version: 66.04
glider: 166
mission: 2
dive: 45
start: 5 29 109 6 14 18
data:
$ID,166
$MISSION,2
$DIVE,45
$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,-4
$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,-6055.8862
$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,57
$R_STBD_OVSHOOT,57
$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
$GPS1,060807,2526.964,12252.472,31,1.1,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.1
$GPS2,061356,2527.138,12252.481,16,1.2,16,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,347.5,24177,-17.1,-11.000
$D_GRID,877
$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,-194.7,0.0,0.0,0,82,0.00,0.00,-66.12,0.000,2,0.000,0.000,165,1476,2466
$GC,84,-0.94,-194.7,3.1,-4.4,10,136,8.85,2.12,-35.33,0.000,4,0.229,0.054,2421,2893,3658
$GC,239,-0.24,-194.7,47.0,-35.1,36,246,0.80,2.05,0.00,0.000,6,0.156,0.035,2658,1504,3660
$GC,582,-0.55,-194.7,86.4,-7.2,97,590,0.25,1.98,0.00,0.000,4,0.045,0.044,2537,202,3660
$GC,692,-0.26,-194.7,106.4,-18.4,116,699,0.32,1.90,0.00,0.000,6,0.139,0.029,2651,1502,3661
$GC,1039,-0.64,-194.7,128.9,-6.4,177,1047,0.30,2.05,0.00,0.000,4,0.045,0.039,2512,2901,3661
$GC,1093,-0.52,-194.7,136.2,-15.5,186,1100,0.20,2.05,0.00,0.000,6,0.153,0.032,2567,1488,3661
$GC,1439,-0.52,-194.7,185.8,-11.1,247,1445,0.00,2.08,0.00,0.000,4,0.000,0.041,2567,2898,3661
$GC,1496,-0.66,-194.7,192.1,-10.6,257,1505,0.12,2.05,0.00,0.000,6,0.067,0.033,2505,1479,3661
$GC,1842,-0.52,-194.7,252.5,-17.5,318,1849,0.20,1.88,0.00,0.000,4,0.147,0.046,2568,208,3662
$GC,1996,-0.65,-194.7,269.6,-9.2,345,2004,0.12,1.83,0.00,0.000,6,0.073,0.029,2508,1499,3663
$GC,2342,-0.60,-194.7,312.8,-12.3,398,2346,0.12,1.92,0.00,0.000,4,0.150,0.046,2542,211,3662
$GC,2436,-0.66,-194.7,322.5,-9.6,406,2443,0.00,1.85,0.00,0.000,6,0.000,0.030,2531,1482,3662
$GC,2761,-0.79,-194.7,351.7,-11.1,437,2763,0.12,0.00,0.00,0.000,6,0.071,0.000,2463,1484,3662
$GC,3080,-0.67,-194.7,390.9,-9.5,467,3085,0.20,2.10,0.00,0.000,4,0.143,0.044,2524,2904,3662
$GC,3222,-0.80,-194.7,400.2,-9.4,479,3226,0.12,2.05,0.00,0.000,6,0.067,0.035,2464,1499,3660
$GC,3552,-0.75,-194.7,450.9,-12.0,510,3556,0.12,1.92,0.00,0.000,4,0.153,0.050,2499,208,3658
$GC,3657,-0.75,-194.7,462.1,-10.4,519,3664,0.00,1.88,0.00,0.000,6,0.000,0.035,2499,1483,3658
$GC,3984,-0.86,-194.7,493.8,-10.2,550,3986,0.10,0.00,0.00,0.000,6,0.081,0.000,2445,1484,3655
$GC,4303,-0.78,-194.7,535.7,-12.7,568,4308,0.15,1.92,0.00,0.000,4,0.150,0.051,2487,209,3652
$GC,4371,-0.83,-194.7,543.6,-11.6,571,4374,0.00,1.85,0.00,0.000,6,0.000,0.035,2487,1481,3652
$GC,4703,-0.91,-194.7,583.0,-12.6,587,4705,0.12,0.00,0.00,0.000,6,0.075,0.000,2428,1484,3649
$GC,5012,-0.76,-194.7,632.0,-15.9,602,5016,0.20,1.92,0.00,0.000,4,0.154,0.054,2491,214,3646
$GC,5146,-0.82,-194.7,648.1,-11.3,608,5150,0.00,1.85,0.00,0.000,6,0.000,0.038,2490,1475,3645
$GC,5478,-0.88,-194.7,680.8,-9.9,624,5480,0.10,0.00,0.00,0.000,6,0.084,0.000,2442,1477,3642
$GC,5787,-0.78,-194.7,717.8,-11.6,639,5792,0.15,2.15,0.00,0.000,4,0.159,0.051,2492,2903,3639
$GC,5830,-0.87,-194.7,722.2,-10.0,641,5835,0.00,2.12,0.00,0.000,6,0.000,0.041,2492,1495,3639
$GC,6157,-0.87,-194.7,755.5,-10.8,657,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1494,3637
$GC,6466,-0.87,-194.7,786.3,-10.0,672,6470,0.00,1.98,0.00,0.000,4,0.000,0.058,2492,195,3635
$GC,6593,-0.87,-194.7,801.1,-11.6,677,6601,0.00,1.90,0.00,0.000,6,0.000,0.040,2491,1462,3635
$GC,6909,-0.87,-194.7,835.8,-11.3,693,6913,0.00,1.92,0.00,0.000,4,0.000,0.058,2490,204,3633
$GC,6935,-0.87,-194.7,839.4,-14.1,694,6940,0.00,1.88,0.00,0.000,6,0.000,0.039,2490,1458,3633
$GC,7265,-0.87,-194.7,876.2,-11.5,710,7269,0.00,1.92,0.00,0.000,4,0.000,0.058,2489,201,3630
$STATE,7273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7273,begin apogee
$GC,7279,-0.20,0.0,877.7,11.2,710,7444,0.55,0.00,160.77,1.401,6,0.136,0.000,2668,1743,2862
$STATE,7444,end apogee,CONTROL_FINISHED_OK
$STATE,7444,begin climb
$GC,7446,0.94,194.7,886.5,0.0,718,7625,1.05,2.40,168.75,1.361,4,0.057,0.057,3034,3147,2068
$GC,7663,0.42,194.7,865.8,18.1,728,7668,0.57,2.22,0.00,0.000,6,0.178,0.042,2879,1760,2063
$GC,7989,0.47,239.3,835.7,9.3,744,8033,0.00,2.38,38.55,1.311,4,0.000,0.058,2888,341,1887
$GC,8116,0.54,239.3,821.7,12.2,749,8124,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1736,1882
$GC,8432,0.60,253.9,787.3,10.4,765,8454,0.15,0.00,13.65,1.233,6,0.067,0.000,2949,1737,1826
$GC,8761,0.43,253.9,743.2,13.3,781,8766,0.22,2.20,0.00,0.000,4,0.158,0.056,2882,3152,1822
$GC,8862,0.56,290.9,733.0,9.6,785,8900,0.00,2.17,33.22,1.288,6,0.000,0.044,2895,1723,1677
$GC,9218,0.70,338.6,700.7,9.2,803,9274,0.20,2.25,45.20,1.230,4,0.059,0.056,3001,343,1482
$GC,9302,0.45,338.6,686.9,19.1,807,9307,0.40,2.20,0.00,0.000,6,0.152,0.042,2890,1738,1479
$GC,9629,0.61,338.6,647.5,13.0,823,9633,0.15,2.20,0.00,0.000,4,0.066,0.056,2967,343,1473
$GC,9683,0.50,338.6,637.6,19.0,825,9691,0.20,2.12,0.00,0.000,6,0.144,0.042,2903,1719,1473
$GC,9999,0.62,338.6,597.0,11.2,841,10003,0.12,2.20,0.00,0.000,4,0.071,0.054,2958,3150,1473
$GC,10037,0.54,338.6,591.4,15.6,843,10042,0.20,2.17,0.00,0.000,6,0.158,0.044,2916,1719,1472
$GC,10364,0.63,338.6,552.9,11.7,859,10368,0.00,2.10,0.00,0.000,4,0.000,0.056,2923,343,1471
$GC,10441,0.72,364.4,544.4,10.0,862,10469,0.10,2.05,22.75,1.180,6,0.059,0.041,2980,1696,1377
$GC,10780,0.57,364.4,488.5,16.9,881,10785,0.17,2.25,0.00,0.000,4,0.157,0.054,2927,3150,1372
$GC,10846,0.66,364.4,479.4,11.2,886,10853,0.00,2.22,0.00,0.000,6,0.000,0.043,2937,1709,1371
$GC,11171,0.66,364.4,435.0,13.9,917,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1708,1371
$GC,11490,0.70,364.4,392.6,15.1,947,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1709,1371
$GC,11808,0.77,364.4,348.2,11.4,977,11810,0.15,0.00,0.00,0.000,6,0.064,0.000,3013,1709,1370
$GC,12130,0.58,364.4,285.1,22.1,1013,12138,0.28,2.08,0.00,0.000,4,0.151,0.051,2936,339,1370
$GC,12171,0.73,364.4,278.6,13.3,1020,12179,0.10,2.05,0.00,0.000,6,0.081,0.038,2993,1735,1369
$GC,12516,0.73,364.4,234.5,13.0,1081,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1735,1369
$GC,12861,0.73,364.4,184.4,14.8,1142,12867,0.00,2.12,0.00,0.000,4,0.000,0.050,3004,333,1369
$GC,12907,0.73,364.4,176.4,17.0,1150,12913,0.00,2.05,0.00,0.000,6,0.000,0.035,3004,1741,1369
$GC,13250,0.73,364.4,125.1,13.3,1211,13256,0.00,2.12,0.00,0.000,4,0.000,0.051,3009,339,1369
$GC,13274,0.73,364.4,121.9,14.4,1215,13281,0.12,2.03,0.00,0.000,6,0.146,0.035,2975,1742,1369
$GC,13618,1.04,458.6,86.4,7.4,1276,13709,0.22,2.25,78.65,0.765,4,0.049,0.046,3098,340,991
$GC,13779,0.84,458.6,57.5,19.4,1302,13786,0.30,2.03,0.00,0.000,6,0.143,0.031,3009,1709,988
$GC,14122,1.07,458.6,18.1,11.4,1363,14129,0.17,2.10,0.00,0.000,4,0.054,0.044,3105,328,987
$STATE,14207,end climb,SURFACE_DEPTH_REACHED
$STATE,14207,begin surface coast
$FINISH,1.2,1.022277
$STATE,14218,end surface coast,CONTROL_FINISHED_OK
$STATE,14219,begin surface
$SM_CCo,14295,0.00,0.000,0,0,984,460.92
$SM_GC,1.89,7.97,0.00,0.00,0.051,0.000,0.000,165,1503,984,-8.02,0.08,460.92
$IRIDIUM_FIX,2512.73,12256.43,230898,010142
$TT8_MAMPS,0.026078
$HUMID,1435
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.70
$XPDR_PINGS,95
$24V_AH,23.7,12.392
$10V_AH,10.7,7.455
$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,26.125,111.400,561.550,0.000,0.000,23.491,31.698,188.580,30.750,0.000,0.000,16.559,2436.750,8344.418,664.589,2785.441,403.818,0.000,1917.135,0.000,2759.029,0.000,47.723,0.000
$DEVICE_MAMPS,228.566,58.292,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,938.633,973.379,1636.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79060,1380
$CAP_FILE_SIZE,148778,0
$CFSIZE,260165632,231497728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.117, 53.8,1
$GPS,290509,101336,2529.832,12252.348,31,1.0,31,-3.7