version: 66.04
glider: 166
mission: 2
dive: 34
start: 5 27 109 0 41 35
data:
$ID,166
$MISSION,2
$DIVE,34
$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,-5889.5635
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,51
$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
$GPS1,003506,2517.093,12252.772,34,1.0,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.7
$GPS2,004114,2517.191,12252.688,12,1.3,12,-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,190.9,14516,-16.8,-10.000
$D_GRID,1352
$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,-0.90,-170.3,0.0,0.0,0,79,0.00,0.00,-62.85,0.000,2,0.000,0.000,165,1480,2487
$GC,81,-0.90,-170.3,3.0,-4.0,9,127,9.05,2.00,-30.95,0.000,4,0.235,0.060,2447,195,3558
$GC,353,-0.11,-170.3,82.7,-32.7,56,360,0.82,1.92,0.00,0.000,6,0.171,0.031,2700,1499,3559
$GC,699,-0.58,-170.3,111.7,-7.2,117,706,0.38,2.05,0.00,0.000,4,0.042,0.038,2530,2901,3560
$GC,734,-0.44,-170.3,116.4,-15.9,123,742,0.22,2.03,0.00,0.000,6,0.144,0.033,2592,1504,3561
$GC,1082,-0.49,-170.3,160.0,-9.2,184,1088,0.00,1.95,0.00,0.000,4,0.000,0.047,2591,207,3562
$GC,1180,-0.54,-170.3,168.1,-8.0,201,1186,0.00,1.90,0.00,0.000,6,0.000,0.028,2591,1518,3562
$GC,1524,-0.71,-170.3,190.0,-7.6,262,1531,0.20,1.95,0.00,0.000,4,0.056,0.044,2494,208,3563
$GC,1621,-0.33,-170.3,207.4,-21.6,279,1629,0.45,1.88,0.00,0.000,6,0.150,0.031,2626,1508,3563
$GC,1966,-0.68,-170.3,239.6,-8.1,340,1973,0.25,2.03,0.00,0.000,4,0.048,0.040,2489,2899,3562
$GC,1985,-0.87,-170.3,241.3,-8.5,343,1993,0.12,2.00,0.00,0.000,6,0.070,0.032,2444,1511,3562
$GC,2329,-0.48,-170.3,304.1,-16.1,402,2333,0.43,1.92,0.00,0.000,4,0.150,0.046,2578,207,3563
$GC,2439,-0.65,-170.3,313.2,-7.1,411,2447,0.08,1.88,0.00,0.000,6,0.060,0.029,2512,1508,3563
$GC,2763,-0.65,-170.3,336.1,-6.5,442,2767,0.00,2.03,0.00,0.000,4,0.000,0.043,2508,2891,3563
$GC,2853,-0.76,-170.3,342.2,-7.5,450,2857,0.00,2.03,0.00,0.000,6,0.000,0.035,2511,1501,3562
$GC,3183,-0.81,-170.3,377.9,-10.9,481,3186,0.00,2.05,0.00,0.000,4,0.000,0.044,2507,2889,3561
$GC,3273,-0.93,-170.3,387.3,-10.2,489,3277,0.20,2.00,0.00,0.000,6,0.054,0.035,2415,1510,3561
$GC,3597,-0.64,-170.3,439.0,-15.4,519,3601,0.35,1.95,0.00,0.000,4,0.147,0.049,2528,198,3558
$GC,3775,-0.77,-170.3,457.5,-9.6,534,3782,0.08,1.88,0.00,0.000,6,0.063,0.032,2473,1491,3558
$GC,4100,-0.77,-170.3,493.2,-10.0,565,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1492,3556
$GC,4421,-0.77,-170.3,519.5,-7.4,584,4425,0.00,1.92,0.00,0.000,4,0.000,0.052,2474,210,3553
$GC,4512,-0.69,-170.3,527.0,-8.3,588,4516,0.15,1.85,0.00,0.000,6,0.151,0.035,2516,1485,3553
$GC,4844,-0.83,-170.3,545.9,-5.9,604,4848,0.12,2.08,0.00,0.000,4,0.072,0.048,2470,2896,3550
$GC,4937,-0.83,-170.3,553.7,-8.7,608,4942,0.00,2.08,0.00,0.000,6,0.000,0.038,2463,1504,3549
$GC,5265,-0.75,-170.3,587.1,-10.7,624,5269,0.00,2.10,0.00,0.000,4,0.000,0.051,2475,2899,3547
$GC,5313,-0.75,-170.3,592.5,-10.8,626,5318,0.00,2.10,0.00,0.000,6,0.000,0.039,2468,1495,3547
$GC,5640,-0.69,-170.3,629.8,-11.6,642,5645,0.15,1.95,0.00,0.000,4,0.149,0.054,2504,201,3545
$GC,5768,-0.74,-170.3,643.3,-10.0,647,5776,0.00,1.88,0.00,0.000,6,0.000,0.037,2516,1484,3543
$GC,6084,-0.83,-170.3,673.3,-9.9,663,6088,0.12,2.12,0.00,0.000,4,0.074,0.051,2451,2904,3541
$GC,6132,-0.74,-170.3,679.0,-12.2,665,6137,0.12,2.12,0.00,0.000,6,0.143,0.041,2493,1494,3541
$GC,6453,-0.74,-170.3,713.3,-10.5,681,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1494,3539
$GC,6762,-0.74,-170.3,745.4,-10.4,696,6766,0.00,2.12,0.00,0.000,4,0.000,0.054,2492,2898,3537
$GC,6789,-0.81,-170.3,748.2,-10.9,697,6793,0.00,2.12,0.00,0.000,6,0.000,0.042,2492,1489,3536
$GC,7116,-0.81,-170.3,779.9,-9.6,713,7119,0.00,1.95,0.00,0.000,4,0.000,0.058,2492,201,3534
$GC,7170,-0.81,-170.3,785.8,-10.6,715,7175,0.00,1.92,0.00,0.000,6,0.000,0.039,2490,1486,3533
$GC,7492,-0.81,-170.3,814.7,-8.8,731,7496,0.00,1.95,0.00,0.000,4,0.000,0.058,2489,207,3532
$GC,7524,-0.81,-170.3,818.0,-10.2,732,7529,0.00,1.90,0.00,0.000,6,0.000,0.040,2489,1478,3531
$GC,7846,-0.81,-170.3,846.3,-8.6,748,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1478,3530
$GC,8155,-0.81,-170.3,873.8,-9.2,763,8159,0.00,2.15,0.00,0.000,4,0.000,0.056,2481,2903,3528
$GC,8200,-0.91,-170.3,877.7,-8.3,765,8205,0.12,2.12,0.00,0.000,6,0.073,0.045,2426,1482,3528
$GC,8526,-0.72,-170.3,916.6,-12.3,781,8528,0.25,0.00,0.00,0.000,6,0.154,0.000,2502,1481,3528
$GC,8835,-0.82,-170.3,943.2,-8.4,796,8839,0.00,1.95,0.00,0.000,4,0.000,0.061,2500,202,3526
$GC,8874,-0.86,-170.3,946.8,-9.2,797,8880,0.08,1.92,0.00,0.000,6,0.068,0.041,2449,1485,3526
$GC,9191,-0.78,-170.3,980.6,-10.7,813,9195,0.12,1.98,0.00,0.000,4,0.164,0.058,2484,198,3525
$GC,9250,-0.78,-170.3,987.3,-10.6,815,9258,0.00,1.92,0.00,0.000,6,0.000,0.041,2475,1478,3524
$STATE,9296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9296,begin apogee
$GC,9300,-0.20,0.0,991.8,9.9,818,9444,0.62,0.00,140.65,1.487,6,0.127,0.000,2674,1757,2863
$STATE,9445,end apogee,CONTROL_FINISHED_OK
$STATE,9445,begin climb
$GC,9446,0.90,170.3,997.7,0.0,825,9604,0.98,2.33,150.12,1.438,4,0.047,0.058,3035,3146,2167
$GC,9620,0.33,170.3,983.2,17.8,833,9625,0.68,2.25,0.00,0.000,6,0.183,0.044,2852,1757,2164
$GC,9943,0.50,241.5,958.2,7.2,849,10019,0.15,2.38,64.95,1.377,4,0.067,0.060,2931,352,1877
$GC,10119,0.36,241.5,936.4,12.9,857,10124,0.25,2.17,0.00,0.000,6,0.146,0.042,2856,1724,1873
$GC,10447,0.59,306.5,910.6,7.4,873,10511,0.17,2.35,58.72,1.406,4,0.061,0.059,2949,345,1612
$GC,10561,0.44,306.5,894.9,15.3,878,10566,0.25,2.17,0.00,0.000,6,0.153,0.044,2881,1724,1609
$GC,10881,0.56,306.5,862.5,10.4,894,10886,0.12,2.20,0.00,0.000,4,0.072,0.058,2946,332,1605
$GC,10914,0.45,306.5,858.1,15.0,895,10921,0.17,2.15,0.00,0.000,6,0.150,0.043,2892,1718,1604
$GC,11230,0.53,306.5,817.9,13.0,911,11233,0.00,2.17,0.00,0.000,4,0.000,0.059,2901,333,1603
$GC,11284,0.59,306.5,810.1,14.2,913,11289,0.00,2.10,0.00,0.000,6,0.000,0.043,2900,1701,1603
$GC,11606,0.59,306.5,764.2,14.6,929,11607,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1701,1602
$GC,11915,0.64,306.5,718.2,15.0,944,11919,0.12,2.12,0.00,0.000,4,0.073,0.058,2966,335,1601
$GC,11963,0.46,306.5,708.7,21.2,946,11968,0.25,2.08,0.00,0.000,6,0.153,0.044,2888,1695,1601
$GC,12284,0.58,306.5,664.5,12.9,962,12288,0.12,2.10,0.00,0.000,4,0.074,0.058,2954,339,1601
$GC,12322,0.45,306.5,658.6,17.4,964,12326,0.25,2.03,0.00,0.000,6,0.152,0.044,2884,1690,1601
$GC,12647,0.59,306.5,621.4,11.0,980,12649,0.15,0.00,0.00,0.000,6,0.065,0.000,2949,1692,1600
$GC,12957,0.45,306.5,573.2,15.7,995,12961,0.20,2.08,0.00,0.000,4,0.161,0.057,2898,330,1600
$GC,12977,0.40,306.5,569.9,14.8,996,12981,0.00,2.05,0.00,0.000,6,0.000,0.043,2899,1681,1600
$GC,13304,0.51,306.5,531.2,12.2,1012,13307,0.00,2.25,0.00,0.000,4,0.000,0.056,2898,3154,1600
$GC,13348,0.60,306.5,525.5,13.6,1014,13352,0.00,2.25,0.00,0.000,6,0.000,0.045,2906,1661,1599
$GC,13667,0.66,306.5,485.3,12.4,1035,13672,0.12,2.03,0.00,0.000,4,0.071,0.058,2978,339,1598
$GC,13761,0.46,306.5,469.5,17.2,1043,13768,0.28,2.00,0.00,0.000,6,0.153,0.042,2893,1663,1598
$GC,14086,0.66,346.1,438.5,8.4,1074,14124,0.17,2.33,33.10,1.127,4,0.062,0.054,2972,3150,1451
$GC,14146,0.51,346.1,430.0,15.6,1079,14153,0.22,2.35,0.00,0.000,6,0.159,0.042,2911,1650,1449
$GC,14471,0.61,346.1,393.3,11.9,1110,14474,0.00,2.03,0.00,0.000,4,0.000,0.057,2924,339,1446
$GC,14583,0.72,346.1,376.4,15.8,1120,14587,0.12,1.95,0.00,0.000,6,0.073,0.041,2987,1643,1445
$GC,14912,0.58,346.1,313.3,16.6,1151,14914,0.22,0.00,0.00,0.000,6,0.156,0.000,2926,1644,1445
$GC,15243,0.74,346.1,273.2,10.5,1201,15250,0.15,1.98,0.00,0.000,4,0.065,0.053,3009,339,1444
$GC,15267,0.74,346.1,270.2,11.9,1205,15273,0.12,1.90,0.00,0.000,6,0.161,0.042,2978,1630,1444
$GC,15609,0.74,346.1,219.8,13.3,1266,15616,0.00,2.30,0.00,0.000,4,0.000,0.051,2977,3160,1444
$GC,15723,0.74,346.1,204.7,12.8,1286,15730,0.00,2.33,0.00,0.000,6,0.000,0.040,2986,1595,1444
$GC,16068,0.74,346.1,154.0,15.5,1347,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1595,1444
$GC,16409,0.81,346.1,111.9,11.3,1408,16417,0.00,1.92,0.00,0.000,4,0.000,0.051,2987,336,1445
$GC,16496,0.91,353.2,102.1,9.7,1423,16511,0.08,1.92,7.10,0.685,6,0.055,0.035,3060,1648,1421
$GC,16851,0.78,353.2,49.9,15.0,1485,16857,0.20,0.00,0.00,0.000,6,0.150,0.000,2996,1648,1421
$GC,17194,1.10,440.7,16.9,6.6,1546,17273,0.22,2.10,72.75,0.700,4,0.050,0.045,3118,334,1065
$STATE,17291,end climb,SURFACE_DEPTH_REACHED
$STATE,17291,begin surface coast
$FINISH,1.0,1.013353
$STATE,17308,end surface coast,CONTROL_FINISHED_OK
$STATE,17308,begin surface
$SM_CCo,17384,0.00,0.000,0,0,1060,442.52
$SM_GC,1.88,7.93,0.00,0.00,0.041,0.000,0.000,158,1513,1060,-8.02,0.37,442.52
$IRIDIUM_FIX,2510.35,12253.14,200898,191923
$TT8_MAMPS,0.026845
$HUMID,1423
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.60
$XPDR_PINGS,103
$24V_AH,23.6,9.948
$10V_AH,10.7,5.850
$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,28.225,148.200,527.400,0.000,0.000,24.709,33.802,204.899,33.750,0.000,0.000,12.924,2819.693,10638.845,642.322,3196.382,441.124,0.000,2082.668,0.000,3170.228,0.000,54.396,0.000
$DEVICE_MAMPS,234.702,60.593,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.057,1079.229,1813.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91410,1564
$CAP_FILE_SIZE,180518,0
$CFSIZE,260165632,232448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.266, 26.7,1
$GPS,270509,053231,2516.730,12253.616,40,1.7,40,-3.7