version: 66.04
glider: 166
mission: 2
dive: 51
start: 5 30 109 4 33 36
data:
$ID,166
$MISSION,2
$DIVE,51
$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,-6165.6621
$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,33
$R_STBD_OVSHOOT,71
$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
$GPS1,042137,2537.561,12253.192,34,1.1,34,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.5
$GPS2,043314,2537.685,12253.166,13,1.1,13,-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,147.5,59050,-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,14,-0.94,-194.7,0.0,0.0,0,76,0.00,0.00,-59.67,0.000,2,0.000,0.000,168,1513,2469
$GC,78,-0.94,-194.7,3.3,-5.4,8,130,9.12,2.03,-33.55,0.000,4,0.242,0.058,2428,201,3659
$GC,377,-0.19,-194.7,102.2,-33.9,60,384,0.77,1.90,0.00,0.000,6,0.161,0.031,2671,1484,3659
$GC,723,-0.65,-194.7,125.8,-3.6,121,730,0.35,2.10,0.00,0.000,4,0.044,0.039,2509,2912,3661
$GC,805,-0.45,-194.7,136.0,-15.1,135,812,0.28,2.05,0.00,0.000,6,0.143,0.031,2589,1492,3661
$GC,1149,-0.52,-194.7,174.9,-11.3,196,1156,0.00,2.10,0.00,0.000,4,0.000,0.041,2589,2909,3661
$GC,1236,-0.74,-194.7,183.4,-8.9,211,1243,0.20,2.03,0.00,0.000,6,0.039,0.032,2479,1525,3661
$GC,1580,-0.50,-194.7,252.1,-16.9,272,1587,0.30,1.95,0.00,0.000,4,0.143,0.044,2574,200,3661
$GC,1739,-0.67,-194.7,265.5,-7.1,300,1746,0.12,1.88,0.00,0.000,6,0.051,0.028,2488,1509,3661
$GC,2079,-0.56,-194.7,307.8,-13.6,356,2084,0.20,2.03,0.00,0.000,4,0.139,0.047,2552,2883,3661
$GC,2152,-0.81,-194.7,315.2,-9.4,362,2161,0.22,2.03,0.00,0.000,6,0.049,0.033,2447,1474,3661
$GC,2478,-0.57,-194.7,367.0,-15.2,393,2482,0.32,1.88,0.00,0.000,4,0.144,0.047,2549,207,3661
$GC,2680,-0.73,-194.7,385.1,-8.6,411,2684,0.12,1.80,0.00,0.000,6,0.073,0.031,2480,1468,3661
$GC,3008,-0.73,-194.7,419.5,-9.6,442,3013,0.12,2.10,0.00,0.000,4,0.149,0.044,2499,2891,3659
$GC,3058,-0.90,-194.7,423.4,-7.6,446,3062,0.15,2.08,0.00,0.000,6,0.061,0.035,2433,1465,3658
$GC,3381,-0.70,-194.7,467.2,-14.8,476,3383,0.28,0.00,0.00,0.000,6,0.146,0.000,2512,1464,3656
$GC,3701,-0.83,-194.7,496.8,-8.8,506,3705,0.12,2.12,0.00,0.000,4,0.073,0.047,2443,2888,3653
$GC,3739,-0.83,-194.7,501.0,-12.0,509,3743,0.00,2.08,0.00,0.000,6,0.000,0.038,2443,1469,3653
$GC,4071,-0.74,-194.7,541.9,-12.4,525,4073,0.20,0.00,0.00,0.000,6,0.146,0.000,2503,1469,3650
$GC,4380,-0.88,-194.7,571.6,-9.3,540,4385,0.15,2.15,0.00,0.000,4,0.067,0.049,2432,2893,3648
$GC,4412,-0.88,-194.7,575.5,-12.4,541,4419,0.00,2.10,0.00,0.000,6,0.000,0.039,2432,1489,3647
$GC,4728,-0.75,-194.7,617.6,-14.6,557,4732,0.17,1.95,0.00,0.000,4,0.150,0.053,2489,197,3645
$GC,4810,-0.75,-194.7,627.8,-11.1,560,4818,0.00,1.88,0.00,0.000,6,0.000,0.037,2490,1461,3644
$GC,5126,-0.83,-194.7,660.5,-10.5,576,5130,0.00,2.15,0.00,0.000,4,0.000,0.051,2494,2895,3642
$GC,5175,-1.00,-194.7,665.3,-10.0,578,5180,0.15,2.12,0.00,0.000,6,0.049,0.040,2400,1478,3641
$GC,5502,-0.75,-194.7,717.3,-16.0,594,5507,0.30,1.92,0.00,0.000,4,0.156,0.054,2492,203,3639
$GC,5612,-0.82,-194.7,730.0,-11.0,599,5616,0.00,1.88,0.00,0.000,6,0.000,0.037,2500,1470,3638
$STATE,5732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5732,begin apogee
$GC,5736,-0.20,0.0,742.0,10.1,605,5897,0.52,0.00,158.00,1.284,6,0.122,0.000,2675,1752,2863
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5899,0.94,194.7,749.8,0.0,613,6071,1.02,2.30,164.77,1.246,4,0.053,0.053,3047,3152,2068
$GC,6093,0.45,194.7,731.8,18.6,622,6098,0.65,2.20,0.00,0.000,6,0.172,0.041,2884,1748,2065
$GC,6409,0.65,284.0,704.3,7.6,637,6495,0.20,2.33,75.88,1.222,4,0.058,0.055,2982,351,1703
$GC,6589,0.48,284.0,677.2,16.1,645,6594,0.25,2.17,0.00,0.000,6,0.146,0.041,2895,1736,1699
$GC,6917,0.68,328.7,643.3,9.3,661,6962,0.20,2.30,38.75,1.187,4,0.058,0.055,2996,346,1522
$GC,6995,0.51,328.7,630.3,18.6,664,7000,0.28,2.17,0.00,0.000,6,0.147,0.040,2904,1739,1520
$GC,7316,0.65,332.7,593.3,10.8,680,7326,0.15,2.22,3.88,0.726,4,0.064,0.055,2980,345,1506
$GC,7386,0.54,332.7,581.7,17.6,683,7391,0.20,2.10,0.00,0.000,6,0.144,0.039,2917,1721,1506
$GC,7714,0.64,332.7,538.3,13.9,699,7718,0.00,2.12,0.00,0.000,4,0.000,0.055,2924,346,1504
$GC,7741,0.74,332.7,534.2,14.6,700,7745,0.10,2.08,0.00,0.000,6,0.058,0.039,2982,1713,1504
$GC,8061,0.59,332.7,477.1,17.6,721,8066,0.20,2.20,0.00,0.000,4,0.158,0.051,2918,3158,1502
$GC,8099,0.68,332.7,471.5,12.3,724,8105,0.00,2.17,0.00,0.000,6,0.000,0.041,2929,1727,1502
$GC,8426,0.73,332.7,433.2,11.7,755,8428,0.15,0.00,0.00,0.000,6,0.065,0.000,3001,1727,1502
$GC,8743,0.55,332.7,379.4,16.3,785,8747,0.28,2.10,0.00,0.000,4,0.154,0.052,2925,344,1501
$GC,8831,0.67,335.9,369.1,10.9,792,8837,0.00,2.08,0.00,0.000,6,0.000,0.040,2927,1722,1501
$GC,9157,0.77,335.9,332.7,12.3,823,9159,0.17,0.00,0.00,0.000,6,0.061,0.000,3012,1724,1501
$GC,9481,0.57,335.9,273.4,19.1,865,9488,0.28,2.15,0.00,0.000,4,0.151,0.049,2924,3150,1500
$GC,9522,0.72,335.9,266.9,13.0,872,9529,0.10,2.10,0.00,0.000,6,0.074,0.040,2988,1726,1500
$GC,9865,0.72,335.9,216.5,13.1,933,9871,0.00,2.10,0.00,0.000,4,0.000,0.052,2998,336,1500
$GC,9910,0.72,335.9,210.5,13.9,941,9916,0.00,2.05,0.00,0.000,6,0.000,0.040,2998,1729,1500
$GC,10253,0.72,335.9,160.4,15.0,1002,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1730,1500
$GC,10598,0.72,335.9,117.5,11.1,1063,10605,0.00,2.10,0.00,0.000,4,0.000,0.044,2998,3154,1499
$GC,10647,0.79,335.9,112.4,11.4,1071,10653,0.00,2.12,0.00,0.000,6,0.000,0.037,3002,1708,1499
$GC,10989,0.79,335.9,71.9,12.4,1132,10996,0.00,2.03,0.00,0.000,4,0.000,0.048,3006,345,1500
$GC,11086,0.85,335.9,60.7,11.7,1149,11092,0.00,2.00,0.00,0.000,6,0.000,0.033,3006,1711,1500
$GC,11430,0.99,363.4,24.4,10.0,1210,11464,0.15,2.20,26.23,0.704,4,0.059,0.040,3081,3150,1380
$STATE,11570,end climb,SURFACE_DEPTH_REACHED
$STATE,11570,begin surface coast
$FINISH,1.0,1.015331
$STATE,11587,end surface coast,CONTROL_FINISHED_OK
$STATE,11587,begin surface
$SM_CCo,11604,48.70,0.682,0,0,1130,425.10
$SM_GC,1.77,0.00,0.00,48.70,0.000,0.000,0.682,166,1492,1130,-8.05,-0.23,425.10
$IRIDIUM_FIX,2529.44,12249.71,240898,040443
$TT8_MAMPS,0.026078
$HUMID,1484
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.40
$XPDR_PINGS,104
$ALTIM_BOTTOM_PING,725.3,39.6
$24V_AH,24.0,13.639
$10V_AH,10.7,8.211
$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,26.450,100.600,467.500,48.700,0.000,74.978,157.942,238.603,32.000,0.000,0.000,14.009,2196.469,6437.302,635.908,2452.447,625.273,0.000,1711.048,0.000,2434.082,0.000,43.486,0.000
$DEVICE_MAMPS,242.372,58.292,1283.958,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,841.538,892.878,1501.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69502,1237
$CAP_FILE_SIZE,133598,0
$CFSIZE,260165632,231055360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,323.7,1
$GPS,300509,074852,2536.776,12253.976,9,99.0,28,-3.8