version: 66.04
glider: 166
mission: 2
dive: 33
start: 5 26 109 19 25 22
data:
$ID,166
$MISSION,2
$DIVE,33
$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,-5876.0122
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,191701,2517.354,12251.560,57,1.2,57,-3.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.3
$GPS2,192502,2517.589,12251.646,11,1.3,11,-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,187.6,16196,-16.8,-10.000
$D_GRID,1276
$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,-170.3,0.0,0.0,0,81,0.00,0.00,-64.25,0.000,2,0.000,0.000,168,1454,2601
$GC,83,-0.90,-170.3,3.5,-4.9,10,123,8.85,1.95,-24.67,0.000,4,0.227,0.061,2442,203,3559
$GC,344,-0.12,-170.3,86.7,-32.5,55,353,0.82,1.92,0.00,0.000,6,0.170,0.031,2692,1504,3561
$GC,690,-0.57,-170.3,111.4,-4.8,116,697,0.35,2.05,0.00,0.000,4,0.044,0.039,2532,2907,3563
$GC,761,-0.41,-170.3,120.6,-16.1,128,768,0.25,2.03,0.00,0.000,6,0.142,0.033,2603,1514,3563
$GC,1106,-0.51,-170.3,160.7,-9.9,189,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1515,3563
$GC,1451,-0.71,-170.3,189.7,-6.2,250,1457,0.22,0.00,0.00,0.000,6,0.051,0.000,2493,1514,3564
$GC,1794,-0.52,-170.3,240.7,-13.4,311,1801,0.22,1.92,0.00,0.000,4,0.150,0.045,2565,205,3564
$GC,1854,-0.57,-170.3,247.0,-9.8,321,1860,0.00,1.88,0.00,0.000,6,0.000,0.029,2565,1523,3564
$GC,2197,-0.69,-170.3,270.3,-6.3,382,2204,0.15,2.00,0.00,0.000,4,0.063,0.041,2491,2891,3564
$GC,2243,-0.63,-170.3,274.8,-11.0,390,2254,0.10,2.03,0.00,0.000,6,0.141,0.034,2537,1511,3564
$GC,2592,-0.71,-170.3,308.7,-11.3,445,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1511,3563
$GC,2912,-0.79,-170.3,341.2,-9.3,475,2913,0.15,0.00,0.00,0.000,6,0.066,0.000,2466,1511,3562
$GC,3229,-0.61,-170.3,382.6,-12.9,505,3234,0.22,1.95,0.00,0.000,4,0.152,0.049,2538,202,3561
$GC,3279,-0.68,-170.3,387.6,-8.6,509,3285,0.00,1.90,0.00,0.000,6,0.000,0.032,2524,1503,3560
$GC,3604,-0.80,-170.3,414.6,-8.5,540,3609,0.12,2.05,0.00,0.000,4,0.071,0.048,2457,2893,3558
$GC,3671,-0.75,-170.3,422.1,-11.9,546,3675,0.12,2.03,0.00,0.000,6,0.152,0.039,2491,1505,3558
$GC,4001,-0.75,-170.3,456.1,-9.9,577,4005,0.00,1.92,0.00,0.000,4,0.000,0.051,2491,212,3556
$GC,4029,-0.75,-170.3,459.3,-11.1,579,4036,0.00,1.90,0.00,0.000,6,0.000,0.035,2492,1522,3555
$GC,4352,-0.75,-170.3,488.9,-9.2,610,4356,0.00,1.98,0.00,0.000,4,0.000,0.051,2492,208,3553
$GC,4457,-0.75,-170.3,499.5,-9.9,619,4465,0.00,1.90,0.00,0.000,6,0.000,0.034,2491,1502,3552
$GC,4784,-0.75,-170.3,528.3,-8.3,636,4788,0.00,2.08,0.00,0.000,4,0.000,0.049,2491,2898,3550
$GC,4858,-0.86,-170.3,534.2,-8.1,639,4861,0.00,2.03,0.00,0.000,6,0.000,0.039,2492,1517,3549
$GC,5184,-0.91,-170.3,560.8,-7.9,655,5189,0.12,2.08,0.00,0.000,4,0.072,0.049,2431,2899,3548
$GC,5250,-0.82,-170.3,567.1,-9.0,658,5255,0.12,2.08,0.00,0.000,6,0.147,0.041,2471,1516,3547
$GC,5577,-0.82,-170.3,594.1,-7.8,674,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1515,3545
$GC,5889,-0.82,-170.3,627.1,-11.0,689,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1515,3542
$GC,6195,-0.82,-170.3,659.4,-10.2,704,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1515,3541
$GC,6506,-0.82,-170.3,692.1,-11.1,719,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1515,3539
$GC,6814,-0.82,-170.3,728.8,-11.9,734,6817,0.00,1.98,0.00,0.000,4,0.000,0.058,2489,206,3536
$GC,6851,-0.77,-170.3,733.6,-12.3,735,6860,0.00,1.92,0.00,0.000,6,0.000,0.039,2492,1500,3536
$GC,7167,-0.77,-170.3,769.0,-10.8,751,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1500,3535
$GC,7476,-0.77,-170.3,799.7,-9.4,766,7481,0.00,2.12,0.00,0.000,4,0.000,0.056,2490,2907,3533
$GC,7503,-0.82,-170.3,802.1,-8.9,767,7507,0.00,2.10,0.00,0.000,6,0.000,0.043,2489,1517,3532
$GC,7830,-0.82,-170.3,829.5,-8.0,783,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1517,3531
$GC,8138,-0.82,-170.3,852.4,-7.5,798,8142,0.00,1.98,0.00,0.000,4,0.000,0.059,2489,205,3529
$GC,8177,-0.82,-170.3,855.6,-8.3,799,8185,0.00,1.92,0.00,0.000,6,0.000,0.041,2488,1512,3529
$GC,8492,-0.82,-170.3,880.0,-7.8,815,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1512,3528
$GC,8801,-0.82,-170.3,904.4,-7.9,830,8805,0.00,2.10,0.00,0.000,4,0.000,0.058,2474,2898,3527
$GC,8833,-0.90,-170.3,906.8,-7.3,831,8838,0.08,2.10,0.00,0.000,6,0.061,0.044,2437,1511,3527
$GC,9156,-0.75,-170.3,940.9,-11.1,847,9157,0.20,0.00,0.00,0.000,6,0.156,0.000,2495,1511,3526
$GC,9463,-0.82,-170.3,965.0,-7.4,862,9467,0.00,2.12,0.00,0.000,4,0.000,0.058,2475,2902,3525
$GC,9496,-0.92,-170.3,967.4,-7.3,863,9500,0.12,2.08,0.00,0.000,6,0.073,0.046,2425,1516,3524
$STATE,9732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9733,begin apogee
$GC,9737,-0.20,0.0,992.0,10.5,875,9882,0.77,0.00,141.45,1.493,6,0.145,0.000,2665,1751,2863
$STATE,9882,end apogee,CONTROL_FINISHED_OK
$STATE,9882,begin climb
$GC,9884,0.90,170.3,994.2,0.0,882,10043,1.02,2.38,150.50,1.434,4,0.069,0.058,3015,3142,2167
$GC,10131,0.38,170.3,960.2,19.3,893,10137,0.57,2.20,0.00,0.000,6,0.177,0.044,2868,1762,2163
$GC,10452,0.38,170.3,925.2,10.6,909,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1762,2161
$GC,10761,0.38,170.3,892.2,10.7,924,10765,0.00,2.20,0.00,0.000,4,0.000,0.059,2877,341,2160
$GC,10851,0.38,170.3,882.1,11.8,928,10855,0.00,2.12,0.00,0.000,6,0.000,0.044,2877,1738,2159
$GC,11182,0.38,170.3,845.7,10.9,944,11186,0.00,2.20,0.00,0.000,4,0.000,0.060,2888,330,2158
$GC,11226,0.34,170.3,840.6,12.2,946,11230,0.15,2.12,0.00,0.000,6,0.163,0.044,2850,1732,2158
$GC,11558,0.50,215.3,811.5,8.2,962,11603,0.15,2.33,39.10,1.371,4,0.070,0.058,2926,339,1983
$GC,11630,0.37,215.3,802.9,13.1,965,11635,0.20,2.17,0.00,0.000,6,0.153,0.043,2867,1712,1981
$GC,11958,0.52,259.5,773.8,8.3,981,12000,0.12,0.00,39.47,1.339,6,0.074,0.000,2921,1713,1804
$GC,12307,0.44,259.5,733.1,12.1,998,12311,0.15,2.17,0.00,0.000,4,0.160,0.058,2893,336,1797
$GC,12361,0.46,278.4,727.5,9.3,1000,12383,0.00,2.15,17.35,1.267,6,0.000,0.044,2892,1717,1728
$GC,12693,0.51,278.4,693.7,10.6,1016,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1718,1723
$GC,13002,0.59,295.3,663.7,9.3,1031,13030,0.10,2.20,17.80,1.123,4,0.081,0.058,2949,339,1659
$GC,13074,0.45,295.3,654.1,14.2,1034,13079,0.20,2.15,0.00,0.000,6,0.150,0.044,2888,1717,1657
$GC,13394,0.52,295.3,622.2,10.5,1050,13398,0.00,2.15,0.00,0.000,4,0.000,0.058,2896,340,1656
$GC,13432,0.62,295.3,617.3,12.3,1051,13441,0.08,2.10,0.00,0.000,6,0.063,0.044,2945,1704,1655
$GC,13748,0.50,295.3,569.9,15.9,1067,13753,0.17,2.22,0.00,0.000,4,0.159,0.055,2896,3154,1655
$GC,13787,0.56,295.3,564.4,12.6,1069,13791,0.00,2.22,0.00,0.000,6,0.000,0.044,2903,1694,1654
$GC,14113,0.56,295.3,526.2,11.4,1085,14117,0.00,2.25,0.00,0.000,4,0.000,0.055,2903,3151,1654
$GC,14152,0.56,295.3,521.3,12.2,1087,14155,0.00,2.17,0.00,0.000,6,0.000,0.044,2913,1718,1654
$GC,14477,0.56,295.3,480.6,11.5,1109,14481,0.00,2.10,0.00,0.000,4,0.000,0.058,2925,342,1654
$GC,14589,0.56,295.3,466.8,12.9,1119,14593,0.00,2.03,0.00,0.000,6,0.000,0.042,2927,1699,1653
$GC,14918,0.56,295.3,421.9,13.6,1150,14922,0.00,2.20,0.00,0.000,4,0.000,0.054,2928,3160,1653
$GC,14944,0.56,295.3,418.2,13.9,1152,14952,0.00,2.25,0.00,0.000,6,0.000,0.042,2935,1683,1652
$GC,15270,0.56,295.3,376.1,12.0,1183,15274,0.00,2.05,0.00,0.000,4,0.000,0.057,2946,332,1652
$GC,15374,0.56,295.3,363.0,11.7,1192,15382,0.00,2.03,0.00,0.000,6,0.000,0.040,2945,1680,1652
$GC,15702,0.56,295.3,323.1,12.4,1223,15705,0.00,2.22,0.00,0.000,4,0.000,0.051,2946,3156,1652
$GC,15802,0.56,295.3,310.4,11.9,1232,15807,0.17,2.20,0.00,0.000,6,0.158,0.042,2916,1669,1652
$GC,16139,0.73,296.1,276.9,10.0,1283,16147,0.17,2.03,0.00,0.000,4,0.058,0.056,3016,334,1652
$GC,16199,0.51,296.1,267.6,16.7,1293,16206,0.38,2.03,0.00,0.000,6,0.147,0.039,2905,1713,1652
$GC,16544,0.88,372.5,239.4,7.0,1354,16618,0.30,2.22,64.53,0.925,4,0.045,0.054,3058,342,1343
$GC,16658,0.59,372.5,218.9,19.7,1373,16665,0.45,2.03,0.00,0.000,6,0.150,0.038,2931,1681,1340
$GC,17004,0.87,372.5,178.7,11.8,1434,17011,0.22,2.08,0.00,0.000,4,0.049,0.050,3049,337,1338
$GC,17068,0.66,372.5,166.4,21.8,1445,17075,0.32,2.00,0.00,0.000,6,0.142,0.035,2952,1670,1337
$GC,17413,0.90,373.8,121.1,9.9,1506,17420,0.20,2.05,0.00,0.000,4,0.051,0.050,3054,327,1336
$GC,17473,0.72,373.8,112.5,17.5,1516,17480,0.22,1.98,0.00,0.000,6,0.136,0.035,2969,1657,1337
$GC,17817,0.99,415.0,83.3,8.4,1577,17863,0.22,2.08,35.75,0.758,4,0.048,0.053,3093,343,1169
$GC,17950,0.84,415.0,61.1,19.0,1599,17958,0.22,1.95,0.00,0.000,6,0.138,0.032,3006,1647,1167
$GC,18295,1.09,440.0,23.6,9.0,1660,18323,0.20,2.08,21.85,0.682,4,0.052,0.046,3117,331,1068
$GC,18413,0.87,440.0,3.0,22.7,1680,18420,0.25,1.92,0.00,0.000,6,0.117,0.031,3015,1636,1065
$STATE,18424,end climb,SURFACE_DEPTH_REACHED
$STATE,18424,begin surface coast
$FINISH,1.0,1.015582
$STATE,18443,end surface coast,CONTROL_FINISHED_OK
$STATE,18443,begin surface
$SM_CCo,18518,0.00,0.000,0,0,1063,441.54
$SM_GC,1.80,7.78,0.00,0.00,0.051,0.000,0.000,164,1480,1063,-8.03,-0.57,441.54
$IRIDIUM_FIX,2507.97,12257.14,200898,141437
$TT8_MAMPS,0.027612
$HUMID,1412
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.80
$XPDR_PINGS,104
$24V_AH,23.6,9.735
$10V_AH,10.7,5.697
$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,27.075,141.675,527.800,0.000,0.000,23.012,30.830,321.871,34.000,0.000,0.000,11.384,2993.419,11468.774,659.325,3317.066,544.130,0.000,2130.811,0.000,3282.553,0.000,54.412,0.000
$DEVICE_MAMPS,227.032,60.593,1492.582,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.785,1141.572,1922.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98010,1685
$CAP_FILE_SIZE,185197,0
$CFSIZE,260165632,232538112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.260, 31.5,1
$GPS,270509,003506,2517.093,12252.772,34,1.0,34,-3.7