version: 66.04
glider: 166
mission: 2
dive: 85
start: 6 4 109 19 31 59
data:
$ID,166
$MISSION,2
$DIVE,85
$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,-6857.085
$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,52
$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
$GPS1,192555,2538.789,12316.776,40,1.6,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.5
$GPS2,193138,2538.824,12316.870,13,1.8,13,-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,281.2,6280,-17.1,-11.000
$D_GRID,590
$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,-77.40,0.000,2,0.000,0.000,177,1477,2504
$GC,96,-0.94,-194.7,3.3,-5.9,12,143,9.00,2.20,-30.73,0.000,4,0.238,0.054,2423,2898,3658
$GC,222,-0.24,-194.7,39.5,-35.5,33,229,0.80,2.03,0.00,0.000,6,0.163,0.031,2656,1507,3658
$GC,567,-0.41,-194.7,87.0,-11.3,94,575,0.15,0.00,0.00,0.000,6,0.061,0.000,2584,1507,3660
$GC,913,-0.33,-194.7,142.5,-13.9,155,920,0.17,1.95,0.00,0.000,4,0.138,0.044,2640,213,3660
$GC,977,-0.59,-194.7,149.3,-9.1,166,985,0.20,1.85,0.00,0.000,6,0.041,0.028,2522,1495,3661
$GC,1323,-0.37,-194.7,206.3,-16.7,227,1330,0.28,2.05,0.00,0.000,4,0.138,0.041,2611,2889,3662
$GC,1454,-0.77,-194.7,216.5,-6.5,250,1462,0.32,2.03,0.00,0.000,6,0.042,0.033,2464,1481,3663
$GC,1801,-0.47,-194.7,277.1,-16.5,311,1807,0.38,1.88,0.00,0.000,4,0.141,0.044,2583,210,3663
$GC,1886,-0.71,-194.7,284.7,-6.9,326,1894,0.17,1.83,0.00,0.000,6,0.042,0.028,2473,1485,3663
$GC,2221,-0.52,-194.7,333.2,-15.5,367,2223,0.32,0.00,0.00,0.000,6,0.135,0.000,2572,1486,3664
$GC,2538,-0.78,-194.7,359.0,-7.7,397,2543,0.20,2.08,0.00,0.000,4,0.054,0.043,2447,2893,3663
$GC,2581,-0.73,-194.7,364.1,-13.2,400,2589,0.15,2.05,0.00,0.000,6,0.127,0.034,2501,1509,3663
$GC,2907,-0.81,-194.7,398.9,-10.7,431,2911,0.00,1.95,0.00,0.000,4,0.000,0.049,2501,199,3661
$GC,3001,-0.81,-194.7,409.2,-10.6,439,3008,0.00,1.88,0.00,0.000,6,0.000,0.031,2496,1485,3660
$GC,3327,-0.88,-194.7,440.6,-9.0,470,3331,0.12,2.10,0.00,0.000,4,0.071,0.044,2433,2903,3658
$GC,3392,-0.80,-194.7,448.9,-13.7,475,3399,0.12,2.08,0.00,0.000,6,0.131,0.035,2476,1504,3656
$GC,3717,-0.80,-194.7,484.7,-10.5,506,3721,0.00,2.08,0.00,0.000,4,0.000,0.054,2476,2890,3654
$GC,3751,-0.91,-194.7,487.9,-9.8,509,3755,0.00,2.03,0.00,0.000,6,0.000,0.040,2476,1512,3654
$GC,4077,-0.96,-194.7,517.9,-9.4,531,4082,0.15,1.98,0.00,0.000,4,0.062,0.051,2407,197,3652
$GC,4145,-0.67,-194.7,527.9,-16.0,534,4149,0.38,1.92,0.00,0.000,6,0.148,0.036,2522,1508,3651
$GC,4471,-0.91,-194.7,553.6,-7.7,550,4476,0.20,2.08,0.00,0.000,4,0.055,0.048,2423,2900,3648
$GC,4525,-0.85,-194.7,559.9,-11.8,552,4532,0.10,2.05,0.00,0.000,6,0.138,0.038,2458,1524,3647
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4782,-0.20,0.0,591.1,12.4,565,4941,0.65,0.00,154.88,1.152,6,0.126,0.000,2672,1756,2862
$STATE,4941,end apogee,CONTROL_FINISHED_OK
$STATE,4941,begin climb
$GC,4943,0.94,194.7,600.0,0.0,573,5115,0.98,2.30,159.35,1.124,4,0.041,0.055,3051,3137,2068
$GC,5334,0.39,194.7,540.6,21.0,590,5341,0.68,2.10,0.00,0.000,6,0.173,0.039,2871,1749,2062
$GC,5649,0.53,224.3,509.4,9.9,606,5678,0.12,2.22,24.42,1.059,4,0.071,0.053,2940,342,1947
$GC,5694,0.40,224.3,504.0,12.0,608,5699,0.20,2.17,0.00,0.000,6,0.140,0.037,2877,1751,1945
$GC,6020,0.58,278.0,473.3,9.0,637,6070,0.15,2.25,44.65,1.071,4,0.062,0.058,2956,339,1728
$GC,6143,0.46,278.0,456.0,15.1,647,6151,0.25,2.12,0.00,0.000,6,0.141,0.038,2886,1733,1724
$GC,6467,0.61,282.8,419.8,10.8,678,6479,0.15,0.00,4.65,0.745,6,0.062,0.000,2954,1734,1708
$GC,6796,0.47,282.8,368.4,14.3,709,6801,0.20,2.12,0.00,0.000,4,0.148,0.050,2901,343,1706
$GC,6828,0.55,287.1,364.4,10.8,711,6838,0.00,2.10,4.90,0.756,6,0.000,0.037,2901,1739,1692
$GC,7153,0.69,321.9,333.0,9.7,742,7190,0.17,2.22,30.17,0.988,4,0.058,0.050,2982,3145,1549
$GC,7234,0.48,321.9,320.4,18.2,749,7241,0.28,2.17,0.00,0.000,6,0.142,0.038,2896,1736,1546
$GC,7567,0.73,368.4,287.6,9.2,791,7612,0.20,2.25,39.60,0.948,4,0.104,0.051,3004,346,1360
$GC,7791,0.54,368.4,247.3,18.8,830,7798,0.30,2.05,0.00,0.000,6,0.141,0.041,2916,1716,1355
$GC,8136,0.77,368.4,205.0,11.6,891,8143,0.17,2.10,0.00,0.000,4,0.055,0.049,3018,345,1353
$GC,8216,0.57,368.4,190.8,20.0,905,8223,0.32,2.00,0.00,0.000,6,0.141,0.036,2921,1686,1353
$GC,8562,0.99,446.6,159.7,8.0,966,8634,0.35,2.35,65.38,0.834,4,0.041,0.044,3084,3157,1041
$GC,8669,0.70,446.6,137.8,25.1,983,8677,0.43,2.25,0.00,0.000,6,0.141,0.035,2968,1678,1039
$GC,9016,1.09,506.9,97.0,8.7,1044,9074,0.30,2.08,50.95,0.757,4,0.041,0.045,3124,344,794
$GC,9210,0.90,506.9,55.6,20.8,1077,9217,0.32,2.03,0.00,0.000,6,0.141,0.031,3027,1726,791
$GC,9555,1.14,545.6,13.4,9.5,1138,9595,0.17,2.12,32.42,0.675,4,0.053,0.043,3134,339,636
$STATE,9612,end climb,SURFACE_DEPTH_REACHED
$STATE,9612,begin surface coast
$FINISH,0.9,1.022099
$STATE,9623,end surface coast,CONTROL_FINISHED_OK
$STATE,9623,begin surface
$SM_CCo,9700,0.00,0.000,0,0,634,546.77
$SM_GC,1.47,7.97,0.00,0.00,0.047,0.000,0.000,153,1521,634,-8.01,0.57,546.77
$IRIDIUM_FIX,2529.44,12415.87,290898,151526
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,111
$24V_AH,24.2,20.831
$10V_AH,10.7,12.714
$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,27.600,83.150,611.375,0.000,0.000,23.047,33.769,183.933,31.750,0.000,0.000,14.385,1960.492,4781.925,677.873,2229.971,386.897,0.000,1698.899,0.000,2215.802,0.000,27.718,0.000
$DEVICE_MAMPS,237.770,58.292,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.381,829.122,1395.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66379,1149
$CAP_FILE_SIZE,116301,0
$CFSIZE,260165632,228265984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295, 66.4,1
$GPS,040609,221506,2539.846,12316.911,44,0.8,55,-3.8