version: 66.04
glider: 166
mission: 2
dive: 54
start: 5 30 109 15 35 6
data:
$ID,166
$MISSION,2
$DIVE,54
$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,-6241.6577
$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,44
$R_STBD_OVSHOOT,56
$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
$GPS1,152900,2535.714,12256.605,39,1.2,45,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.9
$GPS2,153444,2535.824,12256.610,15,1.1,15,-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,152.6,52437,-17.1,-11.000
$D_GRID,844
$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,-194.7,0.0,0.0,0,80,0.00,0.00,-64.20,0.000,2,0.000,0.000,166,1492,2421
$GC,82,-0.94,-194.7,3.2,-5.6,10,134,9.10,1.98,-35.00,0.000,4,0.240,0.058,2432,201,3660
$GC,309,-0.02,-194.7,80.3,-39.3,49,316,0.98,1.92,0.00,0.000,6,0.167,0.031,2728,1502,3660
$GC,656,-0.89,-194.7,106.8,-9.4,110,663,0.73,2.05,0.00,0.000,4,0.068,0.035,2454,2916,3661
$GC,714,-0.51,-194.7,115.0,-17.7,120,722,0.40,2.05,0.00,0.000,6,0.150,0.031,2572,1499,3661
$GC,1062,-0.44,-194.7,169.2,-15.1,181,1068,0.00,1.92,0.00,0.000,4,0.000,0.044,2572,210,3662
$GC,1113,-0.35,-194.7,177.7,-15.5,190,1120,0.12,1.88,0.00,0.000,6,0.137,0.028,2628,1514,3662
$GC,1459,-0.69,-194.7,206.2,-6.8,251,1465,0.28,0.00,0.00,0.000,6,0.045,0.000,2491,1516,3663
$GC,1801,-0.55,-194.7,259.7,-13.3,312,1809,0.20,1.95,0.00,0.000,4,0.142,0.043,2556,198,3663
$GC,1882,-0.67,-194.7,268.9,-10.0,326,1888,0.00,1.88,0.00,0.000,6,0.000,0.028,2551,1502,3664
$GC,2226,-0.85,-194.7,297.9,-9.4,387,2233,0.20,2.03,0.00,0.000,4,0.056,0.041,2454,2886,3664
$GC,2318,-0.70,-194.7,311.4,-16.2,397,2322,0.20,2.00,0.00,0.000,6,0.143,0.032,2507,1498,3664
$GC,2647,-0.76,-194.7,353.7,-10.8,428,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1498,3663
$GC,2966,-0.84,-194.7,384.6,-9.4,458,2970,0.12,2.05,0.00,0.000,4,0.071,0.041,2436,2884,3662
$GC,3072,-0.75,-194.7,395.3,-10.7,467,3079,0.15,2.05,0.00,0.000,6,0.140,0.036,2502,1507,3662
$GC,3396,-0.84,-194.7,425.0,-8.7,498,3402,0.10,2.05,0.00,0.000,4,0.081,0.048,2446,2887,3661
$GC,3453,-0.77,-194.7,431.8,-12.7,503,3457,0.15,2.03,0.00,0.000,6,0.145,0.036,2489,1503,3660
$GC,3782,-0.85,-194.7,463.9,-9.9,534,3786,0.00,1.95,0.00,0.000,4,0.000,0.051,2490,193,3657
$GC,3816,-0.85,-194.7,467.4,-10.7,537,3820,0.00,1.88,0.00,0.000,6,0.000,0.034,2485,1487,3657
$GC,4145,-0.91,-194.7,497.7,-9.1,568,4147,0.12,0.00,0.00,0.000,6,0.073,0.000,2424,1488,3655
$GC,4455,-0.76,-194.7,543.1,-15.0,584,4459,0.20,1.95,0.00,0.000,4,0.155,0.051,2487,201,3652
$GC,4588,-0.76,-194.7,559.4,-11.8,590,4592,0.00,1.88,0.00,0.000,6,0.000,0.035,2489,1491,3651
$GC,4920,-0.86,-194.7,592.8,-9.5,606,4924,0.00,2.10,0.00,0.000,4,0.000,0.051,2493,2893,3648
$GC,4965,-1.06,-194.7,596.7,-8.6,608,4970,0.28,2.08,0.00,0.000,6,0.051,0.039,2376,1487,3648
$GC,5291,-0.75,-194.7,647.1,-15.8,624,5295,0.38,1.92,0.00,0.000,4,0.163,0.053,2492,208,3645
$GC,5374,-0.81,-194.7,656.1,-9.6,628,5378,0.00,1.85,0.00,0.000,6,0.000,0.037,2493,1473,3644
$GC,5708,-0.92,-194.7,685.6,-8.8,644,5712,0.15,2.15,0.00,0.000,4,0.068,0.051,2430,2902,3642
$GC,5791,-0.86,-194.7,695.3,-11.9,648,5796,0.12,2.10,0.00,0.000,6,0.156,0.041,2460,1485,3641
$GC,6116,-0.86,-194.7,732.0,-11.4,664,6120,0.00,1.95,0.00,0.000,4,0.000,0.057,2460,199,3639
$GC,6165,-0.79,-194.7,738.2,-12.5,666,6170,0.00,1.90,0.00,0.000,6,0.000,0.038,2464,1468,3638
$GC,6493,-0.75,-194.7,776.5,-12.3,682,6497,0.12,1.92,0.00,0.000,4,0.165,0.056,2494,208,3637
$GC,6542,-0.75,-194.7,782.4,-11.7,684,6547,0.00,1.88,0.00,0.000,6,0.000,0.038,2499,1461,3637
$GC,6869,-0.84,-194.7,816.6,-11.0,700,6873,0.00,2.17,0.00,0.000,4,0.000,0.054,2497,2901,3634
$GC,6907,-1.02,-194.7,820.5,-9.7,701,6914,0.17,2.15,0.00,0.000,6,0.047,0.042,2397,1477,3634
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7080,-0.20,0.0,847.1,16.1,710,7244,0.90,0.00,160.07,1.372,6,0.157,0.000,2663,1749,2863
$STATE,7244,end apogee,CONTROL_FINISHED_OK
$STATE,7244,begin climb
$GC,7246,0.94,194.7,854.4,0.0,718,7421,1.05,2.35,167.35,1.328,4,0.058,0.061,3044,346,2067
$GC,7455,0.40,194.7,830.7,21.2,728,7460,0.62,2.22,0.00,0.000,6,0.167,0.041,2874,1748,2065
$GC,7781,0.47,194.7,795.0,11.2,744,7785,0.00,2.22,0.00,0.000,4,0.000,0.056,2880,344,2061
$GC,7813,0.52,194.7,791.3,11.9,745,7818,0.00,2.15,0.00,0.000,6,0.000,0.040,2880,1739,2061
$GC,8135,0.53,201.9,757.4,10.7,761,8146,0.00,2.20,6.12,1.025,4,0.000,0.056,2890,341,2039
$GC,8234,0.53,201.9,745.4,12.5,765,8241,0.00,2.12,0.00,0.000,6,0.000,0.041,2889,1722,2038
$GC,8551,0.53,201.9,706.8,12.6,781,8555,0.00,2.15,0.00,0.000,4,0.000,0.057,2900,339,2037
$GC,8577,0.53,201.9,703.0,13.4,782,8582,0.00,2.10,0.00,0.000,6,0.000,0.041,2899,1717,2036
$GC,8904,0.53,201.9,661.3,12.6,798,8908,0.00,2.20,0.00,0.000,4,0.000,0.055,2899,3156,2035
$GC,8948,0.53,201.9,655.5,13.2,800,8952,0.00,2.15,0.00,0.000,6,0.000,0.044,2910,1727,2034
$GC,9280,0.48,201.9,615.0,11.8,816,9284,0.00,2.12,0.00,0.000,4,0.000,0.057,2921,339,2034
$GC,9374,0.40,201.9,603.2,11.9,820,9379,0.15,2.08,0.00,0.000,6,0.146,0.042,2873,1711,2034
$GC,9701,0.52,219.7,571.4,10.3,836,9725,0.10,2.22,15.70,1.180,4,0.081,0.054,2921,3148,1966
$GC,9763,0.43,219.7,563.1,14.8,838,9771,0.15,2.20,0.00,0.000,6,0.151,0.042,2885,1724,1965
$GC,10079,0.54,243.9,529.9,10.1,854,10105,0.00,2.15,21.25,1.166,4,0.000,0.056,2893,348,1869
$GC,10267,0.60,248.4,510.6,10.8,862,10278,0.08,2.10,5.32,0.897,6,0.060,0.041,2942,1710,1850
$GC,10601,0.51,248.4,466.6,12.2,890,10606,0.15,2.12,0.00,0.000,4,0.157,0.054,2911,343,1847
$GC,10677,0.54,272.6,458.3,10.1,896,10708,0.00,2.08,22.15,1.118,6,0.000,0.041,2911,1698,1750
$GC,11025,0.54,272.6,418.6,12.6,929,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1700,1746
$GC,11343,0.54,272.6,378.6,11.0,959,11347,0.00,2.22,0.00,0.000,4,0.000,0.053,2911,3153,1744
$GC,11444,0.62,272.6,367.9,11.3,968,11448,0.00,2.20,0.00,0.000,6,0.000,0.043,2922,1695,1743
$GC,11768,0.62,272.6,332.4,11.4,998,11772,0.00,2.22,0.00,0.000,4,0.000,0.050,2923,3147,1743
$GC,11805,0.62,272.6,328.0,12.0,1001,11812,0.00,2.20,0.00,0.000,6,0.000,0.041,2934,1706,1742
$GC,12136,0.62,272.6,287.0,13.7,1040,12143,0.00,2.08,0.00,0.000,4,0.000,0.054,2951,338,1742
$GC,12182,0.62,272.6,280.6,13.1,1048,12190,0.00,2.05,0.00,0.000,6,0.000,0.039,2953,1701,1742
$GC,12526,0.63,278.5,238.3,10.8,1109,12537,0.00,0.00,5.30,0.752,6,0.000,0.000,2954,1703,1727
$GC,12875,0.71,292.3,203.4,10.5,1171,12895,0.00,2.20,13.43,0.877,4,0.000,0.048,2956,3147,1670
$GC,12918,0.80,310.7,198.8,10.3,1178,12944,0.00,2.20,16.83,0.868,6,0.000,0.045,2966,1677,1595
$GC,13284,0.91,322.2,161.4,10.6,1242,13305,0.17,2.08,10.62,0.794,4,0.056,0.050,3069,351,1548
$GC,13495,0.63,322.2,124.8,17.9,1279,13502,0.38,1.98,0.00,0.000,6,0.137,0.035,2942,1672,1547
$GC,13841,1.03,401.5,96.9,8.0,1340,13912,0.32,0.00,66.40,0.778,6,0.043,0.000,3091,1674,1225
$GC,14251,0.87,401.5,17.6,16.2,1411,14257,0.22,0.00,0.00,0.000,6,0.150,0.000,3023,1675,1219
$STATE,14357,end climb,SURFACE_DEPTH_REACHED
$STATE,14357,begin surface coast
$FINISH,1.0,0.998723
$STATE,14383,end surface coast,CONTROL_FINISHED_OK
$STATE,14383,begin surface
$SM_CCo,14397,19.20,0.669,0,0,1129,425.10
$SM_GC,1.56,0.00,0.00,19.20,0.000,0.000,0.669,167,1485,1129,-8.04,-0.42,425.10
$IRIDIUM_FIX,2527.05,12255.02,240898,111106
$TT8_MAMPS,0.027612
$HUMID,1496
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.00
$XPDR_PINGS,90
$24V_AH,23.8,14.234
$10V_AH,10.7,8.611
$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,26.275,120.700,510.550,19.200,0.000,24.034,28.136,187.413,29.000,0.000,0.000,15.454,2542.994,8270.469,642.686,2894.419,405.161,0.000,1936.175,0.000,2864.828,0.000,44.403,0.000
$DEVICE_MAMPS,240.071,60.593,1372.163,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,976.262,985.730,1659.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81978,1434
$CAP_FILE_SIZE,155567,0
$CFSIZE,260165632,230776832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,331.9,1
$GPS,300509,193637,2535.490,12256.771,40,0.9,40,-3.8