version: 66.04
glider: 166
mission: 2
dive: 44
start: 5 29 109 1 37 35
data:
$ID,166
$MISSION,2
$DIVE,44
$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,300
$T_MISSION,360
$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,200
$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,-6038.6978
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,54
$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
$GPS1,012706,2522.219,12254.247,33,1.0,33,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.6
$GPS2,013713,2522.424,12254.139,11,1.1,16,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$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,328.5,33276,-17.1,-11.000
$D_GRID,1008
$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,13,-0.94,-194.7,0.0,0.0,0,86,0.00,0.00,-69.95,0.000,2,0.000,0.000,166,1488,2475
$GC,88,-0.94,-194.7,3.2,-4.8,11,140,8.77,2.15,-34.72,0.000,4,0.227,0.054,2421,2895,3659
$GC,248,-0.18,-194.7,50.8,-38.0,38,255,0.85,2.05,0.00,0.000,6,0.157,0.035,2672,1499,3659
$GC,595,-0.57,-194.7,87.1,-7.5,99,601,0.30,0.00,0.00,0.000,6,0.043,0.000,2532,1499,3660
$GC,938,-0.31,-194.7,154.8,-16.1,160,945,0.32,0.00,0.00,0.000,6,0.145,0.000,2632,1499,3661
$GC,1283,-0.63,-194.7,185.1,-11.7,221,1291,0.25,2.08,0.00,0.000,4,0.048,0.038,2509,2911,3662
$GC,1308,-0.69,-194.7,189.1,-14.8,225,1316,0.00,2.05,0.00,0.000,6,0.000,0.033,2509,1496,3662
$GC,1654,-0.48,-194.7,238.7,-14.3,286,1660,0.22,0.00,0.00,0.000,6,0.146,0.000,2579,1496,3662
$GC,1998,-0.69,-194.7,272.3,-5.5,347,2003,0.17,0.00,0.00,0.000,6,0.059,0.000,2490,1496,3662
$GC,2333,-0.50,-194.7,322.7,-18.2,397,2338,0.25,1.90,0.00,0.000,4,0.141,0.046,2570,211,3662
$GC,2473,-0.66,-194.7,336.5,-8.1,409,2480,0.15,1.88,0.00,0.000,6,0.064,0.030,2500,1528,3662
$GC,2797,-0.61,-194.7,374.3,-14.0,440,2801,0.15,1.98,0.00,0.000,4,0.143,0.045,2542,205,3662
$GC,2954,-0.69,-194.7,394.5,-12.3,454,2957,0.00,1.85,0.00,0.000,6,0.000,0.031,2540,1502,3661
$GC,3284,-0.84,-194.7,424.1,-7.3,485,3288,0.17,1.95,0.00,0.000,4,0.060,0.048,2447,201,3658
$GC,3330,-0.58,-194.7,429.3,-13.6,489,3334,0.38,1.85,0.00,0.000,6,0.145,0.031,2549,1490,3658
$GC,3654,-0.84,-194.7,444.9,-4.3,519,3659,0.20,2.08,0.00,0.000,4,0.055,0.044,2446,2895,3655
$GC,3694,-0.80,-194.7,447.8,-8.6,522,3698,0.12,2.05,0.00,0.000,6,0.149,0.038,2480,1491,3655
$GC,4024,-0.80,-194.7,483.8,-12.0,553,4028,0.00,2.10,0.00,0.000,4,0.000,0.047,2481,2900,3653
$GC,4209,-0.94,-194.7,501.4,-8.2,569,4213,0.12,2.03,0.00,0.000,6,0.067,0.040,2419,1519,3652
$GC,4537,-0.73,-194.7,539.6,-10.9,585,4541,0.25,1.98,0.00,0.000,4,0.150,0.054,2498,205,3650
$GC,4705,-0.79,-194.7,553.8,-9.1,592,4709,0.00,1.90,0.00,0.000,6,0.000,0.035,2499,1517,3649
$GC,5026,-0.91,-194.7,581.2,-8.2,608,5028,0.15,0.00,0.00,0.000,6,0.067,0.000,2427,1518,3645
$GC,5335,-0.77,-194.7,621.6,-13.5,623,5337,0.22,0.00,0.00,0.000,6,0.147,0.000,2493,1518,3643
$GC,5645,-0.88,-194.7,649.5,-8.4,638,5646,0.12,0.00,0.00,0.000,6,0.074,0.000,2435,1518,3641
$GC,5954,-0.78,-194.7,685.0,-11.3,653,5958,0.17,2.00,0.00,0.000,4,0.151,0.055,2492,205,3638
$GC,5999,-0.85,-194.7,689.3,-9.5,655,6002,0.00,1.90,0.00,0.000,6,0.000,0.038,2500,1499,3638
$GC,6332,-0.95,-194.7,718.3,-9.0,671,6337,0.20,2.10,0.00,0.000,4,0.062,0.051,2411,2898,3635
$GC,6381,-0.77,-194.7,724.8,-14.0,673,6387,0.22,2.08,0.00,0.000,6,0.151,0.042,2484,1517,3634
$GC,6702,-0.77,-194.7,759.1,-11.2,689,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1517,3633
$GC,7011,-0.77,-194.7,793.2,-10.3,704,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1517,3631
$GC,7321,-0.77,-194.7,823.3,-8.9,719,7324,0.00,2.00,0.00,0.000,4,0.000,0.059,2484,201,3629
$GC,7420,-0.77,-194.7,833.3,-11.0,723,7424,0.00,1.95,0.00,0.000,6,0.000,0.039,2478,1506,3629
$GC,7742,-0.77,-194.7,862.6,-8.6,739,7745,0.00,2.10,0.00,0.000,4,0.000,0.056,2477,2895,3627
$GC,7768,-0.82,-194.7,864.8,-8.3,740,7773,0.00,2.10,0.00,0.000,6,0.000,0.044,2477,1509,3626
$GC,8096,-0.82,-194.7,892.9,-9.3,756,8100,0.00,1.98,0.00,0.000,4,0.000,0.060,2477,207,3625
$GC,8187,-0.77,-194.7,902.1,-10.4,760,8191,0.00,1.92,0.00,0.000,6,0.000,0.041,2473,1509,3624
$GC,8518,-0.77,-194.7,933.3,-9.8,776,8522,0.00,2.00,0.00,0.000,4,0.000,0.059,2473,204,3623
$GC,8608,-0.72,-194.7,943.0,-10.7,780,8612,0.15,1.92,0.00,0.000,6,0.162,0.041,2506,1503,3623
$STATE,8712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8712,begin apogee
$GC,8716,-0.20,0.0,951.5,7.8,785,8880,0.52,0.00,161.07,1.457,6,0.123,0.000,2673,1752,2863
$STATE,8881,end apogee,CONTROL_FINISHED_OK
$STATE,8881,begin climb
$GC,8883,0.94,194.7,957.3,0.0,793,9058,1.02,0.00,170.75,1.409,6,0.055,0.000,3037,1753,2069
$GC,9361,0.43,194.7,880.2,18.7,816,9366,0.52,2.25,0.00,0.000,4,0.172,0.056,2891,341,2062
$GC,9432,0.43,194.7,871.2,12.0,819,9437,0.00,2.17,0.00,0.000,6,0.000,0.043,2889,1730,2061
$GC,9753,0.43,194.7,837.6,11.4,835,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1732,2060
$GC,10063,0.43,194.7,802.0,11.3,850,10066,0.00,2.17,0.00,0.000,4,0.000,0.059,2901,342,2059
$GC,10112,0.39,194.7,795.8,12.7,852,10117,0.10,2.15,0.00,0.000,6,0.149,0.042,2871,1747,2059
$GC,10438,0.52,225.7,762.2,9.8,868,10470,0.12,2.25,26.50,1.325,4,0.075,0.058,2940,345,1939
$GC,10521,0.38,225.7,751.2,13.9,872,10525,0.28,2.12,0.00,0.000,6,0.150,0.042,2863,1723,1936
$GC,10846,0.65,318.7,724.9,7.5,888,10936,0.22,2.38,82.57,1.321,4,0.057,0.058,2961,3141,1562
$GC,10991,0.50,318.7,702.6,18.4,894,10999,0.22,2.25,0.00,0.000,6,0.152,0.043,2906,1732,1557
$GC,11307,0.57,318.7,659.6,14.2,910,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1731,1553
$GC,11616,0.65,318.7,615.5,14.1,925,11621,0.15,2.15,0.00,0.000,4,0.066,0.057,2980,337,1552
$GC,11659,0.48,318.7,607.2,21.1,927,11664,0.25,2.12,0.00,0.000,6,0.149,0.044,2903,1718,1551
$GC,11986,0.58,318.7,561.9,12.4,943,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1720,1550
$GC,12295,0.73,341.9,528.2,10.1,958,12321,0.17,2.20,19.73,1.177,4,0.062,0.058,2995,351,1468
$GC,12342,0.52,341.9,520.7,16.5,960,12347,0.28,2.12,0.00,0.000,6,0.150,0.044,2911,1714,1467
$GC,12664,0.62,341.9,479.2,12.2,983,12668,0.00,2.22,0.00,0.000,4,0.000,0.056,2911,3151,1464
$GC,12725,0.74,341.9,471.5,12.4,988,12732,0.12,2.20,0.00,0.000,6,0.054,0.044,2989,1723,1462
$GC,13050,0.55,341.9,416.9,16.0,1019,13052,0.25,0.00,0.00,0.000,6,0.155,0.000,2920,1723,1462
$GC,13369,0.66,341.9,373.7,15.8,1049,13373,0.00,2.20,0.00,0.000,4,0.000,0.054,2920,3160,1461
$GC,13407,0.78,341.9,367.6,14.6,1052,13414,0.12,2.15,0.00,0.000,6,0.052,0.041,3000,1742,1461
$GC,13732,0.60,341.9,307.1,17.1,1083,13736,0.20,2.12,0.00,0.000,4,0.157,0.053,2948,338,1461
$GC,13793,0.67,341.9,298.6,12.6,1089,13801,0.00,2.08,0.00,0.000,6,0.000,0.041,2948,1731,1461
$GC,14138,0.74,341.9,255.6,11.8,1150,14145,0.00,2.12,0.00,0.000,4,0.000,0.053,2959,338,1460
$GC,14224,0.80,341.9,244.9,11.8,1165,14232,0.10,2.08,0.00,0.000,6,0.083,0.040,3012,1736,1461
$GC,14570,0.68,341.9,192.4,13.9,1226,14577,0.17,2.12,0.00,0.000,4,0.202,0.048,2958,3151,1460
$GC,14629,0.81,341.9,185.1,11.8,1236,14635,0.00,2.10,0.00,0.000,6,0.000,0.040,2966,1729,1460
$GC,14972,0.92,341.9,145.9,11.7,1297,14980,0.17,2.12,0.00,0.000,4,0.055,0.045,3060,3149,1461
$GC,15009,0.73,341.9,139.7,17.8,1303,15016,0.32,2.08,0.00,0.000,6,0.152,0.038,2975,1736,1461
$GC,15354,0.98,398.7,102.8,8.8,1364,15412,0.20,2.20,47.58,0.795,4,0.052,0.048,3080,342,1235
$GC,15532,0.81,398.7,71.1,17.6,1394,15539,0.28,2.05,0.00,0.000,6,0.140,0.034,2999,1735,1232
$GC,15877,1.12,458.7,36.0,8.7,1455,15935,0.25,2.15,50.58,0.713,4,0.048,0.044,3132,348,992
$GC,15998,0.85,458.7,12.9,21.3,1475,16005,0.32,2.03,0.00,0.000,6,0.142,0.031,3017,1693,989
$STATE,16066,end climb,SURFACE_DEPTH_REACHED
$STATE,16067,begin surface coast
$FINISH,1.1,1.022250
$STATE,16094,end surface coast,CONTROL_FINISHED_OK
$STATE,16095,begin surface
$SM_CCo,16169,0.00,0.000,0,0,986,460.43
$SM_GC,1.91,7.82,0.00,0.00,0.051,0.000,0.000,163,1476,986,-8.04,-0.68,460.43
$IRIDIUM_FIX,2512.73,12253.14,230898,010123
$TT8_MAMPS,0.026845
$HUMID,1456
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.50
$XPDR_PINGS,100
$ALTIM_BOTTOM_PING,925.3,50.5
$24V_AH,23.6,12.175
$10V_AH,10.7,7.320
$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,28.175,116.925,558.775,0.000,0.000,49.199,68.242,310.866,33.000,0.000,0.000,16.164,2670.167,9815.017,646.826,3024.804,610.867,0.000,2006.147,0.000,2988.327,0.000,56.892,0.000
$DEVICE_MAMPS,227.032,59.826,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.570,1023.859,1720.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85245,1492
$CAP_FILE_SIZE,168198,0
$CFSIZE,260165632,231563264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,357.5,1
$GPS,290509,060807,2526.964,12252.472,31,1.1,31,-3.7