version: 66.04
glider: 166
mission: 2
dive: 41
start: 5 28 109 11 20 23
data:
$ID,166
$MISSION,2
$DIVE,41
$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,300
$T_MISSION,360
$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,200
$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,-5994.6221
$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,40
$R_STBD_OVSHOOT,67
$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
$GPS1,111036,2516.025,12256.646,40,2.0,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.1
$GPS2,112002,2516.161,12256.676,15,1.5,15,-3.7
$SPEED_LIMITS,0.191,0.306
$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,215.6,9812,-17.1,-11.000
$D_GRID,1480
$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,15,-0.94,-194.7,0.0,0.0,0,78,0.00,0.00,-61.33,0.000,2,0.000,0.000,197,1511,2363
$GC,80,-0.94,-194.7,3.0,-3.9,9,140,9.02,2.10,-40.08,0.000,4,0.240,0.056,2424,2882,3659
$GC,337,-0.34,-194.7,77.0,-31.1,53,345,0.68,2.05,0.00,0.000,6,0.152,0.036,2625,1494,3660
$GC,684,-0.51,-194.7,122.3,-11.0,114,691,0.15,2.08,0.00,0.000,4,0.063,0.041,2554,2890,3661
$GC,714,-0.51,-194.7,126.5,-14.4,119,720,0.00,2.03,0.00,0.000,6,0.000,0.035,2554,1501,3661
$GC,1058,-0.34,-194.7,190.1,-17.8,180,1065,0.20,1.92,0.00,0.000,4,0.146,0.047,2617,205,3661
$GC,1206,-0.56,-194.7,206.6,-8.6,206,1213,0.15,1.85,0.00,0.000,6,0.045,0.028,2517,1493,3661
$GC,1552,-0.40,-194.7,254.7,-13.9,267,1558,0.28,2.05,0.00,0.000,4,0.141,0.041,2604,2890,3661
$GC,1581,-0.58,-194.7,258.1,-9.6,272,1588,0.15,2.03,0.00,0.000,6,0.058,0.034,2531,1487,3662
$GC,1929,-0.58,-194.7,304.7,-14.2,331,1933,0.00,2.08,0.00,0.000,4,0.000,0.043,2531,2889,3662
$GC,1973,-0.66,-194.7,310.3,-12.0,335,1977,0.00,2.00,0.00,0.000,6,0.000,0.034,2530,1513,3662
$GC,2303,-0.66,-194.7,342.6,-8.0,366,2307,0.00,1.92,0.00,0.000,4,0.000,0.048,2531,205,3662
$GC,2375,-0.66,-194.7,349.4,-9.6,372,2382,0.00,1.88,0.00,0.000,6,0.000,0.029,2528,1497,3662
$GC,2700,-0.71,-194.7,384.4,-11.4,403,2704,0.00,2.05,0.00,0.000,4,0.000,0.044,2513,2894,3661
$GC,2738,-0.86,-194.7,388.4,-10.2,406,2745,0.15,2.05,0.00,0.000,6,0.046,0.041,2440,1509,3661
$GC,3063,-0.63,-194.7,435.7,-13.6,437,3067,0.28,1.95,0.00,0.000,4,0.146,0.048,2533,200,3659
$GC,3280,-0.70,-194.7,455.7,-9.1,456,3287,0.00,1.88,0.00,0.000,6,0.000,0.031,2514,1483,3658
$GC,3606,-0.87,-194.7,482.3,-8.4,487,3610,0.15,1.92,0.00,0.000,4,0.065,0.048,2439,200,3656
$GC,3661,-0.68,-194.7,489.4,-13.9,492,3665,0.28,1.85,0.00,0.000,6,0.146,0.032,2522,1487,3655
$GC,3986,-0.88,-194.7,511.7,-5.6,514,3990,0.17,2.10,0.00,0.000,4,0.059,0.045,2431,2906,3653
$GC,4051,-0.79,-194.7,518.1,-10.2,517,4056,0.15,2.12,0.00,0.000,6,0.135,0.043,2484,1475,3652
$GC,4377,-0.79,-194.7,543.8,-7.6,533,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1475,3650
$GC,4687,-0.85,-194.7,574.8,-10.2,548,4691,0.00,2.12,0.00,0.000,4,0.000,0.049,2483,2892,3648
$GC,4732,-1.01,-194.7,579.1,-9.2,550,4736,0.20,2.08,0.00,0.000,6,0.056,0.039,2393,1478,3646
$GC,5058,-0.73,-194.7,632.1,-16.3,566,5062,0.32,1.92,0.00,0.000,4,0.155,0.054,2497,201,3644
$GC,5142,-0.82,-194.7,641.9,-10.9,570,5146,0.00,1.85,0.00,0.000,6,0.000,0.036,2495,1472,3644
$GC,5474,-0.92,-194.7,672.3,-9.0,586,5479,0.15,2.12,0.00,0.000,4,0.066,0.049,2426,2894,3640
$GC,5506,-0.85,-194.7,676.2,-12.4,587,5513,0.10,2.15,0.00,0.000,6,0.149,0.041,2454,1463,3640
$GC,5821,-0.85,-194.7,715.0,-12.7,603,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1463,3638
$GC,6131,-0.85,-194.7,753.9,-12.2,618,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1463,3635
$GC,6442,-0.85,-194.7,790.7,-11.5,633,6445,0.00,2.20,0.00,0.000,4,0.000,0.054,2471,2904,3633
$GC,6491,-0.91,-194.7,796.5,-11.1,635,6495,0.00,2.17,0.00,0.000,6,0.000,0.044,2471,1471,3633
$GC,6818,-0.91,-194.7,831.9,-10.5,651,6822,0.00,1.92,0.00,0.000,4,0.000,0.058,2471,201,3631
$GC,6867,-0.85,-194.7,837.9,-12.5,653,6872,0.00,1.90,0.00,0.000,6,0.000,0.040,2465,1470,3631
$GC,7196,-0.85,-194.7,873.1,-10.2,669,7199,0.00,2.15,0.00,0.000,4,0.000,0.054,2460,2899,3628
$GC,7229,-0.85,-194.7,876.3,-8.9,670,7233,0.00,2.12,0.00,0.000,6,0.000,0.044,2461,1472,3628
$GC,7550,-0.79,-194.7,908.0,-9.5,686,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1472,3627
$GC,7859,-0.79,-194.7,936.5,-9.5,701,7863,0.00,1.92,0.00,0.000,4,0.000,0.060,2460,204,3625
$GC,7904,-0.68,-194.7,941.2,-11.0,703,7909,0.20,1.88,0.00,0.000,6,0.156,0.042,2517,1473,3625
$GC,8237,-0.86,-194.7,958.2,-4.5,719,8242,0.17,2.17,0.00,0.000,4,0.064,0.055,2437,2907,3623
$GC,8321,-0.81,-194.7,964.4,-8.5,723,8326,0.15,2.15,0.00,0.000,6,0.153,0.045,2478,1472,3623
$GC,8648,-0.81,-194.7,984.6,-6.0,739,8652,0.00,2.17,0.00,0.000,4,0.000,0.055,2477,2901,3622
$GC,8686,-0.92,-194.7,986.6,-4.3,740,8694,0.08,2.15,0.00,0.000,6,0.062,0.045,2430,1487,3621
$STATE,8733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8733,begin apogee
$GC,8737,-0.20,0.0,990.1,7.3,743,8902,0.77,0.00,161.68,1.483,6,0.144,0.000,2667,1759,2863
$STATE,8902,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin climb
$GC,8904,0.94,194.7,989.8,0.0,751,9084,1.10,2.33,172.45,1.434,4,0.070,0.057,3031,3142,2068
$GC,9143,0.41,194.7,953.4,22.3,763,9149,0.57,2.25,0.00,0.000,6,0.174,0.044,2873,1754,2064
$GC,9472,0.41,197.7,915.9,10.9,779,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1754,2061
$GC,9780,0.54,253.2,887.8,8.9,794,9838,0.12,2.33,51.38,1.386,4,0.074,0.059,2938,340,1829
$GC,9870,0.41,253.2,876.3,14.4,797,9875,0.22,2.22,0.00,0.000,6,0.148,0.043,2875,1736,1826
$GC,10194,0.56,273.9,844.4,10.2,813,10225,0.15,2.30,20.62,1.217,4,0.066,0.058,2952,339,1746
$GC,10259,0.43,273.9,834.8,16.1,816,10264,0.25,2.20,0.00,0.000,6,0.153,0.044,2882,1749,1744
$GC,10585,0.58,292.1,799.8,10.3,832,10616,0.15,2.30,19.40,1.195,4,0.067,0.058,2958,343,1672
$GC,10637,0.46,292.1,792.1,16.7,834,10642,0.22,2.20,0.00,0.000,6,0.146,0.043,2890,1738,1670
$GC,10958,0.58,301.5,756.6,10.6,850,10971,0.12,0.00,10.02,1.210,6,0.071,0.000,2945,1739,1633
$GC,11267,0.51,301.5,712.3,14.1,865,11269,0.15,0.00,0.00,0.000,6,0.160,0.000,2905,1739,1630
$GC,11576,0.58,301.5,677.8,11.1,880,11580,0.00,2.17,0.00,0.000,4,0.000,0.058,2915,341,1629
$GC,11621,0.65,301.5,672.4,12.5,882,11626,0.10,2.12,0.00,0.000,6,0.083,0.044,2960,1742,1629
$GC,11947,0.52,301.5,617.9,17.7,898,11951,0.17,2.17,0.00,0.000,4,0.156,0.056,2916,341,1629
$GC,11973,0.52,301.5,613.6,15.0,899,11977,0.00,2.12,0.00,0.000,6,0.000,0.043,2916,1728,1629
$GC,12295,0.57,301.5,570.6,13.3,915,12298,0.00,2.15,0.00,0.000,4,0.000,0.058,2927,338,1629
$GC,12332,0.57,301.5,565.3,13.4,916,12340,0.00,2.10,0.00,0.000,6,0.000,0.041,2926,1719,1628
$GC,12647,0.57,301.5,526.8,11.8,932,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1719,1628
$GC,12960,0.57,301.5,487.0,13.7,951,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1720,1628
$GC,13279,0.62,301.5,437.7,15.9,981,13283,0.00,2.10,0.00,0.000,4,0.000,0.057,2939,341,1627
$GC,13380,0.67,301.5,421.9,13.7,990,13383,0.00,2.05,0.00,0.000,6,0.000,0.041,2939,1723,1627
$GC,13710,0.68,306.0,380.9,10.8,1021,13722,0.00,2.17,4.47,0.781,4,0.000,0.054,2941,3148,1615
$GC,13757,0.68,306.0,375.3,12.1,1025,13761,0.00,2.15,0.00,0.000,6,0.000,0.042,2951,1711,1614
$GC,14086,0.68,306.0,328.3,15.3,1056,14090,0.00,2.08,0.00,0.000,4,0.000,0.055,2961,339,1614
$GC,14112,0.68,306.0,324.0,16.3,1058,14120,0.00,2.08,0.00,0.000,6,0.000,0.040,2961,1719,1614
$GC,14447,0.70,329.1,282.6,10.1,1103,14472,0.00,0.00,21.35,0.972,6,0.000,0.000,2962,1720,1520
$GC,14810,0.70,329.1,235.0,16.0,1167,14816,0.00,2.12,0.00,0.000,4,0.000,0.054,2971,339,1517
$GC,14879,0.70,329.1,223.2,17.1,1179,14885,0.00,2.03,0.00,0.000,6,0.000,0.044,2972,1708,1517
$GC,15222,0.76,331.7,175.1,10.9,1240,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1709,1517
$GC,15567,0.88,349.9,143.0,10.3,1301,15593,0.15,2.10,18.73,0.815,4,0.059,0.049,3060,342,1434
$GC,15656,0.72,349.9,128.1,18.7,1316,15663,0.30,2.05,0.00,0.000,6,0.143,0.035,2973,1727,1433
$GC,16001,0.95,349.9,83.8,11.6,1377,16009,0.17,2.10,0.00,0.000,4,0.054,0.048,3066,342,1433
$GC,16123,0.84,349.9,63.1,15.0,1398,16129,0.20,2.00,0.00,0.000,6,0.146,0.034,3006,1697,1432
$GC,16468,1.10,449.8,30.7,7.2,1459,16557,0.22,2.20,82.88,0.708,4,0.051,0.046,3128,336,1028
$STATE,16630,end climb,SURFACE_DEPTH_REACHED
$STATE,16630,begin surface coast
$FINISH,1.1,1.009605
$STATE,16643,end surface coast,CONTROL_FINISHED_OK
$STATE,16643,begin surface
$SM_CCo,16719,0.00,0.000,0,0,1020,452.09
$SM_GC,1.92,8.10,0.00,0.00,0.052,0.000,0.000,154,1491,1020,-8.03,-0.25,452.09
$IRIDIUM_FIX,2505.59,12257.14,220898,111151
$TT8_MAMPS,0.026845
$HUMID,1449
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.50
$XPDR_PINGS,110
$24V_AH,23.6,11.473
$10V_AH,10.7,6.883
$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,26.450,137.450,562.975,0.000,0.000,45.871,65.619,286.485,35.500,0.000,0.000,15.154,2668.241,10390.534,690.116,2955.449,572.491,0.000,2026.603,0.000,2923.999,0.000,54.417,0.000
$DEVICE_MAMPS,240.071,59.826,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.374,1006.007,1690.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85345,1488
$CAP_FILE_SIZE,170858,0
$CFSIZE,260165632,231837696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.360,  7.3,1
$GPS,280509,160006,2517.204,12255.414,32,1.0,32,-3.7