version: 66.04
glider: 166
mission: 2
dive: 13
start: 5 23 109 23 14 22
data:
$ID,166
$MISSION,2
$DIVE,13
$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,-5540.4917
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.4
$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,42
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,4
$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
$GPS1,230807,2520.207,12233.966,35,1.2,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.5
$GPS2,231401,2520.337,12233.903,13,1.2,13,-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,261.9,17216,-16.8,-10.000
$D_GRID,558
$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,-0.87,-170.3,0.0,0.0,0,72,0.00,0.00,-56.28,0.000,2,0.000,0.000,165,1490,2369
$GC,74,-0.87,-170.3,3.2,-5.4,9,126,9.35,2.12,-35.95,0.000,4,0.249,0.055,2434,2902,3559
$GC,256,-0.06,-170.3,59.4,-36.6,40,264,0.95,2.08,0.00,0.000,6,0.179,0.035,2702,1494,3560
$GC,601,-0.80,-170.3,94.2,-6.3,101,609,0.65,1.92,0.00,0.000,4,0.082,0.047,2468,200,3562
$GC,654,-0.36,-170.3,99.3,-11.4,110,662,0.40,1.90,0.00,0.000,6,0.151,0.029,2603,1503,3562
$GC,1002,-0.55,-170.3,126.6,-8.6,171,1008,0.17,2.03,0.00,0.000,4,0.058,0.040,2516,2893,3563
$GC,1037,-0.46,-170.3,130.8,-12.6,177,1044,0.20,2.03,0.00,0.000,6,0.144,0.032,2573,1484,3563
$GC,1383,-0.57,-170.3,163.4,-5.1,238,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1484,3564
$GC,1728,-0.72,-170.3,191.7,-9.8,299,1735,0.20,1.90,0.00,0.000,4,0.057,0.045,2476,217,3564
$GC,1804,-0.43,-170.3,204.1,-17.7,312,1811,0.30,1.85,0.00,0.000,6,0.147,0.031,2585,1496,3564
$GC,2149,-0.68,-170.3,236.2,-8.2,373,2156,0.20,2.05,0.00,0.000,4,0.055,0.041,2484,2895,3564
$GC,2240,-0.60,-170.3,247.2,-12.3,389,2247,0.15,2.00,0.00,0.000,6,0.148,0.034,2528,1510,3564
$GC,2582,-0.60,-170.3,284.0,-10.5,450,2589,0.00,1.95,0.00,0.000,4,0.000,0.048,2528,214,3563
$GC,2713,-0.54,-170.3,299.8,-11.8,473,2720,0.00,1.85,0.00,0.000,6,0.000,0.032,2528,1506,3563
$GC,3036,-0.54,-170.3,333.8,-10.4,504,3040,0.00,2.05,0.00,0.000,4,0.000,0.046,2525,2896,3563
$GC,3119,-0.69,-170.3,341.3,-6.2,511,3126,0.00,2.05,0.00,0.000,6,0.000,0.035,2525,1513,3562
$GC,3444,-0.76,-170.3,373.1,-10.9,542,3448,0.15,1.95,0.00,0.000,4,0.065,0.049,2453,203,3560
$GC,3612,-0.54,-170.3,400.7,-16.5,557,3617,0.35,1.90,0.00,0.000,6,0.150,0.034,2551,1522,3560
$GC,3937,-0.78,-170.3,428.5,-7.0,587,3941,0.20,2.03,0.00,0.000,4,0.132,0.046,2451,2894,3558
$GC,3985,-0.78,-170.3,433.5,-10.6,591,3992,0.00,2.05,0.00,0.000,6,0.000,0.037,2454,1516,3558
$GC,4310,-0.69,-170.3,469.0,-10.0,622,4314,0.17,2.05,0.00,0.000,4,0.148,0.047,2498,2893,3556
$GC,4393,-0.84,-170.3,474.3,-5.2,629,4400,0.10,2.03,0.00,0.000,6,0.054,0.038,2436,1528,3556
$GC,4715,-0.71,-170.3,510.5,-12.1,656,4719,0.17,1.98,0.00,0.000,4,0.151,0.053,2490,209,3554
$GC,4763,-0.71,-170.3,515.7,-9.7,658,4768,0.00,1.92,0.00,0.000,6,0.000,0.035,2489,1516,3554
$GC,5091,-0.80,-170.3,545.9,-9.2,674,5094,0.00,1.98,0.00,0.000,4,0.000,0.054,2489,209,3551
$GC,5204,-0.85,-170.3,555.8,-9.5,679,5208,0.12,1.90,0.00,0.000,6,0.080,0.038,2437,1515,3550
$STATE,5224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5224,begin apogee
$GC,5228,-0.20,0.0,558.1,10.1,680,5369,0.68,0.00,136.32,1.133,6,0.141,0.000,2659,1784,2863
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5370,begin climb
$GC,5371,0.87,170.3,560.4,0.0,687,5520,1.00,2.28,140.30,1.091,4,0.082,0.051,3005,3184,2166
$GC,5570,0.51,170.3,536.5,18.8,696,5575,0.40,2.17,0.00,0.000,6,0.166,0.040,2893,1795,2164
$GC,5897,0.63,230.6,508.1,7.6,712,5953,0.12,2.30,49.50,1.085,4,0.069,0.054,2957,389,1921
$GC,6098,0.50,230.6,483.3,13.4,726,6107,0.22,2.12,0.00,0.000,6,0.156,0.041,2890,1763,1916
$GC,6423,0.63,230.6,448.1,10.7,757,6427,0.12,2.20,0.00,0.000,4,0.073,0.052,2943,3199,1913
$GC,6467,0.54,230.6,442.4,14.2,761,6471,0.20,2.17,0.00,0.000,6,0.161,0.041,2900,1759,1912
$GC,6791,0.63,230.6,409.2,10.9,791,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1759,1910
$GC,7110,0.81,285.4,380.1,7.8,821,7160,0.22,2.17,44.67,1.045,4,0.055,0.052,3016,383,1697
$GC,7221,0.56,285.4,363.5,16.6,830,7230,0.35,2.15,0.00,0.000,6,0.159,0.040,2912,1771,1694
$GC,7546,0.67,285.4,333.3,11.4,861,7550,0.00,2.15,0.00,0.000,4,0.000,0.052,2921,379,1690
$GC,7584,0.78,285.4,328.7,12.5,864,7591,0.12,2.12,0.00,0.000,6,0.054,0.040,2988,1779,1690
$GC,7919,0.66,285.4,272.0,18.4,909,7925,0.17,0.00,0.00,0.000,6,0.163,0.000,2936,1781,1689
$GC,8261,0.72,285.4,226.4,11.7,970,8268,0.00,2.12,0.00,0.000,4,0.000,0.059,2946,384,1689
$GC,8364,0.78,285.4,214.1,11.8,988,8370,0.00,2.10,0.00,0.000,6,0.000,0.039,2946,1778,1689
$GC,8706,0.78,285.4,171.0,15.3,1049,8713,0.00,2.12,0.00,0.000,4,0.000,0.057,2954,377,1688
$GC,8825,0.80,302.2,157.8,9.3,1070,8845,0.00,2.03,13.75,0.834,6,0.000,0.038,2954,1768,1630
$GC,9184,0.88,302.2,117.5,10.2,1133,9191,0.15,2.12,0.00,0.000,4,0.060,0.046,3029,3193,1628
$GC,9410,0.81,302.2,78.5,12.4,1173,9417,0.15,2.08,0.00,0.000,6,0.153,0.037,2987,1774,1627
$GC,9756,1.01,367.2,49.9,7.4,1234,9816,0.17,2.20,52.92,0.747,4,0.057,0.048,3086,387,1365
$GC,10036,0.82,367.2,7.5,13.9,1282,10045,0.32,2.08,0.00,0.000,6,0.138,0.034,2988,1802,1360
$STATE,10088,end climb,SURFACE_DEPTH_REACHED
$STATE,10088,begin surface coast
$FINISH,1.0,1.021954
$STATE,10128,end surface coast,CONTROL_FINISHED_OK
$STATE,10128,begin surface
$SM_CCo,10143,46.00,0.686,0,0,1130,425.10
$SM_GC,1.48,0.00,0.00,46.00,0.000,0.000,0.686,167,1494,1130,-8.00,-0.25,425.10
$IRIDIUM_FIX,2510.35,12232.66,170898,191952
$TT8_MAMPS,0.026845
$HUMID,1470
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,23.80
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,550.2,51.6
$24V_AH,24.1,6.136
$10V_AH,10.7,3.063
$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,26.000,87.075,437.475,46.000,0.000,23.242,48.723,187.772,35.750,0.000,0.000,13.175,2240.804,4809.205,584.706,2520.869,382.921,0.000,1679.881,0.000,2505.595,0.000,31.893,0.000
$DEVICE_MAMPS,248.508,59.059,1132.859,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,882.670,970.540,1635.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72672,1298
$CAP_FILE_SIZE,124630,0
$CFSIZE,260165632,234147840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.259,  0.7,1
$GPS,240509,020525,2521.480,12232.328,40,1.4,40,-3.7