version: 66.04
glider: 166
mission: 2
dive: 77
start: 6 3 109 16 5 12
data:
$ID,166
$MISSION,2
$DIVE,77
$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,-6697.5503
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,155837,2528.080,12317.703,29,1.4,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.1
$GPS2,160450,2528.074,12317.731,14,1.6,14,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,311.8,25156,-17.1,-11.000
$D_GRID,676
$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,-0.94,-194.7,0.0,0.0,0,94,0.00,0.00,-77.85,0.000,2,0.000,0.000,165,1489,2391
$GC,96,-0.94,-194.7,3.3,-6.2,12,148,9.05,2.17,-34.40,0.000,4,0.236,0.054,2433,2905,3658
$GC,303,-0.28,-194.7,63.0,-32.6,47,310,0.70,2.05,0.00,0.000,6,0.153,0.032,2641,1499,3658
$GC,647,-0.42,-194.7,110.3,-9.5,108,654,0.12,2.12,0.00,0.000,4,0.071,0.037,2582,2910,3660
$GC,701,-0.42,-194.7,116.3,-12.2,117,707,0.00,2.05,0.00,0.000,6,0.000,0.030,2582,1497,3660
$GC,1044,-0.42,-194.7,162.9,-11.5,178,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1497,3660
$GC,1389,-0.51,-194.7,200.9,-11.1,239,1395,0.00,1.90,0.00,0.000,4,0.000,0.043,2582,204,3662
$GC,1418,-0.61,-194.7,204.1,-10.8,244,1425,0.08,1.90,0.00,0.000,6,0.059,0.027,2530,1537,3662
$GC,1763,-0.50,-194.7,252.1,-14.7,305,1769,0.15,1.95,0.00,0.000,4,0.142,0.038,2571,2878,3662
$GC,1825,-0.74,-194.7,258.0,-7.4,316,1832,0.17,1.98,0.00,0.000,6,0.040,0.031,2473,1526,3662
$GC,2170,-0.50,-194.7,311.7,-14.6,371,2174,0.30,1.95,0.00,0.000,4,0.141,0.044,2571,205,3662
$GC,2314,-0.67,-194.7,325.7,-9.7,383,2320,0.00,1.85,0.00,0.000,6,0.000,0.028,2553,1509,3662
$GC,2639,-0.90,-194.7,353.1,-7.9,414,2643,0.25,2.03,0.00,0.000,4,0.051,0.041,2428,2890,3661
$GC,2701,-0.74,-194.7,361.0,-13.9,419,2705,0.22,1.95,0.00,0.000,6,0.137,0.032,2498,1539,3661
$GC,3030,-0.74,-194.7,400.2,-11.2,450,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1538,3661
$GC,3350,-0.80,-194.7,432.8,-9.5,480,3353,0.00,1.98,0.00,0.000,4,0.000,0.048,2497,210,3658
$GC,3451,-0.80,-194.7,443.2,-10.2,489,3455,0.00,1.92,0.00,0.000,6,0.000,0.031,2495,1548,3658
$GC,3781,-0.88,-194.7,474.7,-9.2,520,3783,0.12,0.00,0.00,0.000,6,0.072,0.000,2434,1549,3656
$GC,4107,-0.72,-194.7,516.6,-13.1,545,4111,0.20,2.03,0.00,0.000,4,0.169,0.050,2499,211,3653
$GC,4268,-0.81,-194.7,533.2,-10.1,552,4272,0.00,1.95,0.00,0.000,6,0.000,0.038,2495,1529,3652
$GC,4590,-0.93,-194.7,562.8,-9.9,568,4594,0.15,2.05,0.00,0.000,4,0.065,0.048,2421,2901,3650
$GC,4661,-0.85,-194.7,572.0,-12.9,571,4667,0.12,2.03,0.00,0.000,6,0.135,0.038,2464,1545,3649
$GC,4989,-0.85,-194.7,605.2,-9.3,587,4993,0.00,2.03,0.00,0.000,4,0.000,0.052,2465,198,3646
$GC,5034,-0.80,-194.7,609.8,-10.3,589,5038,0.00,1.98,0.00,0.000,6,0.000,0.036,2464,1546,3646
$GC,5366,-0.80,-194.7,640.8,-9.1,605,5370,0.00,2.05,0.00,0.000,4,0.000,0.054,2465,200,3643
$GC,5421,-0.80,-194.7,646.8,-10.9,607,5425,0.00,2.00,0.00,0.000,6,0.000,0.036,2465,1541,3643
$STATE,5720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5721,begin apogee
$GC,5725,-0.20,0.0,677.2,10.9,622,5885,0.62,0.00,157.20,1.223,6,0.123,0.000,2670,1759,2863
$STATE,5886,end apogee,CONTROL_FINISHED_OK
$STATE,5886,begin climb
$GC,5888,0.94,194.7,684.8,0.0,630,6058,1.02,2.38,162.70,1.186,4,0.045,0.053,3065,354,2068
$GC,6108,0.34,194.7,660.0,21.7,640,6115,0.70,2.20,0.00,0.000,6,0.166,0.038,2852,1741,2065
$GC,6424,0.60,277.8,632.2,7.8,656,6500,0.20,2.28,69.47,1.163,4,0.056,0.053,2954,350,1729
$GC,6521,0.46,277.8,619.3,15.1,660,6528,0.20,2.20,0.00,0.000,6,0.140,0.038,2893,1744,1726
$GC,6836,0.53,277.8,584.8,11.5,676,6840,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,340,1722
$GC,6904,0.58,277.8,576.5,11.9,679,6908,0.00,2.10,0.00,0.000,6,0.000,0.039,2901,1733,1722
$GC,7237,0.58,277.8,534.4,12.7,695,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1734,1719
$GC,7546,0.63,277.8,494.7,12.5,712,7550,0.12,2.15,0.00,0.000,4,0.069,0.053,2973,339,1718
$GC,7567,0.55,277.8,491.7,14.2,713,7575,0.20,2.08,0.00,0.000,6,0.155,0.040,2917,1731,1718
$GC,7891,0.55,277.8,447.0,14.3,744,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1732,1717
$GC,8210,0.55,280.6,408.0,10.9,774,8214,0.00,2.10,0.00,0.000,4,0.000,0.052,2926,344,1715
$GC,8288,0.55,280.6,399.8,11.1,781,8292,0.00,2.05,0.00,0.000,6,0.000,0.040,2926,1732,1715
$GC,8618,0.55,280.6,360.5,12.1,812,8622,0.00,2.12,0.00,0.000,4,0.000,0.051,2928,3148,1715
$GC,8644,0.55,280.6,357.0,12.5,814,8652,0.00,2.15,0.00,0.000,6,0.000,0.039,2936,1721,1713
$GC,8971,0.58,303.3,318.1,10.1,845,8995,0.00,2.17,20.05,0.973,4,0.000,0.051,2946,341,1625
$GC,9086,0.64,350.3,305.7,9.2,855,9131,0.00,2.05,40.25,0.966,6,0.000,0.037,2946,1714,1434
$GC,9466,0.64,350.3,251.7,15.9,918,9472,0.00,2.20,0.00,0.000,4,0.000,0.054,2948,3139,1428
$GC,9500,0.64,350.3,246.4,14.5,924,9506,0.00,2.17,0.00,0.000,6,0.000,0.037,2955,1706,1426
$GC,9844,0.64,350.3,199.8,11.6,985,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1706,1426
$GC,10188,0.81,382.7,163.6,9.8,1046,10222,0.12,2.15,27.35,0.828,4,0.066,0.048,3038,342,1301
$GC,10375,0.69,382.7,133.1,15.1,1078,10382,0.25,2.03,0.00,0.000,6,0.135,0.033,2964,1728,1298
$GC,10721,1.04,452.8,101.8,8.3,1139,10785,0.28,2.22,58.55,0.766,4,0.043,0.045,3108,342,1016
$GC,10804,0.78,452.8,88.0,19.4,1152,10811,0.40,2.03,0.00,0.000,6,0.139,0.031,2988,1711,1014
$GC,11149,1.14,470.6,57.6,10.3,1213,11171,0.28,2.15,16.20,0.682,4,0.043,0.044,3140,343,944
$GC,11207,0.89,470.6,47.1,22.3,1222,11214,0.32,1.95,0.00,0.000,6,0.137,0.029,3022,1667,942
$GC,11552,1.09,470.6,7.6,11.2,1283,11559,0.17,2.00,0.00,0.000,4,0.051,0.043,3129,340,941
$GC,11577,1.09,470.6,4.0,14.6,1287,11584,0.08,1.92,0.00,0.000,6,0.157,0.028,3091,1668,941
$STATE,11588,end climb,SURFACE_DEPTH_REACHED
$STATE,11588,begin surface coast
$FINISH,0.8,1.021756
$STATE,11608,end surface coast,CONTROL_FINISHED_OK
$STATE,11608,begin surface
$SM_CCo,11683,0.00,0.000,0,0,939,471.96
$SM_GC,1.58,7.88,0.00,0.00,0.049,0.000,0.000,161,1477,939,-8.03,-0.62,471.96
$IRIDIUM_FIX,2517.50,12316.24,280898,111127
$TT8_MAMPS,0.026845
$HUMID,1422
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.30
$XPDR_PINGS,110
$24V_AH,24.0,19.211
$10V_AH,10.7,11.744
$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,24.500,95.500,551.775,0.000,0.000,26.035,35.514,198.786,32.500,0.000,0.000,14.196,2236.972,6201.024,640.506,2549.764,417.829,0.000,1774.203,0.000,2528.389,0.000,34.390,0.000
$DEVICE_MAMPS,236.236,54.457,1223.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.237,939.461,1580.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72688,1292
$CAP_FILE_SIZE,129749,0
$CFSIZE,260165632,228859904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294, 66.7,1
$GPS,030609,192106,2530.037,12318.011,39,1.5,39,-3.8