version: 66.04
glider: 166
mission: 2
dive: 60
start: 5 31 109 13 59 57
data:
$ID,166
$MISSION,2
$DIVE,60
$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,-6375.4604
$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,61
$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
$GPS1,135134,2531.258,12302.688,10,99.0,29,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.3
$GPS2,135937,2531.411,12302.670,16,1.0,33,-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,158.1,39428,-17.1,-11.000
$D_GRID,766
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-58.25,0.000,2,0.000,0.000,165,1497,2440
$GC,77,-0.94,-194.7,3.3,-6.4,9,123,8.93,0.00,-34.38,0.000,6,0.233,0.000,2433,1494,3657
$GC,463,-0.26,-194.7,119.3,-26.0,76,470,0.70,1.92,0.00,0.000,4,0.157,0.041,2647,194,3658
$GC,510,-0.34,-194.7,127.8,-11.7,84,516,0.00,1.90,0.00,0.000,6,0.000,0.028,2647,1506,3659
$GC,854,-0.68,-194.7,154.6,-7.4,145,861,0.32,2.00,0.00,0.000,4,0.041,0.036,2495,2889,3660
$GC,942,-0.49,-194.7,168.5,-17.0,160,949,0.28,2.03,0.00,0.000,6,0.142,0.031,2576,1481,3660
$GC,1287,-0.49,-194.7,213.7,-15.5,221,1293,0.00,2.08,0.00,0.000,4,0.000,0.038,2576,2897,3660
$GC,1321,-0.63,-194.7,218.7,-14.5,227,1329,0.12,1.98,0.00,0.000,6,0.064,0.030,2513,1523,3660
$GC,1668,-0.47,-194.7,281.1,-14.9,288,1674,0.22,1.92,0.00,0.000,4,0.144,0.042,2583,208,3661
$GC,1704,-0.55,-194.7,285.7,-11.8,294,1710,0.00,1.85,0.00,0.000,6,0.000,0.028,2583,1497,3661
$GC,2040,-0.80,-194.7,309.8,-6.3,341,2044,0.25,2.05,0.00,0.000,4,0.048,0.039,2464,2900,3661
$GC,2061,-0.80,-194.7,311.7,-8.8,343,2065,0.00,2.00,0.00,0.000,6,0.000,0.031,2465,1511,3661
$GC,2391,-0.58,-194.7,361.1,-15.4,374,2395,0.25,1.92,0.00,0.000,4,0.143,0.044,2544,207,3661
$GC,2469,-0.67,-194.7,370.9,-11.5,381,2473,0.00,1.83,0.00,0.000,6,0.000,0.029,2543,1495,3661
$GC,2800,-0.83,-194.7,403.0,-8.9,412,2804,0.17,2.05,0.00,0.000,4,0.059,0.041,2439,2889,3661
$GC,2916,-0.73,-194.7,417.8,-13.0,422,2924,0.15,2.03,0.00,0.000,6,0.135,0.035,2497,1520,3660
$GC,3241,-0.79,-194.7,454.2,-11.0,453,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1520,3659
$GC,3562,-0.87,-194.7,486.6,-10.1,483,3566,0.10,1.98,0.00,0.000,4,0.079,0.049,2440,200,3657
$GC,3618,-0.70,-194.7,494.4,-15.0,488,3622,0.25,1.90,0.00,0.000,6,0.147,0.034,2513,1512,3657
$GC,3952,-0.89,-194.7,517.7,-5.3,507,3956,0.17,2.05,0.00,0.000,4,0.060,0.047,2429,2893,3654
$GC,4012,-0.84,-194.7,523.1,-8.9,509,4019,0.15,2.03,0.00,0.000,6,0.143,0.038,2472,1534,3654
$GC,4329,-0.84,-194.7,549.7,-8.2,525,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1534,3652
$GC,4638,-0.89,-194.7,579.2,-9.9,540,4641,0.00,2.00,0.00,0.000,4,0.000,0.052,2472,205,3649
$GC,4766,-0.89,-194.7,593.9,-10.8,545,4772,0.00,1.95,0.00,0.000,6,0.000,0.037,2470,1517,3648
$GC,5082,-0.89,-194.7,626.4,-10.7,561,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1518,3645
$GC,5390,-0.89,-194.7,664.4,-12.3,576,5394,0.00,2.08,0.00,0.000,4,0.000,0.053,2482,2903,3642
$GC,5423,-0.99,-194.7,668.4,-11.4,577,5428,0.12,2.05,0.00,0.000,6,0.051,0.041,2408,1542,3642
$STATE,5660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5660,begin apogee
$GC,5664,-0.20,0.0,702.8,13.9,589,5825,0.80,0.00,157.02,1.254,6,0.143,0.000,2668,1751,2863
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5827,0.94,194.7,709.4,0.0,597,5999,1.08,2.35,162.50,1.213,4,0.073,0.054,3052,338,2069
$GC,6251,0.44,194.7,648.8,18.1,616,6256,0.52,2.17,0.00,0.000,6,0.163,0.041,2885,1744,2063
$GC,6578,0.60,269.6,622.1,8.2,632,6646,0.15,2.33,62.38,1.177,4,0.067,0.055,2962,345,1762
$GC,6710,0.46,269.6,604.5,15.6,638,6714,0.25,2.17,0.00,0.000,6,0.150,0.041,2892,1753,1759
$GC,7036,0.60,281.3,570.5,10.6,654,7052,0.15,2.20,10.27,1.053,4,0.065,0.054,2966,346,1716
$GC,7152,0.45,281.3,551.4,16.6,658,7157,0.28,2.12,0.00,0.000,6,0.146,0.041,2886,1742,1714
$GC,7468,0.61,281.3,514.6,11.1,673,7470,0.15,0.00,0.00,0.000,6,0.063,0.000,2952,1744,1712
$GC,7783,0.50,281.3,466.7,15.5,698,7785,0.20,0.00,0.00,0.000,6,0.150,0.000,2897,1745,1710
$GC,8102,0.63,281.3,427.6,12.4,728,8106,0.15,2.15,0.00,0.000,4,0.063,0.053,2967,3160,1709
$GC,8118,0.69,281.3,425.2,13.7,729,8122,0.00,2.12,0.00,0.000,6,0.000,0.041,2982,1727,1708
$GC,8447,0.52,281.3,370.6,17.4,760,8452,0.22,2.17,0.00,0.000,4,0.158,0.051,2909,3154,1707
$GC,8565,0.66,281.3,355.1,12.3,770,8569,0.10,2.05,0.00,0.000,6,0.075,0.040,2969,1768,1706
$GC,8894,0.58,281.3,308.2,13.7,801,8899,0.15,2.10,0.00,0.000,4,0.152,0.050,2928,3160,1706
$GC,8927,0.64,281.3,303.8,13.0,804,8931,0.00,2.05,0.00,0.000,6,0.000,0.039,2936,1766,1706
$GC,9267,0.73,281.3,264.1,11.3,861,9275,0.12,2.15,0.00,0.000,4,0.068,0.052,3008,345,1706
$GC,9427,0.57,281.3,240.7,13.4,889,9435,0.30,2.12,0.00,0.000,6,0.145,0.041,2920,1790,1706
$GC,9773,0.90,374.8,212.8,7.5,950,9857,0.28,2.33,76.22,0.894,4,0.047,0.054,3062,342,1334
$GC,9898,0.60,374.8,191.2,21.5,971,9905,0.45,2.17,0.00,0.000,6,0.143,0.035,2931,1771,1331
$GC,10245,1.01,452.7,162.2,8.0,1032,10317,0.35,2.33,65.65,0.824,4,0.041,0.047,3096,343,1016
$GC,10380,0.67,452.7,131.7,25.6,1054,10388,0.40,2.17,0.00,0.000,6,0.143,0.035,2957,1756,1013
$GC,10724,1.17,558.9,93.2,7.0,1115,10820,0.40,0.00,87.70,0.747,6,0.040,0.000,3142,1758,584
$STATE,11072,end climb,SURFACE_DEPTH_REACHED
$STATE,11072,begin surface coast
$FINISH,1.0,1.022313
$STATE,11084,end surface coast,CONTROL_FINISHED_OK
$STATE,11084,begin surface
$SM_CCo,11159,0.00,0.000,0,0,579,560.27
$SM_GC,1.69,8.07,0.00,0.00,0.046,0.000,0.000,162,1491,579,-8.03,-0.25,560.27
$IRIDIUM_FIX,2524.66,12302.33,250898,101012
$TT8_MAMPS,0.026845
$HUMID,1480
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,24.20
$XPDR_PINGS,105
$ALTIM_BOTTOM_PING,651.8,74.2
$24V_AH,24.0,15.479
$10V_AH,10.7,9.367
$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,26.775,83.550,621.750,0.000,0.000,54.581,67.146,181.913,31.250,0.000,0.000,33.818,2036.793,6149.188,639.293,2375.424,434.284,0.000,1721.508,0.000,2325.837,0.000,35.682,0.000
$DEVICE_MAMPS,233.168,55.224,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.862,814.452,1371.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66458,1177
$CAP_FILE_SIZE,123458,0
$CFSIZE,260165632,230342656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246,350.2,1
$GPS,310509,170706,2531.207,12303.109,38,1.1,38,-3.7