version: 66.04
glider: 166
mission: 2
dive: 37
start: 5 27 109 15 55 52
data:
$ID,166
$MISSION,2
$DIVE,37
$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,-5932.8931
$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,38
$R_STBD_OVSHOOT,58
$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
$GPS1,154636,2516.634,12255.032,33,0.8,33,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.7
$GPS2,155532,2516.835,12255.006,12,1.3,12,-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,203.8,11914,-16.8,-10.000
$D_GRID,1415
$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,-0.90,-170.3,0.0,0.0,0,77,0.00,0.00,-60.30,0.000,2,0.000,0.000,184,1505,2427
$GC,79,-0.90,-170.3,3.0,-4.9,9,131,9.18,2.03,-33.40,0.000,4,0.244,0.062,2442,202,3559
$GC,386,-0.13,-170.3,104.6,-33.0,62,394,0.80,1.92,0.00,0.000,6,0.163,0.033,2693,1496,3561
$GC,730,-0.98,-170.3,133.8,-7.7,123,738,0.75,2.05,0.00,0.000,4,0.081,0.038,2421,2908,3563
$GC,788,-0.50,-170.3,143.0,-20.3,133,795,0.52,2.05,0.00,0.000,6,0.166,0.035,2573,1503,3562
$GC,1134,-0.50,-170.3,180.9,-7.6,194,1141,0.00,1.95,0.00,0.000,4,0.000,0.048,2572,209,3563
$GC,1283,-0.50,-170.3,195.5,-10.5,220,1289,0.00,1.90,0.00,0.000,6,0.000,0.029,2573,1517,3563
$GC,1628,-0.61,-170.3,230.8,-10.7,281,1634,0.00,1.98,0.00,0.000,4,0.000,0.048,2572,198,3563
$GC,1703,-0.69,-170.3,238.7,-10.6,294,1710,0.12,1.88,0.00,0.000,6,0.054,0.029,2488,1502,3563
$GC,2047,-0.48,-170.3,285.0,-11.5,355,2054,0.28,1.95,0.00,0.000,4,0.143,0.047,2576,198,3563
$GC,2100,-0.59,-170.3,289.3,-6.5,364,2107,0.00,1.85,0.00,0.000,6,0.000,0.029,2576,1480,3563
$GC,2437,-0.80,-170.3,307.5,-6.3,413,2441,0.22,1.90,0.00,0.000,4,0.051,0.047,2464,207,3562
$GC,2470,-0.54,-170.3,311.3,-13.3,416,2475,0.32,1.83,0.00,0.000,6,0.149,0.030,2560,1487,3562
$GC,2801,-0.72,-170.3,334.2,-6.7,447,2805,0.15,2.05,0.00,0.000,4,0.063,0.042,2467,2893,3561
$GC,2849,-0.72,-170.3,338.9,-10.1,451,2858,0.08,2.08,0.00,0.000,6,0.143,0.035,2503,1488,3561
$GC,3174,-0.72,-170.3,369.9,-9.2,482,3177,0.00,1.90,0.00,0.000,4,0.000,0.050,2505,208,3560
$GC,3241,-0.67,-170.3,376.7,-10.4,488,3245,0.00,1.83,0.00,0.000,6,0.000,0.032,2494,1481,3559
$GC,3571,-0.67,-170.3,412.2,-11.2,519,3574,0.00,2.10,0.00,0.000,4,0.000,0.051,2493,2901,3557
$GC,3604,-0.75,-170.3,415.9,-11.2,522,3608,0.00,2.10,0.00,0.000,6,0.000,0.044,2494,1467,3557
$GC,3933,-0.75,-170.3,455.5,-12.9,553,3937,0.00,2.12,0.00,0.000,4,0.000,0.047,2493,2891,3555
$GC,4034,-0.87,-170.3,467.8,-11.6,562,4038,0.00,2.05,0.00,0.000,6,0.000,0.045,2493,1493,3554
$GC,4364,-0.92,-170.3,502.2,-8.4,592,4368,0.15,2.10,0.00,0.000,4,0.064,0.047,2425,2896,3552
$GC,4425,-0.81,-170.3,508.3,-9.8,595,4430,0.17,2.08,0.00,0.000,6,0.145,0.044,2475,1494,3552
$GC,4757,-0.81,-170.3,531.3,-6.9,611,4761,0.00,1.92,0.00,0.000,4,0.000,0.053,2475,205,3549
$GC,4819,-0.75,-170.3,536.3,-8.5,613,4825,0.00,1.85,0.00,0.000,6,0.000,0.035,2476,1485,3549
$GC,5134,-0.75,-170.3,559.0,-7.5,629,5138,0.00,1.92,0.00,0.000,4,0.000,0.054,2477,208,3547
$GC,5224,-0.69,-170.3,567.3,-9.5,633,5228,0.15,1.88,0.00,0.000,6,0.153,0.037,2517,1495,3546
$GC,5557,-0.85,-170.3,591.1,-7.5,649,5559,0.15,0.00,0.00,0.000,6,0.066,0.000,2446,1497,3543
$GC,5865,-0.75,-170.3,624.0,-10.3,664,5867,0.17,0.00,0.00,0.000,6,0.152,0.000,2496,1497,3541
$GC,6175,-0.84,-170.3,646.6,-7.1,679,6179,0.00,2.10,0.00,0.000,4,0.000,0.054,2499,2893,3540
$GC,6207,-1.00,-170.3,649.1,-7.4,680,6212,0.20,2.12,0.00,0.000,6,0.046,0.042,2397,1485,3539
$GC,6529,-0.73,-170.3,690.1,-13.2,696,6533,0.30,1.92,0.00,0.000,4,0.156,0.058,2493,206,3538
$GC,6577,-0.73,-170.3,695.5,-9.7,698,6582,0.00,1.90,0.00,0.000,6,0.000,0.039,2500,1478,3537
$GC,6905,-0.79,-170.3,726.1,-9.3,714,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1478,3534
$GC,7214,-0.86,-170.3,757.3,-10.0,729,7219,0.12,2.12,0.00,0.000,4,0.077,0.054,2448,2896,3532
$GC,7285,-0.79,-170.3,766.3,-13.0,732,7290,0.10,2.15,0.00,0.000,6,0.152,0.044,2480,1475,3532
$GC,7611,-0.79,-170.3,804.7,-11.8,748,7615,0.00,2.17,0.00,0.000,4,0.000,0.055,2477,2905,3531
$GC,7656,-0.84,-170.3,809.7,-11.4,750,7660,0.00,2.12,0.00,0.000,6,0.000,0.044,2477,1483,3530
$GC,7986,-0.84,-170.3,846.6,-10.7,766,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1483,3529
$GC,8298,-0.84,-170.3,875.5,-8.8,781,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1482,3528
$GC,8606,-0.84,-170.3,899.6,-7.2,796,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1482,3527
$GC,8915,-0.84,-170.3,920.7,-6.5,811,8919,0.00,1.95,0.00,0.000,4,0.000,0.061,2477,204,3526
$GC,8977,-0.77,-170.3,925.2,-7.6,813,8983,0.00,1.90,0.00,0.000,6,0.000,0.041,2473,1490,3525
$GC,9292,-0.77,-170.3,945.2,-6.2,829,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1490,3524
$GC,9601,-0.77,-170.3,964.3,-6.0,844,9605,0.00,2.15,0.00,0.000,4,0.000,0.058,2467,2905,3523
$GC,9651,-0.83,-170.3,967.1,-4.9,846,9655,0.00,2.12,0.00,0.000,6,0.000,0.046,2469,1490,3523
$GC,9977,-0.83,-170.3,986.7,-6.4,862,9980,0.00,2.15,0.00,0.000,4,0.000,0.057,2459,2898,3522
$GC,10009,-0.83,-170.3,988.8,-5.7,863,10013,0.00,2.15,0.00,0.000,6,0.000,0.046,2469,1488,3521
$STATE,10040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10040,begin apogee
$GC,10045,-0.20,0.0,990.8,6.4,865,10188,0.62,0.00,140.25,1.486,6,0.132,0.000,2663,1757,2864
$STATE,10189,end apogee,CONTROL_FINISHED_OK
$STATE,10189,begin climb
$GC,10190,0.90,170.3,991.7,0.0,872,10349,1.05,2.35,150.15,1.432,4,0.069,0.059,3020,3151,2167
$GC,10445,0.37,170.3,954.5,21.9,884,10450,0.62,2.20,0.00,0.000,6,0.175,0.044,2862,1749,2163
$GC,10771,0.42,170.3,916.7,10.7,900,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1749,2161
$GC,11080,0.49,170.5,884.2,10.0,915,11085,0.12,2.20,0.00,0.000,4,0.073,0.058,2931,341,2160
$GC,11123,0.29,170.5,878.4,14.3,917,11128,0.30,2.15,0.00,0.000,6,0.151,0.043,2837,1740,2160
$GC,11450,0.52,230.5,851.2,7.6,933,11508,0.17,2.30,52.35,1.388,4,0.065,0.058,2935,346,1922
$GC,11569,0.39,230.5,836.1,13.7,937,11576,0.25,2.20,0.00,0.000,6,0.150,0.043,2867,1748,1918
$GC,11885,0.55,264.2,807.9,8.7,953,11927,0.15,0.00,32.47,1.282,6,0.067,0.000,2931,1750,1784
$GC,12234,0.45,264.2,761.0,14.3,970,12238,0.17,2.20,0.00,0.000,4,0.156,0.057,2883,3154,1778
$GC,12276,0.53,264.2,755.5,10.7,972,12281,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1728,1777
$GC,12604,0.59,264.2,719.4,11.0,988,12608,0.10,2.15,0.00,0.000,4,0.078,0.058,2953,335,1777
$GC,12630,0.49,264.2,715.7,14.2,989,12635,0.17,2.15,0.00,0.000,6,0.150,0.044,2898,1734,1777
$GC,12951,0.54,264.2,679.8,10.7,1005,12955,0.00,2.17,0.00,0.000,4,0.000,0.058,2908,339,1777
$GC,13005,0.54,264.2,673.3,11.8,1007,13011,0.00,2.10,0.00,0.000,6,0.000,0.043,2908,1711,1777
$GC,13328,0.55,269.2,639.5,9.8,1023,13337,0.00,2.22,4.38,0.894,4,0.000,0.056,2907,3150,1765
$GC,13387,0.55,269.2,633.1,11.0,1025,13394,0.00,2.20,0.00,0.000,6,0.000,0.044,2917,1719,1764
$GC,13703,0.55,269.2,597.8,11.7,1041,13706,0.00,2.12,0.00,0.000,4,0.000,0.058,2929,338,1764
$GC,13730,0.55,269.2,594.2,13.0,1042,13734,0.00,2.08,0.00,0.000,6,0.000,0.043,2928,1720,1764
$GC,14056,0.55,269.2,549.6,13.9,1058,14059,0.00,2.12,0.00,0.000,4,0.000,0.058,2940,343,1764
$GC,14138,0.49,269.2,536.8,15.5,1061,14146,0.12,2.08,0.00,0.000,6,0.149,0.043,2901,1709,1764
$GC,14455,0.58,269.2,496.3,11.6,1078,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1709,1763
$GC,14774,0.68,269.2,459.5,12.3,1108,14776,0.17,0.00,0.00,0.000,6,0.064,0.000,2976,1709,1763
$GC,15092,0.46,269.2,406.1,16.4,1138,15097,0.28,2.20,0.00,0.000,4,0.156,0.054,2891,3154,1763
$GC,15237,0.64,306.1,391.3,8.5,1150,15278,0.08,2.22,32.95,1.088,6,0.061,0.044,2967,1696,1613
$GC,15595,0.55,306.1,341.5,13.6,1184,15600,0.17,2.10,0.00,0.000,4,0.155,0.053,2924,334,1609
$GC,15646,0.70,323.1,336.2,9.3,1188,15669,0.12,2.08,15.30,0.999,6,0.074,0.040,2984,1712,1544
$GC,15993,0.57,323.1,285.6,16.4,1228,16000,0.20,2.20,0.00,0.000,4,0.154,0.051,2923,3145,1541
$GC,16124,0.74,323.1,269.9,10.8,1251,16132,0.12,2.15,0.00,0.000,6,0.067,0.040,2994,1715,1540
$GC,16470,0.64,323.1,213.2,15.8,1312,16477,0.17,2.10,0.00,0.000,4,0.154,0.051,2950,336,1540
$GC,16607,0.81,357.5,197.7,8.6,1336,16646,0.15,2.03,29.62,0.903,6,0.064,0.038,3028,1713,1405
$GC,16985,0.69,357.5,142.7,14.5,1402,16992,0.20,2.17,0.00,0.000,4,0.148,0.046,2965,3142,1400
$GC,17054,0.85,357.5,133.8,11.9,1414,17061,0.15,2.17,0.00,0.000,6,0.058,0.038,3039,1687,1399
$GC,17400,0.75,357.5,76.6,13.3,1475,17408,0.17,2.05,0.00,0.000,4,0.148,0.048,2993,330,1399
$GC,17470,0.87,357.5,68.4,10.1,1487,17477,0.00,2.00,0.00,0.000,6,0.000,0.034,2993,1681,1399
$GC,17817,1.15,404.7,37.9,8.1,1548,17863,0.28,2.12,39.80,0.725,4,0.046,0.046,3138,342,1211
$GC,17898,0.83,404.7,23.6,22.0,1561,17905,0.45,2.00,0.00,0.000,6,0.150,0.032,3003,1673,1209
$STATE,18066,end climb,SURFACE_DEPTH_REACHED
$STATE,18066,begin surface coast
$FINISH,1.0,1.022209
$STATE,18101,end surface coast,CONTROL_FINISHED_OK
$STATE,18102,begin surface
$SM_CCo,18116,15.82,0.656,0,0,1129,425.10
$SM_GC,1.57,0.00,0.00,15.82,0.000,0.000,0.656,191,1474,1129,-7.97,-0.74,425.10
$IRIDIUM_FIX,2507.97,12255.14,210898,151557
$TT8_MAMPS,0.027612
$HUMID,1454
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.50
$XPDR_PINGS,104
$24V_AH,23.6,10.579
$10V_AH,10.7,6.315
$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,28.225,149.800,497.275,15.825,0.000,49.728,62.178,255.417,34.000,0.000,0.000,13.084,2884.334,11382.442,644.278,3195.144,551.048,0.000,2081.004,0.000,3168.838,0.000,54.398,0.000
$DEVICE_MAMPS,243.906,62.127,1485.679,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.237,1069.909,1797.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91668,1597
$CAP_FILE_SIZE,185661,0
$CFSIZE,260165632,232161280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.195, 28.7,1
$GPS,270509,205906,2516.043,12255.002,28,1.2,28,-3.7