version: 66.04
glider: 166
mission: 2
dive: 420
start: 7 31 109 18 38 0
data:
$ID,166
$MISSION,2
$DIVE,420
$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,-13787.708
$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,1860
$C_ROLL_CLIMB,1486
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,60
$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
$GPS1,183007,2413.847,12513.107,27,1.4,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.1
$GPS2,183738,2413.865,12513.135,13,1.8,13,-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,314.1,23302,-17.3,-12.000
$D_GRID,1805
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-64.53,0.000,2,0.000,0.000,167,1697,2269
$GC,86,-1.18,-219.0,3.1,-6.0,10,144,9.23,2.38,-41.28,0.000,4,0.234,0.052,2360,3250,3842
$GC,292,-1.18,-219.0,44.3,-21.3,45,299,0.10,2.08,0.00,0.000,6,0.162,0.028,2378,1831,3841
$GC,639,-1.18,-219.0,103.9,-15.1,106,645,0.00,2.12,0.00,0.000,4,0.000,0.040,2376,3252,3841
$GC,715,-1.18,-219.0,115.4,-14.8,119,721,0.00,1.95,0.00,0.000,6,0.000,0.027,2369,1909,3842
$GC,1060,-1.18,-219.0,167.2,-15.2,180,1067,0.00,2.03,0.00,0.000,4,0.000,0.040,2366,3270,3843
$GC,1103,-1.18,-219.0,173.9,-15.8,187,1109,0.00,1.92,0.00,0.000,6,0.000,0.026,2365,1939,3842
$GC,1448,-1.18,-219.0,222.8,-13.5,248,1456,0.00,1.98,0.00,0.000,4,0.000,0.040,2365,3246,3842
$GC,1504,-1.18,-219.0,230.0,-14.0,257,1510,0.00,1.83,0.00,0.000,6,0.000,0.026,2366,1955,3842
$GC,1850,-1.18,-219.0,276.4,-13.7,318,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1955,3843
$GC,2186,-1.18,-219.0,318.7,-12.1,365,2189,0.00,1.95,0.00,0.000,4,0.000,0.041,2365,3258,3843
$GC,2248,-1.18,-219.0,327.0,-13.4,370,2254,0.00,1.85,0.00,0.000,6,0.000,0.028,2364,1975,3842
$GC,2576,-1.18,-219.0,366.8,-11.8,401,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1975,3841
$GC,2904,-1.18,-219.0,406.6,-12.7,432,2908,0.00,1.92,0.00,0.000,4,0.000,0.043,2365,3250,3840
$GC,2950,-1.18,-219.0,412.6,-12.5,436,2953,0.00,1.77,0.00,0.000,6,0.000,0.028,2364,1999,3840
$GC,3287,-1.18,-219.0,450.9,-11.9,467,3290,0.00,1.90,0.00,0.000,4,0.000,0.044,2368,3256,3839
$GC,3314,-1.18,-219.0,455.2,-12.3,469,3320,0.00,1.77,0.00,0.000,6,0.000,0.028,2367,2012,3838
$GC,3642,-1.18,-219.0,491.8,-10.6,500,3646,0.00,2.30,0.00,0.000,4,0.000,0.041,2367,468,3837
$GC,3671,-1.18,-219.0,495.2,-11.6,502,3675,0.00,2.25,0.00,0.000,6,0.000,0.031,2371,2000,3836
$GC,3989,-1.18,-219.0,530.3,-11.2,519,3992,0.00,1.88,0.00,0.000,4,0.000,0.047,2385,3252,3835
$GC,4039,-1.18,-219.0,536.3,-11.9,521,4043,0.00,1.77,0.00,0.000,6,0.000,0.030,2384,2038,3834
$GC,4369,-1.18,-219.0,572.9,-11.0,537,4372,0.00,1.85,0.00,0.000,4,0.000,0.049,2390,3251,3832
$GC,4396,-1.18,-219.0,576.2,-11.2,538,4400,0.00,1.73,0.00,0.000,6,0.000,0.031,2388,2053,3831
$GC,4724,-1.18,-219.0,611.3,-10.8,554,4728,0.00,1.83,0.00,0.000,4,0.000,0.051,2391,3243,3829
$GC,4752,-1.18,-219.0,614.6,-11.1,555,4756,0.00,1.70,0.00,0.000,6,0.000,0.033,2389,2072,3829
$GC,5081,-1.18,-219.0,650.6,-11.2,571,5085,0.00,1.80,0.00,0.000,4,0.000,0.053,2391,3243,3826
$GC,5138,-1.18,-219.0,657.3,-11.8,573,5142,0.00,1.65,0.00,0.000,6,0.000,0.034,2391,2107,3825
$GC,5461,-1.18,-219.0,693.5,-11.3,589,5465,0.00,1.77,0.00,0.000,4,0.000,0.055,2392,3255,3822
$GC,5511,-1.18,-219.0,699.4,-11.8,591,5516,0.00,1.65,0.00,0.000,6,0.000,0.035,2391,2126,3822
$GC,5840,-1.18,-219.0,736.1,-11.2,607,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2126,3819
$GC,6147,-1.18,-219.0,769.6,-11.0,622,6152,0.00,2.53,0.00,0.000,4,0.000,0.051,2392,482,3816
$GC,6187,-1.18,-219.0,774.5,-12.7,624,6192,0.00,2.50,0.00,0.000,6,0.000,0.041,2380,2131,3816
$GC,6520,-1.18,-219.0,814.7,-12.1,640,6524,0.00,2.55,0.00,0.000,4,0.000,0.051,2379,482,3813
$GC,6576,-1.18,-219.0,822.1,-12.7,642,6582,0.00,2.45,0.00,0.000,6,0.000,0.042,2366,2097,3812
$GC,6892,-1.18,-219.0,860.8,-12.7,658,6896,0.00,1.80,0.00,0.000,4,0.000,0.062,2356,3248,3810
$GC,6976,-1.18,-219.0,872.1,-14.1,661,6982,0.00,1.65,0.00,0.000,6,0.000,0.038,2357,2135,3809
$GC,7293,-1.18,-219.0,913.1,-13.0,677,7298,0.00,2.60,0.00,0.000,4,0.000,0.053,2355,470,3807
$GC,7381,-1.18,-219.0,925.2,-14.1,681,7386,0.12,2.47,0.00,0.000,6,0.169,0.046,2380,2075,3806
$GC,7709,-1.18,-219.0,963.6,-11.5,697,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2076,3804
$STATE,7953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7953,begin apogee
$GC,7962,-0.26,0.0,991.3,11.0,709,8161,0.95,0.00,191.02,1.453,6,0.123,0.000,2678,1515,2945
$STATE,8162,end apogee,CONTROL_FINISHED_OK
$STATE,8162,begin climb
$GC,8165,1.18,219.0,1004.1,0.0,719,8371,1.27,2.28,194.57,1.421,4,0.050,0.056,3142,2865,2051
$GC,8411,1.18,219.0,986.0,15.4,730,8415,0.00,2.17,0.00,0.000,6,0.000,0.046,3153,1473,2047
$GC,8738,1.18,219.0,939.7,13.8,746,8741,0.00,2.00,0.00,0.000,4,0.000,0.059,3162,202,2044
$GC,8765,1.18,219.0,935.7,14.1,747,8769,0.00,1.95,0.00,0.000,6,0.000,0.044,3162,1477,2043
$GC,9093,1.18,219.0,890.0,14.3,763,9097,0.00,2.20,0.00,0.000,4,0.000,0.055,3161,2892,2042
$GC,9184,1.18,219.0,876.4,14.5,767,9188,0.00,2.15,0.00,0.000,6,0.000,0.045,3170,1487,2040
$GC,9517,1.18,219.0,829.9,13.7,783,9521,0.00,2.20,0.00,0.000,4,0.000,0.057,3169,2893,2039
$GC,9592,1.18,219.0,819.7,13.2,786,9597,0.15,2.12,0.00,0.000,6,0.201,0.045,3145,1503,2038
$GC,9913,1.18,219.0,779.2,12.6,802,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1503,2038
$GC,10222,1.18,219.0,742.1,12.2,817,10226,0.00,2.17,0.00,0.000,4,0.000,0.056,3140,2888,2037
$GC,10329,1.18,219.0,728.3,12.9,821,10335,0.00,2.10,0.00,0.000,6,0.000,0.044,3147,1511,2036
$GC,10645,1.18,219.0,689.2,12.6,837,10649,0.00,2.17,0.00,0.000,4,0.000,0.061,3147,2888,2036
$GC,10737,1.18,219.0,677.6,12.6,841,10741,0.00,2.08,0.00,0.000,6,0.000,0.044,3156,1530,2035
$GC,11071,1.18,219.0,636.4,12.4,857,11075,0.00,2.08,0.00,0.000,4,0.000,0.057,3166,204,2035
$GC,11117,1.18,219.0,630.4,12.9,859,11121,0.00,2.05,0.00,0.000,6,0.000,0.044,3166,1549,2035
$GC,11451,1.18,219.0,589.9,12.4,875,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1549,2034
$GC,11759,1.18,219.0,551.7,12.2,890,11763,0.00,2.10,0.00,0.000,4,0.000,0.054,3164,2900,2034
$GC,11815,1.18,219.7,544.8,12.0,892,11819,0.00,2.10,0.00,0.000,6,0.000,0.044,3172,1525,2034
$GC,12138,1.21,242.9,507.2,11.1,908,12167,0.00,0.00,21.65,1.061,6,0.000,0.000,3173,1525,1953
$GC,12489,1.25,274.6,468.3,10.8,938,12534,0.00,2.25,30.85,1.061,4,0.000,0.052,3174,2893,1824
$GC,12548,1.27,296.2,461.8,11.2,943,12582,0.00,2.15,22.90,0.998,6,0.000,0.041,3185,1510,1737
$GC,12901,1.27,296.2,417.1,12.5,976,12904,0.00,2.17,0.00,0.000,4,0.000,0.052,3187,2897,1731
$GC,13147,1.27,296.2,385.2,13.4,998,13151,0.00,2.17,0.00,0.000,6,0.000,0.042,3198,1478,1731
$GC,13481,1.27,296.2,345.2,12.1,1029,13485,0.00,1.98,0.00,0.000,4,0.000,0.054,3210,200,1731
$GC,13551,1.27,296.2,335.9,13.6,1035,13555,0.15,1.95,0.00,0.000,6,0.177,0.039,3175,1503,1730
$GC,13881,1.33,345.2,299.8,10.2,1066,13931,0.00,2.22,43.70,0.965,4,0.000,0.047,3174,2884,1536
$GC,14046,1.33,345.2,279.8,13.1,1094,14053,0.00,2.10,0.00,0.000,6,0.000,0.040,3182,1504,1534
$GC,14393,1.34,351.8,239.3,11.8,1155,14407,0.00,2.03,6.88,0.757,4,0.000,0.051,3192,196,1509
$GC,14498,1.34,353.9,225.9,11.9,1173,14504,0.00,2.05,0.00,0.000,6,0.000,0.036,3192,1572,1509
$GC,14843,1.37,372.8,188.4,11.3,1234,14869,0.00,2.00,20.17,0.828,4,0.000,0.042,3191,2894,1424
$GC,14951,1.38,381.9,176.7,11.7,1252,14965,0.00,2.05,9.40,0.742,6,0.000,0.036,3199,1548,1388
$GC,15304,1.38,381.9,135.2,12.0,1314,15310,0.00,2.03,0.00,0.000,4,0.000,0.042,3199,2891,1387
$GC,15396,1.41,411.1,124.2,10.9,1330,15428,0.00,2.00,27.05,0.773,6,0.000,0.034,3207,1556,1268
$GC,15769,1.53,502.3,89.7,8.6,1395,15854,0.15,2.20,78.47,0.741,4,0.064,0.045,3287,189,896
$GC,15915,1.53,502.3,72.3,13.8,1418,15922,0.12,2.12,0.00,0.000,6,0.173,0.031,3254,1628,895
$GC,16261,1.53,502.3,30.0,12.4,1479,16268,0.00,1.90,0.00,0.000,4,0.000,0.038,3254,2893,895
$GC,16348,1.53,502.3,19.0,12.8,1494,16354,0.00,1.88,0.00,0.000,6,0.000,0.031,3261,1621,895
$STATE,16481,end climb,SURFACE_DEPTH_REACHED
$STATE,16482,begin surface coast
$FINISH,0.8,1.021316
$STATE,16512,end surface coast,CONTROL_FINISHED_OK
$STATE,16512,begin surface
$SM_CCo,16591,0.00,0.000,0,0,893,503.36
$SM_GC,1.73,8.20,0.00,0.00,0.040,0.000,0.000,167,1876,893,-8.10,0.45,503.36
$IRIDIUM_FIX,2406.29,12513.85,251098,141434
$TT8_MAMPS,0.027612
$HUMID,1621
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.40
$XPDR_PINGS,160
$24V_AH,23.1,91.304
$10V_AH,10.6,60.560
$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,20.450,140.550,646.675,0.000,0.000,25.538,37.555,223.597,48.000,0.000,0.000,13.289,2647.812,9832.817,725.799,3096.500,723.676,0.000,2138.638,0.000,3063.877,0.000,54.441,0.000
$DEVICE_MAMPS,233.935,62.127,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.947,1048.908,1764.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88279,1523
$CAP_FILE_SIZE,157307,0
$CFSIZE,260165632,200884224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.213, 90.0,1
$GPS,310709,231537,2414.628,12513.849,30,1.4,30,-3.6