version: 66.04
glider: 166
mission: 2
dive: 49
start: 5 29 109 21 26 18
data:
$ID,166
$MISSION,2
$DIVE,49
$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,-2
$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,-6118.6558
$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,48
$R_STBD_OVSHOOT,64
$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
$GPS1,212006,2538.687,12250.742,13,1.3,29,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.2
$GPS2,212556,2538.730,12250.733,15,1.6,15,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,133.0,63416,-17.1,-11.000
$D_GRID,737
$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,-0.94,-194.7,0.0,0.0,0,87,0.00,0.00,-70.85,0.000,2,0.000,0.000,165,1481,2429
$GC,89,-0.94,-194.7,3.1,-5.0,11,142,9.05,1.98,-37.35,0.000,4,0.239,0.058,2430,204,3659
$GC,312,-0.13,-194.7,68.5,-35.4,49,320,0.85,1.90,0.00,0.000,6,0.166,0.032,2688,1485,3659
$GC,655,-0.59,-194.7,96.5,-7.8,110,662,0.35,2.08,0.00,0.000,4,0.043,0.038,2525,2908,3661
$GC,719,-0.42,-194.7,106.6,-17.9,121,726,0.22,2.05,0.00,0.000,6,0.137,0.031,2597,1513,3661
$GC,1064,-0.53,-194.7,148.9,-10.6,182,1070,0.00,2.05,0.00,0.000,4,0.000,0.041,2598,2902,3662
$GC,1127,-0.80,-194.7,155.0,-9.1,193,1134,0.32,2.03,0.00,0.000,6,0.041,0.031,2454,1495,3662
$GC,1470,-0.40,-194.7,230.5,-20.9,254,1477,0.47,2.08,0.00,0.000,4,0.152,0.041,2600,2897,3663
$GC,1562,-0.74,-194.7,238.5,-6.5,270,1569,0.22,2.00,0.00,0.000,6,0.029,0.032,2467,1534,3664
$GC,1905,-0.43,-194.7,298.6,-19.9,331,1911,0.40,1.98,0.00,0.000,4,0.146,0.045,2593,200,3664
$GC,2034,-0.68,-194.7,312.7,-9.8,343,2040,0.22,1.90,0.00,0.000,6,0.052,0.028,2491,1539,3664
$GC,2358,-0.57,-194.7,362.8,-13.6,374,2362,0.17,1.98,0.00,0.000,4,0.149,0.045,2548,213,3664
$GC,2415,-0.65,-194.7,368.9,-10.3,379,2419,0.00,1.83,0.00,0.000,6,0.000,0.030,2541,1497,3664
$GC,2745,-0.83,-194.7,396.1,-8.3,410,2747,0.17,0.00,0.00,0.000,6,0.059,0.000,2453,1499,3664
$GC,3063,-0.68,-194.7,436.6,-11.3,440,3067,0.17,1.92,0.00,0.000,4,0.152,0.047,2512,213,3662
$GC,3157,-0.68,-194.7,444.2,-9.7,448,3166,0.00,1.83,0.00,0.000,6,0.000,0.031,2514,1469,3661
$GC,3483,-0.76,-194.7,472.0,-9.0,479,3486,0.00,1.90,0.00,0.000,4,0.000,0.054,2513,207,3660
$GC,3529,-0.82,-194.7,475.9,-8.7,483,3532,0.00,1.80,0.00,0.000,6,0.000,0.032,2501,1459,3660
$GC,3858,-0.92,-194.7,506.8,-9.9,511,3862,0.15,2.12,0.00,0.000,4,0.067,0.046,2427,2892,3657
$GC,3889,-0.85,-194.7,510.8,-12.8,512,3898,0.10,2.10,0.00,0.000,6,0.146,0.041,2461,1477,3657
$GC,4204,-0.85,-194.7,547.0,-11.0,528,4208,0.00,1.90,0.00,0.000,4,0.000,0.052,2461,208,3655
$GC,4265,-0.79,-194.7,553.8,-10.9,530,4272,0.00,1.85,0.00,0.000,6,0.000,0.035,2459,1462,3654
$GC,4580,-0.79,-194.7,590.4,-11.3,546,4584,0.00,2.15,0.00,0.000,4,0.000,0.049,2464,2903,3651
$GC,4657,-0.84,-194.7,598.0,-11.1,549,4661,0.00,2.12,0.00,0.000,6,0.000,0.038,2463,1481,3651
$GC,4979,-0.84,-194.7,635.2,-12.1,565,4983,0.00,1.92,0.00,0.000,4,0.000,0.054,2463,201,3648
$GC,5028,-0.75,-194.7,641.1,-11.1,567,5032,0.00,1.88,0.00,0.000,6,0.000,0.036,2469,1465,3648
$GC,5357,-0.75,-194.7,675.2,-11.4,583,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1466,3646
$GC,5665,-0.75,-194.7,709.6,-10.2,598,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1467,3643
$STATE,5931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5931,begin apogee
$GC,5935,-0.20,0.0,738.5,10.8,611,6097,0.60,0.00,158.90,1.280,6,0.131,0.000,2667,1749,2863
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6099,0.94,194.7,741.2,0.0,619,6268,1.10,0.00,164.68,1.242,6,0.076,0.000,3038,1749,2068
$GC,6565,0.49,194.7,666.5,21.3,642,6568,0.50,0.00,0.00,0.000,6,0.171,0.000,2900,1750,2061
$GC,6876,0.60,233.7,633.4,9.5,657,6918,0.12,2.30,31.83,1.178,4,0.072,0.056,2965,353,1909
$GC,6941,0.46,233.7,625.1,13.8,660,6946,0.28,2.15,0.00,0.000,6,0.148,0.040,2888,1750,1907
$GC,7267,0.70,306.7,596.4,8.2,676,7337,0.20,2.33,63.25,1.183,4,0.060,0.054,2989,355,1611
$GC,7359,0.54,306.7,583.3,15.3,680,7364,0.22,2.20,0.00,0.000,6,0.146,0.038,2911,1746,1609
$GC,7680,0.67,318.2,548.1,10.6,696,7695,0.15,2.20,10.12,1.045,4,0.066,0.054,2987,342,1564
$GC,7809,0.54,318.2,528.9,16.1,701,7814,0.25,2.10,0.00,0.000,6,0.150,0.039,2916,1725,1562
$GC,8125,0.65,320.9,496.4,10.9,718,8127,0.10,0.00,0.00,0.000,6,0.078,0.000,2960,1728,1561
$GC,8444,0.58,320.9,451.0,14.4,748,8446,0.15,0.00,0.00,0.000,6,0.158,0.000,2923,1728,1560
$GC,8762,0.70,320.9,408.0,13.6,778,8767,0.12,2.12,0.00,0.000,4,0.072,0.054,2993,345,1558
$GC,8828,0.59,320.9,396.4,17.9,783,8835,0.20,2.05,0.00,0.000,6,0.145,0.040,2929,1710,1557
$GC,9153,0.73,324.3,356.4,10.9,814,9165,0.12,2.10,5.28,0.811,4,0.071,0.053,2998,342,1542
$GC,9203,0.63,324.3,349.2,14.9,818,9211,0.15,2.08,0.00,0.000,6,0.146,0.038,2951,1721,1541
$GC,9529,0.75,344.2,312.7,10.2,849,9553,0.00,2.20,18.67,0.973,4,0.000,0.052,2959,340,1458
$GC,9631,0.85,344.2,301.5,11.6,858,9636,0.15,2.00,0.00,0.000,6,0.066,0.044,3034,1695,1456
$GC,9975,0.67,344.2,244.1,16.8,917,9981,0.25,2.17,0.00,0.000,4,0.152,0.046,2957,3144,1455
$GC,10015,0.78,344.2,238.2,11.5,924,10023,0.00,2.15,0.00,0.000,6,0.000,0.038,2965,1692,1454
$GC,10361,0.93,361.7,200.6,10.3,985,10387,0.17,2.10,15.73,0.841,4,0.054,0.052,3071,343,1387
$GC,10415,0.65,361.7,191.0,21.0,994,10422,0.40,2.00,0.00,0.000,6,0.149,0.034,2954,1688,1385
$GC,10762,0.90,372.5,151.3,10.6,1055,10778,0.17,2.25,10.65,0.752,4,0.055,0.042,3050,3147,1344
$GC,10881,0.73,372.5,131.4,18.7,1075,10888,0.30,2.15,0.00,0.000,6,0.150,0.035,2974,1693,1342
$GC,11224,1.04,441.7,98.1,8.4,1136,11289,0.25,0.00,57.90,0.759,6,0.046,0.000,3097,1691,1063
$GC,11628,0.88,441.7,22.5,19.4,1206,11635,0.22,2.03,0.00,0.000,4,0.145,0.044,3024,345,1059
$GC,11663,0.88,441.7,17.0,14.0,1212,11671,0.00,2.03,0.00,0.000,6,0.000,0.031,3024,1739,1058
$STATE,11772,end climb,SURFACE_DEPTH_REACHED
$STATE,11772,begin surface coast
$FINISH,1.2,1.022293
$STATE,11795,end surface coast,CONTROL_FINISHED_OK
$STATE,11795,begin surface
$SM_CCo,11869,0.00,0.000,0,0,1056,443.26
$SM_GC,1.89,7.72,0.00,0.00,0.050,0.000,0.000,165,1479,1056,-8.03,-0.59,443.26
$IRIDIUM_FIX,2527.05,12320.86,230898,181809
$TT8_MAMPS,0.026845
$HUMID,1453
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.60
$XPDR_PINGS,113
$24V_AH,24.0,13.256
$10V_AH,10.7,7.958
$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,26.825,90.800,537.000,0.000,0.000,23.262,31.552,199.730,33.750,0.000,0.000,15.205,2163.997,6605.798,650.118,2407.240,391.278,0.000,1718.909,0.000,2385.897,0.000,37.730,0.000
$DEVICE_MAMPS,238.537,58.292,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,836.203,875.221,1472.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69545,1235
$CAP_FILE_SIZE,129896,0
$CFSIZE,260165632,231215104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,335.4,1
$GPS,300509,004507,2537.673,12252.396,28,1.1,28,-3.8