version: 66.04
glider: 166
mission: 2
dive: 32
start: 5 26 109 14 3 9
data:
$ID,166
$MISSION,2
$DIVE,32
$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,-5864
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,135030,2518.146,12250.354,41,1.1,47,-3.7
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.9
$GPS2,140249,2518.394,12250.387,12,1.0,17,-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,185.7,18717,-16.8,-10.000
$D_GRID,1223
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.88,-170.3,0.0,0.0,0,75,0.00,0.00,-58.72,0.000,2,0.000,0.000,168,1466,2352
$GC,77,-0.88,-170.3,3.0,-4.8,9,129,8.88,1.92,-34.58,0.000,4,0.229,0.061,2442,219,3559
$GC,384,-0.10,-170.3,101.1,-33.7,62,392,0.82,1.88,0.00,0.000,6,0.164,0.031,2696,1488,3559
$GC,728,-0.55,-170.3,133.9,-6.8,123,735,0.35,0.00,0.00,0.000,6,0.043,0.000,2538,1491,3561
$GC,1069,-0.30,-170.3,186.8,-17.0,184,1076,0.30,1.92,0.00,0.000,4,0.146,0.045,2631,201,3561
$GC,1127,-0.45,-170.3,193.8,-8.6,194,1136,0.10,1.88,0.00,0.000,6,0.053,0.028,2567,1506,3562
$GC,1475,-0.51,-170.3,227.0,-7.7,255,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1507,3561
$GC,1818,-0.60,-170.3,255.8,-9.0,316,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1508,3561
$GC,2161,-0.75,-170.3,284.5,-7.8,377,2167,0.17,1.95,0.00,0.000,4,0.058,0.046,2474,200,3561
$GC,2223,-0.45,-170.3,292.8,-14.2,388,2230,0.30,1.85,0.00,0.000,6,0.143,0.030,2584,1479,3561
$GC,2555,-0.71,-170.3,313.4,-6.9,428,2559,0.20,2.05,0.00,0.000,4,0.053,0.041,2465,2877,3560
$GC,2656,-0.64,-170.3,325.1,-12.9,437,2661,0.20,2.00,0.00,0.000,6,0.140,0.035,2527,1499,3560
$GC,2981,-0.73,-170.3,353.4,-6.7,467,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1500,3558
$GC,3300,-0.82,-170.3,377.7,-8.2,497,3304,0.17,2.05,0.00,0.000,4,0.059,0.041,2442,2884,3556
$GC,3348,-0.66,-170.3,383.1,-11.4,501,3356,0.22,2.03,0.00,0.000,6,0.137,0.035,2517,1518,3555
$GC,3674,-0.74,-170.3,407.0,-5.6,532,3677,0.00,1.95,0.00,0.000,4,0.000,0.052,2517,204,3553
$GC,3718,-0.79,-170.3,409.9,-7.0,536,3723,0.05,1.90,0.00,0.000,6,0.071,0.036,2461,1504,3553
$GC,4049,-0.68,-170.3,443.6,-10.5,567,4053,0.17,2.03,0.00,0.000,4,0.150,0.053,2511,2884,3551
$GC,4142,-0.83,-170.3,451.2,-7.2,575,4150,0.10,2.05,0.00,0.000,6,0.053,0.044,2445,1507,3550
$GC,4467,-0.68,-170.3,490.7,-12.5,606,4471,0.17,1.95,0.00,0.000,4,0.150,0.051,2502,204,3547
$GC,4611,-0.74,-170.3,505.3,-7.8,616,4615,0.00,1.85,0.00,0.000,6,0.000,0.038,2498,1491,3547
$GC,4931,-0.80,-170.3,533.8,-9.0,632,4935,0.00,2.08,0.00,0.000,4,0.000,0.050,2498,2888,3544
$GC,4960,-0.91,-170.3,536.3,-9.5,633,4964,0.17,2.05,0.00,0.000,6,0.059,0.038,2415,1490,3544
$GC,5280,-0.67,-170.3,581.0,-14.2,649,5284,0.30,1.92,0.00,0.000,4,0.150,0.052,2511,204,3542
$GC,5397,-0.74,-170.3,592.9,-9.8,654,5401,0.00,1.88,0.00,0.000,6,0.000,0.035,2509,1476,3541
$GC,5724,-0.87,-170.3,620.7,-8.4,670,5729,0.17,2.10,0.00,0.000,4,0.062,0.049,2416,2887,3540
$GC,5840,-0.74,-170.3,634.5,-12.0,675,5845,0.20,2.10,0.00,0.000,6,0.142,0.041,2484,1491,3538
$GC,6162,-0.74,-170.3,664.3,-9.3,691,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1491,3536
$GC,6469,-0.74,-170.3,693.2,-9.3,706,6473,0.00,2.10,0.00,0.000,4,0.000,0.053,2494,2886,3533
$GC,6547,-0.87,-170.3,699.4,-7.9,709,6552,0.12,2.05,0.00,0.000,6,0.071,0.042,2437,1501,3532
$GC,6868,-0.69,-170.3,736.7,-12.1,725,6872,0.20,1.95,0.00,0.000,4,0.156,0.055,2498,207,3531
$GC,6923,-0.69,-170.3,742.7,-10.4,727,6927,0.00,1.92,0.00,0.000,6,0.000,0.038,2506,1500,3530
$GC,7245,-0.75,-170.3,770.0,-8.3,743,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1500,3528
$GC,7553,-0.82,-170.3,795.5,-8.3,758,7558,0.12,2.10,0.00,0.000,4,0.077,0.054,2448,2893,3527
$GC,7618,-0.74,-170.3,802.0,-10.3,761,7623,0.12,2.10,0.00,0.000,6,0.146,0.044,2489,1507,3527
$GC,7945,-0.74,-170.3,831.4,-9.3,777,7948,0.00,1.98,0.00,0.000,4,0.000,0.060,2489,199,3525
$GC,7970,-0.74,-170.3,834.2,-10.7,778,7976,0.00,1.95,0.00,0.000,6,0.000,0.040,2489,1503,3525
$GC,8298,-0.74,-170.3,865.6,-9.7,794,8301,0.00,2.10,0.00,0.000,4,0.000,0.056,2489,2893,3523
$GC,8325,-0.80,-170.3,868.2,-9.7,795,8329,0.00,2.05,0.00,0.000,6,0.000,0.044,2489,1513,3524
$GC,8652,-0.80,-170.3,899.9,-9.7,811,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1513,3522
$GC,8960,-0.80,-170.3,931.2,-10.3,826,8964,0.00,2.00,0.00,0.000,4,0.000,0.061,2488,201,3520
$GC,8997,-0.80,-170.3,935.4,-12.0,827,9005,0.00,1.98,0.00,0.000,6,0.000,0.041,2480,1520,3520
$GC,9314,-0.80,-170.3,966.5,-10.3,843,9318,0.00,2.05,0.00,0.000,4,0.000,0.057,2467,2883,3519
$GC,9352,-0.85,-170.3,970.2,-9.5,844,9359,0.00,2.08,0.00,0.000,6,0.000,0.044,2476,1516,3518
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9567,-0.20,0.0,990.9,9.7,855,9711,0.60,0.00,140.45,1.485,6,0.130,0.000,2661,1785,2863
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9713,0.88,170.3,995.8,0.0,862,9872,1.02,2.38,150.38,1.433,4,0.071,0.058,3008,3177,2167
$GC,9929,0.38,170.3,972.5,18.6,872,9934,0.60,2.20,0.00,0.000,6,0.181,0.045,2861,1786,2163
$GC,10255,0.45,181.7,940.7,9.6,888,10270,0.00,2.25,10.93,1.271,4,0.000,0.060,2870,375,2121
$GC,10338,0.45,181.7,932.2,10.9,891,10342,0.00,2.17,0.00,0.000,6,0.000,0.044,2870,1777,2120
$GC,10670,0.46,191.4,899.8,9.6,907,10684,0.00,2.22,9.82,1.262,4,0.000,0.060,2881,384,2082
$GC,10746,0.46,191.4,891.7,10.7,910,10751,0.00,2.15,0.00,0.000,6,0.000,0.044,2880,1763,2081
$GC,11067,0.46,191.4,858.1,10.6,926,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1764,2079
$GC,11377,0.46,191.4,824.7,11.1,941,11380,0.00,2.15,0.00,0.000,4,0.000,0.059,2891,384,2079
$GC,11466,0.46,191.4,814.1,12.1,945,11470,0.00,2.10,0.00,0.000,6,0.000,0.044,2891,1771,2079
$GC,11798,0.46,191.4,775.2,11.5,961,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1771,2077
$GC,12106,0.46,191.4,740.1,10.9,976,12110,0.00,2.15,0.00,0.000,4,0.000,0.058,2902,379,2077
$GC,12167,0.39,191.4,732.7,12.4,978,12176,0.12,2.10,0.00,0.000,6,0.159,0.044,2864,1760,2077
$GC,12482,0.49,191.4,701.7,10.1,994,12486,0.00,2.12,0.00,0.000,4,0.000,0.058,2872,380,2077
$GC,12526,0.49,191.4,697.0,11.5,996,12530,0.00,2.08,0.00,0.000,6,0.000,0.045,2871,1760,2077
$GC,12860,0.55,191.4,663.0,10.2,1012,12864,0.12,2.12,0.00,0.000,4,0.074,0.058,2941,382,2076
$GC,12902,0.35,191.4,657.3,12.9,1014,12908,0.30,2.08,0.00,0.000,6,0.156,0.044,2850,1750,2076
$GC,13230,0.59,254.5,631.8,7.5,1030,13289,0.17,2.30,54.10,1.270,4,0.063,0.058,2946,376,1824
$GC,13351,0.44,254.5,615.8,15.0,1034,13359,0.22,2.12,0.00,0.000,6,0.148,0.044,2865,1724,1820
$GC,13666,0.60,254.5,583.7,10.3,1050,13670,0.17,2.28,0.00,0.000,4,0.062,0.056,2946,3184,1816
$GC,13737,0.44,254.5,572.6,16.1,1053,13742,0.25,2.25,0.00,0.000,6,0.156,0.044,2870,1733,1815
$GC,14058,0.63,288.4,539.3,8.7,1069,14093,0.17,2.17,29.45,1.193,4,0.059,0.058,2966,375,1686
$GC,14183,0.45,288.4,521.7,15.6,1074,14191,0.28,2.10,0.00,0.000,6,0.147,0.043,2882,1718,1682
$GC,14502,0.58,288.4,488.6,10.6,1095,14507,0.12,2.28,0.00,0.000,4,0.071,0.054,2941,3184,1680
$GC,14575,0.50,288.4,478.0,15.5,1101,14579,0.20,2.22,0.00,0.000,6,0.160,0.044,2896,1727,1680
$GC,14899,0.62,288.4,440.5,11.8,1131,14903,0.10,2.08,0.00,0.000,4,0.077,0.057,2955,375,1680
$GC,15004,0.51,288.4,424.1,15.4,1140,15012,0.17,2.05,0.00,0.000,6,0.145,0.042,2900,1721,1679
$GC,15330,0.61,288.4,384.7,11.8,1171,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1722,1679
$GC,15649,0.75,290.2,351.9,9.9,1201,15653,0.20,2.22,0.00,0.000,4,0.059,0.053,2996,3186,1679
$GC,15686,0.52,290.2,346.2,16.3,1204,15693,0.30,2.25,0.00,0.000,6,0.160,0.043,2902,1713,1678
$GC,16011,0.65,291.7,313.6,9.9,1235,16016,0.12,2.03,0.00,0.000,4,0.068,0.055,2973,373,1678
$GC,16080,0.53,291.7,304.8,13.4,1241,16084,0.25,1.98,0.00,0.000,6,0.148,0.041,2901,1708,1678
$GC,16419,0.72,291.7,271.0,11.5,1298,16427,0.17,2.25,0.00,0.000,4,0.059,0.050,2989,3198,1677
$GC,16450,0.62,291.7,266.6,15.9,1303,16457,0.25,2.25,0.00,0.000,6,0.164,0.045,2930,1688,1677
$GC,16793,0.74,303.5,224.5,9.5,1364,16814,0.12,2.30,13.12,0.899,4,0.071,0.049,2991,3191,1625
$GC,16943,0.65,303.5,206.7,10.6,1390,16952,0.22,2.25,0.00,0.000,6,0.157,0.045,2940,1690,1623
$GC,17288,0.81,303.5,175.9,10.3,1451,17295,0.15,2.03,0.00,0.000,4,0.064,0.051,3022,374,1623
$GC,17360,0.66,303.5,165.5,16.6,1463,17366,0.20,1.98,0.00,0.000,6,0.139,0.036,2946,1707,1622
$GC,17704,0.95,366.4,135.3,7.5,1524,17763,0.22,2.15,52.50,0.829,4,0.051,0.049,3065,374,1368
$GC,17807,0.73,366.4,117.9,16.7,1541,17814,0.32,2.00,0.00,0.000,6,0.148,0.034,2969,1699,1365
$GC,18153,1.02,403.2,83.2,8.5,1602,18187,0.22,0.00,31.35,0.757,6,0.050,0.000,3077,1701,1218
$GC,18526,0.97,403.2,18.8,15.4,1667,18533,0.12,2.03,0.00,0.000,4,0.156,0.046,3054,370,1215
$GC,18600,0.97,403.2,10.8,12.1,1680,18607,0.00,1.92,0.00,0.000,6,0.000,0.032,3053,1667,1213
$STATE,18674,end climb,SURFACE_DEPTH_REACHED
$STATE,18674,begin surface coast
$FINISH,1.0,1.021927
$STATE,18708,end surface coast,CONTROL_FINISHED_OK
$STATE,18708,begin surface
$SM_CCo,18723,17.58,0.660,0,0,1129,425.10
$SM_GC,1.53,0.00,0.00,17.58,0.000,0.000,0.660,166,1454,1129,-8.02,-0.88,425.10
$IRIDIUM_FIX,2507.97,12251.84,200898,141451
$TT8_MAMPS,0.027612
$HUMID,1454
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.50
$XPDR_PINGS,102
$24V_AH,23.6,9.518
$10V_AH,10.7,5.535
$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,29.050,154.225,492.100,17.575,0.000,68.845,158.887,265.423,33.500,0.000,0.000,17.983,3072.472,11595.703,638.361,3470.537,690.490,0.000,2181.766,0.000,3430.293,0.000,54.411,0.000
$DEVICE_MAMPS,229.333,61.360,1484.912,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.991,1122.734,1889.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97724,1699
$CAP_FILE_SIZE,196239,0
$CFSIZE,260165632,232632320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.205, 34.4,1
$GPS,260509,191701,2517.354,12251.560,57,1.2,57,-3.7