version: 66.04
glider: 166
mission: 2
dive: 84
start: 6 4 109 15 50 13
data:
$ID,166
$MISSION,2
$DIVE,84
$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,-6842.0693
$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,59
$R_STBD_OVSHOOT,57
$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
$GPS1,154406,2537.659,12317.338,13,1.7,23,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.0
$GPS2,154952,2537.669,12317.411,12,99.0,31,-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,281.1,8497,-17.1,-11.000
$D_GRID,947
$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,-58.33,0.000,2,0.000,0.000,207,1473,2345
$GC,76,-0.94,-194.7,3.1,-5.3,9,129,8.82,2.20,-38.00,0.000,4,0.238,0.054,2401,2895,3657
$GC,226,-0.18,-194.7,45.4,-35.4,34,233,0.80,2.05,0.00,0.000,6,0.163,0.034,2676,1519,3659
$GC,570,-0.50,-194.7,86.1,-8.8,95,578,0.22,1.95,0.00,0.000,4,0.049,0.044,2565,208,3660
$GC,596,-0.50,-194.7,89.5,-13.1,99,604,0.00,1.88,0.00,0.000,6,0.000,0.029,2565,1487,3660
$GC,942,-0.37,-194.7,151.8,-15.0,160,948,0.17,2.08,0.00,0.000,4,0.147,0.041,2620,2898,3662
$GC,1052,-0.71,-194.7,161.3,-6.6,179,1061,0.30,2.03,0.00,0.000,6,0.042,0.032,2481,1495,3662
$GC,1397,-0.36,-194.7,229.5,-18.9,240,1404,0.43,1.90,0.00,0.000,4,0.146,0.044,2614,200,3664
$GC,1421,-0.29,-194.7,233.4,-15.5,244,1428,0.08,1.90,0.00,0.000,6,0.123,0.028,2645,1513,3664
$GC,1767,-1.16,-194.7,261.4,-8.4,305,1774,0.73,2.03,0.00,0.000,4,0.078,0.038,2358,2906,3664
$GC,1796,-1.16,-194.7,264.7,-11.4,310,1802,0.00,2.08,0.00,0.000,6,0.000,0.032,2380,1492,3664
$GC,2135,-0.59,-194.7,339.5,-20.9,356,2139,0.52,1.88,0.00,0.000,4,0.167,0.044,2538,209,3664
$GC,2184,-0.59,-194.7,346.3,-10.3,360,2188,0.12,1.85,0.00,0.000,6,0.139,0.029,2549,1510,3664
$GC,2514,-0.86,-194.7,367.4,-6.0,391,2519,0.22,2.03,0.00,0.000,4,0.051,0.041,2436,2888,3664
$GC,2571,-0.78,-194.7,372.9,-10.7,396,2575,0.17,2.00,0.00,0.000,6,0.135,0.034,2488,1509,3664
$GC,2900,-0.78,-194.7,405.0,-10.3,427,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1509,3663
$GC,3220,-0.84,-194.7,438.7,-10.5,457,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1509,3660
$GC,3538,-0.91,-194.7,470.0,-9.5,487,3542,0.12,1.95,0.00,0.000,4,0.071,0.049,2427,207,3659
$GC,3621,-0.65,-194.7,482.4,-16.1,494,3628,0.28,1.90,0.00,0.000,6,0.137,0.034,2530,1494,3657
$GC,3943,-0.92,-194.7,508.4,-7.8,520,3948,0.22,2.10,0.00,0.000,4,0.051,0.047,2420,2904,3655
$GC,4095,-0.83,-194.7,527.9,-14.4,527,4100,0.17,2.03,0.00,0.000,6,0.136,0.041,2473,1530,3653
$GC,4428,-0.88,-194.7,565.2,-9.6,543,4432,0.00,2.05,0.00,0.000,4,0.000,0.051,2472,2894,3651
$GC,4489,-1.02,-194.7,570.8,-8.3,545,4496,0.17,2.03,0.00,0.000,6,0.058,0.039,2391,1519,3651
$GC,4805,-0.76,-194.7,614.9,-13.9,561,4810,0.30,2.00,0.00,0.000,4,0.150,0.052,2489,194,3648
$GC,4877,-0.82,-194.7,622.5,-9.5,564,4881,0.00,1.98,0.00,0.000,6,0.000,0.037,2489,1518,3647
$GC,5198,-0.94,-194.7,648.3,-7.9,580,5202,0.15,2.08,0.00,0.000,4,0.066,0.050,2411,2898,3645
$GC,5252,-0.85,-194.7,654.2,-11.8,582,5260,0.15,2.05,0.00,0.000,6,0.138,0.040,2461,1532,3644
$GC,5568,-0.85,-194.7,687.8,-10.5,598,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1532,3642
$GC,5878,-0.85,-194.7,717.4,-9.0,613,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1532,3640
$GC,6186,-0.85,-194.7,748.6,-10.4,628,6190,0.00,2.08,0.00,0.000,4,0.000,0.054,2454,2893,3637
$GC,6255,-0.95,-194.7,754.9,-9.8,631,6258,0.00,2.05,0.00,0.000,6,0.000,0.043,2454,1523,3637
$GC,6589,-1.36,-194.7,783.7,-0.3,647,6593,0.38,2.03,0.00,0.000,4,0.045,0.057,2280,197,3635
$STATE,6708,end dive,NO_VERTICAL_VELOCITY
$STATE,6708,begin apogee
$GC,6715,-0.20,0.0,783.7,0.0,652,6882,1.08,0.00,158.38,1.325,6,0.088,0.000,2668,1755,2862
$STATE,6882,end apogee,CONTROL_FINISHED_OK
$STATE,6882,begin climb
$GC,6884,0.94,194.7,783.5,0.0,661,7059,1.02,2.42,164.98,1.282,4,0.058,0.055,3052,344,2068
$GC,7092,0.35,194.7,762.9,21.5,670,7100,0.65,2.28,0.00,0.000,6,0.167,0.040,2857,1754,2065
$GC,7409,0.46,203.8,728.0,10.7,686,7419,0.00,0.00,8.20,1.059,6,0.000,0.000,2857,1756,2032
$GC,7718,0.61,226.2,697.0,10.2,701,7745,0.20,2.30,20.25,1.201,4,0.058,0.056,2961,341,1938
$GC,7784,0.37,226.2,686.7,17.3,704,7789,0.35,2.17,0.00,0.000,6,0.150,0.041,2862,1751,1936
$GC,8110,0.68,363.9,660.9,5.8,720,8240,0.25,2.33,120.15,1.239,4,0.052,0.055,2981,348,1377
$GC,8334,0.52,363.9,625.1,18.5,730,8339,0.28,2.17,0.00,0.000,6,0.143,0.041,2904,1745,1372
$GC,8661,0.59,363.9,584.6,12.0,746,8664,0.00,2.20,0.00,0.000,4,0.000,0.055,2912,346,1369
$GC,8728,0.70,363.9,576.2,12.1,749,8733,0.15,2.10,0.00,0.000,6,0.067,0.041,2979,1732,1368
$GC,9054,0.48,363.9,515.4,19.4,765,9059,0.25,2.17,0.00,0.000,4,0.153,0.054,2900,3147,1366
$GC,9093,0.58,363.9,509.2,13.2,767,9097,0.00,2.15,0.00,0.000,6,0.000,0.041,2908,1723,1366
$GC,9423,0.66,363.9,465.6,13.8,794,9427,0.12,2.12,0.00,0.000,4,0.069,0.054,2979,339,1365
$GC,9556,0.54,363.9,440.6,19.5,805,9564,0.22,2.03,0.00,0.000,6,0.144,0.040,2914,1701,1364
$GC,9880,0.61,363.9,398.4,12.4,836,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1703,1364
$GC,10200,0.75,378.0,363.7,10.5,866,10217,0.20,2.10,11.20,0.992,4,0.055,0.053,3026,344,1320
$GC,10340,0.50,378.0,335.8,21.0,878,10345,0.43,2.03,0.00,0.000,6,0.143,0.039,2898,1703,1319
$GC,10664,0.77,405.8,301.7,9.9,908,10694,0.20,0.00,25.50,0.984,6,0.054,0.000,3002,1705,1207
$GC,11033,0.65,405.8,229.7,16.8,971,11039,0.17,2.10,0.00,0.000,4,0.149,0.054,2960,342,1204
$GC,11118,0.78,405.8,218.6,11.1,986,11125,0.00,2.03,0.00,0.000,6,0.000,0.040,2961,1712,1202
$GC,11462,0.91,405.8,176.5,12.3,1047,11469,0.17,2.17,0.00,0.000,4,0.052,0.044,3060,3162,1201
$GC,11526,0.74,405.8,165.4,18.5,1058,11533,0.25,2.20,0.00,0.000,6,0.140,0.037,2974,1698,1202
$GC,11870,0.98,431.0,123.9,10.0,1119,11898,0.17,2.12,22.42,0.797,4,0.053,0.048,3080,340,1104
$GC,11960,0.82,431.0,108.3,17.7,1134,11967,0.28,2.00,0.00,0.000,6,0.137,0.033,2997,1682,1101
$GC,12306,1.15,510.0,72.3,8.0,1195,12383,0.28,2.17,66.20,0.739,4,0.043,0.044,3143,334,781
$GC,12474,0.89,510.0,38.2,24.4,1223,12480,0.32,1.98,0.00,0.000,6,0.137,0.031,3029,1654,779
$STATE,12754,end climb,SURFACE_DEPTH_REACHED
$STATE,12754,begin surface coast
$FINISH,0.9,1.022167
$STATE,12795,end surface coast,CONTROL_FINISHED_OK
$STATE,12795,begin surface
$SM_CCo,12870,0.00,0.000,0,0,777,511.70
$SM_GC,1.49,7.55,0.00,0.00,0.039,0.000,0.000,147,1478,777,-8.04,-0.62,511.70
$IRIDIUM_FIX,2527.05,12315.56,290898,121254
$TT8_MAMPS,0.026845
$HUMID,1467
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.00
$XPDR_PINGS,88
$24V_AH,23.8,20.639
$10V_AH,10.7,12.601
$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,29.150,104.075,597.275,0.000,0.000,23.236,39.373,166.194,28.250,0.000,0.000,32.344,2263.458,7266.118,658.405,2627.188,399.065,0.000,1845.212,0.000,2582.043,0.000,43.930,0.000
$DEVICE_MAMPS,237.770,56.758,1324.609,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,868.490,900.300,1514.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72586,1280
$CAP_FILE_SIZE,140777,0
$CFSIZE,260165632,228315136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 75.8,1
$GPS,040609,192555,2538.789,12316.776,40,1.6,40,-3.8