version: 66.04
glider: 166
mission: 2
dive: 58
start: 5 31 109 6 42 35
data:
$ID,166
$MISSION,2
$DIVE,58
$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,-6305.022
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,063606,2533.288,12259.718,32,1.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.5
$GPS2,064213,2533.347,12259.696,9,1.0,14,-3.7
$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,159.2,45526,-17.1,-11.000
$D_GRID,763
$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,-194.7,0.0,0.0,0,87,0.00,0.00,-70.40,0.000,2,0.000,0.000,168,1509,2418
$GC,89,-0.94,-194.7,3.1,-4.6,11,141,9.12,2.00,-36.38,0.000,4,0.242,0.058,2430,189,3658
$GC,299,-0.13,-194.7,71.1,-33.0,47,306,0.88,1.92,0.00,0.000,6,0.178,0.030,2690,1495,3658
$GC,645,-0.53,-194.7,100.1,-4.6,108,654,0.30,2.05,0.00,0.000,4,0.041,0.036,2543,2902,3660
$GC,705,-0.37,-194.7,108.1,-16.8,118,712,0.22,2.08,0.00,0.000,6,0.137,0.031,2614,1493,3660
$GC,1050,-0.54,-194.7,144.1,-10.6,179,1056,0.15,0.00,0.00,0.000,6,0.062,0.000,2543,1492,3661
$GC,1393,-0.44,-194.7,199.1,-15.4,240,1401,0.17,0.00,0.00,0.000,6,0.148,0.000,2597,1492,3662
$GC,1738,-0.64,-194.7,232.0,-10.1,301,1745,0.17,2.08,0.00,0.000,4,0.058,0.038,2508,2900,3662
$GC,1763,-0.71,-194.7,234.9,-12.1,305,1769,0.00,2.00,0.00,0.000,6,0.000,0.031,2508,1510,3662
$GC,2105,-0.64,-194.7,288.2,-14.5,366,2112,0.00,1.95,0.00,0.000,4,0.000,0.045,2508,208,3662
$GC,2159,-0.55,-194.7,295.8,-14.5,375,2165,0.17,1.85,0.00,0.000,6,0.144,0.028,2558,1517,3662
$GC,2492,-0.76,-194.7,326.3,-7.1,409,2494,0.20,0.00,0.00,0.000,6,0.056,0.000,2466,1519,3662
$GC,2810,-0.61,-194.7,366.7,-14.7,439,2812,0.25,0.00,0.00,0.000,6,0.139,0.000,2540,1519,3662
$GC,3130,-0.79,-194.7,394.8,-8.0,469,3132,0.15,0.00,0.00,0.000,6,0.065,0.000,2464,1519,3662
$GC,3447,-0.69,-194.7,440.7,-14.1,499,3451,0.20,2.05,0.00,0.000,4,0.144,0.053,2512,2893,3659
$GC,3495,-0.92,-194.7,446.1,-9.8,503,3502,0.20,2.03,0.00,0.000,6,0.054,0.037,2421,1510,3659
$GC,3820,-0.71,-194.7,490.0,-14.7,534,3824,0.28,1.95,0.00,0.000,4,0.145,0.057,2510,210,3657
$GC,3887,-0.82,-194.7,497.2,-8.8,540,3890,0.00,1.85,0.00,0.000,6,0.000,0.034,2498,1487,3656
$GC,4219,-0.94,-194.7,523.1,-10.1,558,4223,0.17,2.10,0.00,0.000,4,0.061,0.048,2415,2897,3653
$GC,4302,-0.86,-194.7,535.7,-14.4,562,4307,0.17,2.05,0.00,0.000,6,0.146,0.038,2466,1507,3652
$GC,4627,-0.86,-194.7,579.2,-13.6,578,4631,0.00,1.98,0.00,0.000,4,0.000,0.054,2467,197,3650
$GC,4812,-0.86,-194.7,604.8,-12.7,586,4816,0.00,1.92,0.00,0.000,6,0.000,0.038,2471,1490,3648
$GC,5139,-0.86,-194.7,643.1,-12.1,602,5143,0.00,2.12,0.00,0.000,4,0.000,0.053,2482,2902,3645
$GC,5195,-0.97,-194.7,650.2,-12.0,604,5200,0.17,2.08,0.00,0.000,6,0.061,0.041,2407,1502,3644
$GC,5512,-0.72,-194.7,701.8,-16.6,619,5517,0.30,1.98,0.00,0.000,4,0.154,0.054,2499,196,3642
$GC,5606,-0.78,-194.7,712.7,-9.5,623,5610,0.00,1.92,0.00,0.000,6,0.000,0.038,2500,1488,3641
$GC,5928,-0.88,-194.7,735.8,-7.9,639,5929,0.12,0.00,0.00,0.000,6,0.076,0.000,2442,1490,3639
$STATE,6193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6193,begin apogee
$GC,6197,-0.20,0.0,764.7,9.1,652,6359,0.70,0.00,158.23,1.306,6,0.136,0.000,2666,1756,2863
$STATE,6360,end apogee,CONTROL_FINISHED_OK
$STATE,6360,begin climb
$GC,6361,0.94,194.7,766.6,0.0,660,6534,1.02,2.35,163.95,1.260,4,0.053,0.054,3035,3146,2068
$GC,6692,0.45,194.7,711.4,23.0,675,6697,0.57,2.15,0.00,0.000,6,0.171,0.042,2884,1754,2063
$GC,7019,0.47,215.5,672.9,10.2,691,7041,0.00,2.30,17.67,1.164,4,0.000,0.057,2893,339,1983
$GC,7142,0.50,238.2,660.6,10.1,696,7168,0.00,2.15,20.15,1.165,6,0.000,0.040,2888,1729,1891
$GC,7488,0.58,258.5,625.7,10.2,713,7511,0.12,2.28,17.88,1.160,4,0.074,0.056,2957,337,1808
$GC,7534,0.41,258.5,619.4,14.2,715,7539,0.30,2.15,0.00,0.000,6,0.150,0.041,2872,1733,1807
$GC,7861,0.57,267.9,587.1,10.6,731,7876,0.15,2.20,9.25,1.067,4,0.067,0.056,2948,343,1770
$GC,7905,0.43,267.9,581.9,13.5,733,7910,0.25,2.12,0.00,0.000,6,0.150,0.041,2878,1738,1769
$GC,8232,0.57,267.9,547.3,11.2,749,8237,0.15,2.17,0.00,0.000,4,0.067,0.055,2954,343,1767
$GC,8286,0.43,267.9,538.4,17.7,751,8293,0.22,2.10,0.00,0.000,6,0.144,0.041,2882,1718,1767
$GC,8602,0.54,267.9,499.9,11.2,767,8606,0.00,2.20,0.00,0.000,4,0.000,0.055,2881,3158,1765
$GC,8636,0.64,267.9,495.9,11.6,770,8640,0.17,2.17,0.00,0.000,6,0.063,0.042,2966,1718,1764
$GC,8960,0.46,267.9,445.3,14.9,800,8964,0.25,2.20,0.00,0.000,4,0.156,0.052,2887,3151,1763
$GC,9009,0.59,275.1,439.2,10.7,804,9023,0.00,2.15,6.65,0.952,6,0.000,0.043,2896,1721,1741
$GC,9339,0.71,294.9,405.2,10.2,835,9364,0.17,2.20,18.45,1.071,4,0.059,0.054,2997,345,1659
$GC,9391,0.47,294.9,397.1,17.4,839,9398,0.32,2.10,0.00,0.000,6,0.150,0.041,2896,1714,1657
$GC,9716,0.64,316.4,361.3,10.2,870,9742,0.15,2.28,19.08,1.031,4,0.064,0.054,2966,3144,1572
$GC,9864,0.56,316.4,338.2,15.5,883,9872,0.17,2.17,0.00,0.000,6,0.147,0.041,2926,1737,1568
$GC,10190,0.73,365.2,307.1,9.1,914,10238,0.15,2.25,41.88,1.001,4,0.064,0.053,3009,349,1373
$GC,10346,0.57,365.2,281.2,19.4,937,10352,0.30,2.10,0.00,0.000,6,0.144,0.039,2924,1726,1369
$GC,10689,0.83,383.0,245.3,10.3,998,10711,0.20,2.22,15.95,0.902,4,0.055,0.051,3033,340,1300
$GC,10761,0.60,383.0,231.7,22.6,1010,10768,0.35,2.05,0.00,0.000,6,0.146,0.037,2934,1714,1298
$GC,11106,0.98,473.2,198.6,7.6,1071,11190,0.30,2.20,76.95,0.880,4,0.044,0.048,3083,339,933
$GC,11231,0.64,473.2,169.4,26.9,1091,11238,0.47,2.05,0.00,0.000,6,0.146,0.035,2946,1687,930
$GC,11577,1.12,542.1,135.1,8.4,1152,11643,0.40,2.15,58.38,0.803,4,0.038,0.047,3129,335,651
$GC,11722,0.88,542.1,99.6,26.2,1176,11730,0.30,2.03,0.00,0.000,6,0.145,0.034,3023,1662,648
$GC,12067,1.03,542.1,47.6,13.3,1237,12074,0.15,0.00,0.00,0.000,6,0.060,0.000,3096,1663,647
$STATE,12274,end climb,SURFACE_DEPTH_REACHED
$STATE,12274,begin surface coast
$FINISH,1.0,1.004352
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12361,0.00,0.000,0,0,646,543.58
$SM_GC,1.78,7.93,0.00,0.00,0.050,0.000,0.000,164,1492,646,-8.04,-0.23,543.58
$IRIDIUM_FIX,2524.66,12300.33,250898,030318
$TT8_MAMPS,0.026845
$HUMID,1479
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,24.20
$XPDR_PINGS,87
$24V_AH,23.9,15.087
$10V_AH,10.7,9.116
$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,28.725,97.075,624.450,0.000,0.000,25.757,36.309,206.337,27.500,0.000,0.000,14.802,2237.331,6827.820,678.123,2566.369,415.674,0.000,1851.127,0.000,2540.450,0.000,39.394,0.000
$DEVICE_MAMPS,242.372,57.525,1306.201,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,864.866,882.118,1485.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72725,1276
$CAP_FILE_SIZE,138053,0
$CFSIZE,260165632,230481920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 16.6,1
$GPS,310509,100956,2532.190,12300.888,28,2.5,47,-3.7