version: 66.04
glider: 166
mission: 2
dive: 6
start: 5 22 109 19 57 21
data:
$ID,166
$MISSION,2
$DIVE,6
$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,450
$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,-5237.0479
$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,26.799999
$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,1628
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,48
$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
$GPS1,194454,2504.131,12241.709,38,1.0,38,-3.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.6
$GPS2,195701,2504.575,12241.823,16,1.8,21,-3.6
$SPEED_LIMITS,0.173,0.279
$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,282.0,47146,-16.8,-10.000
$D_GRID,1466
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.84,-170.3,0.0,0.0,0,86,0.00,0.00,-70.97,0.000,2,0.000,0.000,138,1784,2387
$GC,88,-0.84,-170.3,3.1,-4.7,11,141,9.38,2.35,-36.22,0.000,4,0.249,0.055,2434,236,3559
$GC,349,-0.84,-170.3,73.4,-26.6,56,357,0.00,2.05,0.00,0.000,6,0.000,0.031,2430,1636,3560
$GC,695,-0.84,-170.3,150.0,-20.6,117,702,0.00,2.10,0.00,0.000,4,0.000,0.044,2435,234,3561
$GC,955,-0.84,-170.3,202.5,-19.8,163,961,0.00,2.03,0.00,0.000,6,0.000,0.031,2429,1635,3562
$GC,1296,-0.84,-170.3,254.2,-14.1,224,1304,0.00,2.10,0.00,0.000,4,0.000,0.045,2429,223,3562
$GC,1554,-0.84,-170.3,296.3,-16.1,270,1561,0.00,2.05,0.00,0.000,6,0.000,0.031,2437,1620,3562
$GC,1881,-0.84,-170.3,345.0,-14.4,303,1885,0.00,2.08,0.00,0.000,4,0.000,0.047,2434,229,3560
$GC,1948,-0.84,-170.3,355.0,-14.2,309,1952,0.00,2.03,0.00,0.000,6,0.000,0.031,2443,1633,3560
$GC,2277,-0.84,-170.3,398.5,-12.6,340,2281,0.00,2.12,0.00,0.000,4,0.000,0.048,2438,238,3557
$GC,2514,-0.84,-170.3,431.9,-13.7,361,2517,0.00,2.03,0.00,0.000,6,0.000,0.035,2440,1633,3555
$GC,2842,-0.84,-170.3,474.8,-13.9,392,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1633,3553
$GC,3167,-0.84,-170.3,520.0,-13.8,416,3171,0.00,2.10,0.00,0.000,4,0.000,0.051,2438,241,3550
$GC,3267,-0.84,-170.3,535.3,-15.0,420,3272,0.00,2.05,0.00,0.000,6,0.000,0.035,2444,1623,3549
$GC,3588,-0.84,-170.3,579.1,-13.3,436,3592,0.00,2.10,0.00,0.000,4,0.000,0.052,2442,232,3546
$GC,3777,-0.84,-170.3,605.3,-13.2,444,3783,0.00,2.08,0.00,0.000,6,0.000,0.038,2439,1626,3544
$GC,4098,-0.84,-170.3,643.9,-12.0,460,4102,0.00,2.10,0.00,0.000,4,0.000,0.054,2433,3028,3542
$GC,4122,-0.84,-170.3,646.5,-12.5,461,4126,0.00,2.05,0.00,0.000,6,0.000,0.039,2432,1630,3542
$GC,4454,-0.84,-170.3,686.0,-11.6,477,4458,0.00,2.12,0.00,0.000,4,0.000,0.054,2431,222,3538
$GC,4570,-0.84,-170.3,701.4,-13.1,482,4575,0.00,2.10,0.00,0.000,6,0.000,0.039,2426,1628,3537
$GC,4898,-0.84,-170.3,740.7,-12.4,498,4902,0.00,2.15,0.00,0.000,4,0.000,0.055,2426,216,3535
$GC,4952,-0.84,-170.3,748.3,-13.7,500,4957,0.00,2.10,0.00,0.000,6,0.000,0.040,2424,1621,3535
$GC,5274,-0.84,-170.3,788.5,-12.4,516,5277,0.00,2.12,0.00,0.000,4,0.000,0.056,2423,227,3532
$GC,5318,-0.84,-170.3,794.3,-13.5,518,5322,0.00,2.10,0.00,0.000,6,0.000,0.039,2416,1654,3532
$GC,5649,-0.84,-170.3,833.8,-11.7,534,5653,0.00,2.17,0.00,0.000,4,0.000,0.056,2415,226,3531
$GC,5855,-0.84,-170.3,861.6,-13.7,543,5860,0.10,2.10,0.00,0.000,6,0.167,0.040,2439,1627,3529
$GC,6182,-0.84,-170.3,896.5,-10.8,559,6185,0.00,2.15,0.00,0.000,4,0.000,0.058,2438,222,3527
$GC,6309,-0.84,-170.3,912.2,-12.9,564,6318,0.00,2.10,0.00,0.000,6,0.000,0.041,2433,1623,3526
$GC,6624,-0.84,-170.3,948.5,-11.4,580,6628,0.00,2.15,0.00,0.000,4,0.000,0.058,2433,220,3525
$GC,6684,-0.84,-170.3,956.2,-12.7,582,6692,0.00,2.10,0.00,0.000,6,0.000,0.042,2429,1617,3524
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6983,-0.19,0.0,990.5,11.5,597,7127,0.70,0.00,140.88,1.470,6,0.143,0.000,2651,1798,2863
$STATE,7128,end apogee,CONTROL_FINISHED_OK
$STATE,7128,begin climb
$GC,7129,0.84,170.3,995.5,0.0,604,7288,0.98,2.35,150.48,1.414,4,0.078,0.057,2981,3181,2167
$GC,7399,0.84,170.3,965.6,16.2,616,7404,0.00,2.17,0.00,0.000,6,0.000,0.043,2990,1798,2162
$GC,7720,0.84,170.3,910.3,17.4,632,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1797,2161
$GC,8030,0.84,170.3,859.7,15.6,647,8033,0.00,2.20,0.00,0.000,4,0.000,0.058,2999,381,2159
$GC,8101,0.84,170.3,847.8,17.0,650,8106,0.00,2.15,0.00,0.000,6,0.000,0.044,2999,1780,2159
$GC,8427,0.84,170.3,797.6,15.4,666,8431,0.00,2.17,0.00,0.000,4,0.000,0.057,3009,379,2158
$GC,8450,0.84,170.3,794.0,16.2,667,8453,0.00,2.12,0.00,0.000,6,0.000,0.044,3009,1791,2158
$GC,8781,0.84,170.3,740.3,16.4,683,8784,0.00,2.15,0.00,0.000,4,0.000,0.058,3009,3191,2157
$GC,8870,0.84,170.3,724.3,18.6,687,8875,0.15,2.12,0.00,0.000,6,0.215,0.044,2985,1777,2156
$GC,9196,0.84,170.3,671.1,16.3,703,9199,0.00,2.15,0.00,0.000,4,0.000,0.058,2994,374,2156
$GC,9227,0.84,170.3,665.3,18.2,704,9233,0.00,2.15,0.00,0.000,6,0.000,0.044,2994,1788,2156
$GC,9548,0.84,170.3,614.5,15.8,720,9552,0.00,2.15,0.00,0.000,4,0.000,0.057,2994,3197,2155
$GC,9653,0.84,170.3,597.4,16.3,724,9662,0.00,2.15,0.00,0.000,6,0.000,0.044,3004,1786,2155
$GC,9969,0.84,170.3,545.7,17.2,740,9973,0.00,2.15,0.00,0.000,4,0.000,0.057,3015,377,2155
$GC,10082,0.84,170.3,525.7,17.6,745,10086,0.00,2.12,0.00,0.000,6,0.000,0.043,3014,1803,2154
$GC,10407,0.84,170.3,474.0,15.4,768,10411,0.00,2.10,0.00,0.000,4,0.000,0.056,3014,3189,2154
$GC,10467,0.84,170.3,465.0,15.1,773,10475,0.10,2.12,0.00,0.000,6,0.201,0.043,2994,1789,2154
$GC,10792,0.84,170.3,419.3,13.0,804,10795,0.00,2.15,0.00,0.000,4,0.000,0.054,2993,3196,2154
$GC,10840,0.84,170.3,412.4,13.7,808,10850,0.00,2.12,0.00,0.000,6,0.000,0.042,3002,1789,2153
$GC,11166,0.84,170.3,369.9,13.5,839,11170,0.00,2.12,0.00,0.000,4,0.000,0.054,3014,383,2153
$GC,11256,0.84,170.3,356.4,15.6,847,11259,0.00,2.10,0.00,0.000,6,0.000,0.042,3014,1800,2153
$GC,11584,0.84,170.3,312.0,14.2,878,11588,0.00,2.12,0.00,0.000,4,0.000,0.052,3014,3190,2153
$GC,11633,0.84,170.3,304.6,14.3,882,11641,0.12,2.10,0.00,0.000,6,0.193,0.041,2989,1795,2153
$GC,11975,0.84,170.3,259.6,11.1,940,11982,0.00,2.17,0.00,0.000,4,0.000,0.054,3004,378,2154
$GC,12175,0.85,183.4,239.0,9.5,975,12189,0.00,2.10,10.07,0.884,6,0.000,0.040,3005,1801,2115
$GC,12528,0.87,195.1,204.3,9.5,1037,12545,0.00,2.17,11.32,0.854,4,0.000,0.051,3015,383,2066
$GC,12797,0.87,195.1,172.9,12.4,1085,12804,0.00,2.10,0.00,0.000,6,0.000,0.041,3013,1803,2065
$GC,13142,0.90,220.2,141.5,9.0,1146,13168,0.00,2.25,21.17,0.823,4,0.000,0.049,3019,381,1964
$GC,13422,0.90,222.9,108.6,9.9,1195,13436,0.00,2.08,3.70,0.498,6,0.000,0.035,3018,1793,1953
$GC,13775,0.90,222.9,76.5,10.0,1257,13781,0.00,2.08,0.00,0.000,4,0.000,0.045,3019,3190,1953
$GC,13815,0.90,222.9,72.0,10.8,1264,13822,0.00,2.10,0.00,0.000,6,0.000,0.036,3034,1786,1952
$GC,14161,0.97,276.6,41.2,7.9,1325,14213,0.00,2.15,43.15,0.718,4,0.000,0.048,3047,391,1734
$GC,14320,0.97,276.6,24.9,11.0,1352,14327,0.00,2.08,0.00,0.000,6,0.000,0.032,3046,1801,1732
$STATE,14556,end climb,SURFACE_DEPTH_REACHED
$STATE,14556,begin surface coast
$FINISH,1.0,1.008197
$STATE,14591,end surface coast,CONTROL_FINISHED_OK
$STATE,14591,begin surface
$SM_CCo,14606,137.40,0.660,1,0,1027,450.13
$SM_GC,1.79,0.00,0.00,137.40,0.000,0.000,0.660,162,1626,1027,-7.96,-0.06,450.13
$IRIDIUM_FIX,2456.07,12242.68,160898,191906
$TT8_MAMPS,0.027612
$HUMID,1405
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.60
$XPDR_PINGS,106
$24V_AH,23.6,4.912
$10V_AH,10.7,2.131
$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,19.425,127.900,380.775,137.400,0.000,74.243,99.221,318.778,34.500,0.000,0.000,21.891,2474.862,8737.160,668.188,2947.482,640.769,0.000,1954.350,0.000,2904.890,0.000,54.402,0.000
$DEVICE_MAMPS,248.508,61.360,1469.572,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,955.018,979.217,1648.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82049,1400
$CAP_FILE_SIZE,144963,0
$CFSIZE,260165632,234659840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.313, 22.1,1
$GPS,230509,000425,2506.821,12240.819,42,1.0,42,-3.6