version: 66.04
glider: 166
mission: 2
dive: 88
start: 6 5 109 2 14 11
data:
$ID,166
$MISSION,2
$DIVE,88
$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,-6903.3501
$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,52
$R_STBD_OVSHOOT,66
$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
$GPS1,020354,2539.784,12318.127,38,1.5,39,-3.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.1
$GPS2,021349,2539.773,12318.229,16,1.5,16,-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,265.6,7143,-17.1,-11.000
$D_GRID,565
$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,-194.7,0.0,0.0,0,73,0.00,0.00,-57.22,0.000,2,0.000,0.000,166,1479,2400
$GC,76,-0.94,-194.7,3.1,-6.0,9,128,9.00,2.10,-35.67,0.000,4,0.238,0.049,2422,2901,3657
$GC,219,-0.17,-194.7,42.8,-35.0,33,226,0.90,2.03,0.00,0.000,6,0.168,0.031,2683,1500,3657
$GC,565,-0.52,-194.7,81.3,-7.2,94,572,0.28,0.00,0.00,0.000,6,0.041,0.000,2546,1499,3657
$GC,910,-0.29,-194.7,148.4,-17.9,155,917,0.30,1.90,0.00,0.000,4,0.138,0.041,2641,198,3657
$GC,945,-0.43,-194.7,153.2,-11.7,161,952,0.10,1.88,0.00,0.000,6,0.048,0.027,2575,1506,3658
$GC,1292,-0.50,-194.7,195.7,-9.1,222,1299,0.00,1.95,0.00,0.000,4,0.000,0.044,2575,210,3659
$GC,1342,-0.58,-194.7,200.2,-9.4,230,1350,0.00,1.85,0.00,0.000,6,0.000,0.028,2574,1496,3659
$GC,1687,-0.71,-194.7,235.5,-10.0,291,1694,0.17,2.05,0.00,0.000,4,0.059,0.040,2486,2902,3660
$GC,1756,-0.56,-194.7,245.5,-15.9,303,1763,0.22,2.00,0.00,0.000,6,0.137,0.031,2552,1513,3660
$GC,2099,-0.66,-194.7,283.9,-11.1,364,2106,0.00,1.95,0.00,0.000,4,0.000,0.046,2553,210,3660
$GC,2129,-0.72,-194.7,287.5,-12.4,369,2135,0.15,1.85,0.00,0.000,6,0.064,0.028,2483,1516,3660
$GC,2464,-0.56,-194.7,335.1,-12.7,408,2468,0.22,2.03,0.00,0.000,4,0.140,0.041,2555,2899,3660
$GC,2491,-0.65,-194.7,337.6,-9.0,410,2495,0.00,2.03,0.00,0.000,6,0.000,0.032,2555,1497,3659
$GC,2823,-0.84,-194.7,359.5,-6.2,441,2827,0.22,2.08,0.00,0.000,4,0.051,0.041,2421,2893,3659
$GC,2861,-0.67,-194.7,364.1,-13.2,444,2866,0.32,2.03,0.00,0.000,6,0.131,0.034,2527,1499,3658
$GC,3185,-0.84,-194.7,391.6,-8.1,474,3187,0.17,0.00,0.00,0.000,6,0.058,0.000,2439,1499,3655
$GC,3504,-0.67,-194.7,435.5,-13.0,504,3508,0.22,1.92,0.00,0.000,4,0.142,0.048,2514,207,3653
$GC,3575,-0.82,-194.7,442.5,-8.5,510,3584,0.08,1.90,0.00,0.000,6,0.058,0.031,2460,1510,3652
$GC,3900,-0.82,-194.7,476.5,-9.7,541,3904,0.00,2.05,0.00,0.000,4,0.000,0.049,2460,2890,3651
$GC,3961,-0.87,-194.7,481.5,-7.4,546,3969,0.00,2.03,0.00,0.000,6,0.000,0.035,2460,1522,3649
$GC,4293,-0.87,-194.7,513.7,-11.0,572,4296,0.00,1.98,0.00,0.000,4,0.000,0.051,2460,201,3647
$GC,4495,-0.81,-194.7,540.3,-12.6,581,4499,0.00,1.90,0.00,0.000,6,0.000,0.038,2459,1502,3645
$STATE,4744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4744,begin apogee
$GC,4749,-0.20,0.0,566.9,10.4,593,4907,0.65,0.00,153.62,1.131,6,0.121,0.000,2674,1762,2863
$STATE,4907,end apogee,CONTROL_FINISHED_OK
$STATE,4907,begin climb
$GC,4909,0.94,194.7,573.9,0.0,601,5075,0.98,2.30,158.10,1.106,4,0.050,0.050,3060,349,2068
$GC,5120,0.37,194.7,550.3,22.2,610,5126,0.70,2.15,0.00,0.000,6,0.165,0.042,2863,1748,2064
$GC,5447,0.57,262.9,519.1,8.4,626,5513,0.17,2.28,55.50,1.073,4,0.058,0.051,2960,357,1790
$GC,5574,0.40,262.9,503.0,14.4,631,5582,0.32,2.10,0.00,0.000,6,0.143,0.037,2866,1738,1786
$GC,5898,0.58,262.9,475.2,11.3,660,5903,0.17,2.15,0.00,0.000,4,0.058,0.051,2963,345,1782
$GC,5986,0.41,262.9,460.2,17.9,667,5994,0.25,2.08,0.00,0.000,6,0.143,0.038,2873,1717,1782
$GC,6311,0.64,311.0,426.6,9.2,698,6354,0.20,0.00,39.78,1.047,6,0.054,0.000,2970,1719,1595
$GC,6671,0.48,311.0,365.1,17.4,732,6675,0.25,2.12,0.00,0.000,4,0.148,0.050,2901,336,1588
$GC,6732,0.62,311.0,357.1,11.8,737,6736,0.12,2.08,0.00,0.000,6,0.068,0.037,2962,1729,1588
$GC,7061,0.51,311.0,304.1,15.8,768,7066,0.20,2.15,0.00,0.000,4,0.144,0.048,2900,3154,1586
$GC,7184,0.68,311.0,289.3,11.5,786,7191,0.15,2.12,0.00,0.000,6,0.058,0.038,2987,1713,1584
$GC,7529,0.53,311.0,232.4,16.4,847,7535,0.22,0.00,0.00,0.000,6,0.144,0.000,2915,1713,1583
$GC,7874,0.85,385.6,200.0,8.2,908,7943,0.22,2.17,61.00,0.883,4,0.048,0.049,3048,354,1288
$GC,7989,0.63,385.6,181.0,17.7,927,7997,0.35,2.08,0.00,0.000,6,0.138,0.035,2945,1739,1286
$GC,8337,0.92,432.8,147.8,9.2,988,8383,0.22,2.25,39.70,0.811,4,0.045,0.047,3074,339,1098
$GC,8401,0.72,432.8,137.1,20.2,998,8408,0.35,2.10,0.00,0.000,6,0.137,0.032,2971,1747,1096
$GC,8746,1.07,487.9,104.3,8.9,1059,8799,0.28,2.25,46.50,0.759,4,0.043,0.045,3118,345,873
$GC,8905,0.83,487.9,73.0,20.8,1086,8913,0.38,2.03,0.00,0.000,6,0.141,0.031,3005,1729,870
$GC,9252,1.21,553.7,41.5,8.5,1147,9317,0.30,2.20,54.58,0.693,4,0.041,0.044,3163,345,603
$GC,9408,0.97,553.7,6.8,24.1,1173,9415,0.38,2.00,0.00,0.000,6,0.140,0.029,3051,1700,601
$STATE,9426,end climb,SURFACE_DEPTH_REACHED
$STATE,9426,begin surface coast
$FINISH,1.0,1.021923
$STATE,9437,end surface coast,CONTROL_FINISHED_OK
$STATE,9437,begin surface
$SM_CCo,9513,0.00,0.000,0,0,600,555.11
$SM_GC,1.54,7.82,0.00,0.00,0.046,0.000,0.000,163,1484,600,-8.04,-0.45,555.11
$IRIDIUM_FIX,2529.44,12315.56,300898,020207
$TT8_MAMPS,0.026845
$HUMID,1490
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.00
$XPDR_PINGS,105
$ALTIM_BOTTOM_PING,551.9,111.8
$24V_AH,24.3,21.303
$10V_AH,10.7,13.024
$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,27.075,78.725,608.775,0.000,0.000,78.192,127.517,171.916,30.250,0.000,0.000,16.210,2002.322,4645.650,654.096,2283.203,524.889,0.000,1694.823,0.000,2267.647,0.000,29.117,0.000
$DEVICE_MAMPS,237.770,51.389,1130.558,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,794.224,857.862,1443.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66454,1178
$CAP_FILE_SIZE,116805,0
$CFSIZE,260165632,228093952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346, 84.2,1
$GPS,050609,045346,2539.941,12318.555,9,99.0,28,-3.8