0.000,171,1654,2278
$GC,81,-1.20,-219.0,3.1,-5.4,9,141,9.02,2.15,-43.88,0.000,4,0.229,0.052,2367,267,3839
$GC,212,-1.20,-219.0,25.2,-20.6,30,219,0.00,2.05,0.00,0.000,6,0.000,0.028,2354,1688,3840
$GC,558,-1.20,-219.0,95.5,-18.4,91,565,0.00,2.08,0.00,0.000,4,0.000,0.040,2361,3070,3840
$GC,774,-1.20,-219.0,132.3,-16.6,129,781,0.00,2.00,0.00,0.000,6,0.000,0.028,2360,1694,3841
$GC,1120,-1.20,-219.0,188.9,-16.5,190,1127,0.00,2.03,0.00,0.000,4,0.000,0.036,2347,3075,3842
$GC,1206,-1.20,-219.0,203.3,-16.8,205,1213,0.12,1.95,0.00,0.000,6,0.163,0.026,2378,1705,3842
$GC,1551,-1.20,-219.0,254.7,-14.2,266,1558,0.00,2.10,0.00,0.000,4,0.000,0.039,2373,281,3841
$GC,1610,-1.20,-219.0,263.8,-15.8,276,1616,0.00,2.20,0.00,0.000,6,0.000,0.027,2362,1789,3841
$GC,1949,-1.20,-219.0,311.8,-12.6,329,1953,0.00,2.25,0.00,0.000,4,0.000,0.039,2361,279,3840
$GC,2045,-1.20,-219.0,325.3,-14.1,337,2053,0.00,2.25,0.00,0.000,6,0.000,0.028,2355,1835,3840
$GC,2372,-1.20,-219.0,368.1,-13.7,368,2376,0.00,1.83,0.00,0.000,4,0.000,0.041,2354,3075,3839
$GC,2502,-1.20,-219.0,386.4,-14.0,379,2508,0.00,1.75,0.00,0.000,6,0.000,0.028,2354,1841,3838
$GC,2827,-1.20,-219.0,427.9,-12.0,410,2830,0.00,1.83,0.00,0.000,4,0.000,0.041,2354,3069,3837
$GC,2900,-1.20,-219.0,437.2,-12.1,416,2906,0.00,1.73,0.00,0.000,6,0.000,0.029,2354,1881,3837
$GC,3226,-1.20,-219.0,476.4,-11.9,447,3230,0.00,1.77,0.00,0.000,4,0.000,0.043,2355,3070,3834
$GC,3261,-1.20,-219.0,480.7,-12.4,450,3264,0.00,1.70,0.00,0.000,6,0.000,0.029,2355,1880,3834
$GC,3600,-1.20,-219.0,519.4,-11.6,474,3604,0.00,1.77,0.00,0.000,4,0.000,0.044,2359,3065,3832
$GC,3661,-1.20,-219.0,527.4,-12.6,476,3667,0.00,1.67,0.00,0.000,6,0.000,0.030,2361,1918,3832
$GC,3978,-1.20,-219.0,563.4,-10.7,492,3982,0.00,1.73,0.00,0.000,4,0.000,0.047,2372,3060,3830
$GC,4017,-1.20,-219.0,567.9,-11.1,493,4023,0.00,1.62,0.00,0.000,6,0.000,0.031,2370,1930,3829
$GC,4335,-1.20,-219.0,599.3,-9.9,509,4340,0.00,1.73,0.00,0.000,4,0.000,0.048,2378,3061,3826
$GC,4386,-1.20,-219.0,604.9,-11.2,511,4390,0.00,1.62,0.00,0.000,6,0.000,0.033,2377,1942,3826
$GC,4715,-1.20,-219.0,640.6,-11.1,527,4718,0.00,1.73,0.00,0.000,4,0.000,0.050,2371,3067,3822
$GC,4761,-1.20,-219.0,646.0,-11.6,529,4764,0.00,1.62,0.00,0.000,6,0.000,0.035,2371,1959,3822
$GC,5095,-1.20,-219.0,683.2,-11.1,545,5099,0.00,1.70,0.00,0.000,4,0.000,0.052,2366,3069,3819
$GC,5157,-1.20,-219.0,690.9,-12.0,547,5162,0.00,1.60,0.00,0.000,6,0.000,0.035,2367,2003,3817
$GC,5474,-1.20,-219.0,729.2,-12.7,563,5478,0.00,2.62,0.00,0.000,4,0.000,0.050,2367,302,3815
$GC,5514,-1.20,-219.0,734.9,-14.5,565,5519,0.00,2.53,0.00,0.000,6,0.000,0.038,2356,1970,3814
$GC,5842,-1.20,-219.0,779.4,-13.7,581,5845,0.00,1.67,0.00,0.000,4,0.000,0.055,2354,3063,3811
$GC,5897,-1.20,-219.0,787.6,-14.1,583,5901,0.00,1.60,0.00,0.000,6,0.000,0.038,2354,2005,3810
$GC,6221,-1.20,-219.0,832.5,-14.3,599,6226,0.00,2.67,0.00,0.000,4,0.000,0.058,2354,296,3808
$GC,6271,-1.20,-219.0,840.9,-16.3,601,6276,0.12,2.58,0.00,0.000,6,0.175,0.043,2373,1968,3806
$GC,6587,-1.20,-219.0,882.6,-13.1,616,6591,0.00,1.73,0.00,0.000,4,0.000,0.064,2367,3057,3805
$GC,6659,-1.20,-219.0,892.2,-12.8,619,6662,0.00,1.60,0.00,0.000,6,0.000,0.040,2367,2003,3804
$GC,6987,-1.20,-219.0,933.4,-12.5,635,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2003,3801
$GC,7296,-1.20,-219.0,970.6,-12.0,650,7300,0.00,2.67,0.00,0.000,4,0.000,0.056,2367,301,3800
$GC,7323,-1.20,-219.0,974.3,-13.1,651,7327,0.00,2.55,0.00,0.000,6,0.000,0.043,2355,1958,3800
$STATE,7451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7451,begin apogee
$GC,7458,-0.27,0.0,990.7,12.7,657,7656,1.02,0.00,188.38,1.443,6,0.132,0.000,2671,1382,2946
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7660,1.20,219.0,1002.9,0.0,667,7862,1.33,2.22,194.12,1.411,4,0.056,0.054,3142,2732,2051
$GC,7875,1.20,219.0,989.2,14.2,676,7879,0.00,2.22,0.00,0.000,6,0.000,0.046,3152,1342,2048
$GC,8192,1.20,219.0,942.3,15.2,691,8195,0.00,2.20,0.00,0.000,4,0.000,0.060,3150,2737,2042
$GC,8275,1.20,219.0,929.6,14.5,694,8281,0.00,2.12,0.00,0.000,6,0.000,0.048,3159,1358,2041
$GC,8591,1.20,219.0,886.5,13.0,710,8594,0.00,2.17,0.00,0.000,4,0.000,0.055,3158,2748,2040
$GC,8693,1.20,219.0,872.8,13.7,714,8697,0.00,2.10,0.00,0.000,6,0.000,0.047,3168,1383,2039
$GC,9015,1.22,229.7,833.0,11.6,730,9029,0.00,2.17,8.73,1.197,4,0.000,0.055,3167,2740,2008
$GC,9074,1.22,229.7,825.0,13.3,732,9081,0.00,2.12,0.00,0.000,6,0.000,0.048,3177,1368,2006
$GC,9391,1.22,229.7,785.2,13.0,748,9395,0.00,2.15,0.00,0.000,4,0.000,0.055,3176,2741,2004
$GC,9460,1.22,229.7,776.1,13.0,751,9464,0.00,2.08,0.00,0.000,6,0.000,0.048,3186,1399,2004
$GC,9794,1.22,229.7,729.5,13.9,767,9797,0.00,2.10,0.00,0.000,4,0.000,0.054,3186,2746,2003
$GC,9951,1.22,229.7,706.2,15.0,774,9955,0.15,2.03,0.00,0.000,6,0.199,0.054,3159,1430,2002
$GC,10283,1.22,229.7,660.4,13.9,790,10286,0.00,2.05,0.00,0.000,4,0.000,0.059,3150,2737,2002
$GC,10329,1.22,229.7,653.9,14.5,792,10332,0.00,1.98,0.00,0.000,6,0.000,0.045,3157,1452,2002
$GC,10662,1.22,229.7,610.7,12.8,808,10665,0.00,2.00,0.00,0.000,4,0.000,0.054,3157,2737,2002
$GC,10740,1.22,229.7,600.5,12.2,811,10744,0.00,1.98,0.00,0.000,6,0.000,0.046,3166,1452,2002
$GC,11062,1.22,229.7,559.3,13.3,827,11066,0.00,2.00,0.00,0.000,4,0.000,0.051,3166,2746,2002
$GC,11202,1.22,229.7,540.4,13.4,833,11206,0.00,1.90,0.00,0.000,6,0.000,0.042,3173,1495,2001
$GC,11532,1.27,276.4,502.8,10.3,849,11587,0.00,2.00,43.20,1.108,4,0.000,0.050,3175,2746,1818
$GC,11794,1.27,276.4,471.6,12.1,871,11802,0.00,1.85,0.00,0.000,6,0.000,0.041,3183,1537,1813
$GC,12122,1.27,276.4,430.9,12.1,902,12126,0.00,2.08,0.00,0.000,4,0.000,0.053,3200,195,1812
$GC,12202,1.29,288.1,420.8,11.6,909,12218,0.00,2.05,11.20,1.002,6,0.000,0.041,3200,1548,1770
$GC,12538,1.30,299.9,382.7,11.6,940,12555,0.00,1.83,12.48,0.979,4,0.000,0.047,3201,2740,1720
$GC,12669,1.30,299.9,366.0,12.9,951,12672,0.00,1.85,0.00,0.000,6,0.000,0.040,3207,1541,1719
$GC,13002,1.30,299.9,325.1,12.8,982,13005,0.00,1.85,0.00,0.000,4,0.000,0.046,3206,2755,1719
$GC,13120,1.32,314.7,310.5,11.5,992,13141,0.00,1.80,14.20,0.926,6,0.000,0.038,3212,1570,1661
$GC,13478,1.33,321.0,268.7,11.8,1047,13492,0.00,2.12,7.47,0.798,4,0.000,0.048,3223,190,1635
$GC,13516,1.33,321.0,263.5,13.0,1053,13523,0.12,2.08,0.00,0.000,6,0.176,0.036,3194,1587,1635
$GC,13862,1.40,375.4,225.3,10.0,1114,13916,0.00,0.00,48.03,0.881,6,0.000,0.000,3194,1586,1413
$GC,14255,1.40,375.4,178.5,13.1,1183,14262,0.00,1.77,0.00,0.000,4,0.000,0.041,3190,2750,1411
$GC,14349,1.40,375.4,166.5,13.0,1199,14356,0.00,1.83,0.00,0.000,6,0.000,0.035,3196,1543,1410
$GC,14696,1.45,423.3,126.4,10.2,1260,14747,0.10,1.88,41.65,0.781,4,0.081,0.039,3245,2742,1219
$GC,14784,1.47,431.8,116.1,11.7,1274,14799,0.00,1.80,9.23,0.670,6,0.000,0.033,3251,1559,1183
$GC,15139,1.50,458.3,75.3,11.0,1336,15171,0.00,1.85,23.95,0.714,4,0.000,0.038,3251,2748,1076
$GC,15218,1.51,467.2,65.7,11.7,1349,15232,0.00,1.75,9.18,0.630,6,0.000,0.031,3259,1581,1040
$GC,15571,1.52,475.7,22.5,11.7,1411,15585,0.00,1.80,9.12,0.600,4,0.000,0.035,3259,2752,1004
$GC,15610,1.54,491.6,17.9,11.4,1417,15630,0.00,1.73,14.82,0.634,6,0.000,0.031,3265,1586,940
$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,0.8,1.010108
$STATE,15768,end surface coast,CONTROL_FINISHED_OK
$STATE,15768,begin surface
$SM_CCo,15787,98.95,0.656,0,0,455,610.80
$SM_GC,1.57,0.00,0.00,98.95,0.000,0.000,0.656,168,1693,455,-8.12,0.51,610.80
$IRIDIUM_FIX,2359.20,12502.62,241098,040423
$TT8_MAMPS,0.026845
$HUMID,1561
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.50
$XPDR_PINGS,156
$24V_AH,23.2,89.261
$10V_AH,10.6,59.328
$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,20.300,143.175,635.750,98.950,0.000,118.421,375.778,0.000,47.000,0.000,0.000,14.070,2546.527,9452.675,842.942,3025.276,913.668,0.000,2217.315,0.000,2986.503,0.000,54.427,0.000
$DEVICE_MAMPS,228.566,64.428,1443.494,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,976.889,991.440,1668.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85286,1444
$CAP_FILE_SIZE,154223,0
$CFSIZE,260165632,201572352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.248, 68.9,1
$GPS,300709,084236,2410.215,12505.421,39,1.2,39,-3.6