version: 66.04
glider: 166
mission: 2
dive: 29
start: 5 25 109 23 6 4
data:
$ID,166
$MISSION,2
$DIVE,29
$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,-5812.1543
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,225937,2519.684,12243.935,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-65.0
$GPS2,230544,2519.852,12244.021,12,1.2,12,-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,173.7,28596,-16.8,-10.000
$D_GRID,900
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-74.65,0.000,2,0.000,0.000,192,1485,2470
$GC,93,-0.88,-170.3,3.3,-5.5,11,138,9.02,1.95,-29.48,0.000,4,0.241,0.061,2438,192,3557
$GC,235,-0.09,-170.3,46.8,-32.9,35,242,0.85,1.95,0.00,0.000,6,0.166,0.035,2700,1481,3558
$GC,578,-1.01,-170.3,71.7,-8.6,96,585,0.77,2.08,0.00,0.000,4,0.064,0.039,2405,2897,3560
$GC,630,-0.40,-170.3,79.9,-20.5,105,637,0.68,2.08,0.00,0.000,6,0.173,0.035,2598,1475,3560
$GC,976,-0.48,-170.3,125.5,-12.0,166,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1475,3561
$GC,1321,-0.68,-170.3,156.5,-6.5,227,1327,0.20,2.10,0.00,0.000,4,0.054,0.041,2494,2894,3562
$GC,1373,-0.52,-170.3,161.5,-10.1,236,1380,0.22,2.03,0.00,0.000,6,0.148,0.032,2559,1485,3562
$GC,1718,-0.52,-170.3,196.1,-10.4,297,1725,0.00,2.08,0.00,0.000,4,0.000,0.043,2559,2901,3562
$GC,1788,-0.65,-170.3,203.2,-9.3,309,1794,0.12,2.03,0.00,0.000,6,0.067,0.034,2492,1504,3562
$GC,2131,-0.41,-170.3,257.4,-15.5,370,2139,0.32,1.92,0.00,0.000,4,0.179,0.047,2595,198,3562
$GC,2280,-0.65,-170.3,271.1,-8.9,396,2287,0.12,1.88,0.00,0.000,6,0.047,0.029,2488,1503,3562
$GC,2617,-0.56,-170.3,315.4,-12.6,446,2621,0.20,1.92,0.00,0.000,4,0.142,0.046,2558,207,3562
$GC,2688,-0.69,-170.3,322.4,-8.8,452,2695,0.08,1.83,0.00,0.000,6,0.061,0.029,2495,1478,3562
$GC,3013,-0.69,-170.3,353.6,-9.8,483,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1479,3561
$GC,3331,-0.69,-170.3,387.7,-10.7,513,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1480,3559
$GC,3650,-0.69,-170.3,422.3,-11.3,543,3654,0.00,1.92,0.00,0.000,4,0.000,0.054,2494,200,3557
$GC,3743,-0.69,-170.3,434.0,-12.4,551,3750,0.00,1.83,0.00,0.000,6,0.000,0.032,2494,1450,3557
$GC,4067,-0.69,-170.3,471.5,-11.7,582,4071,0.00,2.12,0.00,0.000,4,0.000,0.050,2493,2883,3554
$GC,4214,-0.80,-170.3,486.3,-10.3,595,4218,0.00,2.08,0.00,0.000,6,0.000,0.041,2496,1467,3553
$GC,4549,-0.85,-170.3,522.2,-10.3,617,4553,0.10,2.10,0.00,0.000,4,0.078,0.048,2441,2880,3551
$GC,4684,-0.78,-170.3,537.8,-11.1,623,4688,0.15,2.05,0.00,0.000,6,0.148,0.039,2484,1488,3550
$GC,5017,-0.85,-170.3,569.2,-9.4,639,5020,0.00,1.92,0.00,0.000,4,0.000,0.054,2484,201,3548
$GC,5128,-0.85,-170.3,580.7,-9.8,644,5132,0.00,1.85,0.00,0.000,6,0.000,0.036,2484,1475,3547
$GC,5460,-0.85,-170.3,611.0,-8.0,660,5463,0.00,2.10,0.00,0.000,4,0.000,0.051,2488,2882,3545
$GC,5550,-0.97,-170.3,617.5,-7.0,664,5554,0.20,2.08,0.00,0.000,6,0.058,0.041,2395,1478,3544
$GC,5875,-0.68,-170.3,660.7,-13.7,680,5880,0.35,1.92,0.00,0.000,4,0.160,0.054,2504,198,3542
$GC,6041,-0.77,-170.3,677.4,-9.6,687,6047,0.00,1.88,0.00,0.000,6,0.000,0.038,2506,1461,3541
$GC,6357,-0.89,-170.3,708.6,-10.5,703,6361,0.17,2.12,0.00,0.000,4,0.066,0.052,2434,2886,3539
$GC,6423,-0.76,-170.3,717.7,-14.7,706,6428,0.20,2.10,0.00,0.000,6,0.152,0.042,2484,1470,3538
$GC,6751,-0.76,-170.3,751.0,-8.9,722,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1470,3535
$GC,7058,-0.76,-170.3,773.6,-6.5,737,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1471,3534
$GC,7368,-0.76,-170.3,791.3,-5.1,752,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1470,3532
$GC,7677,-0.76,-170.3,811.6,-7.2,767,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1470,3531
$GC,7987,-0.76,-170.3,834.2,-7.9,782,7991,0.00,2.15,0.00,0.000,4,0.000,0.055,2482,2887,3529
$GC,8025,-0.87,-170.3,837.7,-8.9,783,8032,0.00,2.12,0.00,0.000,6,0.000,0.044,2484,1481,3529
$GC,8342,-0.91,-170.3,864.1,-8.0,799,8346,0.12,2.12,0.00,0.000,4,0.075,0.054,2427,2878,3528
$GC,8384,-0.81,-170.3,868.9,-10.9,801,8389,0.10,2.12,0.00,0.000,6,0.158,0.045,2461,1479,3527
$STATE,8671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8672,begin apogee
$GC,8675,-0.20,0.0,900.3,9.9,815,8819,0.68,0.00,139.88,1.424,6,0.143,0.000,2663,1782,2863
$STATE,8819,end apogee,CONTROL_FINISHED_OK
$STATE,8820,begin climb
$GC,8821,0.88,170.3,905.6,0.0,822,8974,0.98,0.00,149.07,1.371,6,0.056,0.000,3013,1782,2168
$GC,9273,0.39,170.3,842.0,18.3,844,9276,0.55,0.00,0.00,0.000,6,0.173,0.000,2859,1784,2162
$GC,9583,0.49,210.4,814.4,8.4,859,9623,0.00,0.00,35.35,1.328,6,0.000,0.000,2859,1784,2003
$GC,9932,0.61,233.7,783.3,9.1,876,9958,0.17,2.25,20.50,1.291,4,0.061,0.058,2953,386,1910
$GC,10060,0.38,233.7,765.8,15.2,882,10065,0.35,2.17,0.00,0.000,6,0.155,0.044,2855,1789,1906
$GC,10386,0.54,250.7,735.0,9.3,898,10409,0.15,2.25,15.95,1.256,4,0.068,0.058,2932,380,1839
$GC,10505,0.41,250.7,717.5,15.4,903,10510,0.25,2.15,0.00,0.000,6,0.154,0.043,2864,1780,1836
$GC,10825,0.54,250.7,680.0,12.0,919,10829,0.12,2.17,0.00,0.000,4,0.073,0.057,2930,386,1835
$GC,10863,0.41,250.7,674.3,16.0,921,10868,0.22,2.10,0.00,0.000,6,0.153,0.043,2867,1770,1835
$GC,11191,0.54,250.7,634.9,11.4,937,11195,0.12,2.15,0.00,0.000,4,0.074,0.057,2933,386,1834
$GC,11261,0.41,250.7,623.7,16.7,940,11267,0.20,2.08,0.00,0.000,6,0.150,0.043,2871,1749,1834
$GC,11583,0.54,250.7,587.5,10.4,956,11588,0.10,2.12,0.00,0.000,4,0.083,0.057,2928,376,1833
$GC,11660,0.45,250.7,577.0,13.6,959,11666,0.15,2.05,0.00,0.000,6,0.151,0.044,2880,1723,1833
$GC,11982,0.56,274.4,546.4,9.1,975,12005,0.00,0.00,20.80,1.190,6,0.000,0.000,2880,1724,1744
$GC,12312,0.69,279.8,514.1,9.8,991,12323,0.17,2.08,5.75,0.949,4,0.062,0.057,2974,386,1722
$GC,12389,0.49,279.8,502.0,16.1,994,12396,0.28,2.03,0.00,0.000,6,0.156,0.042,2893,1707,1721
$GC,12714,0.64,316.7,472.9,8.5,1024,12755,0.15,0.00,33.40,1.145,6,0.067,0.000,2957,1708,1571
$GC,13071,0.48,316.7,419.9,16.6,1058,13076,0.22,2.30,0.00,0.000,4,0.160,0.053,2888,3188,1566
$GC,13115,0.65,316.7,414.4,10.9,1061,13122,0.12,2.25,0.00,0.000,6,0.069,0.042,2958,1707,1564
$GC,13440,0.53,316.7,362.9,16.1,1092,13444,0.17,2.03,0.00,0.000,4,0.160,0.054,2913,385,1564
$GC,13533,0.66,316.7,351.0,11.9,1100,13540,0.00,2.00,0.00,0.000,6,0.000,0.039,2915,1705,1564
$GC,13859,0.77,316.7,316.1,10.2,1131,13863,0.17,2.03,0.00,0.000,4,0.061,0.054,3004,385,1563
$GC,13936,0.52,316.7,302.0,19.5,1138,13941,0.35,1.95,0.00,0.000,6,0.159,0.039,2902,1708,1563
$GC,14280,0.75,321.3,264.1,9.8,1198,14295,0.17,2.08,4.20,0.675,4,0.060,0.053,2996,379,1553
$GC,14340,0.58,321.3,254.8,18.1,1208,14348,0.25,1.98,0.00,0.000,6,0.173,0.040,2922,1697,1553
$GC,14686,0.82,380.9,220.6,7.7,1269,14747,0.17,2.12,51.60,0.930,4,0.103,0.052,3015,386,1308
$GC,14764,0.67,380.9,210.4,15.2,1282,14771,0.17,2.00,0.00,0.000,6,0.148,0.037,2949,1681,1306
$GC,15107,0.90,380.9,172.0,12.8,1343,15115,0.17,2.30,0.00,0.000,4,0.057,0.047,3038,3198,1302
$GC,15367,0.80,380.9,124.1,17.0,1389,15374,0.20,2.20,0.00,0.000,6,0.153,0.038,2993,1723,1301
$GC,15714,1.02,428.9,91.1,8.1,1450,15760,0.17,2.28,40.28,0.781,4,0.055,0.042,3073,3198,1113
$GC,15868,0.93,428.9,63.7,16.9,1476,15875,0.17,2.20,0.00,0.000,6,0.156,0.036,3034,1730,1110
$GC,16214,1.06,428.9,20.0,10.8,1537,16221,0.12,2.03,0.00,0.000,4,0.068,0.047,3101,382,1110
$GC,16299,0.94,428.9,6.9,16.0,1552,16307,0.22,2.03,0.00,0.000,6,0.146,0.031,3036,1783,1109
$STATE,16328,end climb,SURFACE_DEPTH_REACHED
$STATE,16328,begin surface coast
$FINISH,1.1,1.021564
$STATE,16347,end surface coast,CONTROL_FINISHED_OK
$STATE,16347,begin surface
$SM_CCo,16421,0.00,0.000,0,0,1107,430.75
$SM_GC,1.63,7.75,0.00,0.00,0.052,0.000,0.000,147,1455,1107,-8.01,-0.85,430.75
$IRIDIUM_FIX,2510.35,12258.43,190898,181820
$TT8_MAMPS,0.027612
$HUMID,1453
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.60
$XPDR_PINGS,104
$24V_AH,23.7,8.878
$10V_AH,10.7,5.056
$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,29.300,120.700,516.775,0.000,0.000,24.662,48.077,194.415,33.250,0.000,0.000,12.867,2781.303,9790.381,665.806,3112.999,426.252,0.000,2025.477,0.000,3087.348,0.000,49.392,0.000
$DEVICE_MAMPS,240.838,61.360,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.445,1085.824,1829.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91692,1560
$CAP_FILE_SIZE,169283,0
$CFSIZE,260165632,232943616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 31.2,1
$GPS,260509,034055,2519.531,12245.657,38,1.7,38,-3.7