version: 66.04
glider: 166
mission: 2
dive: 10
start: 5 23 109 12 15 10
data:
$ID,166
$MISSION,2
$DIVE,10
$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,-5496.1084
$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
$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,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,120831,2516.101,12237.784,42,1.2,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.5
$GPS2,121450,2516.268,12237.871,17,1.2,17,-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,271.1,26928,-16.8,-10.000
$D_GRID,749
$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,13,begin dive
$GC,14,-0.86,-170.3,0.0,0.0,0,75,0.00,0.00,-58.17,0.000,2,0.000,0.000,166,1500,2449
$GC,76,-0.86,-170.3,3.5,-6.9,9,123,9.40,2.17,-29.98,0.000,4,0.250,0.052,2424,2909,3559
$GC,142,-0.03,-170.3,17.3,-29.6,19,150,0.98,2.12,0.00,0.000,6,0.178,0.035,2698,1479,3560
$GC,487,-0.35,-170.3,51.7,-8.4,80,494,0.25,0.00,0.00,0.000,6,0.049,0.000,2572,1479,3562
$GC,830,-0.21,-170.3,109.3,-13.1,141,837,0.22,1.88,0.00,0.000,4,0.150,0.044,2641,205,3562
$GC,950,-0.44,-170.3,120.9,-8.7,162,957,0.12,1.90,0.00,0.000,6,0.050,0.028,2554,1526,3563
$GC,1292,-0.44,-170.3,163.6,-14.2,223,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1527,3564
$GC,1635,-0.44,-170.3,204.6,-11.6,284,1642,0.00,2.00,0.00,0.000,4,0.000,0.045,2554,201,3564
$GC,1776,-0.44,-170.3,219.3,-10.1,309,1782,0.00,1.83,0.00,0.000,6,0.000,0.028,2554,1499,3564
$GC,2120,-0.53,-170.3,253.2,-8.0,370,2126,0.00,1.95,0.00,0.000,4,0.000,0.045,2554,204,3564
$GC,2149,-0.58,-170.3,255.7,-9.0,375,2156,0.00,1.83,0.00,0.000,6,0.000,0.029,2554,1498,3564
$GC,2494,-0.70,-170.3,284.4,-9.8,436,2501,0.17,2.03,0.00,0.000,4,0.062,0.041,2466,2890,3564
$GC,2585,-0.57,-170.3,296.0,-12.5,452,2592,0.22,2.03,0.00,0.000,6,0.148,0.034,2532,1481,3564
$GC,2919,-0.62,-170.3,319.1,-5.8,487,2923,0.00,1.90,0.00,0.000,4,0.000,0.048,2532,214,3563
$GC,3124,-0.62,-170.3,338.0,-10.0,505,3131,0.00,1.88,0.00,0.000,6,0.000,0.032,2530,1498,3562
$GC,3450,-0.69,-170.3,369.7,-8.2,536,3454,0.12,1.92,0.00,0.000,4,0.077,0.047,2471,210,3560
$GC,3495,-0.48,-170.3,374.9,-13.1,540,3500,0.30,1.85,0.00,0.000,6,0.149,0.033,2560,1503,3560
$GC,3825,-0.71,-170.3,397.3,-8.4,571,3829,0.17,2.05,0.00,0.000,4,0.061,0.044,2459,2891,3557
$GC,3929,-0.71,-170.3,410.7,-13.5,580,3937,0.00,2.05,0.00,0.000,6,0.000,0.035,2466,1507,3556
$GC,4255,-0.61,-170.3,454.2,-12.3,611,4259,0.17,2.08,0.00,0.000,4,0.150,0.047,2514,2896,3555
$GC,4348,-0.80,-170.3,461.0,-6.0,619,4357,0.15,2.05,0.00,0.000,6,0.101,0.037,2435,1510,3555
$GC,4673,-0.61,-170.3,495.8,-12.6,650,4677,0.25,1.95,0.00,0.000,4,0.154,0.051,2516,204,3552
$GC,4907,-0.68,-170.3,520.6,-11.3,662,4912,0.00,1.90,0.00,0.000,6,0.000,0.035,2506,1499,3551
$GC,5229,-0.79,-170.3,550.4,-8.4,678,5233,0.15,2.08,0.00,0.000,4,0.069,0.047,2429,2896,3549
$GC,5295,-0.73,-170.3,557.9,-11.7,681,5300,0.17,2.05,0.00,0.000,6,0.151,0.039,2480,1500,3548
$GC,5621,-0.73,-170.3,582.8,-6.6,697,5625,0.00,2.10,0.00,0.000,4,0.000,0.051,2478,2900,3546
$GC,5659,-0.82,-170.3,585.2,-6.1,698,5666,0.00,2.08,0.00,0.000,6,0.000,0.040,2478,1510,3546
$GC,5974,-0.82,-170.3,606.7,-6.6,714,5977,0.00,1.98,0.00,0.000,4,0.000,0.054,2478,197,3544
$GC,6006,-0.82,-170.3,609.2,-8.1,715,6011,0.00,1.92,0.00,0.000,6,0.000,0.037,2479,1496,3544
$GC,6328,-0.82,-170.3,634.9,-7.7,731,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1497,3542
$GC,6637,-0.82,-170.3,663.4,-10.3,746,6641,0.00,1.98,0.00,0.000,4,0.000,0.057,2479,198,3540
$GC,6742,-0.82,-170.3,675.9,-11.8,750,6750,0.10,1.95,0.00,0.000,6,0.066,0.038,2442,1511,3539
$GC,7057,-0.67,-170.3,715.5,-12.3,766,7061,0.17,2.00,0.00,0.000,4,0.163,0.056,2488,199,3537
$GC,7124,-0.67,-170.3,722.7,-11.1,769,7128,0.00,1.92,0.00,0.000,6,0.000,0.040,2493,1491,3537
$STATE,7392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7392,begin apogee
$GC,7396,-0.19,0.0,749.9,11.0,782,7537,0.52,0.00,138.18,1.285,6,0.132,0.000,2651,1787,2863
$STATE,7538,end apogee,CONTROL_FINISHED_OK
$STATE,7538,begin climb
$GC,7539,0.86,170.3,755.8,0.0,789,7693,0.98,2.35,144.93,1.239,4,0.083,0.056,2982,3184,2167
$GC,7765,0.49,170.3,733.7,16.8,799,7771,0.40,2.20,0.00,0.000,6,0.179,0.042,2881,1801,2163
$GC,8088,0.49,170.3,697.7,10.5,815,8092,0.00,2.22,0.00,0.000,4,0.000,0.058,2888,378,2161
$GC,8222,0.49,170.3,681.5,11.7,821,8226,0.00,2.15,0.00,0.000,6,0.000,0.042,2888,1795,2160
$GC,8554,0.56,219.8,650.9,8.0,837,8598,0.00,0.00,42.28,1.214,6,0.000,0.000,2888,1796,1966
$GC,8903,0.56,219.8,610.9,12.8,854,8907,0.00,2.22,0.00,0.000,4,0.000,0.056,2899,374,1959
$GC,9015,0.56,219.8,595.9,12.3,859,9019,0.00,2.15,0.00,0.000,6,0.000,0.042,2899,1790,1958
$GC,9346,0.57,232.3,560.7,9.5,875,9361,0.00,2.22,10.38,1.092,4,0.000,0.057,2910,378,1915
$GC,9416,0.57,232.3,553.0,10.3,877,9421,0.00,2.17,0.00,0.000,6,0.000,0.042,2910,1791,1914
$GC,9737,0.57,232.3,518.0,11.0,893,9741,0.00,2.15,0.00,0.000,4,0.000,0.056,2909,3191,1912
$GC,9815,0.57,232.3,508.5,12.0,896,9819,0.00,2.12,0.00,0.000,6,0.000,0.044,2920,1783,1911
$GC,10143,0.57,232.3,469.7,12.3,924,10147,0.00,2.15,0.00,0.000,4,0.000,0.056,2931,379,1910
$GC,10270,0.51,232.3,453.9,12.1,935,10278,0.15,2.15,0.00,0.000,6,0.161,0.044,2884,1793,1910
$GC,10596,0.62,250.0,424.0,9.3,966,10618,0.00,2.20,15.73,1.071,4,0.000,0.055,2894,385,1842
$GC,10712,0.71,250.0,412.4,10.1,976,10720,0.10,2.15,0.00,0.000,6,0.060,0.042,2948,1792,1840
$GC,11038,0.62,250.0,366.7,13.3,1007,11042,0.15,2.15,0.00,0.000,4,0.168,0.053,2910,3197,1839
$GC,11133,0.62,251.4,356.1,9.9,1015,11136,0.00,2.12,0.00,0.000,6,0.000,0.042,2920,1782,1838
$GC,11463,0.63,260.6,322.9,9.6,1046,11477,0.00,2.20,9.85,0.944,4,0.000,0.056,2932,382,1800
$GC,11679,0.63,260.6,300.3,11.5,1065,11688,0.00,2.12,0.00,0.000,6,0.000,0.041,2932,1781,1797
$GC,12026,0.63,260.6,257.8,12.2,1126,12032,0.00,2.15,0.00,0.000,4,0.000,0.054,2945,373,1798
$GC,12088,0.63,260.6,249.5,12.1,1137,12095,0.00,2.12,0.00,0.000,6,0.000,0.045,2945,1803,1797
$GC,12432,0.63,260.6,206.5,14.5,1198,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1803,1797
$GC,12774,0.69,306.4,171.0,8.2,1259,12819,0.00,2.28,38.45,0.871,4,0.000,0.051,2950,383,1613
$GC,13026,0.78,306.4,141.9,14.9,1303,13033,0.00,2.10,0.00,0.000,6,0.000,0.038,2950,1795,1610
$GC,13370,0.96,335.4,100.6,8.9,1364,13402,0.17,2.25,24.38,0.789,4,0.058,0.050,3044,377,1494
$GC,13650,0.83,335.4,61.0,13.5,1413,13658,0.20,2.10,0.00,0.000,6,0.158,0.036,2987,1803,1490
$GC,13997,1.03,376.7,26.6,8.4,1474,14036,0.17,2.28,34.03,0.709,4,0.059,0.047,3086,374,1327
$GC,14140,0.92,376.7,6.0,13.6,1498,14147,0.25,2.10,0.00,0.000,6,0.154,0.033,3015,1802,1323
$STATE,14163,end climb,SURFACE_DEPTH_REACHED
$STATE,14163,begin surface coast
$FINISH,1.0,1.019134
$STATE,14188,end surface coast,CONTROL_FINISHED_OK
$STATE,14188,begin surface
$SM_CCo,14202,42.28,0.581,4,0,1130,425.10
$SM_GC,1.70,0.00,0.00,42.28,0.000,0.000,0.581,166,1481,1130,-7.97,-0.62,425.10
$IRIDIUM_FIX,2503.20,12239.96,170898,070752
$TT8_MAMPS,0.026845
$HUMID,1471
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,23.80
$XPDR_PINGS,109
$ALTIM_BOTTOM_PING,675.3,116.5
$24V_AH,23.9,5.648
$10V_AH,10.7,2.663
$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,24.075,116.875,458.175,42.275,0.000,26.778,30.470,211.789,32.500,0.000,0.000,17.546,2643.444,7828.408,639.679,3103.875,414.433,0.000,1979.649,0.000,3077.599,0.000,37.858,0.000
$DEVICE_MAMPS,250.042,57.525,1284.725,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.500,1064.442,1792.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85358,1506
$CAP_FILE_SIZE,152651,0
$CFSIZE,260165632,234344448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.137,  8.4,1
$GPS,230509,161407,2517.433,12235.896,39,1.1,39,-3.6