version: 66.04
glider: 166
mission: 2
dive: 5
start: 5 22 109 15 18 53
data:
$ID,166
$MISSION,2
$DIVE,5
$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,-5214.5298
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,150937,2502.454,12242.238,41,1.4,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.7
$GPS2,151832,2502.664,12242.303,13,1.3,13,-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,283.6,50487,-18.2,-10.000
$D_GRID,1454
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-70.60,0.000,2,0.000,0.000,174,1770,2401
$GC,88,-0.83,-146.0,3.1,-4.9,11,136,9.60,2.10,-32.35,0.000,4,0.258,0.058,2437,417,3461
$GC,390,-0.83,-146.0,88.7,-29.5,63,396,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1812,3461
$GC,733,-0.83,-146.0,172.9,-19.7,124,740,0.00,2.08,0.00,0.000,4,0.000,0.043,2426,417,3463
$GC,992,-0.83,-146.0,223.1,-17.4,170,999,0.00,2.03,0.00,0.000,6,0.000,0.031,2423,1795,3463
$GC,1335,-0.83,-146.0,271.0,-14.2,231,1341,0.00,2.05,0.00,0.000,4,0.000,0.044,2421,414,3463
$GC,1592,-0.83,-146.0,315.6,-17.5,270,1597,0.08,2.03,0.00,0.000,6,0.168,0.031,2439,1793,3463
$GC,1923,-0.83,-146.0,355.5,-10.4,301,1927,0.00,2.05,0.00,0.000,4,0.000,0.045,2438,415,3462
$GC,2181,-0.83,-146.0,388.4,-13.2,324,2185,0.00,2.03,0.00,0.000,6,0.000,0.033,2438,1793,3461
$GC,2511,-0.83,-146.0,432.0,-13.2,355,2514,0.00,2.05,0.00,0.000,4,0.000,0.047,2438,421,3458
$GC,2768,-0.83,-146.0,466.1,-12.1,378,2772,0.00,2.00,0.00,0.000,6,0.000,0.034,2439,1801,3457
$GC,3110,-0.83,-146.0,502.2,-9.7,409,3114,0.00,2.08,0.00,0.000,4,0.000,0.053,2437,413,3454
$GC,3366,-0.83,-146.0,528.8,-10.6,420,3371,0.00,2.05,0.00,0.000,6,0.000,0.036,2445,1795,3452
$GC,3687,-0.83,-146.0,559.3,-10.1,436,3691,0.00,2.08,0.00,0.000,4,0.000,0.049,2442,411,3449
$GC,3944,-0.83,-146.0,591.9,-12.4,447,3949,0.00,2.05,0.00,0.000,6,0.000,0.038,2447,1793,3447
$GC,4266,-0.83,-146.0,626.6,-10.2,463,4270,0.00,2.08,0.00,0.000,4,0.000,0.051,2445,414,3444
$GC,4416,-0.83,-146.0,643.0,-10.6,469,4423,0.00,2.08,0.00,0.000,6,0.000,0.038,2431,1803,3443
$GC,4733,-0.83,-146.0,672.5,-9.7,485,4737,0.00,2.08,0.00,0.000,4,0.000,0.052,2430,417,3440
$GC,4944,-0.83,-146.0,696.2,-11.5,494,4949,0.00,2.08,0.00,0.000,6,0.000,0.040,2424,1799,3439
$GC,5265,-0.83,-146.0,731.7,-11.3,510,5269,0.00,2.10,0.00,0.000,4,0.000,0.053,2423,412,3436
$GC,5426,-0.83,-146.0,752.2,-13.1,517,5431,0.00,2.08,0.00,0.000,6,0.000,0.041,2423,1797,3435
$GC,5754,-0.83,-146.0,789.0,-11.0,533,5758,0.00,2.08,0.00,0.000,4,0.000,0.054,2423,424,3433
$GC,6010,-0.83,-146.0,819.5,-11.9,544,6016,0.00,2.08,0.00,0.000,6,0.000,0.042,2422,1800,3432
$GC,6332,-0.83,-146.0,850.1,-9.0,560,6336,0.00,2.10,0.00,0.000,4,0.000,0.054,2422,416,3430
$GC,6582,-0.83,-146.0,875.6,-10.2,571,6587,0.00,2.10,0.00,0.000,6,0.000,0.043,2422,1803,3428
$GC,6910,-0.83,-146.0,903.0,-8.3,587,6914,0.00,2.10,0.00,0.000,4,0.000,0.055,2422,419,3427
$GC,7077,-0.83,-146.0,918.7,-9.5,594,7081,0.00,2.08,0.00,0.000,6,0.000,0.044,2422,1793,3426
$GC,7399,-0.83,-146.0,947.2,-9.4,610,7403,0.00,2.10,0.00,0.000,4,0.000,0.056,2422,412,3425
$GC,7533,-0.83,-146.0,962.2,-11.3,616,7537,0.00,2.08,0.00,0.000,6,0.000,0.044,2424,1802,3424
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7826,-0.18,0.0,990.9,9.9,630,7948,0.73,0.00,119.38,1.476,6,0.147,0.000,2655,1900,2863
$STATE,7949,end apogee,CONTROL_FINISHED_OK
$STATE,7949,begin climb
$GC,7951,0.83,146.0,994.2,0.0,636,8089,0.95,2.35,130.20,1.420,4,0.075,0.059,2982,3285,2266
$GC,8250,0.83,146.0,959.7,16.0,649,8258,0.00,2.15,0.00,0.000,6,0.000,0.043,2988,1919,2261
$GC,8567,0.83,146.0,912.4,14.8,665,8570,0.00,2.25,0.00,0.000,4,0.000,0.058,2998,478,2258
$GC,8626,0.83,146.0,902.6,16.0,667,8634,0.00,2.17,0.00,0.000,6,0.000,0.044,2999,1879,2258
$GC,8942,0.83,146.0,853.8,15.4,683,8946,0.00,2.20,0.00,0.000,4,0.000,0.060,2999,3298,2257
$GC,8991,0.83,146.0,845.5,16.6,685,8996,0.00,2.15,0.00,0.000,6,0.000,0.043,3009,1894,2256
$GC,9318,0.83,146.0,796.7,14.6,701,9322,0.00,2.17,0.00,0.000,4,0.000,0.057,3020,479,2256
$GC,9429,0.83,146.0,780.1,15.9,706,9434,0.15,2.15,0.00,0.000,6,0.199,0.045,2983,1904,2255
$GC,9761,0.83,146.0,736.2,13.4,722,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1904,2255
$GC,10070,0.83,146.0,695.3,13.2,737,10074,0.00,2.20,0.00,0.000,4,0.000,0.057,2993,476,2255
$GC,10107,0.83,146.0,690.1,13.6,738,10115,0.00,2.15,0.00,0.000,6,0.000,0.044,2992,1889,2255
$GC,10424,0.83,146.0,646.5,13.9,754,10428,0.00,2.15,0.00,0.000,4,0.000,0.056,3003,487,2254
$GC,10461,0.83,146.0,640.5,15.8,755,10469,0.00,2.12,0.00,0.000,6,0.000,0.044,3003,1886,2254
$GC,10777,0.83,146.0,591.9,15.6,771,10779,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1886,2254
$GC,11086,0.83,146.0,545.6,15.0,786,11090,0.00,2.15,0.00,0.000,4,0.000,0.056,3013,480,2253
$GC,11146,0.83,146.0,535.3,18.2,788,11156,0.08,2.15,0.00,0.000,6,0.198,0.044,2991,1892,2253
$GC,11464,0.83,146.0,484.4,15.8,808,11468,0.00,2.17,0.00,0.000,4,0.000,0.054,3001,468,2253
$GC,11576,0.83,146.0,467.8,13.2,818,11580,0.00,2.12,0.00,0.000,6,0.000,0.043,3000,1893,2253
$GC,11907,0.83,146.0,426.2,12.7,849,11911,0.00,2.12,0.00,0.000,4,0.000,0.056,3001,3296,2253
$GC,12019,0.83,146.0,410.5,14.1,859,12022,0.00,2.10,0.00,0.000,6,0.000,0.043,3012,1880,2253
$GC,12347,0.83,146.0,366.0,15.0,890,12351,0.00,2.12,0.00,0.000,4,0.000,0.054,3023,494,2252
$GC,12561,0.83,146.0,337.3,10.9,909,12565,0.15,2.08,0.00,0.000,6,0.192,0.043,2986,1899,2252
$GC,12885,0.83,146.0,296.4,14.5,941,12891,0.00,2.15,0.00,0.000,4,0.000,0.054,2997,485,2252
$GC,13043,0.83,146.0,273.9,13.5,969,13049,0.00,2.08,0.00,0.000,6,0.000,0.042,2997,1889,2253
$GC,13385,0.84,154.2,234.3,9.6,1030,13398,0.00,2.15,5.65,0.781,4,0.000,0.052,3011,482,2234
$GC,13487,0.84,154.2,223.4,10.3,1048,13495,0.00,2.12,0.00,0.000,6,0.000,0.041,3011,1895,2234
$GC,13834,0.88,186.5,191.2,8.5,1109,13865,0.00,0.00,27.58,0.899,6,0.000,0.000,3011,1896,2102
$GC,14204,0.93,223.3,149.3,8.3,1174,14241,0.00,2.25,30.05,0.843,4,0.000,0.050,3017,485,1951
$GC,14450,0.93,223.3,121.9,10.4,1217,14456,0.00,2.10,0.00,0.000,6,0.000,0.038,3017,1895,1947
$GC,14792,0.93,229.6,84.5,9.7,1278,14805,0.00,2.15,6.05,0.640,4,0.000,0.048,3032,488,1926
$GC,14884,0.93,229.9,75.1,10.0,1294,14890,0.00,2.08,0.00,0.000,6,0.000,0.035,3033,1894,1926
$GC,15229,0.97,255.4,41.9,8.8,1355,15255,0.00,2.17,22.05,0.717,4,0.000,0.044,3037,3293,1820
$GC,15375,0.99,271.7,27.6,9.3,1380,15396,0.00,2.08,14.10,0.673,6,0.000,0.035,3051,1884,1754
$STATE,15653,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,1.0,1.010320
$STATE,15693,end surface coast,CONTROL_FINISHED_OK
$STATE,15693,begin surface
$SM_CCo,15708,181.60,0.671,0,0,824,500.17
$SM_GC,1.75,0.00,0.00,181.60,0.000,0.000,0.671,140,1784,824,-8.04,-0.40,500.17
$IRIDIUM_FIX,2451.31,12241.40,160898,151552
$TT8_MAMPS,0.027612
$HUMID,1391
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,24.40
$XPDR_PINGS,103
$24V_AH,23.6,4.718
$10V_AH,10.7,1.988
$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,19.550,122.625,355.050,181.600,0.000,49.191,74.326,246.041,33.750,0.000,0.000,13.959,2593.332,9414.904,666.124,3227.521,516.506,0.000,2065.208,0.000,3186.470,0.000,54.407,0.000
$DEVICE_MAMPS,257.712,89.739,1475.708,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,980.497,986.542,1661.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82283,1436
$CAP_FILE_SIZE,151682,0
$CFSIZE,260165632,234737664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242, 33.1,1
$GPS,220509,194454,2504.131,12241.709,38,1.0,38,-3.6