version: 66.04
glider: 166
mission: 2
dive: 30
start: 5 26 109 3 47 59
data:
$ID,166
$MISSION,2
$DIVE,30
$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,396
$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,-5829.8389
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,1485
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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
$GPS1,034055,2519.531,12245.657,38,1.7,38,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.5
$GPS2,034738,2519.817,12245.871,16,1.1,16,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,177.5,26074,-16.8,-10.000
$D_GRID,997
$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,13,-0.88,-170.3,0.0,0.0,0,71,0.00,0.00,-55.67,0.000,2,0.000,0.000,170,1455,2382
$GC,73,-0.88,-170.3,3.2,-5.2,8,120,9.12,1.95,-32.42,0.000,4,0.240,0.061,2441,202,3559
$GC,173,-0.03,-170.3,30.2,-38.0,24,180,0.90,1.90,0.00,0.000,6,0.173,0.033,2714,1466,3561
$GC,517,-0.46,-170.3,62.8,-5.1,85,525,0.32,2.10,0.00,0.000,4,0.044,0.039,2563,2899,3563
$GC,555,-0.38,-170.3,66.8,-13.2,91,562,0.17,2.05,0.00,0.000,6,0.146,0.034,2611,1490,3562
$GC,899,-0.38,-170.3,107.9,-9.0,152,905,0.00,2.08,0.00,0.000,4,0.000,0.041,2608,2896,3564
$GC,1001,-0.54,-170.3,116.9,-7.7,170,1009,0.15,2.03,0.00,0.000,6,0.058,0.033,2537,1491,3564
$GC,1347,-0.30,-170.3,172.9,-17.6,231,1353,0.28,2.08,0.00,0.000,4,0.150,0.041,2617,2897,3565
$GC,1389,-0.60,-170.3,177.8,-8.6,238,1396,0.17,2.03,0.00,0.000,6,0.041,0.033,2522,1516,3565
$GC,1733,-0.60,-170.3,223.0,-11.7,299,1739,0.00,2.03,0.00,0.000,4,0.000,0.041,2522,2897,3566
$GC,1807,-0.67,-170.3,230.8,-10.1,312,1813,0.00,2.03,0.00,0.000,6,0.000,0.034,2521,1490,3566
$GC,2151,-0.67,-170.3,259.7,-7.7,373,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1490,3566
$GC,2494,-0.67,-170.3,292.3,-9.9,434,2501,0.00,2.10,0.00,0.000,4,0.000,0.043,2510,2890,3566
$GC,2541,-0.78,-170.3,296.6,-9.2,442,2548,0.08,2.03,0.00,0.000,6,0.058,0.035,2461,1514,3566
$GC,2868,-0.62,-170.3,339.5,-12.7,475,2873,0.22,1.95,0.00,0.000,4,0.148,0.048,2534,198,3564
$GC,3019,-0.71,-170.3,353.3,-8.9,488,3026,0.00,1.90,0.00,0.000,6,0.000,0.031,2530,1505,3563
$GC,3345,-0.87,-170.3,376.8,-7.6,519,3349,0.20,2.03,0.00,0.000,4,0.056,0.044,2431,2878,3562
$GC,3400,-0.72,-170.3,383.1,-12.4,524,3404,0.22,2.03,0.00,0.000,6,0.150,0.036,2497,1492,3561
$GC,3729,-0.72,-170.3,413.6,-8.7,555,3733,0.00,2.05,0.00,0.000,4,0.000,0.053,2497,2874,3560
$GC,3775,-0.85,-170.3,417.5,-8.4,559,3779,0.12,2.00,0.00,0.000,6,0.067,0.041,2436,1503,3559
$GC,4104,-0.64,-170.3,459.4,-13.2,590,4108,0.25,1.95,0.00,0.000,4,0.151,0.056,2516,200,3557
$GC,4232,-0.71,-170.3,471.8,-9.4,601,4239,0.00,1.88,0.00,0.000,6,0.000,0.038,2514,1493,3555
$GC,4557,-0.83,-170.3,497.8,-7.8,632,4561,0.15,2.08,0.00,0.000,4,0.067,0.048,2442,2889,3553
$GC,4616,-0.76,-170.3,504.2,-11.3,636,4624,0.10,2.05,0.00,0.000,6,0.146,0.038,2476,1510,3552
$GC,4932,-0.76,-170.3,534.2,-9.3,652,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1510,3550
$GC,5241,-0.76,-170.3,563.8,-11.0,667,5245,0.00,1.98,0.00,0.000,4,0.000,0.055,2477,197,3549
$GC,5290,-0.71,-170.3,569.8,-11.4,669,5295,0.00,1.92,0.00,0.000,6,0.000,0.037,2478,1498,3548
$GC,5619,-0.71,-170.3,601.1,-8.6,685,5622,0.00,1.95,0.00,0.000,4,0.000,0.054,2477,207,3546
$GC,5690,-0.66,-170.3,608.4,-9.9,688,5695,0.05,1.90,0.00,0.000,6,0.168,0.037,2510,1491,3545
$GC,6018,-0.75,-170.3,633.9,-8.1,704,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1491,3543
$GC,6326,-0.84,-170.3,658.3,-7.7,719,6330,0.15,1.95,0.00,0.000,4,0.070,0.055,2440,208,3541
$GC,6371,-0.60,-170.3,663.1,-12.3,721,6375,0.30,1.88,0.00,0.000,6,0.159,0.038,2535,1487,3541
$GC,6703,-0.78,-170.3,683.4,-5.5,737,6708,0.15,2.10,0.00,0.000,4,0.067,0.051,2465,2888,3539
$GC,6757,-0.78,-170.3,688.0,-8.5,739,6764,0.00,2.10,0.00,0.000,6,0.000,0.042,2464,1494,3539
$GC,7075,-0.69,-170.3,721.0,-11.1,755,7079,0.15,1.95,0.00,0.000,4,0.156,0.056,2506,203,3537
$GC,7134,-0.69,-170.3,727.8,-10.0,757,7143,0.00,1.90,0.00,0.000,6,0.000,0.038,2505,1478,3536
$GC,7451,-0.76,-170.3,759.3,-11.0,773,7455,0.00,2.12,0.00,0.000,4,0.000,0.054,2504,2891,3535
$GC,7545,-0.89,-170.3,769.5,-10.6,777,7550,0.12,2.10,0.00,0.000,6,0.054,0.043,2435,1496,3534
$GC,7873,-0.68,-170.3,821.7,-15.9,793,7875,0.25,0.00,0.00,0.000,6,0.160,0.000,2507,1496,3533
$GC,8181,-0.75,-170.3,852.0,-8.1,808,8185,0.00,2.10,0.00,0.000,4,0.000,0.056,2506,2882,3531
$GC,8230,-0.91,-170.3,856.1,-7.8,810,8235,0.15,2.08,0.00,0.000,6,0.052,0.044,2429,1510,3531
$GC,8557,-0.71,-170.3,896.8,-12.7,826,8561,0.22,2.00,0.00,0.000,4,0.160,0.058,2497,197,3529
$GC,8669,-0.71,-170.3,908.7,-11.1,831,8672,0.00,1.92,0.00,0.000,6,0.000,0.041,2497,1498,3529
$GC,9001,-0.76,-170.3,940.6,-9.7,847,9004,0.00,2.10,0.00,0.000,4,0.000,0.057,2498,2886,3528
$GC,9046,-0.90,-170.3,944.9,-9.3,849,9051,0.15,2.10,0.00,0.000,6,0.068,0.044,2431,1481,3528
$GC,9372,-0.70,-170.3,988.5,-13.3,865,9376,0.22,1.95,0.00,0.000,4,0.158,0.059,2499,201,3527
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9387,begin apogee
$GC,9393,-0.20,0.0,990.7,13.2,865,9540,0.50,0.00,141.48,1.481,6,0.135,0.000,2658,1787,2862
$STATE,9540,end apogee,CONTROL_FINISHED_OK
$STATE,9540,begin climb
$GC,9542,0.88,170.3,997.4,0.0,873,9700,1.02,2.38,150.40,1.433,4,0.076,0.058,2998,3202,2167
$GC,9802,0.40,170.3,970.0,14.7,885,9807,0.52,2.22,0.00,0.000,6,0.176,0.043,2868,1789,2163
$GC,10128,0.53,279.1,947.8,5.7,901,10240,0.12,2.38,98.90,1.393,4,0.072,0.058,2934,386,1724
$GC,10306,0.39,279.1,928.2,13.0,909,10311,0.22,2.22,0.00,0.000,6,0.146,0.043,2867,1781,1720
$GC,10634,0.52,279.1,895.4,10.0,925,10639,0.10,2.20,0.00,0.000,4,0.080,0.057,2922,383,1716
$GC,10688,0.42,279.1,887.0,16.8,927,10696,0.15,2.15,0.00,0.000,6,0.150,0.043,2875,1774,1716
$GC,11004,0.59,338.6,852.8,7.7,943,11069,0.15,0.00,55.90,1.338,6,0.069,0.000,2938,1775,1481
$GC,11375,0.43,338.6,795.3,17.4,961,11380,0.22,2.20,0.00,0.000,4,0.163,0.056,2880,380,1474
$GC,11401,0.43,338.6,790.8,15.8,962,11406,0.00,2.15,0.00,0.000,6,0.000,0.042,2880,1766,1473
$GC,11723,0.55,338.6,753.3,11.6,978,11727,0.00,2.17,0.00,0.000,4,0.000,0.058,2891,380,1472
$GC,11790,0.65,338.6,745.0,12.4,981,11795,0.15,2.08,0.00,0.000,6,0.067,0.043,2959,1751,1472
$GC,12116,0.42,338.6,682.0,20.1,997,12120,0.30,2.22,0.00,0.000,4,0.159,0.055,2868,3197,1471
$GC,12147,0.49,338.6,676.7,14.2,998,12155,0.00,2.22,0.00,0.000,6,0.000,0.044,2876,1746,1470
$GC,12463,0.65,338.6,640.6,11.4,1014,12468,0.20,2.10,0.00,0.000,4,0.058,0.057,2982,381,1470
$GC,12564,0.38,338.6,620.5,22.4,1018,12571,0.43,2.03,0.00,0.000,6,0.157,0.043,2857,1739,1470
$GC,12879,0.68,354.8,587.4,9.4,1034,12901,0.22,2.15,14.05,1.189,4,0.055,0.058,2975,394,1416
$GC,12992,0.47,354.8,566.7,20.5,1039,12997,0.32,2.00,0.00,0.000,6,0.153,0.043,2881,1716,1414
$GC,13318,0.66,354.8,530.8,10.4,1055,13323,0.17,2.08,0.00,0.000,4,0.061,0.057,2977,382,1412
$GC,13349,0.54,354.8,526.0,15.4,1056,13357,0.20,2.03,0.00,0.000,6,0.156,0.043,2911,1710,1412
$GC,13669,0.59,354.8,484.9,11.8,1077,13670,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1709,1411
$GC,13988,0.66,354.8,448.7,10.4,1107,13992,0.10,2.03,0.00,0.000,4,0.081,0.055,2972,380,1411
$GC,14043,0.52,354.8,440.9,14.6,1112,14047,0.25,1.95,0.00,0.000,6,0.152,0.043,2901,1696,1411
$GC,14372,0.68,354.8,405.2,11.8,1143,14377,0.15,2.28,0.00,0.000,4,0.064,0.054,2970,3191,1411
$GC,14426,0.56,354.8,395.6,18.5,1147,14433,0.25,2.25,0.00,0.000,6,0.161,0.044,2911,1692,1410
$GC,14751,0.70,354.8,349.6,12.1,1178,14756,0.12,2.28,0.00,0.000,4,0.070,0.052,2969,3194,1410
$GC,14800,0.61,354.8,341.8,15.9,1182,14808,0.15,2.25,0.00,0.000,6,0.154,0.042,2933,1713,1410
$GC,15125,0.61,354.8,302.2,11.7,1213,15129,0.00,2.03,0.00,0.000,4,0.000,0.055,2942,379,1410
$GC,15215,0.66,354.8,292.6,10.1,1227,15221,0.00,1.98,0.00,0.000,6,0.000,0.041,2942,1719,1410
$GC,15558,0.71,354.8,251.7,12.9,1288,15564,0.00,2.20,0.00,0.000,4,0.000,0.051,2943,3191,1410
$GC,15705,0.83,354.8,230.9,14.3,1314,15712,0.15,2.15,0.00,0.000,6,0.064,0.041,3021,1734,1410
$GC,16049,0.69,354.8,164.0,13.3,1375,16056,0.20,2.20,0.00,0.000,4,0.152,0.048,2959,3197,1410
$GC,16130,0.89,381.2,155.9,9.0,1389,16164,0.12,2.15,23.15,0.861,6,0.067,0.039,3037,1740,1308
$GC,16504,0.81,381.2,103.4,14.5,1454,16511,0.15,2.20,0.00,0.000,4,0.149,0.044,2994,3203,1305
$GC,16545,0.92,381.2,98.0,10.3,1461,16553,0.10,2.12,0.00,0.000,6,0.076,0.038,3044,1766,1304
$GC,16893,0.86,381.2,44.2,13.7,1522,16899,0.12,2.08,0.00,0.000,4,0.155,0.047,3019,377,1304
$GC,16950,0.93,381.2,36.6,11.0,1532,16957,0.00,2.05,0.00,0.000,6,0.000,0.033,3019,1791,1304
$STATE,17294,end climb,SURFACE_DEPTH_REACHED
$STATE,17294,begin surface coast
$FINISH,0.9,1.000663
$STATE,17329,end surface coast,CONTROL_FINISHED_OK
$STATE,17329,begin surface
$SM_CCo,17343,36.08,0.679,0,0,1129,425.10
$SM_GC,1.79,0.00,0.00,36.08,0.000,0.000,0.679,169,1476,1129,-8.01,-0.25,425.10
$IRIDIUM_FIX,2510.35,12247.84,190898,232312
$TT8_MAMPS,0.027612
$HUMID,1456
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.70
$XPDR_PINGS,83
$ALTIM_BOTTOM_PING,977.5,47.1
$24V_AH,23.6,9.096
$10V_AH,10.7,5.212
$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,28.900,158.425,483.875,36.075,0.000,24.181,33.867,239.965,29.000,0.000,0.000,17.056,2902.568,10452.765,669.236,3273.978,474.312,0.000,2132.614,0.000,3235.402,0.000,57.691,0.000
$DEVICE_MAMPS,240.071,60.593,1481.077,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.130,1088.230,1830.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91656,1599
$CAP_FILE_SIZE,186442,0
$CFSIZE,260165632,232833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.208, 75.0,1
$GPS,260509,083855,2517.627,12248.186,43,0.9,43,-3.7