version: 66.04
glider: 166
mission: 2
dive: 47
start: 5 29 109 14 58 44
data:
$ID,166
$MISSION,2
$DIVE,47
$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,-6086.6899
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,145136,2533.893,12250.298,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.3
$GPS2,145808,2533.943,12250.302,12,1.1,12,-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,11.7,11230,-17.1,-11.000
$D_GRID,889
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.94,-194.7,0.0,0.0,0,81,0.00,0.00,-64.60,0.000,2,0.000,0.000,167,1476,2371
$GC,83,-0.94,-194.7,3.3,-5.7,10,136,9.05,2.22,-38.28,0.000,4,0.238,0.053,2422,2909,3659
$GC,176,-0.17,-194.7,24.3,-37.2,25,184,0.88,2.10,0.00,0.000,6,0.162,0.034,2677,1491,3660
$GC,523,-0.49,-194.7,64.9,-5.7,86,529,0.25,1.90,0.00,0.000,4,0.048,0.043,2556,210,3661
$GC,558,-0.29,-194.7,69.3,-15.0,92,566,0.22,1.90,0.00,0.000,6,0.146,0.030,2639,1509,3660
$GC,906,-0.51,-194.7,101.0,-7.4,153,913,0.17,1.95,0.00,0.000,4,0.059,0.042,2550,198,3661
$GC,930,-0.51,-194.7,103.7,-10.7,157,936,0.00,1.90,0.00,0.000,6,0.000,0.028,2550,1507,3661
$GC,1276,-0.34,-194.7,165.5,-16.8,218,1282,0.22,2.03,0.00,0.000,4,0.148,0.040,2620,2892,3663
$GC,1318,-0.62,-194.7,170.6,-9.3,225,1325,0.22,2.03,0.00,0.000,6,0.048,0.031,2514,1482,3663
$GC,1661,-0.42,-194.7,228.0,-14.6,286,1667,0.25,1.88,0.00,0.000,4,0.146,0.044,2592,208,3664
$GC,1713,-0.59,-194.7,232.8,-6.3,295,1720,0.15,1.85,0.00,0.000,6,0.064,0.028,2521,1515,3664
$GC,2055,-0.59,-194.7,271.9,-12.5,356,2063,0.00,2.03,0.00,0.000,4,0.000,0.042,2520,2880,3664
$GC,2087,-0.65,-194.7,275.6,-12.6,361,2093,0.00,1.98,0.00,0.000,6,0.000,0.033,2520,1512,3663
$GC,2429,-0.65,-194.7,312.9,-11.3,413,2433,0.00,2.05,0.00,0.000,4,0.000,0.044,2520,2896,3664
$GC,2456,-0.73,-194.7,315.9,-11.2,415,2463,0.00,2.05,0.00,0.000,6,0.000,0.033,2519,1507,3664
$GC,2781,-0.78,-194.7,349.0,-11.5,446,2785,0.00,1.92,0.00,0.000,4,0.000,0.048,2519,207,3664
$GC,2860,-0.78,-194.7,359.4,-13.0,453,2864,0.00,1.85,0.00,0.000,6,0.000,0.031,2500,1499,3664
$GC,3189,-0.84,-194.7,390.3,-11.4,484,3193,0.00,2.05,0.00,0.000,4,0.000,0.046,2499,2892,3663
$GC,3256,-1.00,-194.7,396.7,-9.0,490,3261,0.22,2.03,0.00,0.000,6,0.054,0.037,2398,1506,3663
$GC,3580,-0.71,-194.7,452.8,-16.7,520,3582,0.38,0.00,0.00,0.000,6,0.150,0.000,2513,1506,3660
$GC,3900,-0.88,-194.7,478.7,-6.7,550,3901,0.15,0.00,0.00,0.000,6,0.067,0.000,2440,1505,3658
$GC,4214,-0.78,-194.7,515.5,-11.9,574,4218,0.17,1.95,0.00,0.000,4,0.153,0.052,2497,208,3656
$GC,4348,-0.83,-194.7,530.9,-13.1,580,4352,0.00,1.92,0.00,0.000,6,0.000,0.042,2498,1503,3654
$GC,4680,-0.94,-194.7,567.2,-10.4,596,4685,0.17,2.08,0.00,0.000,4,0.063,0.048,2418,2898,3652
$GC,4734,-0.81,-194.7,574.5,-13.6,598,4743,0.17,2.05,0.00,0.000,6,0.145,0.038,2474,1527,3651
$GC,5050,-0.81,-194.7,605.5,-9.4,614,5053,0.00,2.00,0.00,0.000,4,0.000,0.054,2474,200,3648
$GC,5109,-0.81,-194.7,612.1,-11.1,616,5119,0.00,1.95,0.00,0.000,6,0.000,0.037,2484,1512,3647
$GC,5426,-0.81,-194.7,644.8,-10.9,632,5429,0.00,2.08,0.00,0.000,4,0.000,0.052,2488,2896,3645
$GC,5458,-0.90,-194.7,648.2,-9.6,633,5463,0.08,2.05,0.00,0.000,6,0.059,0.041,2440,1531,3645
$GC,5781,-0.74,-194.7,689.9,-13.0,649,5785,0.20,2.03,0.00,0.000,4,0.155,0.054,2502,194,3642
$GC,5852,-0.74,-194.7,697.3,-9.1,652,5856,0.00,1.98,0.00,0.000,6,0.000,0.038,2499,1517,3642
$GC,6179,-0.81,-194.7,722.3,-7.6,668,6183,0.00,2.08,0.00,0.000,4,0.000,0.054,2499,2896,3640
$GC,6234,-0.96,-194.7,726.2,-6.8,670,6239,0.20,2.05,0.00,0.000,6,0.059,0.041,2410,1516,3638
$GC,6555,-0.71,-194.7,769.0,-14.6,686,6560,0.30,2.00,0.00,0.000,4,0.159,0.055,2503,197,3637
$GC,6612,-0.75,-194.7,775.2,-10.2,688,6620,0.00,1.98,0.00,0.000,6,0.000,0.038,2503,1519,3636
$GC,6927,-0.86,-194.7,803.7,-9.4,704,6931,0.12,2.08,0.00,0.000,4,0.076,0.053,2438,2896,3635
$GC,6953,-0.86,-194.7,806.2,-10.1,705,6957,0.00,2.08,0.00,0.000,6,0.000,0.041,2437,1520,3634
$GC,7275,-0.72,-194.7,848.1,-13.2,721,7279,0.20,2.00,0.00,0.000,4,0.156,0.056,2499,201,3633
$STATE,7446,end dive,NO_VERTICAL_VELOCITY
$STATE,7446,begin apogee
$GC,7452,-0.20,0.0,852.2,0.0,728,7619,0.47,0.00,160.10,1.371,6,0.094,0.000,2668,1731,2863
$STATE,7620,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7621,0.94,194.7,852.1,0.0,737,7799,1.10,2.47,167.95,1.328,4,0.084,0.066,3036,3158,2068
$GC,8051,1.65,513.8,852.0,-1.1,756,8349,0.55,2.17,288.23,1.318,6,0.039,0.037,3282,1739,768
$GC,8667,0.59,513.8,575.5,57.7,786,8673,1.27,2.15,0.00,0.000,4,0.213,0.049,2948,361,761
$GC,8739,0.66,513.8,552.2,19.0,789,8743,0.00,2.22,0.00,0.000,6,0.000,0.042,2950,1784,759
$GC,9060,0.66,513.8,496.7,17.4,805,9064,0.00,2.22,0.00,0.000,4,0.000,0.057,2963,364,759
$GC,9138,0.66,513.8,483.2,17.6,812,9142,0.00,2.10,0.00,0.000,6,0.000,0.042,2963,1754,758
$GC,9469,0.66,513.8,416.3,20.4,843,9472,0.00,2.17,0.00,0.000,4,0.000,0.056,2974,355,758
$GC,9495,0.66,513.8,410.5,21.2,845,9503,0.00,2.12,0.00,0.000,6,0.000,0.041,2974,1750,758
$GC,9821,0.59,513.8,346.7,19.5,876,9825,0.17,2.15,0.00,0.000,4,0.158,0.054,2936,357,758
$GC,9859,0.75,513.8,339.9,16.1,879,9864,0.12,2.05,0.00,0.000,6,0.073,0.041,3002,1742,756
$GC,10191,0.60,513.8,262.4,24.5,922,10198,0.20,2.15,0.00,0.000,4,0.156,0.054,2948,364,757
$GC,10226,0.60,513.8,255.2,17.9,928,10233,0.00,2.08,0.00,0.000,6,0.000,0.039,2950,1748,756
$GC,10572,0.82,513.8,204.7,15.2,989,10579,0.15,2.12,0.00,0.000,4,0.061,0.053,3039,363,756
$GC,10636,0.68,513.8,190.6,23.4,1000,10643,0.28,2.03,0.00,0.000,6,0.142,0.041,2959,1750,756
$GC,10982,0.99,513.8,145.4,12.1,1061,10990,0.25,2.12,0.00,0.000,4,0.047,0.051,3089,356,756
$GC,11092,0.67,513.8,117.8,29.2,1080,11099,0.40,1.98,0.00,0.000,6,0.146,0.036,2951,1693,756
$GC,11437,1.29,629.1,82.9,6.6,1141,11508,0.50,2.10,62.78,0.779,4,0.037,0.048,3184,359,455
$GC,11594,0.80,629.1,31.6,35.3,1167,11601,0.57,1.98,0.00,0.000,6,0.156,0.033,2997,1672,452
$STATE,11829,end climb,SURFACE_DEPTH_REACHED
$STATE,11829,begin surface coast
$FINISH,1.0,1.016616
$STATE,11864,end surface coast,CONTROL_FINISHED_OK
$STATE,11864,begin surface
$SM_CCo,11938,0.00,0.000,0,0,449,592.15
$SM_GC,1.81,7.65,0.00,0.00,0.051,0.000,0.000,154,1499,449,-8.02,-0.03,592.15
$IRIDIUM_FIX,2522.28,12253.72,230898,101053
$TT8_MAMPS,0.026845
$HUMID,1500
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,23.50
$XPDR_PINGS,94
$24V_AH,23.6,12.877
$10V_AH,10.7,7.718
$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,27.500,111.075,679.050,0.000,0.000,26.090,34.945,226.984,30.250,0.000,0.000,12.076,2150.394,6475.797,724.165,2534.785,451.175,0.000,1910.605,0.000,2515.194,0.000,46.065,0.000
$DEVICE_MAMPS,237.770,65.962,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,824.830,867.875,1456.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69637,1215
$CAP_FILE_SIZE,134744,0
$CFSIZE,260165632,231350272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,326.6,1
$GPS,290509,181854,2536.845,12249.994,40,0.9,40,-3.7