version: 66.04
glider: 166
mission: 2
dive: 4
start: 5 22 109 10 44 53
data:
$ID,166
$MISSION,2
$DIVE,4
$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,500
$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,-5199.9409
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1798
$C_ROLL_CLIMB,1891
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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
$GPS1,103525,2500.490,12242.757,42,0.9,42,-3.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.9
$GPS2,104432,2500.773,12242.938,17,1.3,17,-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,284.8,53976,-18.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.83,-146.0,0.0,0.0,0,107,0.00,0.00,-91.22,0.000,2,0.000,0.000,169,2007,2470
$GC,109,-0.83,-146.0,3.3,-5.9,14,156,9.40,2.45,-28.55,0.000,4,0.252,0.053,2436,389,3461
$GC,410,-0.83,-146.0,85.7,-27.0,66,416,0.00,2.05,0.00,0.000,6,0.000,0.031,2435,1797,3461
$GC,753,-0.83,-146.0,170.1,-20.1,127,759,0.00,2.08,0.00,0.000,4,0.000,0.043,2433,398,3463
$GC,1012,-0.83,-146.0,222.7,-16.4,173,1018,0.00,2.03,0.00,0.000,6,0.000,0.030,2431,1805,3463
$GC,1354,-0.83,-146.0,271.3,-14.7,234,1360,0.00,2.12,0.00,0.000,4,0.000,0.044,2431,396,3463
$GC,1612,-0.83,-146.0,314.1,-17.2,273,1616,0.00,2.03,0.00,0.000,6,0.000,0.031,2425,1801,3463
$GC,1941,-0.83,-146.0,360.2,-11.6,304,1945,0.00,2.10,0.00,0.000,4,0.000,0.045,2425,389,3462
$GC,2199,-0.83,-146.0,396.1,-13.1,327,2203,0.00,2.05,0.00,0.000,6,0.000,0.033,2424,1805,3461
$GC,2532,-0.83,-146.0,431.3,-10.8,358,2535,0.00,2.10,0.00,0.000,4,0.000,0.047,2424,398,3458
$GC,2815,-0.83,-146.0,468.5,-15.1,378,2830,0.00,2.08,0.00,0.000,6,0.000,0.035,2423,1797,3456
$GC,3157,-0.83,-146.0,512.0,-11.1,405,3161,0.00,2.10,0.00,0.000,4,0.000,0.048,2423,392,3454
$GC,3415,-0.83,-146.0,544.1,-13.1,416,3418,0.00,2.05,0.00,0.000,6,0.000,0.036,2423,1799,3452
$GC,3734,-0.83,-146.0,577.7,-10.2,432,3738,0.00,2.10,0.00,0.000,4,0.000,0.049,2423,397,3449
$GC,3847,-0.83,-146.0,591.2,-11.8,437,3851,0.00,2.05,0.00,0.000,6,0.000,0.036,2423,1799,3449
$GC,4179,-0.83,-146.0,631.2,-11.6,453,4182,0.00,2.10,0.00,0.000,4,0.000,0.050,2423,401,3446
$GC,4436,-0.83,-146.0,663.1,-11.9,464,4440,0.00,2.05,0.00,0.000,6,0.000,0.038,2423,1797,3444
$GC,4756,-0.83,-146.0,698.2,-10.5,480,4760,0.00,2.10,0.00,0.000,4,0.000,0.051,2423,401,3442
$GC,4923,-0.83,-146.0,717.7,-11.9,487,4928,0.00,2.08,0.00,0.000,6,0.000,0.039,2423,1790,3440
$GC,5245,-0.83,-146.0,749.9,-9.6,503,5250,0.00,2.10,0.00,0.000,4,0.000,0.054,2423,400,3437
$GC,5473,-0.83,-146.0,773.9,-10.0,513,5478,0.00,2.08,0.00,0.000,6,0.000,0.040,2423,1787,3436
$GC,5801,-0.83,-146.0,806.6,-10.3,529,5804,0.00,2.10,0.00,0.000,4,0.000,0.054,2423,403,3434
$GC,5984,-0.83,-146.0,828.4,-11.6,537,5989,0.08,2.08,0.00,0.000,6,0.168,0.040,2438,1789,3433
$GC,6312,-0.83,-146.0,860.9,-10.2,553,6316,0.00,2.10,0.00,0.000,4,0.000,0.056,2437,404,3430
$GC,6450,-0.83,-146.0,876.9,-12.0,559,6455,0.00,2.10,0.00,0.000,6,0.000,0.041,2434,1799,3430
$GC,6777,-0.83,-146.0,909.8,-10.0,575,6781,0.00,2.12,0.00,0.000,4,0.000,0.055,2434,398,3428
$GC,6961,-0.83,-146.0,929.9,-10.3,583,6965,0.00,2.10,0.00,0.000,6,0.000,0.043,2434,1791,3427
$GC,7288,-0.83,-146.0,957.8,-8.2,599,7292,0.00,2.12,0.00,0.000,4,0.000,0.057,2434,394,3426
$GC,7461,-0.83,-146.0,974.4,-9.3,606,7468,0.00,2.12,0.00,0.000,6,0.000,0.042,2427,1802,3425
$STATE,7651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7651,begin apogee
$GC,7655,-0.18,0.0,991.8,9.2,616,7777,0.73,0.00,119.68,1.475,6,0.143,0.000,2655,1900,2863
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7780,0.83,146.0,994.6,0.0,622,7917,0.93,2.33,129.82,1.420,4,0.071,0.058,2979,3293,2267
$GC,8028,0.83,146.0,966.8,16.9,633,8035,0.00,2.20,0.00,0.000,6,0.000,0.043,2989,1900,2261
$GC,8344,0.83,146.0,916.6,16.2,649,8348,0.00,2.20,0.00,0.000,4,0.000,0.055,3001,487,2259
$GC,8381,0.83,146.0,909.9,17.6,650,8389,0.00,2.17,0.00,0.000,6,0.000,0.044,3001,1886,2259
$GC,8697,0.83,146.0,858.8,16.1,666,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1886,2258
$GC,9007,0.83,146.0,806.6,17.2,681,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1887,2257
$GC,9315,0.83,146.0,756.1,15.6,696,9319,0.00,2.17,0.00,0.000,4,0.000,0.056,3012,475,2256
$GC,9342,0.83,146.0,751.8,15.8,697,9347,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,1896,2256
$GC,9669,0.83,146.0,703.1,14.7,713,9673,0.00,2.17,0.00,0.000,4,0.000,0.054,3021,482,2255
$GC,9768,0.83,146.0,687.0,16.9,717,9774,0.12,2.15,0.00,0.000,6,0.205,0.044,2986,1895,2255
$GC,10090,0.83,146.0,640.8,14.6,733,10094,0.00,2.17,0.00,0.000,4,0.000,0.055,2996,475,2254
$GC,10134,0.83,146.0,633.9,15.1,735,10138,0.00,2.12,0.00,0.000,6,0.000,0.044,2996,1892,2254
$GC,10466,0.83,146.0,585.7,13.8,751,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1892,2254
$GC,10774,0.83,146.0,541.7,15.8,766,10778,0.00,2.15,0.00,0.000,4,0.000,0.058,2996,3304,2254
$GC,10797,0.83,146.0,538.5,14.7,767,10800,0.00,2.10,0.00,0.000,6,0.000,0.042,3007,1886,2254
$GC,11120,0.83,146.0,490.8,13.9,785,11123,0.00,2.12,0.00,0.000,4,0.000,0.054,3018,485,2254
$GC,11257,0.83,146.0,469.6,14.5,797,11265,0.10,2.12,0.00,0.000,6,0.193,0.043,2989,1891,2253
$GC,11582,0.83,146.0,430.1,12.1,828,11586,0.00,2.12,0.00,0.000,4,0.000,0.054,2998,488,2253
$GC,11709,0.83,146.0,413.3,14.4,839,11716,0.00,2.10,0.00,0.000,6,0.000,0.041,2999,1883,2253
$GC,12034,0.83,146.0,370.3,11.7,870,12038,0.00,2.12,0.00,0.000,4,0.000,0.054,3007,485,2253
$GC,12101,0.83,146.0,362.7,11.0,876,12105,0.00,2.10,0.00,0.000,6,0.000,0.042,3007,1902,2253
$GC,12431,0.83,146.0,325.9,11.3,907,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1902,2254
$GC,12755,0.83,146.0,282.1,12.5,948,12763,0.00,2.17,0.00,0.000,4,0.000,0.052,3017,490,2254
$GC,13014,0.83,146.0,255.5,11.1,994,13021,0.10,2.10,0.00,0.000,6,0.179,0.039,2987,1897,2254
$GC,13358,0.85,165.1,224.9,9.1,1055,13377,0.00,2.22,14.43,0.886,4,0.000,0.051,2996,478,2190
$GC,13630,0.91,208.5,201.3,8.0,1103,13674,0.00,2.10,35.65,0.877,6,0.000,0.038,2996,1898,2012
$GC,14013,0.91,208.5,162.4,11.3,1170,14019,0.00,2.17,0.00,0.000,4,0.000,0.049,3008,477,2008
$GC,14145,0.94,233.1,148.6,8.9,1193,14171,0.00,2.10,20.42,0.803,6,0.000,0.036,3008,1899,1911
$GC,14510,0.94,233.1,113.0,11.7,1257,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1900,1909
$GC,14851,0.96,248.0,77.5,9.3,1318,14872,0.00,2.15,13.40,0.708,4,0.000,0.045,3019,487,1850
$GC,14957,0.99,272.8,68.1,8.9,1336,14984,0.00,2.08,20.65,0.713,6,0.000,0.034,3019,1902,1750
$GC,15322,1.04,318.6,32.2,7.9,1400,15367,0.00,2.15,36.83,0.690,4,0.000,0.044,3019,3281,1562
$GC,15395,1.04,318.6,24.7,10.9,1412,15403,0.00,2.10,0.00,0.000,6,0.000,0.033,3030,1896,1561
$STATE,15615,end climb,SURFACE_DEPTH_REACHED
$STATE,15615,begin surface coast
$FINISH,0.9,1.016555
$STATE,15651,end surface coast,CONTROL_FINISHED_OK
$STATE,15651,begin surface
$SM_CCo,15665,144.32,0.660,0,0,824,500.17
$SM_GC,1.73,0.00,0.00,144.32,0.000,0.000,0.660,163,1770,824,-7.95,-0.79,500.17
$IRIDIUM_FIX,2451.31,12244.69,160898,101041
$TT8_MAMPS,0.027612
$HUMID,1404
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.90
$XPDR_PINGS,142
$24V_AH,23.6,4.534
$10V_AH,10.7,1.842
$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,19.275,119.125,390.875,144.325,0.000,52.166,67.204,260.667,43.500,0.000,0.000,17.503,2591.441,9190.451,668.061,3375.287,524.556,0.000,2061.084,0.000,3337.977,0.000,54.425,0.000
$DEVICE_MAMPS,252.343,86.671,1474.941,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.685,1203.243,1871.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85131,1457
$CAP_FILE_SIZE,154782,0
$CFSIZE,260165632,234827776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246, 28.3,1
$GPS,220509,150937,2502.454,12242.238,41,1.4,41,-3.6