version: 66.04
glider: 166
mission: 2
dive: 55
start: 5 30 109 19 43 24
data:
$ID,166
$MISSION,2
$DIVE,55
$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,-6257.4814
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,193637,2535.490,12256.771,40,0.9,40,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.2
$GPS2,194302,2535.648,12256.732,15,1.3,15,-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,152.6,52067,-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,-194.7,0.0,0.0,0,74,0.00,0.00,-58.12,0.000,2,0.000,0.000,167,1486,2429
$GC,76,-0.94,-194.7,3.3,-5.8,9,128,8.75,1.98,-35.05,0.000,4,0.225,0.060,2431,204,3658
$GC,286,-0.15,-194.7,68.6,-34.9,45,293,0.85,1.92,0.00,0.000,6,0.168,0.031,2687,1498,3659
$GC,632,-1.10,-194.7,93.1,-8.1,106,639,0.82,2.05,0.00,0.000,4,0.066,0.035,2379,2908,3661
$GC,702,-0.46,-194.7,106.1,-25.1,118,709,0.73,2.05,0.00,0.000,6,0.176,0.032,2585,1497,3661
$GC,1048,-0.54,-194.7,147.6,-11.6,179,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1497,3662
$GC,1392,-0.70,-194.7,182.6,-9.1,240,1399,0.17,1.90,0.00,0.000,4,0.058,0.043,2496,210,3662
$GC,1429,-0.45,-194.7,187.8,-16.0,246,1436,0.25,1.90,0.00,0.000,6,0.146,0.028,2589,1523,3663
$GC,1772,-0.68,-194.7,215.6,-5.4,307,1778,0.17,0.00,0.00,0.000,6,0.057,0.000,2498,1525,3662
$GC,2115,-0.50,-194.7,259.7,-13.0,368,2122,0.22,2.00,0.00,0.000,4,0.142,0.039,2566,2892,3662
$GC,2151,-0.70,-194.7,263.6,-9.6,374,2158,0.15,2.03,0.00,0.000,6,0.059,0.033,2489,1488,3662
$GC,2491,-0.60,-194.7,309.3,-14.4,429,2495,0.20,1.90,0.00,0.000,4,0.142,0.044,2555,202,3662
$GC,2562,-0.75,-194.7,317.8,-10.9,435,2569,0.12,1.90,0.00,0.000,6,0.052,0.029,2481,1518,3662
$GC,2887,-0.68,-194.7,366.1,-14.5,466,2891,0.15,2.00,0.00,0.000,4,0.143,0.042,2524,2882,3662
$GC,2988,-0.88,-194.7,376.8,-10.2,475,2993,0.20,1.98,0.00,0.000,6,0.054,0.035,2429,1521,3662
$GC,3317,-0.65,-194.7,427.3,-16.5,506,3322,0.28,2.05,0.00,0.000,4,0.146,0.046,2512,2887,3662
$GC,3358,-0.83,-194.7,432.0,-9.4,509,3363,0.15,2.00,0.00,0.000,6,0.061,0.035,2444,1519,3662
$GC,3688,-0.68,-194.7,474.8,-11.6,540,3693,0.25,1.98,0.00,0.000,4,0.166,0.049,2520,198,3661
$GC,3861,-0.81,-194.7,487.5,-6.2,555,3868,0.08,1.90,0.00,0.000,6,0.067,0.035,2461,1490,3659
$GC,4181,-0.81,-194.7,518.0,-10.7,578,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1491,3657
$GC,4491,-0.81,-194.7,551.2,-10.9,593,4495,0.00,1.95,0.00,0.000,4,0.000,0.053,2462,202,3654
$GC,4529,-0.75,-194.7,556.6,-13.4,594,4537,0.08,1.90,0.00,0.000,6,0.150,0.035,2490,1485,3654
$GC,4846,-0.84,-194.7,587.0,-9.3,610,4849,0.00,2.12,0.00,0.000,4,0.000,0.051,2492,2902,3651
$GC,4890,-1.02,-194.7,590.7,-7.4,612,4895,0.22,2.08,0.00,0.000,6,0.056,0.039,2393,1499,3651
$GC,5216,-0.76,-194.7,641.5,-16.1,628,5220,0.30,1.95,0.00,0.000,4,0.156,0.052,2486,203,3648
$GC,5288,-0.76,-194.7,650.4,-11.5,631,5292,0.00,1.90,0.00,0.000,6,0.000,0.038,2493,1500,3648
$GC,5616,-0.85,-194.7,683.6,-10.2,647,5619,0.00,2.10,0.00,0.000,4,0.000,0.053,2499,2896,3645
$GC,5688,-1.01,-194.7,689.7,-8.7,650,5692,0.22,2.08,0.00,0.000,6,0.055,0.041,2397,1492,3644
$GC,6014,-0.74,-194.7,739.2,-16.5,666,6019,0.30,1.95,0.00,0.000,4,0.156,0.055,2490,204,3643
$GC,6091,-0.74,-194.7,749.7,-12.2,669,6103,0.00,1.92,0.00,0.000,6,0.000,0.038,2498,1496,3642
$GC,6407,-0.83,-194.7,785.7,-11.1,685,6411,0.00,2.12,0.00,0.000,4,0.000,0.054,2498,2902,3640
$GC,6439,-0.99,-194.7,789.2,-10.1,686,6444,0.15,2.10,0.00,0.000,6,0.051,0.041,2409,1508,3640
$GC,6760,-0.75,-194.7,840.4,-15.7,702,6765,0.25,1.98,0.00,0.000,4,0.160,0.056,2487,198,3638
$STATE,6785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6785,begin apogee
$GC,6791,-0.20,0.0,844.6,14.3,703,6955,0.57,0.00,160.88,1.365,6,0.130,0.000,2667,1742,2863
$STATE,6956,end apogee,CONTROL_FINISHED_OK
$STATE,6956,begin climb
$GC,6958,0.94,194.7,851.9,0.0,711,7133,1.08,2.33,167.30,1.325,4,0.068,0.056,3029,3153,2067
$GC,7167,0.44,194.7,829.6,19.2,721,7173,0.57,2.22,0.00,0.000,6,0.173,0.042,2886,1745,2064
$GC,7494,0.50,237.5,796.5,9.4,737,7538,0.00,2.28,36.58,1.273,4,0.000,0.058,2889,345,1893
$GC,7633,0.58,262.6,783.1,10.0,743,7663,0.12,2.15,22.80,1.235,6,0.074,0.041,2942,1741,1792
$GC,7980,0.46,262.6,734.1,15.4,760,7985,0.20,2.20,0.00,0.000,4,0.152,0.055,2891,343,1786
$GC,8012,0.52,262.6,729.1,13.3,761,8020,0.00,2.12,0.00,0.000,6,0.000,0.041,2890,1722,1786
$GC,8328,0.58,262.6,690.5,12.7,777,8330,0.10,0.00,0.00,0.000,6,0.078,0.000,2938,1723,1784
$GC,8637,0.49,262.6,640.4,16.5,792,8641,0.15,2.15,0.00,0.000,4,0.160,0.055,2907,339,1783
$GC,8697,0.49,262.6,631.0,14.3,795,8701,0.00,2.08,0.00,0.000,6,0.000,0.042,2907,1714,1783
$GC,9029,0.49,262.6,587.4,12.8,811,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1715,1781
$GC,9338,0.49,262.6,545.6,14.0,826,9342,0.00,2.12,0.00,0.000,4,0.000,0.058,2918,335,1781
$GC,9471,0.49,262.6,526.9,14.0,832,9475,0.00,2.05,0.00,0.000,6,0.000,0.042,2918,1705,1780
$GC,9795,0.49,262.6,488.2,11.2,852,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1706,1781
$GC,10115,0.51,276.5,452.9,10.5,882,10131,0.00,2.12,11.60,1.075,4,0.000,0.055,2928,338,1734
$GC,10168,0.51,276.5,446.6,11.6,886,10176,0.00,2.08,0.00,0.000,6,0.000,0.041,2928,1701,1734
$GC,10494,0.51,276.5,408.5,12.0,917,10498,0.00,2.20,0.00,0.000,4,0.000,0.052,2929,3152,1732
$GC,10588,0.51,276.5,396.4,12.8,925,10597,0.10,2.20,0.00,0.000,6,0.147,0.041,2908,1713,1731
$GC,10913,0.67,320.1,363.8,9.3,956,10959,0.15,2.20,37.28,1.049,4,0.062,0.054,2996,347,1557
$GC,10975,0.52,320.1,354.5,17.3,961,10984,0.28,2.12,0.00,0.000,6,0.145,0.038,2912,1717,1555
$GC,11300,0.71,343.5,319.6,10.1,992,11323,0.15,0.00,21.00,0.979,6,0.063,0.000,2985,1717,1462
$GC,11650,0.64,343.5,264.5,14.4,1044,11657,0.15,2.17,0.00,0.000,4,0.157,0.048,2946,3146,1457
$GC,11697,0.80,383.7,259.5,9.5,1052,11741,0.12,2.17,34.97,0.939,6,0.067,0.039,3019,1692,1298
$GC,12078,0.64,383.7,194.0,17.8,1119,12084,0.22,0.00,0.00,0.000,6,0.148,0.000,2951,1693,1293
$GC,12421,0.89,387.1,152.2,10.9,1180,12427,0.20,0.00,0.00,0.000,6,0.052,0.000,3057,1692,1291
$GC,12764,0.71,387.1,91.7,17.2,1241,12772,0.28,2.05,0.00,0.000,4,0.146,0.048,2977,336,1291
$GC,12868,0.95,434.4,80.6,9.2,1259,12920,0.20,2.03,42.53,0.765,6,0.051,0.034,3073,1735,1092
$GC,13259,0.85,434.4,14.8,14.2,1327,13266,0.17,2.12,0.00,0.000,4,0.146,0.039,3015,3152,1089
$GC,13333,1.06,434.4,5.2,11.2,1340,13340,0.15,2.15,0.00,0.000,6,0.058,0.035,3105,1699,1088
$STATE,13350,end climb,SURFACE_DEPTH_REACHED
$STATE,13350,begin surface coast
$FINISH,0.9,0.997335
$STATE,13379,end surface coast,CONTROL_FINISHED_OK
$STATE,13379,begin surface
$SM_CCo,13454,0.00,0.000,0,0,1085,435.90
$SM_GC,1.92,7.93,0.00,0.00,0.049,0.000,0.000,166,1487,1085,-8.02,-0.37,435.90
$IRIDIUM_FIX,2527.05,12258.33,240898,151518
$TT8_MAMPS,0.026845
$HUMID,1470
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.20
$XPDR_PINGS,106
$24V_AH,23.8,14.436
$10V_AH,10.7,8.743
$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,27.975,107.650,534.925,0.000,0.000,23.480,37.127,204.305,33.000,0.000,0.000,15.195,2375.387,7677.738,630.843,2712.284,435.037,0.000,1853.471,0.000,2683.541,0.000,44.409,0.000
$DEVICE_MAMPS,224.731,59.826,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,916.299,946.046,1591.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79024,1348
$CAP_FILE_SIZE,146650,0
$CFSIZE,260165632,230703104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089, 12.7,1
$GPS,300509,232836,2534.249,12258.125,26,0.9,26,-3.8