version: 66.04
glider: 166
mission: 2
dive: 36
start: 5 27 109 10 55 16
data:
$ID,166
$MISSION,2
$DIVE,36
$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,-5919.1802
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,104837,2515.970,12254.824,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.4
$GPS2,105456,2516.032,12254.884,13,1.2,13,-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,199.4,10684,-16.8,-10.000
$D_GRID,1430
$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,-0.90,-170.3,0.0,0.0,0,74,0.00,0.00,-57.35,0.000,2,0.000,0.000,168,1473,2429
$GC,76,-0.90,-170.3,3.2,-4.9,9,128,9.05,1.98,-33.28,0.000,4,0.235,0.062,2443,210,3559
$GC,383,-0.15,-170.3,103.0,-31.4,62,391,0.80,1.90,0.00,0.000,6,0.171,0.030,2686,1502,3561
$GC,728,-0.57,-170.3,131.9,-5.7,123,735,0.32,1.98,0.00,0.000,4,0.044,0.044,2535,184,3562
$GC,769,-0.29,-170.3,137.4,-16.2,130,777,0.30,1.92,0.00,0.000,6,0.147,0.028,2642,1507,3562
$GC,1117,-0.57,-170.3,163.7,-6.3,191,1123,0.22,0.00,0.00,0.000,6,0.051,0.000,2533,1509,3563
$GC,1459,-0.42,-170.3,221.4,-16.4,252,1466,0.20,0.00,0.00,0.000,6,0.146,0.000,2596,1509,3564
$GC,1803,-0.63,-170.3,247.1,-6.7,313,1809,0.17,0.00,0.00,0.000,6,0.058,0.000,2506,1509,3564
$GC,2145,-0.46,-170.3,299.7,-16.2,374,2154,0.22,0.00,0.00,0.000,6,0.147,0.000,2575,1509,3564
$GC,2470,-0.66,-170.3,331.2,-8.1,405,2475,0.15,1.92,0.00,0.000,4,0.062,0.046,2496,211,3564
$GC,2559,-0.50,-170.3,342.2,-13.4,413,2564,0.25,1.85,0.00,0.000,6,0.144,0.030,2574,1513,3564
$GC,2889,-0.72,-170.3,363.9,-6.5,444,2893,0.17,2.03,0.00,0.000,4,0.058,0.042,2468,2891,3563
$GC,2956,-0.72,-170.3,370.7,-11.1,450,2960,0.12,1.98,0.00,0.000,6,0.144,0.034,2507,1534,3563
$GC,3285,-0.72,-170.3,405.5,-10.6,481,3288,0.00,1.98,0.00,0.000,4,0.000,0.049,2508,204,3561
$GC,3385,-0.72,-170.3,416.4,-10.2,490,3389,0.00,1.88,0.00,0.000,6,0.000,0.031,2503,1518,3561
$GC,3716,-0.77,-170.3,445.4,-9.2,521,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1519,3560
$GC,4035,-0.83,-170.3,477.0,-9.7,551,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1519,3558
$GC,4361,-0.91,-170.3,507.5,-9.0,578,4363,0.17,0.00,0.00,0.000,6,0.063,0.000,2424,1520,3556
$GC,4670,-0.72,-170.3,548.0,-12.9,593,4674,0.22,2.00,0.00,0.000,4,0.152,0.052,2496,199,3554
$GC,4714,-0.72,-170.3,552.7,-10.2,595,4718,0.00,1.90,0.00,0.000,6,0.000,0.035,2498,1506,3554
$GC,5049,-0.81,-170.3,577.5,-7.5,611,5052,0.00,2.08,0.00,0.000,4,0.000,0.050,2499,2902,3551
$GC,5098,-0.99,-170.3,581.6,-7.7,613,5103,0.17,2.05,0.00,0.000,6,0.046,0.039,2407,1522,3551
$GC,5427,-0.75,-170.3,626.2,-14.5,629,5431,0.25,1.98,0.00,0.000,4,0.153,0.053,2486,207,3548
$GC,5570,-0.75,-170.3,643.9,-11.4,635,5575,0.00,1.92,0.00,0.000,6,0.000,0.036,2492,1509,3548
$GC,5893,-0.81,-170.3,678.8,-10.6,651,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1510,3545
$GC,6201,-0.87,-170.3,711.0,-10.1,666,6205,0.12,2.08,0.00,0.000,4,0.077,0.051,2447,2894,3542
$GC,6227,-0.81,-170.3,714.2,-12.2,667,6232,0.08,2.08,0.00,0.000,6,0.156,0.041,2472,1512,3542
$GC,6550,-0.75,-170.3,750.2,-11.2,683,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1512,3540
$GC,6857,-0.69,-170.3,781.0,-9.4,698,6861,0.15,2.10,0.00,0.000,4,0.155,0.054,2515,2895,3538
$GC,6883,-0.81,-170.3,783.1,-7.3,699,6888,0.08,2.08,0.00,0.000,6,0.059,0.042,2464,1516,3538
$GC,7205,-0.74,-170.3,811.4,-8.9,715,7210,0.12,1.98,0.00,0.000,4,0.153,0.057,2498,205,3535
$GC,7265,-0.74,-170.3,817.1,-9.4,717,7272,0.00,1.92,0.00,0.000,6,0.000,0.039,2498,1496,3535
$GC,7582,-0.79,-170.3,841.1,-7.4,733,7585,0.00,2.12,0.00,0.000,4,0.000,0.055,2498,2906,3533
$GC,7637,-0.92,-170.3,845.4,-7.6,735,7641,0.17,2.08,0.00,0.000,6,0.061,0.044,2419,1510,3533
$GC,7959,-0.71,-170.3,883.9,-12.6,751,7961,0.30,0.00,0.00,0.000,6,0.153,0.000,2508,1509,3531
$GC,8267,-0.81,-170.3,907.4,-7.3,766,8270,0.00,2.12,0.00,0.000,4,0.000,0.058,2506,2899,3530
$GC,8316,-0.98,-170.3,911.0,-7.0,768,8321,0.20,2.10,0.00,0.000,6,0.048,0.044,2408,1513,3529
$GC,8642,-0.73,-170.3,949.8,-11.9,784,8647,0.28,1.98,0.00,0.000,4,0.160,0.059,2495,204,3528
$GC,8691,-0.73,-170.3,954.2,-7.9,786,8696,0.00,1.95,0.00,0.000,6,0.000,0.041,2487,1502,3528
$GC,9018,-0.73,-170.3,975.0,-6.4,802,9022,0.00,2.12,0.00,0.000,4,0.000,0.056,2478,2908,3526
$GC,9045,-0.81,-170.3,976.9,-6.6,803,9049,0.00,2.12,0.00,0.000,6,0.000,0.044,2486,1509,3526
$STATE,9246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9246,begin apogee
$GC,9250,-0.20,0.0,990.7,7.2,813,9394,0.60,0.00,141.12,1.482,6,0.131,0.000,2668,1762,2863
$STATE,9395,end apogee,CONTROL_FINISHED_OK
$STATE,9395,begin climb
$GC,9397,0.90,170.3,993.2,0.0,820,9551,1.02,0.00,150.80,1.432,6,0.048,0.000,3039,1763,2168
$GC,9859,0.33,170.3,916.9,19.9,843,9864,0.65,2.20,0.00,0.000,4,0.182,0.058,2853,3154,2162
$GC,9944,0.41,184.8,907.1,9.4,847,9969,0.00,2.15,15.25,1.144,6,0.000,0.044,2861,1760,2109
$GC,10290,0.52,212.9,876.1,8.9,864,10322,0.12,2.28,26.10,1.362,4,0.073,0.058,2934,349,1993
$GC,10372,0.36,212.9,865.8,13.8,868,10377,0.28,2.20,0.00,0.000,6,0.153,0.044,2858,1756,1990
$GC,10698,0.51,232.9,835.7,9.2,884,10719,0.15,0.00,18.02,1.327,6,0.067,0.000,2924,1757,1913
$GC,11027,0.40,232.9,789.3,14.3,900,11031,0.20,2.17,0.00,0.000,4,0.154,0.057,2865,3154,1908
$GC,11069,0.52,232.9,784.0,11.3,902,11074,0.00,2.15,0.00,0.000,6,0.000,0.044,2874,1765,1907
$GC,11397,0.62,240.2,751.0,9.7,918,11411,0.17,2.28,7.32,1.146,4,0.060,0.058,2969,346,1882
$GC,11472,0.39,240.2,739.6,17.3,921,11477,0.30,2.20,0.00,0.000,6,0.156,0.044,2866,1766,1881
$GC,11793,0.58,285.2,711.5,8.2,937,11837,0.17,0.00,40.90,1.305,6,0.064,0.000,2939,1767,1700
$GC,12142,0.47,285.2,665.4,13.8,954,12146,0.17,2.25,0.00,0.000,4,0.156,0.057,2897,339,1694
$GC,12196,0.57,285.2,659.4,10.1,956,12203,0.00,2.20,0.00,0.000,6,0.000,0.043,2897,1759,1693
$GC,12511,0.63,285.2,624.0,12.2,972,12513,0.12,0.00,0.00,0.000,6,0.071,0.000,2953,1760,1692
$GC,12821,0.50,285.2,574.3,15.9,987,12826,0.20,2.20,0.00,0.000,4,0.156,0.056,2904,342,1692
$GC,12915,0.59,285.2,562.9,11.8,991,12919,0.00,2.15,0.00,0.000,6,0.000,0.044,2905,1748,1692
$GC,13237,0.66,285.2,526.3,12.2,1007,13242,0.15,2.17,0.00,0.000,4,0.067,0.055,2979,341,1691
$GC,13285,0.46,285.2,518.0,17.4,1009,13291,0.28,2.12,0.00,0.000,6,0.153,0.043,2894,1737,1691
$GC,13612,0.59,285.2,478.6,12.6,1033,13617,0.12,2.17,0.00,0.000,4,0.074,0.055,2951,3160,1691
$GC,13643,0.52,285.2,473.5,15.8,1035,13651,0.15,2.15,0.00,0.000,6,0.150,0.043,2912,1748,1690
$GC,13968,0.59,285.2,432.9,12.6,1066,13972,0.00,2.15,0.00,0.000,4,0.000,0.054,2913,3154,1690
$GC,14035,0.70,285.2,424.0,13.3,1072,14040,0.12,2.10,0.00,0.000,6,0.071,0.043,2982,1748,1689
$GC,14359,0.55,285.2,368.4,17.2,1102,14363,0.22,2.12,0.00,0.000,4,0.159,0.053,2924,339,1689
$GC,14380,0.55,285.2,365.2,15.6,1104,14384,0.00,2.10,0.00,0.000,6,0.000,0.041,2925,1751,1689
$GC,14711,0.65,295.6,328.9,9.6,1135,14726,0.00,2.17,8.93,0.939,4,0.000,0.053,2927,3154,1657
$GC,14760,0.78,323.0,324.2,8.9,1139,14792,0.15,2.12,24.67,1.000,6,0.064,0.041,3009,1735,1545
$GC,15121,0.60,323.0,265.5,18.8,1189,15127,0.25,2.15,0.00,0.000,4,0.153,0.058,2943,336,1541
$GC,15183,0.72,323.0,256.3,13.4,1200,15189,0.00,2.15,0.00,0.000,6,0.000,0.039,2943,1778,1540
$GC,15526,0.92,372.6,216.8,8.0,1261,15576,0.22,2.28,42.08,0.906,4,0.090,0.050,3064,337,1343
$GC,15656,0.67,372.6,196.2,17.0,1283,15663,0.38,2.12,0.00,0.000,6,0.146,0.037,2957,1750,1340
$GC,16001,0.86,372.6,166.0,10.8,1344,16008,0.17,2.17,0.00,0.000,4,0.057,0.049,3054,337,1338
$GC,16053,0.67,372.6,157.0,17.9,1353,16061,0.32,2.08,0.00,0.000,6,0.141,0.035,2958,1747,1338
$GC,16400,0.94,408.8,117.4,8.6,1414,16441,0.20,2.22,31.25,0.789,4,0.051,0.048,3069,344,1195
$GC,16528,0.81,408.8,97.3,16.9,1435,16535,0.22,2.05,0.00,0.000,6,0.140,0.034,3003,1729,1192
$GC,16873,0.96,408.8,59.0,12.2,1496,16879,0.12,2.10,0.00,0.000,4,0.065,0.046,3072,343,1192
$GC,16932,0.86,408.8,50.1,16.1,1506,16940,0.20,2.03,0.00,0.000,6,0.144,0.032,3015,1738,1192
$GC,17278,1.08,438.2,8.1,8.8,1567,17311,0.17,2.15,25.90,0.673,4,0.054,0.044,3116,330,1074
$STATE,17315,end climb,SURFACE_DEPTH_REACHED
$STATE,17315,begin surface coast
$FINISH,0.9,1.019930
$STATE,17339,end surface coast,CONTROL_FINISHED_OK
$STATE,17339,begin surface
$SM_CCo,17415,0.00,0.000,0,0,1069,439.82
$SM_GC,1.82,8.00,0.00,0.00,0.053,0.000,0.000,149,1504,1069,-8.03,0.11,439.82
$IRIDIUM_FIX,2507.97,12255.14,210898,050550
$TT8_MAMPS,0.026845
$HUMID,1414
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.80
$XPDR_PINGS,114
$24V_AH,23.6,10.369
$10V_AH,10.7,6.160
$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,29.975,133.600,532.350,0.000,0.000,24.778,33.329,216.135,36.500,0.000,0.000,13.807,2826.345,10730.538,676.519,3105.533,440.827,0.000,2045.984,0.000,3076.207,0.000,54.417,0.000
$DEVICE_MAMPS,235.469,62.127,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.113,1076.557,1811.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91677,1577
$CAP_FILE_SIZE,177835,0
$CFSIZE,260165632,232267776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.339, 15.9,1
$GPS,270509,154636,2516.634,12255.032,33,0.8,33,-3.7