version: 66.04
glider: 166
mission: 2
dive: 52
start: 5 30 109 7 55 27
data:
$ID,166
$MISSION,2
$DIVE,52
$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,-6209.1519
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,074852,2536.776,12253.976,9,99.0,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.4
$GPS2,075506,2536.859,12253.969,37,1.3,42,-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,139.1,57034,-17.1,-11.000
$D_GRID,752
$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,-194.7,0.0,0.0,0,71,0.00,0.00,-55.25,0.000,2,0.000,0.000,166,1493,2351
$GC,74,-0.94,-194.7,3.0,-5.4,8,127,8.82,2.00,-37.97,0.000,4,0.229,0.056,2432,194,3658
$GC,273,-0.28,-194.7,61.6,-28.0,42,280,0.68,1.92,0.00,0.000,6,0.162,0.031,2648,1490,3658
$GC,620,-0.54,-194.7,96.4,-8.0,103,626,0.20,0.00,0.00,0.000,6,0.053,0.000,2546,1493,3661
$GC,963,-0.33,-194.7,156.4,-19.9,164,970,0.25,2.08,0.00,0.000,4,0.148,0.041,2622,2901,3661
$GC,1027,-0.67,-194.7,163.9,-8.5,175,1034,0.28,2.05,0.00,0.000,6,0.044,0.032,2492,1484,3662
$GC,1372,-0.41,-194.7,226.2,-16.3,236,1378,0.35,1.88,0.00,0.000,4,0.142,0.044,2602,211,3662
$GC,1453,-0.66,-194.7,233.3,-6.8,250,1460,0.20,1.88,0.00,0.000,6,0.041,0.028,2499,1520,3662
$GC,1797,-0.56,-194.7,279.6,-11.2,311,1804,0.17,2.00,0.00,0.000,4,0.143,0.041,2555,2885,3663
$GC,1838,-0.76,-194.7,283.0,-7.1,318,1846,0.17,2.00,0.00,0.000,6,0.056,0.034,2472,1522,3663
$GC,2178,-0.61,-194.7,328.5,-14.6,362,2182,0.20,2.03,0.00,0.000,4,0.146,0.043,2533,2878,3663
$GC,2223,-0.77,-194.7,333.7,-10.2,366,2227,0.12,2.00,0.00,0.000,6,0.067,0.034,2470,1502,3663
$GC,2552,-0.62,-194.7,385.5,-15.5,397,2556,0.20,1.92,0.00,0.000,4,0.145,0.047,2535,208,3663
$GC,2725,-0.70,-194.7,407.2,-12.2,412,2732,0.00,1.88,0.00,0.000,6,0.000,0.031,2517,1491,3661
$GC,3050,-0.84,-194.7,438.7,-8.8,443,3055,0.12,2.08,0.00,0.000,4,0.072,0.045,2451,2891,3660
$GC,3076,-0.84,-194.7,441.7,-11.0,445,3085,0.00,2.05,0.00,0.000,6,0.000,0.035,2451,1509,3659
$GC,3402,-0.75,-194.7,482.8,-12.0,476,3406,0.15,1.95,0.00,0.000,4,0.150,0.050,2495,202,3658
$GC,3503,-0.79,-194.7,493.5,-10.7,485,3506,0.00,1.88,0.00,0.000,6,0.000,0.035,2494,1496,3657
$GC,3825,-0.88,-194.7,522.0,-9.2,504,3829,0.12,2.08,0.00,0.000,4,0.073,0.054,2431,2890,3654
$GC,3863,-0.79,-194.7,526.7,-12.4,505,3872,0.15,2.08,0.00,0.000,6,0.137,0.037,2481,1494,3654
$GC,4180,-0.84,-194.7,559.9,-10.1,521,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1494,3652
$GC,4488,-0.91,-194.7,588.9,-9.3,536,4493,0.12,2.12,0.00,0.000,4,0.073,0.048,2419,2903,3650
$GC,4537,-0.82,-194.7,594.5,-11.2,538,4542,0.15,2.08,0.00,0.000,6,0.143,0.039,2467,1513,3649
$GC,4861,-0.82,-194.7,626.5,-9.7,554,4864,0.00,1.98,0.00,0.000,4,0.000,0.054,2468,204,3647
$GC,4954,-0.82,-194.7,637.1,-11.3,558,4959,0.00,1.90,0.00,0.000,6,0.000,0.035,2466,1489,3646
$GC,5282,-0.82,-194.7,670.6,-10.5,574,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1490,3644
$GC,5591,-0.82,-194.7,704.0,-10.7,589,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1490,3642
$GC,5900,-0.82,-194.7,737.4,-9.9,604,5904,0.00,2.12,0.00,0.000,4,0.000,0.052,2479,2902,3639
$GC,5949,-0.91,-194.7,742.1,-9.3,606,5953,0.00,2.12,0.00,0.000,6,0.000,0.042,2479,1493,3639
$STATE,6068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6068,begin apogee
$GC,6072,-0.20,0.0,753.5,9.4,612,6234,0.60,0.00,158.65,1.295,6,0.127,0.000,2670,1751,2863
$STATE,6234,end apogee,CONTROL_FINISHED_OK
$STATE,6235,begin climb
$GC,6236,0.94,194.7,758.4,0.0,620,6409,1.05,2.35,164.32,1.247,4,0.069,0.054,3028,3144,2068
$GC,6492,0.50,194.7,726.9,19.6,631,6499,0.45,2.20,0.00,0.000,6,0.164,0.041,2901,1753,2063
$GC,6808,0.53,221.3,692.6,10.0,647,6837,0.00,2.30,22.55,1.183,4,0.000,0.056,2912,345,1960
$GC,6894,0.53,221.3,683.1,11.9,651,6898,0.00,2.15,0.00,0.000,6,0.000,0.040,2908,1744,1958
$GC,7226,0.54,229.3,646.8,10.7,667,7240,0.00,2.28,7.35,1.021,4,0.000,0.055,2920,332,1928
$GC,7307,0.54,229.3,637.2,11.8,670,7315,0.00,2.15,0.00,0.000,6,0.000,0.039,2917,1734,1926
$GC,7623,0.54,229.3,597.1,13.3,686,7627,0.00,2.15,0.00,0.000,4,0.000,0.055,2929,343,1924
$GC,7679,0.54,229.3,589.6,13.5,688,7682,0.00,2.10,0.00,0.000,6,0.000,0.041,2927,1744,1924
$GC,7999,0.49,229.3,546.0,12.9,704,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1745,1923
$GC,8309,0.49,230.3,510.0,11.0,719,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1746,1922
$GC,8623,0.49,230.3,475.9,11.3,744,8627,0.00,2.17,0.00,0.000,4,0.000,0.055,2945,330,1921
$GC,8681,0.43,230.3,468.9,13.5,749,8686,0.22,2.08,0.00,0.000,6,0.145,0.040,2879,1730,1921
$GC,9006,0.76,326.1,443.4,7.4,779,9095,0.25,2.25,81.43,1.102,4,0.051,0.052,3006,344,1531
$GC,9145,0.58,326.1,423.8,16.6,791,9152,0.30,2.10,0.00,0.000,6,0.148,0.038,2923,1708,1528
$GC,9470,0.79,388.3,392.8,8.6,822,9530,0.20,2.22,53.75,1.041,4,0.058,0.053,3030,339,1278
$GC,9581,0.61,388.3,372.7,18.9,832,9586,0.35,2.10,0.00,0.000,6,0.147,0.038,2932,1705,1275
$GC,9905,0.76,388.3,334.8,13.0,862,9907,0.15,0.00,0.00,0.000,6,0.063,0.000,3002,1707,1270
$GC,10231,0.66,388.3,275.0,19.9,903,10237,0.17,2.20,0.00,0.000,4,0.153,0.047,2950,3157,1269
$GC,10318,0.85,388.3,262.7,12.7,918,10324,0.15,2.20,0.00,0.000,6,0.058,0.044,3039,1683,1269
$GC,10662,0.68,388.3,198.3,18.3,979,10669,0.25,2.08,0.00,0.000,4,0.166,0.050,2970,335,1268
$GC,10699,0.76,388.3,193.1,13.5,985,10707,0.00,2.03,0.00,0.000,6,0.000,0.035,2970,1721,1268
$GC,11045,0.94,399.4,154.3,10.6,1046,11060,0.17,2.17,9.20,0.758,4,0.053,0.048,3074,333,1233
$GC,11105,0.72,399.4,144.3,19.6,1056,11112,0.35,2.00,0.00,0.000,6,0.140,0.034,2967,1689,1233
$GC,11451,1.02,454.5,109.7,8.9,1117,11505,0.25,2.17,47.50,0.779,4,0.046,0.047,3098,330,1009
$GC,11558,0.77,454.5,89.0,23.9,1134,11565,0.38,2.00,0.00,0.000,6,0.137,0.031,2985,1665,1007
$GC,11902,1.16,514.0,52.5,8.7,1195,11960,0.32,2.28,49.90,0.713,4,0.041,0.039,3137,3147,766
$GC,12034,0.92,514.0,22.2,25.2,1217,12042,0.38,2.28,0.00,0.000,6,0.150,0.035,3036,1639,764
$STATE,12160,end climb,SURFACE_DEPTH_REACHED
$STATE,12160,begin surface coast
$FINISH,0.9,1.019738
$STATE,12183,end surface coast,CONTROL_FINISHED_OK
$STATE,12183,begin surface
$SM_CCo,12257,0.00,0.000,0,0,762,515.38
$SM_GC,1.75,7.78,0.00,0.00,0.047,0.000,0.000,163,1483,762,-8.03,-0.48,515.38
$IRIDIUM_FIX,2527.05,12253.02,240898,040426
$TT8_MAMPS,0.026845
$HUMID,1455
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.70
$XPDR_PINGS,105
$24V_AH,23.9,13.845
$10V_AH,10.7,8.334
$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,26.250,100.625,594.650,0.000,0.000,22.392,37.726,186.998,32.000,0.000,0.000,42.860,2177.923,6909.097,651.871,2481.872,406.583,0.000,1781.373,0.000,2443.959,0.000,40.091,0.000
$DEVICE_MAMPS,228.566,55.991,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,842.270,880.743,1476.366,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72644,1243
$CAP_FILE_SIZE,133108,0
$CFSIZE,260165632,230977536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,  7.2,1
$GPS,300509,112054,2535.785,12255.685,38,1.6,38,-3.8