version: 66.04
glider: 166
mission: 2
dive: 8
start: 5 23 109 1 32 49
data:
$ID,166
$MISSION,2
$DIVE,8
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,425
$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,-5461.7075
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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
$GPS1,012850,2510.249,12241.133,11,1.6,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.5
$GPS2,013232,2510.402,12241.169,18,1.6,18,-3.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,318.6,38242,-16.8,-10.000
$D_GRID,1145
$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,14,-0.86,-170.3,0.0,0.0,0,81,0.00,0.00,-65.15,0.000,2,0.000,0.000,171,1527,2510
$GC,83,-0.86,-170.3,3.2,-5.5,10,129,9.18,2.00,-29.58,0.000,4,0.251,0.058,2433,170,3559
$GC,384,-0.19,-170.3,92.3,-28.6,62,391,0.70,1.95,0.00,0.000,6,0.180,0.029,2651,1516,3558
$GC,728,-0.53,-170.3,118.3,-6.6,123,735,0.28,2.03,0.00,0.000,4,0.047,0.044,2522,177,3559
$GC,893,-0.25,-170.3,146.7,-17.9,152,901,0.32,1.90,0.00,0.000,6,0.147,0.028,2636,1495,3558
$GC,1240,-0.57,-170.3,172.3,-7.6,213,1247,0.28,2.03,0.00,0.000,4,0.047,0.038,2505,2899,3558
$GC,1264,-0.62,-170.3,175.1,-10.5,217,1271,0.00,2.05,0.00,0.000,6,0.000,0.034,2505,1471,3558
$GC,1608,-0.44,-170.3,232.2,-11.6,278,1614,0.20,1.85,0.00,0.000,4,0.160,0.044,2566,206,3557
$GC,1867,-0.51,-170.3,251.3,-6.9,324,1874,0.00,1.85,0.00,0.000,6,0.000,0.028,2566,1500,3556
$GC,2211,-0.66,-170.3,279.2,-7.1,385,2218,0.17,1.90,0.00,0.000,4,0.060,0.044,2477,208,3555
$GC,2425,-0.47,-170.3,308.8,-15.1,418,2429,0.30,1.85,0.00,0.000,6,0.154,0.030,2557,1508,3554
$GC,2755,-0.67,-170.3,336.6,-6.6,449,2759,0.17,2.03,0.00,0.000,4,0.058,0.041,2471,2896,3551
$GC,2781,-0.67,-170.3,339.0,-9.5,451,2788,0.00,2.05,0.00,0.000,6,0.000,0.033,2472,1501,3551
$GC,3106,-0.56,-170.3,375.0,-11.7,482,3111,0.17,1.90,0.00,0.000,4,0.153,0.047,2528,209,3548
$GC,3231,-0.63,-170.3,387.6,-9.9,493,3235,0.00,1.88,0.00,0.000,6,0.000,0.031,2523,1506,3548
$GC,3561,-0.74,-170.3,419.7,-9.8,524,3565,0.12,1.92,0.00,0.000,4,0.074,0.047,2461,208,3545
$GC,3640,-0.58,-170.3,430.6,-13.9,531,3644,0.22,1.85,0.00,0.000,6,0.156,0.032,2525,1503,3544
$GC,3969,-0.73,-170.3,456.6,-7.8,562,3973,0.12,2.05,0.00,0.000,4,0.071,0.044,2459,2896,3541
$GC,4012,-0.73,-170.3,461.0,-10.4,566,4016,0.00,2.05,0.00,0.000,6,0.000,0.043,2459,1493,3541
$GC,4343,-0.68,-170.3,495.3,-10.0,597,4348,0.12,1.90,0.00,0.000,4,0.160,0.058,2492,205,3537
$GC,4433,-0.68,-170.3,503.2,-8.8,604,4436,0.00,1.88,0.00,0.000,6,0.000,0.034,2492,1507,3536
$GC,4764,-0.74,-170.3,532.8,-10.0,620,4768,0.00,1.95,0.00,0.000,4,0.000,0.052,2492,208,3533
$GC,4818,-0.74,-170.3,539.3,-11.9,622,4823,0.00,1.90,0.00,0.000,6,0.000,0.034,2490,1503,3533
$GC,5140,-0.82,-170.3,571.9,-8.8,638,5144,0.12,2.08,0.00,0.000,4,0.077,0.047,2427,2903,3531
$GC,5208,-0.77,-170.3,578.2,-9.7,641,5212,0.12,2.05,0.00,0.000,6,0.160,0.038,2460,1502,3530
$GC,5540,-0.77,-170.3,607.1,-8.5,657,5544,0.00,1.95,0.00,0.000,4,0.000,0.054,2460,198,3528
$GC,5572,-0.71,-170.3,610.2,-9.7,658,5577,0.00,1.90,0.00,0.000,6,0.000,0.035,2457,1493,3527
$GC,5893,-0.71,-170.3,639.5,-9.4,674,5897,0.00,1.95,0.00,0.000,4,0.000,0.054,2456,204,3525
$GC,5921,-0.60,-170.3,642.2,-11.0,675,5925,0.22,1.88,0.00,0.000,6,0.156,0.036,2525,1503,3525
$GC,6241,-0.81,-170.3,662.9,-6.8,691,6243,0.20,0.00,0.00,0.000,6,0.060,0.000,2435,1505,3522
$GC,6550,-0.73,-170.3,698.3,-11.5,706,6552,0.15,0.00,0.00,0.000,6,0.161,0.000,2475,1506,3520
$GC,6861,-0.78,-170.3,726.7,-9.0,721,6865,0.00,2.08,0.00,0.000,4,0.000,0.052,2477,2895,3518
$GC,6894,-0.87,-170.3,729.6,-8.1,722,6898,0.08,2.08,0.00,0.000,6,0.064,0.041,2424,1510,3518
$GC,7216,-0.75,-170.3,764.6,-10.6,738,7220,0.17,1.98,0.00,0.000,4,0.161,0.054,2477,198,3516
$GC,7283,-0.75,-170.3,770.2,-8.0,741,7287,0.00,1.90,0.00,0.000,6,0.000,0.038,2487,1502,3516
$GC,7616,-0.82,-170.3,794.3,-7.4,757,7619,0.00,1.98,0.00,0.000,4,0.000,0.058,2482,202,3514
$GC,7648,-0.82,-170.3,797.2,-9.1,758,7652,0.00,1.92,0.00,0.000,6,0.000,0.038,2486,1503,3514
$GC,7969,-0.88,-170.3,821.0,-7.4,774,7971,0.15,0.00,0.00,0.000,6,0.075,0.000,2421,1505,3512
$GC,8279,-0.73,-170.3,852.5,-10.3,789,8283,0.17,1.98,0.00,0.000,4,0.168,0.057,2477,205,3512
$GC,8346,-0.73,-170.3,858.4,-8.9,792,8350,0.00,1.90,0.00,0.000,6,0.000,0.040,2458,1502,3511
$GC,8677,-0.73,-170.3,886.4,-8.7,808,8681,0.00,2.10,0.00,0.000,4,0.000,0.054,2454,2901,3509
$GC,8722,-0.80,-170.3,889.9,-8.4,810,8726,0.00,2.08,0.00,0.000,6,0.000,0.044,2456,1503,3509
$GC,9053,-0.80,-170.3,921.6,-9.6,826,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1503,3508
$GC,9364,-0.80,-170.3,951.9,-9.4,841,9368,0.00,2.12,0.00,0.000,4,0.000,0.056,2451,2901,3506
$GC,9397,-0.86,-170.3,955.0,-9.1,842,9401,0.00,2.10,0.00,0.000,6,0.000,0.044,2453,1508,3506
$GC,9717,-0.86,-170.3,982.2,-8.7,858,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1508,3505
$STATE,9819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9819,begin apogee
$GC,9823,-0.19,0.0,991.6,9.1,863,9963,0.62,0.00,136.93,1.476,6,0.142,0.000,2648,1790,2863
$STATE,9964,end apogee,CONTROL_FINISHED_OK
$STATE,9964,begin climb
$GC,9965,0.86,170.3,996.2,0.0,870,10124,0.98,2.35,150.20,1.419,4,0.077,0.058,2985,3177,2167
$GC,10180,0.43,170.3,975.9,16.1,880,10186,0.52,2.17,0.00,0.000,6,0.193,0.044,2860,1789,2163
$GC,10506,0.47,202.6,948.3,8.7,896,10541,0.00,2.35,28.67,1.371,4,0.000,0.058,2868,375,2036
$GC,10580,0.50,222.8,941.8,9.2,899,10605,0.00,2.22,19.52,1.326,6,0.000,0.041,2868,1786,1952
$GC,10923,0.56,222.8,905.8,11.0,916,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1785,1945
$GC,11233,0.65,244.6,875.5,9.1,931,11255,0.17,0.00,19.48,1.345,6,0.069,0.000,2937,1787,1865
$GC,11560,0.50,244.6,828.1,14.9,947,11562,0.22,0.00,0.00,0.000,6,0.176,0.000,2878,1787,1860
$GC,11869,0.55,244.6,793.6,11.8,962,11873,0.00,2.20,0.00,0.000,4,0.000,0.058,2886,373,1858
$GC,11924,0.55,244.6,786.7,12.4,964,11928,0.00,2.15,0.00,0.000,6,0.000,0.044,2886,1800,1858
$GC,12244,0.55,244.6,748.3,10.9,980,12248,0.00,2.20,0.00,0.000,4,0.000,0.058,2897,379,1858
$GC,12298,0.55,244.6,741.9,11.8,982,12304,0.00,2.15,0.00,0.000,6,0.000,0.044,2897,1787,1858
$GC,12621,0.55,244.6,704.7,11.7,998,12625,0.00,2.17,0.00,0.000,4,0.000,0.059,2907,379,1857
$GC,12692,0.55,244.6,695.6,13.0,1001,12697,0.00,2.15,0.00,0.000,6,0.000,0.044,2907,1793,1857
$GC,13020,0.55,244.6,653.8,14.0,1017,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1794,1857
$GC,13328,0.55,244.6,612.5,12.7,1032,13332,0.00,2.17,0.00,0.000,4,0.000,0.058,2918,382,1856
$GC,13388,0.50,244.6,604.4,13.5,1034,13396,0.12,2.12,0.00,0.000,6,0.166,0.044,2880,1785,1856
$GC,13704,0.58,248.5,572.0,9.8,1050,13708,0.00,2.17,0.00,0.000,4,0.000,0.058,2888,372,1856
$GC,13753,0.63,248.5,567.0,10.5,1052,13758,0.00,2.15,0.00,0.000,6,0.000,0.045,2888,1788,1856
$GC,14080,0.70,259.5,536.4,9.6,1068,14104,0.15,2.22,12.93,1.147,4,0.074,0.058,2961,386,1804
$GC,14142,0.51,259.5,527.7,14.1,1070,14150,0.25,2.15,0.00,0.000,6,0.170,0.043,2887,1794,1802
$GC,14459,0.60,259.5,493.9,10.1,1088,14462,0.00,2.20,0.00,0.000,4,0.000,0.057,2895,372,1801
$GC,14508,0.67,259.5,488.7,10.2,1092,14517,0.08,2.15,0.00,0.000,6,0.068,0.042,2937,1785,1801
$GC,14833,0.59,259.5,446.3,13.9,1123,14837,0.12,2.15,0.00,0.000,4,0.176,0.055,2906,3194,1801
$GC,14893,0.59,259.5,438.0,13.1,1128,14897,0.00,2.12,0.00,0.000,6,0.000,0.044,2914,1780,1800
$GC,15223,0.59,259.5,394.0,12.5,1159,15226,0.00,2.12,0.00,0.000,4,0.000,0.057,2925,385,1799
$GC,15361,0.59,259.5,377.1,11.4,1171,15368,0.00,2.12,0.00,0.000,6,0.000,0.042,2925,1790,1800
$GC,15686,0.59,259.5,331.2,13.6,1202,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1791,1800
$GC,16008,0.59,264.1,295.3,9.8,1236,16021,0.00,2.20,5.05,0.786,4,0.000,0.056,2938,385,1786
$GC,16116,0.59,264.1,282.9,11.8,1255,16123,0.12,2.10,0.00,0.000,6,0.169,0.041,2908,1803,1786
$GC,16460,0.70,279.8,247.9,9.4,1316,16481,0.10,2.25,15.07,0.932,4,0.084,0.054,2966,385,1721
$GC,16538,0.64,279.8,237.5,13.7,1329,16545,0.17,2.10,0.00,0.000,6,0.161,0.047,2920,1790,1719
$GC,16882,0.79,325.8,199.8,8.2,1390,16928,0.15,2.30,38.78,0.899,4,0.071,0.053,3000,376,1533
$GC,17041,0.71,325.8,178.6,14.8,1417,17048,0.20,2.15,0.00,0.000,6,0.156,0.041,2946,1803,1530
$GC,17387,0.80,325.8,136.0,12.2,1478,17393,0.00,2.20,0.00,0.000,4,0.000,0.053,2947,375,1528
$GC,17506,0.92,325.8,121.5,12.4,1499,17513,0.17,2.10,0.00,0.000,6,0.060,0.038,3029,1793,1528
$GC,17851,0.78,325.8,67.6,15.7,1560,17859,0.20,2.10,0.00,0.000,4,0.155,0.048,2966,3191,1528
$GC,17905,0.89,325.8,60.1,10.8,1569,17912,0.00,2.10,0.00,0.000,6,0.000,0.038,2973,1773,1527
$GC,18251,1.15,390.4,27.2,7.5,1630,18309,0.28,2.22,52.10,0.726,4,0.048,0.048,3117,379,1270
$STATE,18394,end climb,SURFACE_DEPTH_REACHED
$STATE,18394,begin surface coast
$FINISH,1.1,1.008031
$STATE,18411,end surface coast,CONTROL_FINISHED_OK
$STATE,18412,begin surface
$SM_CCo,18427,30.20,0.577,3,0,1129,425.10
$SM_GC,1.64,0.00,0.00,30.20,0.000,0.000,0.577,166,1510,1129,-7.97,0.20,425.10
$IRIDIUM_FIX,2458.45,12241.97,170898,010106
$TT8_MAMPS,0.027612
$HUMID,1504
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,23.20
$XPDR_PINGS,66
$24V_AH,23.7,5.256
$10V_AH,10.7,2.346
$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,26.575,152.700,478.725,30.200,0.000,0.000,0.000,0.000,24.500,0.000,0.000,18.096,2964.865,11483.963,652.510,3311.055,130.290,0.000,2119.437,0.000,3263.889,0.000,54.404,0.000
$DEVICE_MAMPS,250.809,59.059,1475.708,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1133.459,1106.260,1864.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97893,1657
$CAP_FILE_SIZE,206655,0
$CFSIZE,260165632,234467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$CURRENT,0.130, 59.2,1
$GPS,230509,064155,2512.894,12240.308,40,1.3,40,-3.6