version: 66.04
glider: 166
mission: 2
dive: 59
start: 5 31 109 10 16 36
data:
$ID,166
$MISSION,2
$DIVE,59
$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,-6341.0093
$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,49
$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
$GPS1,100956,2532.190,12300.888,28,2.5,47,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.5
$GPS2,101616,2532.289,12300.888,15,2.5,34,-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,152.8,42733,-17.1,-11.000
$D_GRID,748
$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,13,begin dive
$GC,14,-0.94,-194.7,0.0,0.0,0,95,0.00,0.00,-78.88,0.000,2,0.000,0.000,165,1492,2394
$GC,98,-0.94,-194.7,3.1,-5.3,12,151,8.85,2.12,-37.65,0.000,4,0.231,0.051,2423,2908,3657
$GC,207,-0.16,-194.7,27.6,-33.1,30,215,0.90,2.08,0.00,0.000,6,0.168,0.034,2682,1496,3657
$GC,555,-0.44,-194.7,66.1,-8.9,91,562,0.20,1.92,0.00,0.000,4,0.051,0.043,2580,196,3657
$GC,647,-0.18,-194.7,82.7,-19.3,107,654,0.28,1.92,0.00,0.000,6,0.137,0.029,2681,1518,3657
$GC,993,-0.54,-194.7,106.5,-5.3,168,1000,0.30,2.00,0.00,0.000,4,0.043,0.037,2541,2895,3659
$GC,1109,-0.37,-194.7,123.2,-15.9,188,1116,0.25,2.03,0.00,0.000,6,0.137,0.031,2614,1489,3659
$GC,1454,-0.61,-194.7,161.0,-9.0,249,1461,0.17,1.90,0.00,0.000,4,0.056,0.041,2526,214,3661
$GC,1546,-0.34,-194.7,176.2,-17.1,265,1553,0.28,1.85,0.00,0.000,6,0.141,0.029,2624,1497,3661
$GC,1891,-0.67,-194.7,197.0,-5.2,326,1899,0.25,2.03,0.00,0.000,4,0.048,0.038,2501,2892,3661
$GC,1975,-0.53,-194.7,207.0,-13.8,340,1982,0.22,2.00,0.00,0.000,6,0.139,0.031,2567,1519,3661
$GC,2318,-0.61,-194.7,245.4,-10.2,401,2324,0.00,1.92,0.00,0.000,4,0.000,0.044,2567,209,3661
$GC,2353,-0.68,-194.7,249.2,-11.0,407,2360,0.15,1.85,0.00,0.000,6,0.066,0.028,2499,1522,3661
$GC,2695,-0.54,-194.7,303.2,-14.8,466,2699,0.17,2.00,0.00,0.000,4,0.145,0.041,2555,2888,3661
$GC,2721,-0.63,-194.7,306.5,-11.4,468,2728,0.00,2.03,0.00,0.000,6,0.000,0.032,2555,1510,3661
$GC,3047,-0.81,-194.7,338.9,-8.9,499,3049,0.22,0.00,0.00,0.000,6,0.051,0.000,2453,1510,3661
$GC,3365,-0.58,-194.7,391.5,-16.5,529,3367,0.32,0.00,0.00,0.000,6,0.143,0.000,2551,1510,3661
$GC,3684,-0.77,-194.7,429.0,-10.9,559,3688,0.17,2.05,0.00,0.000,4,0.059,0.044,2448,2881,3660
$GC,3774,-0.77,-194.7,441.1,-13.6,567,3779,0.12,1.98,0.00,0.000,6,0.144,0.036,2489,1533,3660
$GC,4103,-0.77,-194.7,482.1,-11.2,598,4107,0.00,2.00,0.00,0.000,4,0.000,0.052,2491,197,3657
$GC,4285,-0.77,-194.7,501.2,-9.9,614,4289,0.00,1.92,0.00,0.000,6,0.000,0.034,2482,1526,3656
$GC,4617,-0.83,-194.7,528.3,-7.4,630,4620,0.00,2.00,0.00,0.000,4,0.000,0.051,2483,200,3654
$GC,4643,-0.83,-194.7,530.7,-8.9,631,4648,0.00,1.98,0.00,0.000,6,0.000,0.033,2482,1536,3653
$GC,4971,-0.90,-194.7,557.6,-9.7,647,4975,0.00,2.03,0.00,0.000,4,0.000,0.050,2483,2896,3651
$GC,5009,-1.06,-194.7,561.5,-9.8,648,5017,0.20,2.03,0.00,0.000,6,0.045,0.038,2380,1535,3650
$GC,5325,-0.76,-194.7,612.6,-16.7,664,5330,0.32,2.03,0.00,0.000,4,0.156,0.053,2484,195,3648
$GC,5524,-0.76,-194.7,634.3,-10.2,673,5529,0.00,1.95,0.00,0.000,6,0.000,0.037,2483,1509,3646
$GC,5852,-0.85,-194.7,661.8,-7.9,689,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1509,3643
$GC,6161,-0.95,-194.7,688.9,-9.2,704,6163,0.15,0.00,0.00,0.000,6,0.068,0.000,2416,1511,3640
$GC,6471,-0.79,-194.7,728.6,-12.6,719,6475,0.17,2.00,0.00,0.000,4,0.154,0.055,2474,201,3638
$GC,6547,-0.79,-194.7,737.4,-10.5,722,6552,0.00,1.98,0.00,0.000,6,0.000,0.039,2479,1520,3637
$STATE,6682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6682,begin apogee
$GC,6686,-0.20,0.0,750.0,9.6,729,6847,0.55,0.00,157.70,1.293,6,0.124,0.000,2667,1757,2863
$STATE,6847,end apogee,CONTROL_FINISHED_OK
$STATE,6848,begin climb
$GC,6849,0.94,194.7,756.7,0.0,737,7021,1.05,2.33,163.85,1.251,4,0.068,0.054,3031,3139,2068
$GC,7082,0.48,194.7,729.6,20.5,747,7090,0.47,2.20,0.00,0.000,6,0.166,0.041,2897,1759,2063
$GC,7399,0.48,198.7,694.4,10.8,763,7402,0.00,2.22,0.00,0.000,4,0.000,0.058,2895,338,2061
$GC,7489,0.48,198.7,684.3,11.5,767,7493,0.00,2.12,0.00,0.000,6,0.000,0.040,2890,1741,2060
$GC,7821,0.50,215.6,650.0,10.4,783,7844,0.00,2.28,17.15,1.177,4,0.000,0.056,2899,339,1983
$GC,7894,0.50,215.6,641.6,11.5,786,7898,0.00,2.12,0.00,0.000,6,0.000,0.040,2898,1734,1981
$GC,8219,0.50,215.6,606.5,11.0,802,8223,0.00,2.17,0.00,0.000,4,0.000,0.054,2909,329,1979
$GC,8309,0.50,215.6,596.3,11.2,806,8313,0.00,2.10,0.00,0.000,6,0.000,0.041,2908,1725,1979
$GC,8640,0.50,215.6,558.3,11.3,822,8644,0.00,2.12,0.00,0.000,4,0.000,0.054,2919,342,1978
$GC,8689,0.51,220.7,553.1,10.8,824,8699,0.00,2.08,4.97,0.885,6,0.000,0.041,2918,1710,1963
$GC,9017,0.55,253.7,521.7,9.7,840,9050,0.00,2.17,28.85,1.159,4,0.000,0.054,2929,339,1827
$GC,9089,0.56,257.4,514.4,10.9,842,9098,0.00,2.10,4.60,0.802,6,0.000,0.040,2929,1695,1813
$GC,9411,0.56,257.4,472.2,13.5,867,9415,0.00,2.22,0.00,0.000,4,0.000,0.054,2929,3148,1809
$GC,9488,0.56,257.4,461.7,13.1,874,9492,0.00,2.17,0.00,0.000,6,0.000,0.042,2941,1715,1807
$GC,9820,0.49,262.1,423.7,10.8,905,9832,0.17,2.22,4.65,0.798,4,0.157,0.052,2887,3157,1794
$GC,9904,0.70,322.8,415.8,8.7,912,9966,0.15,2.17,52.47,1.083,6,0.049,0.041,2980,1734,1546
$GC,10283,0.58,322.8,355.0,18.1,948,10288,0.17,2.20,0.00,0.000,4,0.154,0.050,2930,3158,1540
$GC,10300,0.52,322.8,352.3,17.5,949,10304,0.12,2.17,0.00,0.000,6,0.144,0.039,2906,1721,1538
$GC,10625,0.79,343.2,319.7,10.2,979,10646,0.25,0.00,17.55,0.969,6,0.048,0.000,3019,1721,1464
$GC,10975,0.64,343.2,255.0,17.7,1032,10981,0.22,0.00,0.00,0.000,6,0.146,0.000,2952,1721,1459
$GC,11318,0.77,343.2,215.2,11.6,1093,11323,0.10,0.00,0.00,0.000,6,0.077,0.000,3006,1721,1458
$GC,11660,0.70,343.2,162.4,15.1,1154,11668,0.12,2.17,0.00,0.000,4,0.150,0.044,2965,3156,1458
$GC,11691,0.70,343.2,158.5,12.3,1159,11698,0.00,2.12,0.00,0.000,6,0.000,0.036,2968,1718,1457
$GC,12035,0.88,391.2,126.1,9.2,1220,12081,0.15,0.00,40.17,0.798,6,0.058,0.000,3050,1718,1267
$GC,12421,0.79,391.2,62.5,17.8,1287,12428,0.20,2.08,0.00,0.000,4,0.140,0.045,2994,345,1264
$GC,12470,0.97,391.2,56.0,11.5,1295,12477,0.15,2.05,0.00,0.000,6,0.058,0.032,3075,1756,1262
$STATE,12773,end climb,SURFACE_DEPTH_REACHED
$STATE,12773,begin surface coast
$FINISH,0.9,1.010116
$STATE,12792,end surface coast,CONTROL_FINISHED_OK
$STATE,12792,begin surface
$SM_CCo,12807,27.27,0.672,0,0,1130,425.10
$SM_GC,1.93,0.00,0.00,27.27,0.000,0.000,0.672,165,1497,1130,-8.05,-0.08,425.10
$IRIDIUM_FIX,2522.28,12302.33,250898,060626
$TT8_MAMPS,0.026845
$HUMID,1494
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.60
$XPDR_PINGS,90
$ALTIM_BOTTOM_PING,726.1,71.0
$24V_AH,24.0,15.273
$10V_AH,10.7,9.250
$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,25.425,99.900,491.975,27.275,0.000,26.387,30.721,199.667,28.250,0.000,0.000,35.360,2382.551,7054.844,627.317,2731.102,414.630,0.000,1822.061,0.000,2687.670,0.000,40.673,0.000
$DEVICE_MAMPS,230.867,58.292,1293.162,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,916.656,983.705,1653.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75741,1352
$CAP_FILE_SIZE,140102,0
$CFSIZE,260165632,230400000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 34.9,1
$GPS,310509,135134,2531.258,12302.688,10,99.0,29,-3.7