version: 66.04
glider: 166
mission: 2
dive: 53
start: 5 30 109 11 26 46
data:
$ID,166
$MISSION,2
$DIVE,53
$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,-6225.5737
$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,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
$GPS1,112054,2535.785,12255.685,38,1.6,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.2
$GPS2,112625,2535.892,12255.726,10,1.7,15,-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,142.1,53634,-17.1,-11.000
$D_GRID,829
$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,-194.7,0.0,0.0,0,92,0.00,0.00,-75.35,0.000,2,0.000,0.000,166,1484,2446
$GC,94,-0.94,-194.7,3.0,-3.6,12,146,8.80,1.92,-36.42,0.000,4,0.228,0.058,2434,200,3658
$GC,287,-0.18,-194.7,62.7,-36.6,45,294,0.77,1.92,0.00,0.000,6,0.170,0.032,2675,1498,3658
$GC,633,-0.55,-194.7,95.4,-5.3,106,641,0.28,2.05,0.00,0.000,4,0.042,0.038,2541,2903,3658
$GC,710,-0.43,-194.7,105.6,-15.3,119,717,0.15,2.05,0.00,0.000,6,0.141,0.031,2590,1504,3658
$GC,1053,-0.43,-194.7,157.3,-13.1,180,1060,0.00,1.92,0.00,0.000,4,0.000,0.044,2590,216,3659
$GC,1096,-0.43,-194.7,162.8,-13.7,187,1103,0.00,1.88,0.00,0.000,6,0.000,0.029,2588,1510,3660
$GC,1440,-0.50,-194.7,202.2,-11.0,248,1446,0.00,2.03,0.00,0.000,4,0.000,0.041,2588,2906,3661
$GC,1508,-0.73,-194.7,209.3,-9.7,260,1515,0.25,2.03,0.00,0.000,6,0.047,0.031,2473,1493,3661
$GC,1852,-0.38,-194.7,280.6,-20.1,321,1858,0.43,0.00,0.00,0.000,6,0.150,0.000,2606,1493,3661
$GC,2192,-0.70,-194.7,304.8,-6.6,375,2196,0.22,2.08,0.00,0.000,4,0.051,0.041,2493,2898,3661
$GC,2229,-0.64,-194.7,309.1,-12.4,378,2237,0.10,2.00,0.00,0.000,6,0.144,0.032,2527,1532,3661
$GC,2554,-0.64,-194.7,345.5,-9.3,409,2558,0.00,2.00,0.00,0.000,4,0.000,0.042,2524,2892,3661
$GC,2599,-0.74,-194.7,349.3,-7.9,413,2603,0.00,1.95,0.00,0.000,6,0.000,0.034,2524,1542,3661
$GC,2929,-0.79,-194.7,377.7,-8.5,444,2933,0.12,1.98,0.00,0.000,4,0.069,0.047,2459,206,3661
$GC,3034,-0.56,-194.7,394.0,-17.1,453,3042,0.30,1.92,0.00,0.000,6,0.142,0.031,2555,1525,3660
$GC,3359,-0.79,-194.7,426.6,-9.3,484,3361,0.20,0.00,0.00,0.000,6,0.054,0.000,2457,1527,3660
$GC,3678,-0.67,-194.7,470.5,-12.0,514,3682,0.20,2.03,0.00,0.000,4,0.143,0.046,2515,2893,3657
$GC,3705,-0.79,-194.7,473.2,-9.4,516,3709,0.00,1.98,0.00,0.000,6,0.000,0.036,2519,1535,3657
$GC,4036,-0.95,-194.7,496.9,-5.9,547,4040,0.20,2.05,0.00,0.000,4,0.094,0.046,2417,2901,3655
$GC,4074,-0.80,-194.7,500.5,-10.5,550,4083,0.15,2.03,0.00,0.000,6,0.140,0.037,2471,1538,3655
$GC,4389,-0.80,-194.7,530.1,-10.4,566,4393,0.00,2.00,0.00,0.000,4,0.000,0.051,2468,199,3653
$GC,4506,-0.75,-194.7,541.6,-10.3,571,4510,0.00,1.95,0.00,0.000,6,0.000,0.037,2468,1519,3652
$GC,4834,-0.75,-194.7,575.6,-10.9,587,4838,0.00,1.98,0.00,0.000,4,0.000,0.051,2468,207,3649
$GC,4911,-0.75,-194.7,585.7,-12.4,590,4915,0.00,1.92,0.00,0.000,6,0.000,0.035,2473,1512,3649
$GC,5234,-0.75,-194.7,618.6,-9.1,606,5238,0.00,2.08,0.00,0.000,4,0.000,0.051,2476,2899,3646
$GC,5258,-0.80,-194.7,620.5,-8.0,607,5262,0.00,2.05,0.00,0.000,6,0.000,0.039,2475,1510,3645
$GC,5590,-0.80,-194.7,646.7,-7.5,623,5594,0.00,1.98,0.00,0.000,4,0.000,0.054,2475,198,3642
$GC,5650,-0.80,-194.7,652.2,-9.1,625,5657,0.00,1.92,0.00,0.000,6,0.000,0.037,2481,1497,3642
$GC,5967,-0.80,-194.7,679.9,-9.4,641,5970,0.00,2.10,0.00,0.000,4,0.000,0.051,2489,2898,3639
$GC,6013,-0.92,-194.7,683.6,-8.5,643,6017,0.12,2.05,0.00,0.000,6,0.070,0.041,2427,1519,3639
$GC,6346,-0.73,-194.7,725.8,-13.2,659,6348,0.25,0.00,0.00,0.000,6,0.152,0.000,2502,1519,3637
$GC,6653,-0.83,-194.7,754.0,-9.3,674,6657,0.00,2.00,0.00,0.000,4,0.000,0.057,2500,200,3634
$GC,6691,-0.88,-194.7,757.9,-10.2,675,6698,0.10,1.95,0.00,0.000,6,0.061,0.038,2446,1508,3634
$GC,7008,-0.77,-194.7,796.3,-12.5,691,7012,0.15,2.00,0.00,0.000,4,0.156,0.055,2485,200,3631
$GC,7045,-0.77,-194.7,801.0,-11.7,692,7052,0.00,1.95,0.00,0.000,6,0.000,0.038,2479,1502,3631
$STATE,7317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7318,begin apogee
$GC,7322,-0.20,0.0,830.4,11.0,706,7484,0.60,0.00,159.32,1.360,6,0.127,0.000,2664,1755,2863
$STATE,7485,end apogee,CONTROL_FINISHED_OK
$STATE,7485,begin climb
$GC,7487,0.94,194.7,837.7,0.0,714,7663,1.05,2.42,166.65,1.315,4,0.058,0.055,3046,339,2068
$GC,7690,0.38,194.7,817.8,19.3,723,7698,0.60,2.25,0.00,0.000,6,0.170,0.040,2869,1741,2066
$GC,8007,0.54,252.9,788.8,8.8,739,8060,0.15,0.00,50.20,1.279,6,0.066,0.000,2934,1742,1831
$GC,8355,0.44,252.9,741.6,13.6,756,8359,0.17,2.20,0.00,0.000,4,0.154,0.055,2890,344,1824
$GC,8438,0.50,252.9,731.6,12.0,760,8442,0.00,2.15,0.00,0.000,6,0.000,0.041,2890,1756,1823
$GC,8770,0.57,253.2,693.6,11.0,776,8773,0.00,2.20,0.00,0.000,4,0.000,0.056,2900,341,1822
$GC,8807,0.57,253.2,689.2,11.1,777,8814,0.00,2.12,0.00,0.000,6,0.000,0.041,2900,1733,1821
$GC,9123,0.57,253.2,652.1,12.3,793,9127,0.00,2.17,0.00,0.000,4,0.000,0.054,2900,3158,1820
$GC,9168,0.57,253.2,646.6,12.3,795,9172,0.00,2.15,0.00,0.000,6,0.000,0.042,2910,1729,1819
$GC,9500,0.57,253.2,603.6,13.0,811,9504,0.00,2.12,0.00,0.000,4,0.000,0.056,2920,347,1819
$GC,9622,0.57,253.2,585.9,14.1,816,9627,0.00,2.08,0.00,0.000,6,0.000,0.041,2920,1713,1819
$GC,9943,0.57,253.2,541.2,12.9,832,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1714,1818
$GC,10254,0.57,253.2,502.0,12.8,847,10257,0.00,2.12,0.00,0.000,4,0.000,0.055,2931,336,1818
$GC,10332,0.57,253.2,491.3,15.0,853,10336,0.00,2.08,0.00,0.000,6,0.000,0.042,2931,1729,1818
$GC,10661,0.52,253.2,449.0,13.0,884,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1730,1817
$GC,10980,0.47,253.2,410.9,11.8,914,10985,0.15,2.15,0.00,0.000,4,0.157,0.052,2891,3148,1816
$GC,11169,0.62,253.2,389.2,11.6,930,11178,0.08,2.17,0.00,0.000,6,0.061,0.042,2950,1713,1815
$GC,11494,0.55,253.2,346.4,11.4,961,11499,0.12,2.08,0.00,0.000,4,0.162,0.054,2927,343,1815
$GC,11554,0.57,267.4,339.9,10.5,966,11574,0.00,2.05,11.15,0.990,6,0.000,0.040,2927,1710,1772
$GC,11891,0.58,273.4,307.4,10.8,998,11903,0.00,0.00,6.60,0.854,6,0.000,0.000,2928,1711,1747
$GC,12236,0.66,273.4,269.8,11.4,1053,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1711,1746
$GC,12577,0.81,273.4,234.1,11.1,1114,12585,0.17,2.08,0.00,0.000,4,0.058,0.050,3035,343,1747
$GC,12821,0.61,273.4,194.1,15.5,1157,12829,0.30,2.03,0.00,0.000,6,0.143,0.037,2940,1707,1747
$GC,13167,0.94,364.5,164.3,7.5,1218,13252,0.25,2.15,75.78,0.846,4,0.048,0.047,3073,343,1373
$GC,13292,0.73,364.5,143.2,21.0,1238,13301,0.35,2.05,0.00,0.000,6,0.142,0.034,2972,1710,1371
$GC,13639,0.93,364.5,96.4,12.3,1299,13646,0.17,2.10,0.00,0.000,4,0.054,0.046,3066,333,1369
$GC,13714,0.78,364.5,82.4,19.1,1312,13721,0.25,2.00,0.00,0.000,6,0.142,0.033,2992,1687,1368
$GC,14060,1.09,457.1,50.6,7.5,1373,14144,0.22,2.25,76.32,0.723,4,0.050,0.040,3104,3141,997
$GC,14184,0.90,457.1,29.4,20.3,1393,14191,0.28,2.22,0.00,0.000,6,0.153,0.034,3032,1670,996
$STATE,14360,end climb,SURFACE_DEPTH_REACHED
$STATE,14360,begin surface coast
$FINISH,1.0,1.018423
$STATE,14382,end surface coast,CONTROL_FINISHED_OK
$STATE,14382,begin surface
$SM_CCo,14457,0.00,0.000,0,0,991,459.20
$SM_GC,1.80,7.80,0.00,0.00,0.048,0.000,0.000,166,1492,991,-8.02,-0.23,459.20
$IRIDIUM_FIX,2527.05,12253.02,240898,080808
$TT8_MAMPS,0.026845
$HUMID,1453
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,98
$24V_AH,23.9,14.041
$10V_AH,10.7,8.472
$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,25.525,115.725,546.025,0.000,0.000,24.843,30.627,174.085,31.000,0.000,0.000,15.793,2495.408,8401.500,662.346,2824.458,400.365,0.000,1933.466,0.000,2799.924,0.000,44.401,0.000
$DEVICE_MAMPS,227.799,57.525,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,968.726,998.283,1677.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82064,1428
$CAP_FILE_SIZE,149973,0
$CFSIZE,260165632,230866944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209,337.1,1
$GPS,300509,152900,2535.714,12256.605,39,1.2,45,-3.8