version: 66.04
glider: 166
mission: 2
dive: 61
start: 5 31 109 17 12 42
data:
$ID,166
$MISSION,2
$DIVE,61
$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,-6389.2202
$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,43
$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
$GPS1,170706,2531.207,12303.109,38,1.1,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.7
$GPS2,171219,2531.298,12303.095,13,1.4,13,-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,165.8,38764,-17.1,-11.000
$D_GRID,756
$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,13,-0.94,-194.7,0.0,0.0,0,99,0.00,0.00,-83.05,0.000,2,0.000,0.000,166,1491,2414
$GC,101,-0.94,-194.7,3.1,-5.5,13,153,9.12,0.00,-36.50,0.000,6,0.242,0.000,2429,1489,3658
$GC,492,-0.20,-194.7,127.2,-30.4,81,498,0.77,0.00,0.00,0.000,6,0.161,0.000,2665,1488,3657
$GC,836,-0.65,-194.7,151.6,-5.7,142,843,0.35,2.10,0.00,0.000,4,0.041,0.036,2501,2916,3660
$GC,917,-0.46,-194.7,163.4,-16.5,156,924,0.30,2.05,0.00,0.000,6,0.141,0.031,2589,1492,3660
$GC,1260,-0.59,-194.7,202.2,-11.3,217,1267,0.12,1.90,0.00,0.000,4,0.067,0.042,2527,201,3660
$GC,1289,-0.49,-194.7,206.3,-15.5,222,1296,0.12,1.92,0.00,0.000,6,0.150,0.028,2579,1537,3660
$GC,1634,-0.66,-194.7,240.2,-7.7,283,1642,0.15,1.98,0.00,0.000,4,0.063,0.042,2499,204,3661
$GC,1715,-0.41,-194.7,251.6,-15.2,297,1722,0.35,1.85,0.00,0.000,6,0.140,0.028,2607,1509,3661
$GC,2059,-0.80,-194.7,272.5,-5.4,358,2066,0.30,2.00,0.00,0.000,4,0.042,0.038,2453,2892,3661
$GC,2100,-0.66,-194.7,276.9,-12.5,365,2107,0.22,2.00,0.00,0.000,6,0.140,0.031,2527,1500,3661
$GC,2438,-0.72,-194.7,313.2,-10.9,415,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1500,3661
$GC,2757,-0.81,-194.7,344.7,-9.5,445,2761,0.12,2.08,0.00,0.000,4,0.071,0.041,2450,2893,3661
$GC,2828,-0.75,-194.7,353.6,-13.0,451,2837,0.10,2.03,0.00,0.000,6,0.140,0.033,2492,1522,3661
$GC,3152,-0.75,-194.7,390.5,-10.0,482,3156,0.00,2.05,0.00,0.000,4,0.000,0.044,2483,2898,3660
$GC,3191,-0.85,-194.7,393.9,-9.0,485,3197,0.00,2.03,0.00,0.000,6,0.000,0.034,2485,1508,3660
$GC,3516,-0.85,-194.7,422.6,-8.7,516,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1508,3658
$GC,3834,-0.90,-194.7,451.0,-8.5,546,3836,0.10,0.00,0.00,0.000,6,0.079,0.000,2433,1507,3656
$GC,4153,-0.75,-194.7,486.9,-11.9,576,4158,0.20,2.08,0.00,0.000,4,0.147,0.054,2495,2886,3653
$GC,4225,-0.95,-194.7,493.4,-7.5,582,4230,0.17,2.03,0.00,0.000,6,0.057,0.041,2411,1510,3653
$GC,4553,-0.75,-194.7,535.3,-12.8,600,4557,0.25,1.98,0.00,0.000,4,0.148,0.051,2491,198,3650
$GC,4669,-0.82,-194.7,547.1,-9.6,605,4674,0.00,1.90,0.00,0.000,6,0.000,0.035,2491,1480,3650
$GC,4998,-0.94,-194.7,573.1,-7.5,621,5000,0.15,0.00,0.00,0.000,6,0.068,0.000,2421,1482,3647
$GC,5306,-0.78,-194.7,610.7,-12.8,636,5310,0.17,1.95,0.00,0.000,4,0.156,0.054,2478,207,3644
$GC,5388,-0.78,-194.7,619.8,-10.4,639,5396,0.00,1.90,0.00,0.000,6,0.000,0.038,2479,1482,3643
$GC,5704,-0.85,-194.7,648.6,-9.4,655,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1483,3641
$GC,6014,-0.94,-194.7,676.3,-8.8,670,6019,0.12,2.15,0.00,0.000,4,0.074,0.051,2423,2906,3638
$GC,6085,-0.85,-194.7,684.3,-11.3,673,6090,0.12,2.12,0.00,0.000,6,0.147,0.043,2459,1502,3638
$GC,6408,-0.85,-194.7,715.9,-9.9,689,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1502,3636
$GC,6715,-0.85,-194.7,747.4,-10.6,704,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1502,3634
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6817,begin apogee
$GC,6821,-0.20,0.0,758.2,10.3,709,6982,0.62,0.00,157.95,1.309,6,0.129,0.000,2675,1756,2863
$STATE,6983,end apogee,CONTROL_FINISHED_OK
$STATE,6983,begin climb
$GC,6984,0.94,194.7,764.7,0.0,717,7159,1.00,2.33,164.77,1.266,4,0.050,0.055,3040,3135,2068
$GC,7199,0.42,194.7,741.1,20.7,727,7204,0.65,2.17,0.00,0.000,6,0.171,0.042,2877,1746,2064
$GC,7526,0.56,239.9,708.8,9.3,743,7571,0.15,2.28,38.15,1.217,4,0.064,0.056,2953,338,1883
$GC,7609,0.42,239.9,697.7,14.8,746,7617,0.20,2.20,0.00,0.000,6,0.145,0.039,2877,1736,1880
$GC,7925,0.58,280.8,667.1,9.4,762,7970,0.15,2.28,35.05,1.211,4,0.065,0.056,2940,3150,1717
$GC,8021,0.47,280.8,653.3,15.9,766,8025,0.22,2.15,0.00,0.000,6,0.155,0.042,2890,1749,1713
$GC,8340,0.56,280.8,616.5,11.4,782,8344,0.00,2.17,0.00,0.000,4,0.000,0.057,2894,348,1711
$GC,8417,0.63,280.8,607.0,12.4,785,8422,0.10,2.12,0.00,0.000,6,0.055,0.041,2950,1736,1711
$GC,8739,0.47,280.8,554.5,17.5,801,8744,0.20,2.15,0.00,0.000,4,0.153,0.054,2898,347,1710
$GC,8816,0.54,283.6,544.5,10.9,804,8823,0.00,2.10,0.00,0.000,6,0.000,0.041,2897,1725,1710
$GC,9132,0.54,283.6,503.9,13.0,820,9135,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,3151,1708
$GC,9248,0.59,283.6,487.5,14.4,828,9255,0.00,2.15,0.00,0.000,6,0.000,0.043,2907,1739,1707
$GC,9575,0.59,283.6,443.3,12.6,859,9579,0.00,2.12,0.00,0.000,4,0.000,0.054,2920,348,1706
$GC,9590,0.59,283.6,441.0,12.3,860,9598,0.00,2.10,0.00,0.000,6,0.000,0.041,2919,1735,1706
$GC,9916,0.60,294.4,401.7,10.6,891,9929,0.00,0.00,11.30,1.037,6,0.000,0.000,2919,1736,1661
$GC,10244,0.60,294.4,366.0,12.6,922,10247,0.00,2.15,0.00,0.000,4,0.000,0.054,2940,339,1659
$GC,10277,0.60,294.4,361.6,13.7,925,10281,0.00,2.08,0.00,0.000,6,0.000,0.040,2940,1735,1659
$GC,10607,0.63,316.1,323.0,10.2,956,10632,0.00,2.25,19.35,1.006,4,0.000,0.051,2942,3158,1572
$GC,10666,0.63,316.1,316.1,12.3,961,10673,0.00,2.20,0.00,0.000,6,0.000,0.040,2952,1725,1570
$GC,11003,0.63,316.1,266.5,14.4,1012,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1725,1569
$GC,11348,0.70,316.1,224.7,11.8,1073,11354,0.00,2.10,0.00,0.000,4,0.000,0.057,2959,342,1569
$GC,11450,0.76,316.1,212.8,11.0,1091,11457,0.00,2.05,0.00,0.000,6,0.000,0.041,2957,1726,1568
$GC,11795,0.83,316.1,171.1,12.3,1152,11802,0.15,2.10,0.00,0.000,4,0.061,0.048,3038,340,1569
$GC,11855,0.57,316.1,161.2,19.3,1162,11862,0.38,2.05,0.00,0.000,6,0.150,0.035,2926,1742,1569
$GC,12200,0.85,343.5,125.3,10.0,1223,12234,0.22,2.17,23.52,0.805,4,0.050,0.048,3055,350,1461
$GC,12348,0.63,343.5,100.7,17.6,1248,12355,0.30,1.98,0.00,0.000,6,0.134,0.035,2945,1678,1459
$GC,12693,1.00,409.2,67.9,8.5,1309,12751,0.28,0.00,54.78,0.746,6,0.044,0.000,3080,1680,1193
$STATE,13063,end climb,SURFACE_DEPTH_REACHED
$STATE,13063,begin surface coast
$FINISH,1.0,1.022639
$STATE,13081,end surface coast,CONTROL_FINISHED_OK
$STATE,13081,begin surface
$SM_CCo,13096,12.85,0.643,0,0,1130,425.10
$SM_GC,2.05,0.00,0.00,12.85,0.000,0.000,0.643,166,1489,1130,-8.04,-0.31,425.10
$IRIDIUM_FIX,2519.89,12250.42,250898,141456
$TT8_MAMPS,0.026845
$HUMID,1499
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.20
$XPDR_PINGS,109
$ALTIM_BOTTOM_PING,751.7,54.4
$24V_AH,23.9,15.665
$10V_AH,10.7,9.498
$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,25.850,92.350,504.875,12.850,0.000,22.538,32.089,163.498,33.500,0.000,0.000,13.131,2397.799,7341.657,628.928,2679.708,376.029,0.000,1821.443,0.000,2655.207,0.000,45.226,0.000
$DEVICE_MAMPS,242.372,56.758,1309.269,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,935.731,950.068,1598.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79038,1377
$CAP_FILE_SIZE,139691,0
$CFSIZE,260165632,230240256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.205,  3.0,1
$GPS,310509,205225,2530.773,12303.780,40,1.2,40,-3.7