version: 66.04
glider: 166
mission: 2
dive: 25
start: 5 25 109 7 38 34
data:
$ID,166
$MISSION,2
$DIVE,25
$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,-5746.8135
$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,1485
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,69
$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,25
$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
$GPS1,073237,2520.701,12237.693,36,1.0,36,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.9
$GPS2,073814,2520.749,12237.880,14,1.2,14,-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,149.3,38250,-16.8,-10.000
$D_GRID,722
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-62.85,0.000,2,0.000,0.000,164,1508,2386
$GC,81,-0.88,-170.3,3.2,-6.2,10,134,9.18,2.03,-34.12,0.000,4,0.244,0.059,2445,198,3559
$GC,270,-0.25,-170.3,54.5,-27.0,42,277,0.62,1.88,0.00,0.000,6,0.163,0.032,2647,1461,3560
$GC,614,-0.53,-170.3,85.7,-7.1,103,622,0.22,2.10,0.00,0.000,4,0.051,0.041,2544,2887,3562
$GC,656,-0.44,-170.3,90.8,-13.7,110,663,0.17,2.05,0.00,0.000,6,0.145,0.034,2591,1473,3562
$GC,1002,-0.51,-170.3,132.5,-8.1,171,1009,0.00,1.90,0.00,0.000,4,0.000,0.047,2586,208,3563
$GC,1240,-0.67,-170.3,154.0,-9.8,213,1247,0.15,1.83,0.00,0.000,6,0.048,0.030,2502,1475,3563
$GC,1586,-0.55,-170.3,198.1,-11.8,274,1593,0.17,2.05,0.00,0.000,4,0.149,0.041,2551,2882,3564
$GC,1712,-0.79,-170.3,206.8,-6.3,296,1719,0.17,2.08,0.00,0.000,6,0.041,0.034,2455,1467,3564
$GC,2057,-0.56,-170.3,251.0,-12.7,357,2064,0.28,2.08,0.00,0.000,4,0.150,0.042,2541,2873,3564
$GC,2131,-0.79,-170.3,256.6,-5.9,370,2139,0.15,2.05,0.00,0.000,6,0.044,0.035,2453,1479,3564
$GC,2481,-0.58,-170.3,301.6,-13.9,431,2483,0.28,0.00,0.00,0.000,6,0.146,0.000,2541,1479,3564
$GC,2800,-0.71,-170.3,331.3,-10.9,461,2805,0.12,2.08,0.00,0.000,4,0.070,0.044,2471,2870,3561
$GC,2856,-0.71,-170.3,339.7,-15.1,466,2860,0.00,2.05,0.00,0.000,6,0.000,0.036,2474,1467,3562
$GC,3186,-0.60,-170.3,383.5,-10.9,497,3190,0.17,2.08,0.00,0.000,4,0.152,0.044,2526,2871,3560
$GC,3231,-0.81,-170.3,387.4,-7.9,501,3235,0.17,2.05,0.00,0.000,6,0.056,0.040,2440,1466,3560
$GC,3555,-0.61,-170.3,429.0,-13.1,531,3559,0.28,1.88,0.00,0.000,4,0.175,0.049,2529,205,3558
$GC,3813,-0.74,-170.3,458.0,-11.1,554,3817,0.00,1.77,0.00,0.000,6,0.000,0.042,2526,1441,3557
$GC,4143,-0.90,-170.3,481.2,-5.4,585,4148,0.20,2.12,0.00,0.000,4,0.058,0.046,2426,2876,3555
$GC,4175,-0.76,-170.3,483.9,-9.1,587,4184,0.17,2.10,0.00,0.000,6,0.146,0.037,2485,1457,3555
$GC,4508,-0.76,-170.3,509.5,-9.0,614,4511,0.00,2.12,0.00,0.000,4,0.000,0.048,2483,2881,3553
$GC,4602,-0.86,-170.3,518.0,-8.2,618,4606,0.00,2.10,0.00,0.000,6,0.000,0.039,2484,1472,3552
$GC,4929,-0.86,-170.3,546.5,-8.5,634,4932,0.00,2.10,0.00,0.000,4,0.000,0.051,2483,2874,3549
$GC,4961,-0.96,-170.3,549.4,-8.7,635,4966,0.17,2.08,0.00,0.000,6,0.061,0.039,2401,1461,3550
$GC,5282,-0.69,-170.3,592.9,-14.0,651,5284,0.35,0.00,0.00,0.000,6,0.163,0.000,2505,1460,3547
$GC,5591,-0.83,-170.3,615.4,-7.4,666,5595,0.12,2.12,0.00,0.000,4,0.075,0.050,2448,2874,3545
$GC,5652,-0.73,-170.3,619.8,-8.0,669,5657,0.17,2.08,0.00,0.000,6,0.157,0.041,2494,1471,3545
$GC,5978,-0.73,-170.3,648.1,-5.2,685,5982,0.00,2.12,0.00,0.000,4,0.000,0.052,2512,2883,3543
$GC,6019,-0.93,-170.3,650.1,-3.9,686,6026,0.17,2.08,0.00,0.000,6,0.058,0.041,2416,1470,3542
$GC,6334,-0.70,-170.3,684.5,-11.2,702,6338,0.25,1.90,0.00,0.000,4,0.160,0.055,2494,211,3540
$GC,6410,-0.70,-170.3,690.3,-6.9,705,6415,0.00,1.85,0.00,0.000,6,0.000,0.039,2510,1457,3540
$GC,6734,-0.79,-170.3,711.3,-7.8,721,6737,0.00,2.15,0.00,0.000,4,0.000,0.053,2511,2888,3538
$GC,6833,-0.95,-170.3,718.5,-7.1,725,6838,0.20,2.12,0.00,0.000,6,0.047,0.041,2400,1476,3537
$STATE,6885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6885,begin apogee
$GC,6889,-0.20,0.0,724.5,12.1,728,7031,0.88,0.00,137.93,1.285,6,0.160,0.000,2659,1804,2863
$STATE,7031,end apogee,CONTROL_FINISHED_OK
$STATE,7031,begin climb
$GC,7033,0.88,170.3,728.3,0.0,735,7186,1.02,2.33,144.02,1.236,4,0.081,0.054,2999,3182,2167
$GC,7249,0.45,170.3,705.1,16.5,745,7254,0.50,2.17,0.00,0.000,6,0.178,0.041,2877,1788,2164
$GC,7577,0.45,174.7,673.0,9.8,761,7586,0.00,2.20,4.38,0.805,4,0.000,0.056,2884,385,2150
$GC,7620,0.45,174.7,668.1,11.1,763,7624,0.00,2.12,0.00,0.000,6,0.000,0.041,2884,1782,2149
$GC,7952,0.54,241.1,632.1,7.4,779,8017,0.00,2.33,56.53,1.206,4,0.000,0.055,2894,381,1879
$GC,8129,0.59,242.0,610.3,10.0,787,8133,0.00,2.15,0.00,0.000,6,0.000,0.046,2893,1760,1874
$GC,8462,0.59,242.0,563.6,15.2,803,8466,0.00,2.15,0.00,0.000,4,0.000,0.056,2903,382,1872
$GC,8488,0.59,242.0,559.6,13.4,804,8493,0.00,2.15,0.00,0.000,6,0.000,0.041,2903,1781,1872
$GC,8816,0.59,242.0,515.4,11.5,820,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1781,1870
$GC,9129,0.59,242.0,481.1,12.5,842,9133,0.00,2.15,0.00,0.000,4,0.000,0.054,2903,3191,1869
$GC,9189,0.59,242.0,473.3,13.5,847,9197,0.00,2.17,0.00,0.000,6,0.000,0.041,2914,1763,1868
$GC,9514,0.64,283.2,441.6,8.4,878,9554,0.00,2.22,34.70,1.109,4,0.000,0.055,2927,386,1707
$GC,9659,0.64,283.2,426.7,12.0,890,9667,0.00,2.12,0.00,0.000,6,0.000,0.040,2927,1762,1704
$GC,9985,0.67,306.9,388.3,9.1,921,10010,0.00,2.17,20.85,1.044,4,0.000,0.054,2941,386,1610
$GC,10084,0.67,306.9,380.6,11.5,930,10088,0.00,2.10,0.00,0.000,6,0.000,0.041,2941,1747,1608
$GC,10414,0.67,306.9,323.6,18.8,961,10418,0.00,2.17,0.00,0.000,4,0.000,0.049,2944,3190,1606
$GC,10504,0.68,317.3,311.6,9.6,969,10519,0.00,2.17,9.60,0.922,6,0.000,0.040,2951,1744,1568
$GC,10854,0.58,317.3,256.3,16.4,1024,10861,0.12,0.00,0.00,0.000,6,0.170,0.000,2920,1744,1566
$GC,11198,0.66,317.3,216.5,10.9,1085,11204,0.00,2.20,0.00,0.000,4,0.000,0.049,2920,3192,1566
$GC,11256,0.78,317.3,210.2,11.9,1095,11264,0.17,2.12,0.00,0.000,6,0.059,0.041,3009,1764,1565
$GC,11601,0.60,317.3,146.3,13.8,1156,11608,0.28,2.15,0.00,0.000,4,0.151,0.048,2924,3194,1565
$GC,11704,0.82,317.3,134.9,11.3,1174,11711,0.17,2.05,0.00,0.000,6,0.056,0.038,3024,1797,1565
$GC,12051,0.69,331.4,92.3,9.4,1235,12071,0.22,2.15,12.85,0.776,4,0.145,0.050,2957,379,1512
$GC,12219,1.03,435.9,81.0,5.9,1264,12313,0.30,2.05,86.80,0.779,6,0.045,0.035,3089,1787,1085
$GC,12652,0.90,435.9,5.3,19.2,1339,12660,0.20,2.12,0.00,0.000,4,0.154,0.045,3037,387,1078
$STATE,12665,end climb,SURFACE_DEPTH_REACHED
$STATE,12665,begin surface coast
$FINISH,0.9,1.022011
$STATE,12684,end surface coast,CONTROL_FINISHED_OK
$STATE,12684,begin surface
$SM_CCo,12759,0.00,0.000,0,0,1075,438.60
$SM_GC,1.79,7.75,0.00,0.00,0.049,0.000,0.000,141,1504,1075,-8.02,0.54,438.60
$IRIDIUM_FIX,2510.35,12233.94,190898,040448
$TT8_MAMPS,0.027612
$HUMID,1499
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,23.50
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,675.3,82.9
$24V_AH,23.9,8.109
$10V_AH,10.7,4.499
$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,25.600,112.850,507.650,0.000,0.000,26.239,33.687,182.440,29.750,0.000,0.000,14.760,2376.222,7025.354,590.566,2714.893,383.656,0.000,1805.755,0.000,2691.891,0.000,37.747,0.000
$DEVICE_MAMPS,243.906,59.059,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,914.238,951.333,1603.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78851,1344
$CAP_FILE_SIZE,141803,0
$CFSIZE,260165632,233316352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,  6.0,1
$GPS,250509,111225,2520.917,12239.006,40,1.2,40,-3.7