version: 66.04
glider: 166
mission: 2
dive: 20
start: 5 24 109 17 13 33
data:
$ID,166
$MISSION,2
$DIVE,20
$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,-5670.5312
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,44
$R_STBD_OVSHOOT,39
$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
$GPS1,170738,2523.769,12228.381,9,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.9
$GPS2,171314,2524.026,12228.498,17,1.4,17,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$TGT_RADIUS,2000.000
$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,139.4,55016,-16.8,-10.000
$D_GRID,464
$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,14,-0.88,-170.3,0.0,0.0,0,91,0.00,0.00,-75.07,0.000,2,0.000,0.000,153,1502,2345
$GC,93,-0.88,-170.3,3.1,-3.7,11,146,9.23,2.03,-37.80,0.000,4,0.249,0.062,2445,201,3559
$GC,182,-0.10,-170.3,20.7,-32.8,25,190,0.77,1.98,0.00,0.000,6,0.163,0.036,2696,1507,3560
$GC,525,-0.96,-170.3,48.7,-7.4,86,533,0.70,2.08,0.00,0.000,4,0.064,0.040,2422,2924,3562
$GC,572,-0.61,-170.3,54.1,-13.2,94,579,0.38,2.08,0.00,0.000,6,0.159,0.033,2530,1494,3562
$GC,918,-0.45,-170.3,102.3,-14.4,155,926,0.17,1.90,0.00,0.000,4,0.151,0.045,2586,205,3563
$GC,1005,-0.58,-170.3,112.4,-9.7,170,1012,0.10,1.88,0.00,0.000,6,0.054,0.029,2530,1503,3564
$GC,1351,-0.58,-170.3,154.3,-12.2,231,1358,0.00,2.03,0.00,0.000,4,0.000,0.042,2531,2891,3565
$GC,1433,-0.71,-170.3,164.2,-12.2,245,1439,0.00,2.05,0.00,0.000,6,0.000,0.034,2528,1469,3565
$GC,1776,-0.76,-170.3,206.2,-10.6,306,1783,0.12,0.00,0.00,0.000,6,0.068,0.000,2471,1469,3566
$GC,2120,-0.56,-170.3,256.5,-15.2,367,2128,0.20,1.88,0.00,0.000,4,0.156,0.048,2536,204,3566
$GC,2212,-0.62,-170.3,268.0,-11.3,383,2219,0.00,1.80,0.00,0.000,6,0.000,0.030,2535,1473,3566
$GC,2557,-0.74,-170.3,300.3,-7.5,444,2562,0.12,2.10,0.00,0.000,4,0.071,0.043,2472,2902,3566
$GC,2674,-0.74,-170.3,311.9,-9.2,454,2678,0.00,2.08,0.00,0.000,6,0.000,0.035,2471,1474,3565
$GC,3005,-0.67,-170.3,343.1,-8.7,485,3009,0.15,2.12,0.00,0.000,4,0.149,0.046,2513,2896,3564
$GC,3073,-0.82,-170.3,348.7,-8.9,491,3078,0.12,2.05,0.00,0.000,6,0.068,0.035,2451,1482,3564
$GC,3402,-0.67,-170.3,393.7,-15.5,522,3404,0.22,0.00,0.00,0.000,6,0.153,0.000,2517,1482,3563
$GC,3722,-0.79,-170.3,424.6,-8.3,552,3723,0.12,0.00,0.00,0.000,6,0.074,0.000,2457,1482,3562
$GC,4039,-0.69,-170.3,463.0,-12.8,582,4041,0.20,0.00,0.00,0.000,6,0.150,0.000,2511,1482,3560
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4053,-0.20,0.0,464.3,12.7,583,4192,0.47,0.00,134.80,1.048,6,0.124,0.000,2664,1779,2863
$STATE,4193,end apogee,CONTROL_FINISHED_OK
$STATE,4193,begin climb
$GC,4194,0.88,170.3,468.7,0.0,597,4339,1.02,2.25,137.12,1.015,4,0.071,0.050,3034,395,2167
$GC,4429,0.39,170.3,442.8,18.8,618,4434,0.62,2.12,0.00,0.000,6,0.167,0.038,2859,1788,2164
$GC,4753,0.56,192.2,411.4,9.1,648,4777,0.15,2.22,18.33,0.971,4,0.063,0.050,2930,3190,2078
$GC,4792,0.44,192.2,406.4,12.8,651,4801,0.20,2.15,0.00,0.000,6,0.149,0.038,2882,1795,2076
$GC,5117,0.58,230.2,376.5,8.5,682,5154,0.12,2.28,30.73,0.988,4,0.067,0.051,2956,379,1923
$GC,5248,0.47,230.2,358.5,14.1,693,5255,0.20,2.15,0.00,0.000,6,0.150,0.038,2886,1782,1920
$GC,5574,0.78,363.6,336.4,4.7,724,5695,0.25,2.33,110.03,0.982,4,0.054,0.049,3002,3194,1379
$GC,5813,0.59,363.6,298.8,17.5,746,5820,0.30,2.12,0.00,0.000,6,0.160,0.038,2927,1799,1373
$GC,6158,0.66,363.6,260.6,12.5,807,6165,0.00,2.17,0.00,0.000,4,0.000,0.053,2932,376,1370
$GC,6221,0.78,363.6,252.8,11.5,818,6228,0.15,2.12,0.00,0.000,6,0.064,0.041,3005,1811,1369
$GC,6566,0.51,363.6,180.1,24.3,879,6573,0.35,0.00,0.00,0.000,6,0.156,0.000,2899,1812,1368
$GC,6913,0.82,369.7,138.3,9.8,940,6926,0.25,2.20,4.50,0.609,4,0.048,0.050,3028,391,1354
$GC,6971,0.56,369.7,127.5,21.0,950,6978,0.38,2.08,0.00,0.000,6,0.152,0.038,2918,1809,1354
$GC,7317,0.84,370.6,87.8,10.0,1011,7325,0.20,2.15,0.00,0.000,4,0.052,0.048,3032,383,1353
$GC,7349,0.84,370.6,82.9,15.8,1016,7355,0.00,2.10,0.00,0.000,6,0.000,0.035,3032,1832,1353
$GC,7693,0.79,370.6,28.8,10.1,1077,7700,0.17,2.00,0.00,0.000,4,0.150,0.043,2982,3191,1353
$GC,7806,1.02,413.2,18.9,8.3,1097,7853,0.17,2.03,37.03,0.732,6,0.057,0.036,3078,1797,1177
$STATE,7924,end climb,SURFACE_DEPTH_REACHED
$STATE,7924,begin surface coast
$FINISH,1.0,1.022635
$STATE,7948,end surface coast,CONTROL_FINISHED_OK
$STATE,7948,begin surface
$SM_CCo,7962,8.82,0.636,0,0,1130,425.10
$SM_GC,2.99,0.00,0.00,8.82,0.000,0.000,0.636,157,1508,1130,-8.06,0.11,425.10
$IRIDIUM_FIX,2515.12,12228.64,180898,151516
$TT8_MAMPS,0.027612
$HUMID,1530
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,22.60
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,425.5,67.2
$24V_AH,24.2,7.266
$10V_AH,10.8,3.860
$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,25.450,63.350,472.525,8.825,0.000,23.146,32.335,192.970,34.500,0.000,0.000,17.849,1879.955,3380.761,560.152,2139.990,351.470,0.000,1505.395,0.000,2121.979,0.000,23.623,0.000
$DEVICE_MAMPS,248.508,62.127,1047.722,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,759.347,855.538,1443.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63156,1121
$CAP_FILE_SIZE,103383,0
$CFSIZE,260165632,233725952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248, 88.0,1
$GPS,240509,192737,2522.950,12230.535,39,0.9,40,-3.7