version: 66.04
glider: 166
mission: 2
dive: 3
start: 5 22 109 6 2 27
data:
$ID,166
$MISSION,2
$DIVE,3
$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,150
$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,580.68237
$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,-5181.8076
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2707
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1991
$C_ROLL_CLIMB,1991
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,5
$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,0
$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
$GPS1,055624,2457.592,12241.271,29,1.4,47,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.0
$GPS2,060208,2457.704,12241.384,15,1.5,15,-3.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,335.1,57504,-18.2,-10.000
$D_GRID,1396
$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,-0.79,-146.0,0.0,0.0,0,108,0.00,0.00,-91.38,0.000,2,0.000,0.000,173,2007,2437
$GC,110,-0.79,-146.0,3.0,-5.8,14,157,9.27,2.20,-31.15,0.000,4,0.254,0.054,2439,570,3460
$GC,411,-0.79,-146.0,81.3,-24.3,66,417,0.00,2.05,0.00,0.000,6,0.000,0.033,2432,1992,3461
$GC,754,-0.79,-146.0,157.2,-16.4,127,760,0.00,2.08,0.00,0.000,4,0.000,0.042,2439,582,3462
$GC,1015,-0.79,-146.0,200.3,-18.0,173,1021,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1994,3463
$GC,1356,-0.79,-146.0,251.0,-14.3,234,1363,0.00,2.08,0.00,0.000,4,0.000,0.045,2427,3388,3463
$GC,1368,-0.79,-146.0,252.6,-13.9,236,1375,0.00,2.03,0.00,0.000,6,0.000,0.030,2427,1983,3464
$GC,1712,-0.79,-146.0,299.0,-13.1,297,1718,0.00,2.08,0.00,0.000,4,0.000,0.046,2426,3389,3463
$GC,1795,-0.79,-146.0,309.6,-12.7,305,1802,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1991,3464
$GC,2121,-0.79,-146.0,351.0,-12.9,336,2125,0.00,2.05,0.00,0.000,4,0.000,0.045,2427,588,3462
$GC,2379,-0.79,-146.0,384.0,-12.2,359,2383,0.00,2.03,0.00,0.000,6,0.000,0.035,2427,1988,3460
$GC,2708,-0.79,-146.0,422.7,-12.0,390,2711,0.00,2.08,0.00,0.000,4,0.000,0.046,2426,590,3458
$GC,2965,-0.79,-146.0,457.9,-13.1,413,2969,0.00,2.05,0.00,0.000,6,0.000,0.036,2423,1998,3456
$GC,3294,-0.79,-146.0,494.0,-11.0,444,3298,0.00,2.10,0.00,0.000,4,0.000,0.047,2423,587,3454
$GC,3551,-0.79,-146.0,526.4,-12.4,458,3556,0.00,2.08,0.00,0.000,6,0.000,0.037,2423,1988,3451
$GC,3872,-0.79,-146.0,562.6,-10.7,474,3876,0.12,2.08,0.00,0.000,4,0.168,0.048,2455,595,3449
$GC,4128,-0.79,-146.0,587.7,-9.4,485,4133,0.00,2.08,0.00,0.000,6,0.000,0.046,2453,1987,3446
$GC,4451,-0.79,-146.0,614.6,-8.3,501,4454,0.00,2.12,0.00,0.000,4,0.000,0.056,2452,3402,3444
$GC,4707,-0.79,-146.0,635.4,-8.6,512,4712,0.00,2.08,0.00,0.000,6,0.000,0.038,2452,2000,3441
$GC,5027,-0.79,-146.0,665.6,-10.1,528,5031,0.00,2.12,0.00,0.000,4,0.000,0.052,2452,581,3440
$GC,5301,-0.79,-146.0,695.1,-10.9,539,5306,0.00,2.10,0.00,0.000,6,0.000,0.041,2448,1982,3438
$GC,5622,-0.79,-146.0,723.8,-9.1,555,5626,0.00,2.10,0.00,0.000,4,0.000,0.053,2448,591,3435
$GC,5879,-0.79,-146.0,750.7,-10.4,566,5884,0.00,2.10,0.00,0.000,6,0.000,0.041,2440,1989,3434
$GC,6200,-0.79,-146.0,785.5,-11.2,582,6204,0.00,2.12,0.00,0.000,4,0.000,0.054,2440,585,3432
$GC,6473,-0.79,-146.0,817.6,-11.6,593,6478,0.00,2.12,0.00,0.000,6,0.000,0.041,2435,1995,3430
$GC,6796,-0.79,-146.0,850.2,-9.9,609,6800,0.00,2.12,0.00,0.000,4,0.000,0.054,2435,592,3428
$GC,7053,-0.79,-146.0,876.9,-10.0,620,7058,0.00,2.10,0.00,0.000,6,0.000,0.044,2435,1982,3427
$GC,7374,-0.79,-146.0,908.5,-10.2,636,7378,0.00,2.10,0.00,0.000,4,0.000,0.054,2434,592,3427
$GC,7630,-0.79,-146.0,936.9,-11.4,647,7635,0.00,2.10,0.00,0.000,6,0.000,0.043,2426,1986,3425
$GC,7952,-0.79,-146.0,969.2,-10.1,663,7956,0.00,2.12,0.00,0.000,4,0.000,0.054,2426,584,3424
$STATE,8152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8153,begin apogee
$GC,8158,-0.17,0.0,990.6,10.7,672,8280,0.73,0.00,118.88,1.485,6,0.147,0.000,2647,1991,2863
$STATE,8281,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8282,0.79,146.0,993.6,0.0,678,8418,0.90,2.33,129.12,1.424,4,0.077,0.058,2962,3393,2267
$GC,8642,0.79,146.0,949.6,16.3,694,8650,0.00,2.15,0.00,0.000,6,0.000,0.041,2971,2007,2259
$GC,8957,0.79,146.0,901.0,15.8,710,8961,0.00,2.20,0.00,0.000,4,0.000,0.056,2982,582,2259
$GC,9070,0.79,146.0,882.5,16.4,715,9073,0.00,2.15,0.00,0.000,6,0.000,0.044,2982,2000,2258
$GC,9401,0.79,146.0,829.2,15.6,731,9405,0.00,2.20,0.00,0.000,4,0.000,0.055,2992,576,2257
$GC,9517,0.79,146.0,809.6,16.3,736,9523,0.10,2.17,0.00,0.000,6,0.216,0.044,2966,1996,2256
$GC,9844,0.79,146.0,764.5,13.0,752,9847,0.00,2.17,0.00,0.000,4,0.000,0.055,2975,580,2256
$GC,9926,0.79,146.0,753.3,14.6,755,9933,0.00,2.15,0.00,0.000,6,0.000,0.043,2975,1995,2256
$GC,10242,0.79,146.0,712.2,13.0,771,10246,0.00,2.17,0.00,0.000,4,0.000,0.054,2985,574,2255
$GC,10308,0.79,146.0,702.8,14.3,774,10313,0.00,2.12,0.00,0.000,6,0.000,0.043,2985,1993,2255
$GC,10640,0.79,146.0,654.8,15.7,790,10643,0.00,2.17,0.00,0.000,4,0.000,0.052,2996,567,2255
$GC,10711,0.79,146.0,642.4,17.4,793,10717,0.10,2.15,0.00,0.000,6,0.200,0.041,2968,1993,2254
$GC,11038,0.79,146.0,590.6,15.8,809,11042,0.00,2.15,0.00,0.000,4,0.000,0.053,2977,580,2254
$GC,11116,0.79,146.0,578.0,16.8,812,11120,0.00,2.10,0.00,0.000,6,0.000,0.041,2977,1993,2254
$GC,11435,0.79,146.0,534.4,12.8,828,11439,0.00,2.15,0.00,0.000,4,0.000,0.053,2987,580,2254
$GC,11541,0.79,146.0,519.2,13.6,832,11550,0.00,2.12,0.00,0.000,6,0.000,0.042,2988,1988,2254
$GC,11861,0.79,146.0,478.6,13.9,855,11864,0.00,2.15,0.00,0.000,4,0.000,0.052,2998,571,2254
$GC,11950,0.79,146.0,464.1,17.2,863,11955,0.15,2.10,0.00,0.000,6,0.195,0.041,2962,1994,2254
$GC,12274,0.79,146.0,423.3,11.0,893,12278,0.00,2.15,0.00,0.000,4,0.000,0.053,2970,580,2253
$GC,12323,0.79,146.0,417.9,10.6,897,12330,0.00,2.12,0.00,0.000,6,0.000,0.041,2971,1990,2253
$GC,12648,0.79,146.0,381.7,11.3,928,12651,0.00,2.15,0.00,0.000,4,0.000,0.052,2981,570,2254
$GC,12714,0.79,146.0,373.0,12.9,934,12718,0.00,2.12,0.00,0.000,6,0.000,0.040,2981,2004,2254
$GC,13044,0.79,146.0,331.1,11.7,965,13048,0.00,2.17,0.00,0.000,4,0.000,0.051,2991,571,2254
$GC,13089,0.79,146.0,325.7,12.6,969,13093,0.00,2.10,0.00,0.000,6,0.000,0.040,2991,1995,2253
$GC,13438,0.79,146.0,289.5,10.2,1007,13444,0.00,2.15,0.00,0.000,4,0.000,0.051,3002,577,2254
$GC,13645,0.79,146.0,267.1,12.0,1044,13653,0.12,2.12,0.00,0.000,6,0.192,0.039,2966,1999,2254
$GC,13991,0.90,240.9,235.3,5.6,1105,14070,0.00,2.33,73.72,0.933,4,0.000,0.049,2975,579,1881
$GC,14323,0.90,240.9,203.9,11.5,1163,14329,0.00,2.12,0.00,0.000,6,0.000,0.041,2975,1986,1875
$GC,14666,0.90,240.9,163.5,10.3,1224,14673,0.00,2.15,0.00,0.000,4,0.000,0.048,2986,574,1874
$GC,14802,0.97,296.3,151.6,7.5,1248,14854,0.10,2.10,44.38,0.835,6,0.082,0.036,3030,1999,1654
$GC,15192,0.97,296.3,98.8,13.1,1316,15200,0.00,2.17,0.00,0.000,4,0.000,0.047,3040,572,1650
$GC,15228,0.97,296.3,93.8,14.6,1322,15234,0.00,2.10,0.00,0.000,6,0.000,0.035,3040,1989,1650
$GC,15571,0.97,296.3,50.7,12.3,1383,15577,0.00,2.12,0.00,0.000,4,0.000,0.045,3040,3392,1650
$GC,15623,0.97,296.3,44.4,12.0,1392,15632,0.12,2.08,0.00,0.000,6,0.174,0.035,3021,1970,1649
$GC,15969,1.06,367.9,12.4,6.7,1453,16032,0.00,2.12,56.70,0.690,4,0.000,0.045,3029,592,1362
$STATE,16088,end climb,SURFACE_DEPTH_REACHED
$STATE,16088,begin surface coast
$FINISH,1.0,1.011970
$STATE,16122,end surface coast,CONTROL_FINISHED_OK
$STATE,16122,begin surface
$SM_CCo,16138,164.85,0.661,0,0,494,580.87
$SM_GC,1.58,0.00,0.00,164.85,0.000,0.000,0.661,147,2007,494,-8.01,0.42,580.87
$IRIDIUM_FIX,2446.56,12240.12,160898,030307
$TT8_MAMPS,0.027612
$HUMID,1444
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.90
$XPDR_PINGS,106
$24V_AH,23.8,4.349
$10V_AH,10.7,1.686
$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,19.600,140.100,422.800,164.850,0.000,24.246,32.539,195.730,34.500,0.000,0.000,16.087,2656.869,9240.915,728.820,3632.498,389.762,0.000,2226.037,0.000,3580.599,0.000,54.834,0.000
$DEVICE_MAMPS,253.877,57.525,1484.912,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.478,1224.043,1890.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85388,1479
$CAP_FILE_SIZE,163294,0
$CFSIZE,260165632,234905600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.363, 40.1,1
$GPS,220509,103525,2500.490,12242.757,42,0.9,42,-3.6