version: 66.04
glider: 166
mission: 2
dive: 23
start: 5 25 109 1 26 52
data:
$ID,166
$MISSION,2
$DIVE,23
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-5718.3257
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,1485
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,65
$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
$GPS1,012104,2522.797,12232.992,13,99.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-66.2
$GPS2,012631,2522.835,12233.018,11,1.1,16,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,159.6,47260,-16.8,-10.000
$D_GRID,579
$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,-0.88,-170.3,0.0,0.0,0,85,0.00,0.00,-69.10,0.000,2,0.000,0.000,146,1511,2503
$GC,87,-0.88,-170.3,3.4,-5.4,10,134,9.32,2.05,-30.38,0.000,4,0.249,0.059,2430,197,3559
$GC,364,-0.26,-170.3,85.3,-28.3,58,372,0.70,1.90,0.00,0.000,6,0.163,0.032,2647,1478,3561
$GC,711,-0.59,-170.3,105.7,-3.1,119,718,0.25,2.08,0.00,0.000,4,0.048,0.040,2524,2892,3562
$GC,953,-0.50,-170.3,136.4,-14.2,162,960,0.12,2.03,0.00,0.000,6,0.158,0.034,2565,1489,3563
$GC,1299,-0.65,-170.3,164.5,-5.6,223,1306,0.12,1.90,0.00,0.000,4,0.071,0.046,2497,198,3564
$GC,1330,-0.57,-170.3,167.1,-9.1,228,1338,0.15,1.90,0.00,0.000,6,0.142,0.029,2543,1510,3564
$GC,1676,-0.67,-170.3,189.2,-11.1,289,1683,0.00,2.03,0.00,0.000,4,0.000,0.043,2541,2898,3564
$GC,1711,-0.86,-170.3,193.1,-11.1,295,1718,0.25,2.03,0.00,0.000,6,0.048,0.034,2429,1492,3564
$GC,2055,-0.49,-170.3,260.0,-17.8,356,2063,0.43,1.90,0.00,0.000,4,0.158,0.046,2563,202,3564
$GC,2181,-0.64,-170.3,272.5,-8.5,378,2188,0.08,1.85,0.00,0.000,6,0.061,0.031,2514,1487,3564
$GC,2522,-0.64,-170.3,304.6,-7.8,434,2526,0.00,2.03,0.00,0.000,4,0.000,0.044,2520,2867,3564
$GC,2612,-0.75,-170.3,310.5,-5.8,442,2616,0.00,1.95,0.00,0.000,6,0.000,0.035,2513,1508,3563
$GC,2942,-0.81,-170.3,334.8,-8.3,473,2946,0.12,1.92,0.00,0.000,4,0.069,0.048,2458,204,3562
$GC,3042,-0.57,-170.3,347.7,-14.5,482,3046,0.30,1.85,0.00,0.000,6,0.153,0.033,2545,1490,3561
$GC,3372,-0.75,-170.3,372.8,-6.3,513,3377,0.17,2.05,0.00,0.000,4,0.061,0.048,2451,2878,3561
$GC,3454,-0.68,-170.3,380.7,-9.5,520,3462,0.15,2.05,0.00,0.000,6,0.140,0.043,2511,1498,3561
$GC,3779,-0.74,-170.3,404.1,-7.0,551,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1498,3559
$GC,4099,-0.83,-170.3,426.9,-7.5,581,4103,0.12,1.92,0.00,0.000,4,0.073,0.051,2445,210,3558
$GC,4239,-0.64,-170.3,444.1,-12.4,593,4246,0.22,1.90,0.00,0.000,6,0.138,0.035,2523,1502,3556
$GC,4563,-0.83,-170.3,464.8,-5.7,624,4567,0.17,2.05,0.00,0.000,4,0.061,0.048,2436,2878,3555
$GC,4585,-0.83,-170.3,466.5,-8.0,626,4589,0.00,2.05,0.00,0.000,6,0.000,0.039,2436,1510,3555
$GC,4914,-0.68,-170.3,502.9,-11.1,656,4918,0.20,1.95,0.00,0.000,4,0.152,0.053,2501,201,3553
$GC,5053,-0.75,-170.3,515.5,-8.3,662,5057,0.00,1.90,0.00,0.000,6,0.000,0.037,2497,1503,3552
$GC,5379,-0.84,-170.3,539.9,-7.9,678,5381,0.10,0.00,0.00,0.000,6,0.081,0.000,2446,1505,3549
$STATE,5542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5542,begin apogee
$GC,5546,-0.20,0.0,558.4,11.3,686,5687,0.65,0.00,136.57,1.158,6,0.139,0.000,2662,1787,2863
$STATE,5687,end apogee,CONTROL_FINISHED_OK
$STATE,5687,begin climb
$GC,5689,0.88,170.3,564.8,0.0,693,5839,1.02,2.30,140.48,1.114,4,0.077,0.054,3011,3191,2166
$GC,5967,0.41,170.3,533.4,18.9,705,5976,0.50,2.20,0.00,0.000,6,0.175,0.041,2869,1789,2162
$GC,6284,0.53,211.7,504.1,8.4,721,6328,0.10,2.30,34.00,1.085,4,0.078,0.055,2927,383,1999
$GC,6407,0.42,211.7,489.4,12.8,730,6412,0.20,2.12,0.00,0.000,6,0.152,0.041,2874,1774,1996
$GC,6737,0.56,241.7,460.2,8.8,761,6772,0.12,2.25,25.27,1.071,4,0.071,0.054,2939,385,1876
$GC,6855,0.46,241.7,444.5,14.9,771,6862,0.15,2.12,0.00,0.000,6,0.148,0.041,2882,1759,1874
$GC,7180,0.57,241.7,411.9,10.3,802,7185,0.12,2.12,0.00,0.000,4,0.072,0.054,2947,385,1871
$GC,7314,0.45,241.7,392.6,14.7,813,7322,0.25,2.03,0.00,0.000,6,0.150,0.041,2876,1735,1870
$GC,7639,0.71,323.0,363.9,6.8,844,7717,0.22,2.25,67.55,1.038,4,0.056,0.053,2992,379,1544
$GC,7732,0.45,323.0,349.9,18.9,852,7740,0.38,2.10,0.00,0.000,6,0.153,0.039,2882,1716,1543
$GC,8057,0.68,323.0,316.1,11.0,883,8062,0.20,2.28,0.00,0.000,4,0.058,0.050,2978,3196,1537
$GC,8130,0.54,323.0,303.2,18.8,889,8135,0.30,2.22,0.00,0.000,6,0.165,0.042,2905,1725,1536
$GC,8471,0.69,323.0,259.1,12.6,947,8477,0.15,2.05,0.00,0.000,4,0.063,0.052,2984,380,1535
$GC,8573,0.51,323.0,239.8,21.3,965,8581,0.30,2.00,0.00,0.000,6,0.151,0.039,2897,1726,1535
$GC,8918,0.71,341.0,208.3,9.3,1026,8937,0.17,0.00,15.07,0.891,6,0.058,0.000,2987,1727,1471
$GC,9274,0.66,341.0,146.5,13.1,1089,9282,0.17,2.05,0.00,0.000,4,0.153,0.050,2945,379,1468
$GC,9351,0.90,365.0,139.2,9.1,1102,9378,0.17,2.00,21.10,0.845,6,0.043,0.038,3041,1721,1373
$GC,9718,0.76,365.0,85.6,12.9,1166,9725,0.17,2.22,0.00,0.000,4,0.150,0.045,2983,3204,1368
$GC,9850,0.90,365.0,71.7,10.5,1189,9857,0.00,2.17,0.00,0.000,6,0.000,0.038,2991,1729,1368
$GC,10195,1.08,387.9,37.1,9.1,1250,10222,0.20,2.30,19.83,0.723,4,0.053,0.044,3094,3204,1280
$GC,10336,0.90,387.9,15.8,15.4,1274,10343,0.25,2.20,0.00,0.000,6,0.160,0.035,3017,1740,1278
$STATE,10456,end climb,SURFACE_DEPTH_REACHED
$STATE,10456,begin surface coast
$FINISH,1.0,1.021798
$STATE,10489,end surface coast,CONTROL_FINISHED_OK
$STATE,10489,begin surface
$SM_CCo,10503,29.60,0.689,0,0,1130,425.10
$SM_GC,1.93,0.00,0.00,29.60,0.000,0.000,0.689,177,1478,1130,-8.03,-0.20,425.10
$IRIDIUM_FIX,2512.73,12230.65,180898,222234
$TT8_MAMPS,0.027612
$HUMID,1494
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.00
$XPDR_PINGS,132
$ALTIM_BOTTOM_PING,475.7,106.2
$24V_AH,24.1,7.758
$10V_AH,10.7,4.240
$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,26.450,87.350,459.875,29.600,0.000,25.148,35.592,171.630,36.250,0.000,0.000,16.670,2254.270,5099.800,589.465,2557.613,356.733,0.000,1704.004,0.000,2537.344,0.000,24.079,0.000
$DEVICE_MAMPS,249.275,59.059,1158.170,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,885.551,954.862,1610.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75935,1301
$CAP_FILE_SIZE,127504,0
$CFSIZE,260165632,233488384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 90.2,1
$GPS,250509,042337,2521.646,12234.271,38,1.1,38,-3.7