version: 66.04
glider: 166
mission: 2
dive: 79
start: 6 3 109 22 30 13
data:
$ID,166
$MISSION,2
$DIVE,79
$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,-6729.3179
$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,45
$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
$GPS1,222431,2531.711,12317.829,39,1.3,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.5
$GPS2,222937,2531.755,12317.856,10,1.2,15,-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,300.2,18648,-17.1,-11.000
$D_GRID,654
$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,-194.7,0.0,0.0,0,74,0.00,0.00,-58.05,0.000,2,0.000,0.000,167,1509,2433
$GC,77,-0.94,-194.7,3.2,-5.8,9,124,9.18,2.12,-32.92,0.000,4,0.245,0.054,2421,2898,3657
$GC,350,-0.19,-194.7,88.7,-31.4,56,357,0.85,2.05,0.00,0.000,6,0.163,0.033,2671,1487,3659
$GC,695,-0.60,-194.7,118.1,-5.8,117,702,0.32,0.00,0.00,0.000,6,0.041,0.000,2515,1487,3663
$GC,1039,-0.36,-194.7,184.5,-17.3,178,1046,0.32,2.08,0.00,0.000,4,0.143,0.040,2617,2894,3663
$GC,1069,-0.51,-194.7,188.0,-11.2,183,1078,0.12,2.03,0.00,0.000,6,0.061,0.031,2553,1489,3664
$GC,1415,-0.51,-194.7,229.1,-13.0,244,1421,0.00,1.92,0.00,0.000,4,0.000,0.046,2552,207,3664
$GC,1500,-0.51,-194.7,240.1,-13.1,259,1507,0.00,1.85,0.00,0.000,6,0.000,0.029,2550,1509,3664
$GC,1846,-0.56,-194.7,279.0,-9.9,320,1853,0.00,2.03,0.00,0.000,4,0.000,0.042,2550,2901,3664
$GC,1876,-0.71,-194.7,281.8,-9.5,325,1882,0.12,2.03,0.00,0.000,6,0.065,0.033,2486,1500,3664
$GC,2214,-0.50,-194.7,330.9,-15.6,368,2218,0.25,1.92,0.00,0.000,4,0.141,0.046,2566,204,3665
$GC,2365,-0.66,-194.7,345.8,-8.8,381,2371,0.00,1.85,0.00,0.000,6,0.000,0.029,2552,1503,3664
$GC,2692,-0.90,-194.7,371.1,-6.9,412,2697,0.22,2.05,0.00,0.000,4,0.052,0.041,2428,2899,3664
$GC,2798,-0.76,-194.7,384.4,-12.7,421,2803,0.20,2.03,0.00,0.000,6,0.138,0.034,2490,1509,3664
$GC,3128,-0.76,-194.7,417.8,-10.4,452,3132,0.00,1.95,0.00,0.000,4,0.000,0.050,2490,199,3662
$GC,3186,-0.76,-194.7,424.0,-11.4,457,3189,0.00,1.88,0.00,0.000,6,0.000,0.031,2487,1501,3661
$GC,3516,-0.76,-194.7,456.1,-9.9,488,3519,0.00,2.05,0.00,0.000,4,0.000,0.051,2487,2891,3660
$GC,3550,-0.90,-194.7,459.2,-9.1,491,3554,0.12,2.03,0.00,0.000,6,0.067,0.035,2424,1497,3660
$GC,3889,-0.72,-194.7,505.7,-13.7,521,3893,0.22,1.92,0.00,0.000,4,0.145,0.050,2500,210,3658
$GC,4028,-0.79,-194.7,519.7,-9.8,527,4032,0.00,1.85,0.00,0.000,6,0.000,0.036,2494,1487,3657
$GC,4355,-0.90,-194.7,545.9,-7.7,543,4359,0.12,1.95,0.00,0.000,4,0.072,0.051,2433,202,3654
$GC,4409,-0.72,-194.7,552.6,-13.6,545,4414,0.20,1.88,0.00,0.000,6,0.142,0.035,2499,1471,3654
$GC,4731,-0.88,-194.7,579.5,-8.8,561,4732,0.12,0.00,0.00,0.000,6,0.072,0.000,2438,1474,3651
$GC,5040,-0.80,-194.7,615.8,-10.9,576,5044,0.15,2.15,0.00,0.000,4,0.148,0.049,2479,2901,3648
$GC,5089,-0.94,-194.7,620.3,-8.4,578,5093,0.12,2.10,0.00,0.000,6,0.067,0.041,2418,1485,3648
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5370,-0.20,0.0,656.8,14.0,592,5531,0.80,0.00,157.18,1.213,6,0.137,0.000,2672,1749,2863
$STATE,5532,end apogee,CONTROL_FINISHED_OK
$STATE,5532,begin climb
$GC,5533,0.94,194.7,664.2,0.0,600,5704,1.02,2.35,161.48,1.177,4,0.046,0.055,3064,354,2068
$GC,5726,0.34,194.7,644.6,22.9,609,5731,0.70,2.20,0.00,0.000,6,0.179,0.038,2855,1736,2066
$GC,6054,0.54,258.2,613.3,8.6,625,6116,0.17,2.33,52.60,1.143,4,0.059,0.052,2939,3148,1808
$GC,6167,0.41,258.2,597.1,15.7,630,6171,0.28,2.15,0.00,0.000,6,0.150,0.039,2873,1752,1805
$GC,6487,0.58,283.2,563.8,10.1,646,6511,0.15,0.00,21.67,1.107,6,0.061,0.000,2944,1752,1708
$GC,6816,0.47,283.2,514.3,14.8,662,6820,0.17,2.17,0.00,0.000,4,0.150,0.052,2899,343,1703
$GC,6878,0.54,283.2,506.6,11.6,665,6881,0.00,2.12,0.00,0.000,6,0.000,0.039,2898,1754,1702
$GC,7209,0.61,286.4,470.4,10.9,693,7210,0.12,0.00,0.00,0.000,6,0.067,0.000,2960,1756,1701
$GC,7526,0.47,286.4,419.9,16.1,723,7531,0.20,2.15,0.00,0.000,4,0.153,0.051,2906,341,1699
$GC,7577,0.55,286.4,413.1,12.5,727,7580,0.00,2.12,0.00,0.000,6,0.000,0.039,2906,1771,1698
$GC,7908,0.63,286.4,373.9,11.8,758,7913,0.10,2.15,0.00,0.000,4,0.077,0.051,2969,346,1697
$GC,7963,0.51,286.4,365.4,15.5,762,7971,0.20,2.12,0.00,0.000,6,0.142,0.038,2905,1757,1697
$GC,8289,0.62,296.8,330.6,10.6,793,8303,0.10,0.00,11.43,0.956,6,0.077,0.000,2955,1758,1652
$GC,8622,0.54,296.8,285.4,13.0,833,8629,0.15,2.15,0.00,0.000,4,0.151,0.048,2923,343,1649
$GC,8752,0.65,296.8,270.9,11.1,856,8759,0.00,2.10,0.00,0.000,6,0.000,0.037,2923,1771,1649
$GC,9098,0.77,296.8,236.0,11.4,917,9104,0.17,2.17,0.00,0.000,4,0.057,0.048,3033,344,1649
$GC,9146,0.46,296.8,228.5,18.5,925,9153,0.47,2.12,0.00,0.000,6,0.146,0.042,2889,1784,1648
$GC,9489,0.93,419.4,200.1,6.4,986,9597,0.38,2.38,101.70,0.874,4,0.064,0.047,3070,334,1153
$GC,9734,0.64,419.4,149.1,22.4,1027,9741,0.43,2.15,0.00,0.000,6,0.143,0.034,2944,1771,1148
$GC,10078,1.04,475.7,113.7,8.9,1088,10131,0.32,2.30,47.17,0.780,4,0.041,0.045,3111,339,922
$GC,10177,0.78,475.7,95.7,21.4,1104,10185,0.40,2.10,0.00,0.000,6,0.141,0.031,2989,1752,919
$GC,10524,1.14,510.2,62.0,9.7,1165,10562,0.28,2.22,29.23,0.716,4,0.043,0.044,3141,337,781
$GC,10636,0.88,510.2,38.6,21.4,1184,10644,0.40,2.05,0.00,0.000,6,0.143,0.030,3021,1738,779
$STATE,10940,end climb,SURFACE_DEPTH_REACHED
$STATE,10941,begin surface coast
$FINISH,0.8,1.020566
$STATE,10976,end surface coast,CONTROL_FINISHED_OK
$STATE,10977,begin surface
$SM_CCo,11051,0.00,0.000,0,0,778,511.45
$SM_GC,1.68,7.55,0.00,0.00,0.041,0.000,0.000,149,1469,778,-8.03,-0.88,511.45
$IRIDIUM_FIX,2522.28,12316.24,280898,191951
$TT8_MAMPS,0.026845
$HUMID,1471
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.00
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,651.0,67.5
$24V_AH,24.1,19.593
$10V_AH,10.7,11.978
$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,27.250,88.075,582.450,0.000,0.000,24.133,31.887,151.958,29.750,0.000,0.000,15.758,2159.868,5803.813,628.392,2422.030,356.110,0.000,1717.282,0.000,2391.198,0.000,39.159,0.000
$DEVICE_MAMPS,244.673,55.224,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,841.247,870.564,1466.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72724,1244
$CAP_FILE_SIZE,125180,0
$CFSIZE,260165632,228716544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300, 75.4,1
$GPS,040609,013528,2533.206,12318.276,12,2.4,31,-3.8