version: 66.04
glider: 166
mission: 2
dive: 83
start: 6 4 109 12 38 48
data:
$ID,166
$MISSION,2
$DIVE,83
$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,-6809.0962
$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,56
$R_STBD_OVSHOOT,58
$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
$GPS1,123237,2536.671,12317.427,28,1.3,28,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.8
$GPS2,123826,2536.700,12317.497,14,1.3,14,-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,295.0,10053,-17.1,-11.000
$D_GRID,948
$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,-194.7,0.0,0.0,0,89,0.00,0.00,-72.55,0.000,2,0.000,0.000,166,1471,2313
$GC,91,-0.94,-194.7,3.1,-5.2,11,145,8.95,2.20,-38.78,0.000,4,0.233,0.049,2432,2908,3658
$GC,268,-0.28,-194.7,51.3,-32.9,41,277,0.70,2.05,0.00,0.000,6,0.152,0.033,2642,1509,3659
$GC,616,-0.38,-194.7,99.6,-12.4,102,623,0.00,1.98,0.00,0.000,4,0.000,0.044,2642,202,3659
$GC,634,-0.50,-194.7,102.0,-11.7,105,642,0.15,1.90,0.00,0.000,6,0.049,0.028,2565,1518,3660
$GC,982,-0.39,-194.7,159.6,-14.5,166,989,0.17,2.00,0.00,0.000,4,0.141,0.040,2619,2881,3662
$GC,1109,-0.74,-194.7,170.9,-7.4,188,1116,0.30,2.00,0.00,0.000,6,0.033,0.031,2474,1519,3663
$GC,1454,-0.40,-194.7,237.3,-17.9,249,1462,0.40,1.95,0.00,0.000,4,0.143,0.045,2601,203,3663
$GC,1563,-0.66,-194.7,248.0,-8.0,268,1570,0.17,1.90,0.00,0.000,6,0.042,0.028,2506,1525,3664
$GC,1909,-0.56,-194.7,292.8,-13.0,329,1916,0.17,1.95,0.00,0.000,4,0.140,0.044,2562,210,3664
$GC,1983,-0.71,-194.7,301.7,-10.7,341,1992,0.10,1.88,0.00,0.000,6,0.055,0.029,2488,1512,3664
$GC,2308,-0.62,-194.7,345.1,-13.7,372,2312,0.17,1.95,0.00,0.000,4,0.140,0.045,2553,206,3664
$GC,2357,-0.72,-194.7,350.8,-10.1,376,2364,0.00,1.88,0.00,0.000,6,0.000,0.030,2535,1496,3664
$GC,2682,-0.93,-194.7,378.3,-8.4,407,2687,0.22,2.08,0.00,0.000,4,0.052,0.043,2423,2903,3662
$GC,2714,-0.81,-194.7,382.0,-12.8,409,2723,0.12,2.05,0.00,0.000,6,0.134,0.034,2479,1513,3662
$GC,3039,-0.81,-194.7,417.3,-10.1,440,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1513,3661
$GC,3358,-0.81,-194.7,452.1,-11.4,470,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1513,3659
$GC,3676,-0.81,-194.7,485.9,-10.4,500,3680,0.00,1.95,0.00,0.000,4,0.000,0.053,2478,211,3656
$GC,3725,-0.81,-194.7,491.7,-11.9,504,3733,0.00,1.92,0.00,0.000,6,0.000,0.034,2477,1515,3656
$GC,4044,-0.87,-194.7,521.8,-9.1,524,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1515,3654
$GC,4355,-0.92,-194.7,550.1,-8.8,539,4359,0.10,2.08,0.00,0.000,4,0.080,0.048,2424,2902,3651
$GC,4416,-0.85,-194.7,557.2,-11.8,542,4421,0.15,2.03,0.00,0.000,6,0.143,0.039,2467,1527,3650
$GC,4749,-0.85,-194.7,590.8,-10.0,558,4752,0.00,2.00,0.00,0.000,4,0.000,0.054,2467,200,3648
$GC,4793,-0.85,-194.7,596.2,-12.2,560,4797,0.00,1.92,0.00,0.000,6,0.000,0.037,2467,1510,3648
$GC,5124,-0.85,-194.7,632.6,-11.1,576,5128,0.00,1.98,0.00,0.000,4,0.000,0.053,2467,206,3645
$GC,5191,-0.85,-194.7,640.7,-11.9,579,5195,0.00,1.90,0.00,0.000,6,0.000,0.038,2466,1503,3644
$GC,5525,-0.85,-194.7,673.9,-9.4,595,5528,0.00,1.98,0.00,0.000,4,0.000,0.054,2466,205,3641
$GC,5602,-0.85,-194.7,682.3,-9.8,598,5606,0.00,1.92,0.00,0.000,6,0.000,0.037,2465,1495,3641
$STATE,5880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5880,begin apogee
$GC,5885,-0.20,0.0,709.7,11.7,612,6046,0.62,0.00,157.88,1.261,6,0.119,0.000,2671,1752,2863
$STATE,6047,end apogee,CONTROL_FINISHED_OK
$STATE,6047,begin climb
$GC,6048,0.94,194.7,718.7,0.0,620,6216,1.02,0.00,163.35,1.227,6,0.043,0.000,3056,1751,2069
$GC,6523,0.36,194.7,638.9,23.0,643,6528,0.68,2.20,0.00,0.000,4,0.172,0.053,2868,349,2062
$GC,6589,0.43,203.4,629.8,10.7,646,6606,0.00,2.12,7.82,0.988,6,0.000,0.039,2868,1731,2033
$GC,6916,0.53,214.9,595.2,10.6,662,6932,0.12,2.17,11.07,1.070,4,0.070,0.054,2941,343,1985
$GC,7015,0.35,214.9,580.8,14.6,665,7024,0.28,2.12,0.00,0.000,6,0.142,0.039,2854,1729,1983
$GC,7332,0.63,315.3,555.4,7.2,681,7423,0.22,2.28,84.97,1.164,4,0.054,0.054,2969,341,1576
$GC,7439,0.44,315.3,540.4,16.0,686,7444,0.30,2.15,0.00,0.000,6,0.143,0.039,2886,1709,1574
$GC,7761,0.60,330.2,506.7,10.4,702,7783,0.15,2.30,13.10,1.056,4,0.063,0.053,2952,3154,1515
$GC,7855,0.49,330.2,491.5,16.7,707,7862,0.20,2.20,0.00,0.000,6,0.143,0.047,2900,1732,1512
$GC,8180,0.61,330.2,448.9,12.4,738,8184,0.10,2.12,0.00,0.000,4,0.076,0.054,2960,345,1509
$GC,8274,0.52,330.2,433.7,16.7,746,8282,0.15,2.08,0.00,0.000,6,0.139,0.040,2911,1706,1509
$GC,8599,0.59,330.2,391.1,12.9,777,8603,0.00,2.20,0.00,0.000,4,0.000,0.052,2911,3148,1508
$GC,8637,0.67,330.2,385.9,13.8,780,8645,0.08,2.22,0.00,0.000,6,0.059,0.040,2973,1686,1507
$GC,8962,0.48,330.2,327.1,18.5,811,8964,0.28,0.00,0.00,0.000,6,0.148,0.000,2894,1686,1506
$GC,9283,0.79,400.1,296.9,8.4,844,9346,0.25,0.00,58.50,0.979,6,0.048,0.000,3020,1686,1232
$GC,9684,0.55,400.1,212.0,20.6,914,9691,0.32,2.28,0.00,0.000,4,0.143,0.048,2917,3160,1224
$GC,9748,0.89,443.0,204.2,9.4,925,9793,0.28,2.22,37.05,0.888,6,0.042,0.038,3057,1676,1055
$GC,10133,0.69,443.0,126.9,19.2,992,10140,0.30,2.03,0.00,0.000,4,0.143,0.047,2971,340,1050
$GC,10175,0.88,443.0,120.5,12.6,999,10182,0.10,2.05,0.00,0.000,6,0.048,0.035,3043,1712,1049
$GC,10519,0.88,443.0,66.3,15.6,1060,10525,0.00,2.08,0.00,0.000,4,0.000,0.048,3051,340,1049
$GC,10553,0.88,443.0,61.6,14.1,1066,10560,0.00,1.98,0.00,0.000,6,0.000,0.032,3051,1684,1049
$GC,10898,0.88,443.0,12.1,14.9,1127,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1685,1049
$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,0.7,1.001743
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10988,begin surface
$SM_CCo,11063,0.00,0.000,0,0,1047,445.46
$SM_GC,1.76,7.60,0.00,0.00,0.048,0.000,0.000,155,1476,1047,-8.02,-0.68,445.46
$IRIDIUM_FIX,2527.05,12318.87,290898,080844
$TT8_MAMPS,0.026845
$HUMID,1513
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.50
$XPDR_PINGS,100
$ALTIM_BOTTOM_PING,651.8,82.4
$24V_AH,24.0,20.425
$10V_AH,10.7,12.474
$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,24.950,86.850,533.750,0.000,0.000,23.835,33.352,186.070,30.000,0.000,0.000,14.282,1989.409,6151.001,625.008,2243.361,399.178,0.000,1654.533,0.000,2227.717,0.000,35.700,0.000
$DEVICE_MAMPS,233.168,54.457,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.092,804.388,1353.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66318,1143
$CAP_FILE_SIZE,120987,0
$CFSIZE,260165632,228413440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265, 80.1,1
$GPS,040609,154406,2537.659,12317.338,13,1.7,23,-3.8