version: 66.04
glider: 166
mission: 2
dive: 78
start: 6 3 109 19 31 18
data:
$ID,166
$MISSION,2
$DIVE,78
$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,-6712.9312
$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,58
$R_STBD_OVSHOOT,60
$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
$GPS1,192106,2530.037,12318.011,39,1.5,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.7
$GPS2,193056,2530.085,12318.052,14,1.8,14,-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,302.0,21693,-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,-194.7,0.0,0.0,0,78,0.00,0.00,-62.62,0.000,2,0.000,0.000,166,1477,2333
$GC,81,-0.94,-194.7,3.0,-6.0,9,139,9.05,2.15,-39.50,0.000,4,0.239,0.052,2420,2886,3659
$GC,377,-0.14,-194.7,92.9,-35.4,60,385,0.90,2.03,0.00,0.000,6,0.164,0.033,2685,1491,3659
$GC,722,-0.60,-194.7,121.5,-7.9,121,729,0.35,2.08,0.00,0.000,4,0.040,0.038,2520,2903,3660
$GC,768,-0.43,-194.7,128.4,-17.4,129,775,0.28,2.03,0.00,0.000,6,0.137,0.032,2601,1502,3659
$GC,1115,-0.53,-194.7,169.4,-9.4,190,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1502,3660
$GC,1458,-0.72,-194.7,201.5,-10.3,251,1465,0.22,1.92,0.00,0.000,4,0.051,0.045,2488,199,3661
$GC,1550,-0.28,-194.7,221.0,-23.5,267,1558,0.52,1.90,0.00,0.000,6,0.146,0.029,2647,1528,3661
$GC,1898,-1.07,-194.7,245.9,-7.8,328,1905,0.65,2.00,0.00,0.000,4,0.060,0.038,2395,2908,3661
$GC,1917,-1.43,-194.7,247.8,-8.5,331,1924,0.32,2.00,0.00,0.000,6,0.059,0.031,2268,1522,3661
$GC,2259,-0.42,-194.7,352.8,-33.0,377,2264,1.15,1.95,0.00,0.000,4,0.198,0.044,2592,199,3662
$GC,2389,-0.72,-194.7,366.7,-7.4,388,2393,0.25,1.85,0.00,0.000,6,0.047,0.028,2475,1512,3661
$GC,2718,-0.58,-194.7,408.7,-12.6,419,2722,0.25,1.95,0.00,0.000,4,0.137,0.045,2559,205,3660
$GC,2790,-0.76,-194.7,415.3,-7.8,425,2798,0.08,1.83,0.00,0.000,6,0.031,0.029,2471,1474,3660
$GC,3114,-0.76,-194.7,449.0,-10.4,456,3117,0.00,2.08,0.00,0.000,4,0.000,0.044,2467,2887,3658
$GC,3137,-0.76,-194.7,451.3,-10.6,458,3140,0.00,2.05,0.00,0.000,6,0.000,0.035,2467,1478,3658
$GC,3466,-0.76,-194.7,486.0,-10.6,489,3470,0.00,1.90,0.00,0.000,4,0.000,0.050,2467,200,3656
$GC,3606,-0.71,-194.7,503.3,-12.3,501,3610,0.10,1.85,0.00,0.000,6,0.136,0.032,2502,1464,3654
$GC,3934,-0.85,-194.7,533.2,-8.4,517,3938,0.12,2.12,0.00,0.000,4,0.069,0.052,2439,2893,3651
$GC,3956,-0.91,-194.7,535.4,-9.5,518,3960,0.00,2.08,0.00,0.000,6,0.000,0.037,2439,1475,3651
$GC,4283,-0.81,-194.7,573.9,-11.9,534,4287,0.15,1.90,0.00,0.000,4,0.145,0.051,2482,207,3647
$GC,4462,-0.81,-194.7,592.6,-9.5,542,4466,0.00,1.85,0.00,0.000,6,0.000,0.037,2481,1456,3646
$GC,4795,-0.89,-194.7,624.6,-10.0,558,4800,0.00,2.15,0.00,0.000,4,0.000,0.049,2481,2896,3642
$GC,4827,-1.03,-194.7,628.1,-10.3,559,4832,0.20,2.12,0.00,0.000,6,0.056,0.039,2388,1455,3642
$STATE,5148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5148,begin apogee
$GC,5153,-0.20,0.0,677.8,15.5,575,5313,0.90,0.00,156.77,1.224,6,0.146,0.000,2670,1752,2863
$STATE,5314,end apogee,CONTROL_FINISHED_OK
$STATE,5314,begin climb
$GC,5315,0.94,194.7,685.3,0.0,583,5487,1.00,2.25,161.57,1.190,4,0.046,0.052,3051,3138,2067
$GC,5570,0.37,194.7,653.8,20.9,594,5578,0.68,2.17,0.00,0.000,6,0.173,0.038,2867,1751,2063
$GC,5887,0.56,266.3,625.5,8.3,610,5954,0.15,2.30,59.33,1.157,4,0.065,0.052,2934,3141,1776
$GC,5994,0.45,266.3,610.9,15.4,615,5999,0.22,2.15,0.00,0.000,6,0.153,0.038,2883,1749,1772
$GC,6321,0.56,275.3,575.2,10.7,631,6335,0.12,2.22,8.02,0.980,4,0.067,0.054,2952,344,1740
$GC,6379,0.42,275.3,566.4,16.2,633,6388,0.22,2.12,0.00,0.000,6,0.142,0.038,2881,1739,1739
$GC,6696,0.57,293.4,532.9,10.3,649,6720,0.12,2.25,16.77,1.091,4,0.069,0.054,2948,343,1665
$GC,6792,0.47,293.4,518.9,15.4,653,6797,0.17,2.12,0.00,0.000,6,0.140,0.039,2893,1730,1663
$GC,7113,0.61,331.8,485.4,9.5,675,7154,0.12,0.00,33.53,1.104,6,0.070,0.000,2949,1732,1509
$GC,7471,0.49,331.8,430.7,17.2,709,7475,0.20,2.15,0.00,0.000,4,0.149,0.051,2898,343,1503
$GC,7532,0.64,331.8,423.0,11.0,714,7537,0.15,2.10,0.00,0.000,6,0.064,0.038,2968,1744,1502
$GC,7856,0.50,331.8,366.4,16.7,744,7858,0.25,0.00,0.00,0.000,6,0.146,0.000,2896,1746,1500
$GC,8176,0.71,355.8,333.2,10.1,774,8202,0.20,2.20,20.35,0.995,4,0.054,0.051,3007,355,1411
$GC,8246,0.49,355.8,321.3,18.3,780,8254,0.32,2.10,0.00,0.000,6,0.142,0.038,2905,1732,1408
$GC,8582,0.71,357.0,281.8,11.0,825,8590,0.17,2.12,0.00,0.000,4,0.055,0.050,3003,345,1406
$GC,8623,0.56,357.0,275.1,18.1,832,8630,0.30,2.05,0.00,0.000,6,0.143,0.038,2915,1735,1406
$GC,8968,0.84,404.8,237.6,9.2,893,9017,0.22,0.00,41.78,0.913,6,0.050,0.000,3035,1736,1212
$GC,9354,0.62,404.8,154.0,22.3,961,9362,0.30,2.12,0.00,0.000,4,0.145,0.046,2949,345,1207
$GC,9454,0.90,419.5,141.4,10.4,978,9474,0.22,2.05,13.12,0.782,6,0.048,0.035,3058,1739,1153
$GC,9813,0.79,419.5,74.2,17.2,1041,9821,0.20,2.10,0.00,0.000,4,0.140,0.041,2994,3151,1150
$GC,9872,1.01,419.5,66.1,12.0,1051,9880,0.12,2.12,0.00,0.000,6,0.041,0.035,3083,1727,1149
$GC,10217,0.89,419.5,12.4,15.1,1112,10224,0.17,2.05,0.00,0.000,4,0.146,0.042,3035,351,1149
$STATE,10292,end climb,SURFACE_DEPTH_REACHED
$STATE,10292,begin surface coast
$FINISH,2.1,1.021888
$STATE,10297,end surface coast,CONTROL_FINISHED_OK
$STATE,10298,begin surface
$SM_CCo,10314,5.18,0.523,0,0,1129,425.10
$SM_GC,4.02,0.00,0.00,5.18,0.000,0.000,0.523,167,1509,1129,-8.04,0.25,425.10
$IRIDIUM_FIX,2519.89,12319.55,280898,191922
$TT8_MAMPS,0.026845
$HUMID,1506
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.40
$XPDR_PINGS,85
$24V_AH,24.1,19.403
$10V_AH,10.7,11.858
$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,29.075,86.675,511.250,5.175,0.000,47.225,68.564,306.560,26.250,0.000,0.000,14.753,1989.250,5483.074,605.389,2259.581,570.503,0.000,1625.200,0.000,2237.168,0.000,34.414,0.000
$DEVICE_MAMPS,239.304,53.690,1224.132,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,761.913,806.124,1355.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63356,1126
$CAP_FILE_SIZE,124564,0
$CFSIZE,260165632,228794368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262, 59.8,1
$GPS,030609,222431,2531.711,12317.829,39,1.3,39,-3.8