version: 66.04
glider: 166
mission: 2
dive: 50
start: 5 30 109 0 51 37
data:
$ID,166
$MISSION,2
$DIVE,50
$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,-6151.0239
$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,50
$R_STBD_OVSHOOT,60
$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
$GPS1,004507,2537.673,12252.396,28,1.1,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.2
$GPS2,005116,2537.729,12252.453,11,2.5,30,-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,136.0,60014,-17.1,-11.000
$D_GRID,771
$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,-194.7,0.0,0.0,0,73,0.00,0.00,-57.72,0.000,2,0.000,0.000,165,1479,2345
$GC,75,-0.94,-194.7,3.0,-5.2,9,134,8.77,1.88,-42.30,0.000,4,0.229,0.058,2428,211,3657
$GC,304,-0.12,-194.7,71.9,-38.4,48,311,0.88,1.90,0.00,0.000,6,0.171,0.033,2696,1490,3657
$GC,648,-0.76,-194.7,100.3,-6.4,109,655,0.55,2.05,0.00,0.000,4,0.063,0.036,2486,2911,3659
$GC,773,-0.33,-194.7,123.1,-24.5,131,780,0.47,2.03,0.00,0.000,6,0.155,0.032,2625,1509,3659
$GC,1119,-0.56,-194.7,158.7,-8.8,192,1126,0.17,2.05,0.00,0.000,4,0.058,0.038,2538,2906,3660
$GC,1194,-0.47,-194.7,169.8,-16.3,205,1201,0.17,2.03,0.00,0.000,6,0.146,0.031,2586,1497,3660
$GC,1538,-0.56,-194.7,209.2,-10.2,266,1545,0.00,2.08,0.00,0.000,4,0.000,0.041,2586,2910,3660
$GC,1591,-0.77,-194.7,213.8,-8.2,275,1597,0.28,2.00,0.00,0.000,6,0.046,0.031,2465,1519,3660
$GC,1935,-0.45,-194.7,284.0,-16.9,336,1942,0.40,1.92,0.00,0.000,4,0.151,0.044,2589,207,3660
$GC,2139,-0.64,-194.7,299.7,-7.6,372,2148,0.12,1.90,0.00,0.000,6,0.048,0.028,2516,1530,3661
$GC,2464,-0.64,-194.7,342.0,-13.1,403,2468,0.00,1.98,0.00,0.000,4,0.000,0.046,2516,202,3660
$GC,2479,-0.64,-194.7,344.2,-12.6,404,2487,0.00,1.88,0.00,0.000,6,0.000,0.028,2516,1499,3660
$GC,2805,-0.64,-194.7,376.8,-9.2,435,2809,0.00,2.05,0.00,0.000,4,0.000,0.043,2513,2896,3660
$GC,2866,-0.77,-194.7,382.0,-7.6,440,2873,0.00,2.05,0.00,0.000,6,0.000,0.035,2513,1509,3660
$GC,3192,-0.83,-194.7,411.5,-8.9,471,3196,0.10,1.92,0.00,0.000,4,0.079,0.046,2457,207,3660
$GC,3215,-0.83,-194.7,414.4,-12.3,473,3218,0.00,1.88,0.00,0.000,6,0.000,0.031,2449,1520,3660
$GC,3544,-0.71,-194.7,465.1,-15.9,504,3548,0.20,1.98,0.00,0.000,4,0.150,0.055,2521,207,3658
$GC,3604,-0.81,-194.7,473.0,-12.2,509,3610,0.00,1.90,0.00,0.000,6,0.000,0.031,2507,1506,3657
$GC,3937,-0.96,-194.7,506.6,-9.9,538,3942,0.17,2.08,0.00,0.000,4,0.060,0.045,2415,2906,3654
$GC,4020,-0.84,-194.7,517.4,-13.4,542,4025,0.17,2.05,0.00,0.000,6,0.149,0.040,2465,1507,3653
$GC,4346,-0.84,-194.7,550.6,-9.4,558,4350,0.00,1.95,0.00,0.000,4,0.000,0.052,2465,204,3652
$GC,4401,-0.84,-194.7,557.2,-11.9,560,4405,0.00,1.92,0.00,0.000,6,0.000,0.034,2461,1510,3651
$GC,4722,-0.84,-194.7,592.2,-10.4,576,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1510,3648
$GC,5032,-0.84,-194.7,622.4,-9.5,591,5036,0.00,1.98,0.00,0.000,4,0.000,0.054,2462,208,3645
$GC,5100,-0.78,-194.7,629.8,-10.7,594,5104,0.00,1.92,0.00,0.000,6,0.000,0.037,2471,1502,3644
$GC,5431,-0.78,-194.7,665.0,-11.2,610,5434,0.00,1.95,0.00,0.000,4,0.000,0.053,2468,211,3642
$GC,5463,-0.72,-194.7,669.1,-12.5,611,5467,0.00,1.92,0.00,0.000,6,0.000,0.037,2476,1502,3642
$GC,5786,-0.72,-194.7,702.9,-9.7,627,5789,0.00,2.10,0.00,0.000,4,0.000,0.052,2477,2901,3638
$GC,5863,-0.80,-194.7,710.3,-8.9,630,5868,0.00,2.08,0.00,0.000,6,0.000,0.041,2476,1519,3638
$GC,6184,-0.80,-194.7,741.0,-9.6,646,6188,0.00,2.00,0.00,0.000,4,0.000,0.056,2476,197,3636
$STATE,6215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6215,begin apogee
$GC,6221,-0.20,0.0,744.6,11.6,647,6382,0.57,0.00,157.68,1.289,6,0.133,0.000,2665,1743,2863
$STATE,6382,end apogee,CONTROL_FINISHED_OK
$STATE,6382,begin climb
$GC,6384,0.94,194.7,750.2,0.0,655,6557,1.08,2.38,163.93,1.246,4,0.076,0.054,3025,3157,2068
$GC,6640,0.48,194.7,715.0,22.6,666,6648,0.47,2.22,0.00,0.000,6,0.166,0.041,2900,1749,2063
$GC,6955,0.49,201.5,677.9,10.7,682,6966,0.00,2.20,6.15,0.947,4,0.000,0.052,2897,3158,2040
$GC,7004,0.50,210.8,672.6,10.6,684,7018,0.00,2.15,9.48,1.062,6,0.000,0.041,2906,1764,2003
$GC,7325,0.51,221.7,638.1,10.6,700,7341,0.00,2.22,10.62,1.102,4,0.000,0.054,2918,342,1958
$GC,7446,0.52,225.3,625.4,10.9,704,7455,0.00,2.15,4.53,0.823,6,0.000,0.040,2916,1742,1944
$GC,7762,0.55,247.8,594.2,10.1,720,7787,0.00,2.22,20.23,1.166,4,0.000,0.056,2928,347,1851
$GC,7860,0.55,247.8,582.5,12.6,724,7865,0.00,2.12,0.00,0.000,6,0.000,0.041,2928,1721,1849
$GC,8182,0.55,247.8,542.0,12.2,740,8185,0.00,2.15,0.00,0.000,4,0.000,0.055,2939,335,1847
$GC,8219,0.48,247.8,537.0,12.9,741,8227,0.12,2.10,0.00,0.000,6,0.145,0.039,2899,1719,1847
$GC,8536,0.58,247.8,501.9,11.1,757,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1720,1845
$GC,8854,0.68,257.3,467.9,10.6,786,8867,0.17,2.20,8.32,1.018,4,0.063,0.054,2987,336,1814
$GC,8912,0.48,257.3,459.1,16.1,791,8917,0.32,2.05,0.00,0.000,6,0.153,0.041,2893,1709,1813
$GC,9237,0.66,297.5,426.0,9.5,821,9282,0.17,2.33,35.25,1.098,4,0.062,0.052,2968,3153,1648
$GC,9355,0.55,297.5,407.5,15.8,831,9363,0.25,2.22,0.00,0.000,6,0.156,0.041,2914,1705,1644
$GC,9679,0.67,297.5,368.9,11.4,862,9684,0.12,2.10,0.00,0.000,4,0.069,0.054,2984,342,1643
$GC,9764,0.55,297.5,356.2,17.1,869,9768,0.22,2.03,0.00,0.000,6,0.149,0.039,2921,1704,1642
$GC,10093,0.70,297.5,316.6,11.4,900,10098,0.12,2.20,0.00,0.000,4,0.070,0.050,2978,3154,1642
$GC,10155,0.63,297.5,306.5,18.1,905,10159,0.17,2.20,0.00,0.000,6,0.163,0.041,2943,1683,1641
$GC,10495,0.71,297.5,259.8,12.6,961,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1682,1641
$GC,10838,0.89,330.3,223.6,9.8,1022,10870,0.20,2.15,27.17,0.923,4,0.056,0.051,3055,329,1515
$GC,10905,0.62,330.3,212.9,18.8,1033,10911,0.40,2.05,0.00,0.000,6,0.148,0.039,2940,1700,1513
$GC,11249,0.91,384.8,184.1,8.9,1094,11300,0.22,0.00,46.12,0.870,6,0.051,0.000,3051,1702,1293
$GC,11640,0.75,384.8,108.5,18.1,1162,11646,0.22,2.17,0.00,0.000,4,0.147,0.042,2980,3141,1287
$GC,11681,0.86,384.8,102.1,12.9,1169,11687,0.00,2.17,0.00,0.000,6,0.000,0.036,2981,1679,1287
$GC,12026,1.04,384.8,61.7,11.6,1230,12033,0.22,2.03,0.00,0.000,4,0.048,0.047,3098,332,1287
$GC,12074,0.82,384.8,53.4,18.5,1238,12081,0.32,2.03,0.00,0.000,6,0.143,0.031,3001,1738,1286
$GC,12420,1.03,409.0,13.2,10.1,1299,12447,0.17,2.20,21.15,0.683,4,0.055,0.046,3101,336,1193
$STATE,12485,end climb,SURFACE_DEPTH_REACHED
$STATE,12485,begin surface coast
$FINISH,1.1,1.020840
$STATE,12503,end surface coast,CONTROL_FINISHED_OK
$STATE,12504,begin surface
$SM_CCo,12520,12.30,0.637,0,0,1129,425.10
$SM_GC,2.27,0.00,0.00,12.30,0.000,0.000,0.637,168,1513,1129,-8.04,0.37,425.10
$IRIDIUM_FIX,2529.44,12253.02,230898,212113
$TT8_MAMPS,0.027612
$HUMID,1478
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.50
$XPDR_PINGS,108
$ALTIM_BOTTOM_PING,725.5,43.7
$24V_AH,24.0,13.443
$10V_AH,10.7,8.086
$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,26.025,115.525,510.625,12.300,0.000,24.573,33.592,195.188,32.750,0.000,0.000,31.739,2306.928,6934.528,614.447,2633.571,410.586,0.000,1793.924,0.000,2595.365,0.000,40.615,0.000
$DEVICE_MAMPS,229.333,58.292,1289.327,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,890.724,931.708,1565.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76000,1313
$CAP_FILE_SIZE,140785,0
$CFSIZE,260165632,231120896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,329.2,1
$GPS,300509,042137,2537.561,12253.192,34,1.1,34,-3.8