version: 66.04
glider: 166
mission: 2
dive: 89
start: 6 5 109 5 0 57
data:
$ID,166
$MISSION,2
$DIVE,89
$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,-6932.7803
$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,55
$R_STBD_OVSHOOT,64
$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
$GPS1,045346,2539.941,12318.555,9,99.0,28,-3.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.6
$GPS2,050036,2539.963,12318.609,12,2.0,28,-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,264.4,7607,-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,-194.7,0.0,0.0,0,105,0.00,0.00,-89.00,0.000,2,0.000,0.000,165,1484,2596
$GC,108,-0.94,-194.7,3.3,-4.6,13,153,9.40,2.12,-27.10,0.000,4,0.253,0.051,2421,2889,3658
$GC,267,-0.16,-194.7,52.5,-35.4,40,274,0.82,2.05,0.00,0.000,6,0.162,0.031,2682,1495,3658
$GC,612,-0.53,-194.7,87.7,-7.5,101,619,0.30,0.00,0.00,0.000,6,0.040,0.000,2538,1495,3658
$GC,956,-0.26,-194.7,159.6,-20.9,162,963,0.35,1.90,0.00,0.000,4,0.140,0.041,2648,219,3659
$GC,1065,-0.61,-194.7,171.1,-8.5,181,1072,0.22,1.85,0.00,0.000,6,0.037,0.026,2516,1525,3660
$GC,1409,-0.45,-194.7,229.0,-14.6,242,1416,0.22,0.00,0.00,0.000,6,0.140,0.000,2587,1525,3661
$GC,1753,-0.71,-194.7,255.4,-6.2,303,1761,0.20,1.98,0.00,0.000,4,0.053,0.038,2487,2884,3662
$GC,1779,-0.80,-194.7,257.7,-8.7,307,1786,0.00,1.98,0.00,0.000,6,0.000,0.031,2487,1507,3662
$GC,2128,-0.67,-194.7,303.2,-13.6,367,2130,0.12,0.00,0.00,0.000,6,0.148,0.000,2521,1507,3662
$GC,2446,-0.67,-194.7,337.1,-11.1,397,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1507,3661
$GC,2766,-0.73,-194.7,372.2,-10.7,427,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1507,3661
$GC,3084,-0.80,-194.7,404.8,-9.6,457,3086,0.12,0.00,0.00,0.000,6,0.072,0.000,2456,1507,3657
$GC,3403,-0.64,-194.7,444.0,-12.7,487,3407,0.28,1.95,0.00,0.000,4,0.140,0.048,2528,202,3654
$GC,3463,-0.84,-194.7,449.3,-7.1,492,3470,0.12,1.85,0.00,0.000,6,0.050,0.031,2450,1477,3654
$GC,3788,-0.78,-194.7,488.5,-12.8,523,3792,0.12,2.10,0.00,0.000,4,0.148,0.051,2479,2890,3651
$GC,3833,-0.92,-194.7,493.4,-10.1,527,3837,0.12,2.05,0.00,0.000,6,0.067,0.036,2416,1490,3651
$GC,4155,-0.76,-194.7,539.5,-14.6,545,4159,0.22,1.92,0.00,0.000,4,0.144,0.051,2489,205,3648
$GC,4200,-0.82,-194.7,544.7,-10.6,547,4203,0.00,1.85,0.00,0.000,6,0.000,0.041,2489,1475,3648
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4452,-0.20,0.0,566.0,7.6,559,4610,0.55,0.00,153.62,1.129,6,0.112,0.000,2674,1752,2863
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4611,begin climb
$GC,4613,0.94,194.7,568.5,0.0,567,4784,0.98,2.30,157.98,1.104,4,0.047,0.050,3046,3145,2067
$GC,4884,0.39,194.7,525.5,22.6,579,4889,0.68,2.15,0.00,0.000,6,0.171,0.045,2867,1763,2063
$GC,5203,0.59,264.8,494.7,8.3,597,5270,0.17,2.33,56.53,1.058,4,0.058,0.053,2957,346,1782
$GC,5398,0.43,264.8,466.8,16.5,614,5406,0.25,2.12,0.00,0.000,6,0.140,0.038,2878,1726,1777
$GC,5724,0.63,314.3,436.3,9.1,645,5770,0.17,2.30,41.03,1.038,4,0.058,0.051,2964,3154,1580
$GC,5797,0.45,314.3,425.3,16.7,651,5806,0.25,2.22,0.00,0.000,6,0.175,0.038,2888,1726,1577
$GC,6122,0.62,319.4,388.6,10.8,682,6135,0.15,2.15,4.82,0.741,4,0.060,0.055,2971,351,1560
$GC,6253,0.50,319.4,368.1,16.4,693,6260,0.25,2.05,0.00,0.000,6,0.144,0.039,2898,1722,1558
$GC,6577,0.63,319.4,331.2,11.9,724,6582,0.12,2.15,0.00,0.000,4,0.067,0.049,2960,3150,1557
$GC,6622,0.55,319.4,324.6,15.6,728,6627,0.20,2.15,0.00,0.000,6,0.152,0.038,2914,1708,1556
$GC,6953,0.65,319.4,283.7,12.1,770,6960,0.10,2.05,0.00,0.000,4,0.076,0.051,2976,340,1555
$GC,6989,0.55,319.4,278.4,15.9,776,6996,0.20,2.05,0.00,0.000,6,0.144,0.037,2919,1736,1555
$GC,7334,0.70,339.6,239.5,10.2,837,7360,0.15,2.17,17.62,0.904,4,0.061,0.052,3003,351,1477
$GC,7394,0.53,339.6,230.6,15.7,847,7402,0.32,2.03,0.00,0.000,6,0.142,0.044,2906,1713,1475
$GC,7740,0.90,428.0,201.3,7.6,908,7822,0.30,2.17,74.03,0.876,4,0.044,0.048,3062,345,1118
$GC,7856,0.64,428.0,180.7,18.4,927,7864,0.40,2.05,0.00,0.000,6,0.140,0.034,2945,1705,1115
$GC,8202,1.03,516.7,149.3,7.6,988,8284,0.30,0.00,74.68,0.807,6,0.041,0.000,3088,1707,755
$GC,8624,0.91,516.7,58.5,20.5,1061,8631,0.17,2.08,0.00,0.000,4,0.143,0.044,3040,340,751
$GC,8757,1.07,516.7,38.5,13.2,1084,8764,0.05,1.98,0.00,0.000,6,0.031,0.031,3103,1688,749
$STATE,8948,end climb,SURFACE_DEPTH_REACHED
$STATE,8948,begin surface coast
$FINISH,0.8,1.012014
$STATE,8966,end surface coast,CONTROL_FINISHED_OK
$STATE,8966,begin surface
$SM_CCo,9041,0.00,0.000,0,0,748,518.81
$SM_GC,1.56,7.80,0.00,0.00,0.044,0.000,0.000,152,1471,748,-8.03,-0.82,518.81
$IRIDIUM_FIX,2531.83,12313.56,300898,020237
$TT8_MAMPS,0.026845
$HUMID,1542
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.30
$XPDR_PINGS,85
$ALTIM_BOTTOM_PING,550.8,64.4
$24V_AH,24.3,21.490
$10V_AH,10.7,13.133
$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,26.225,62.775,580.300,0.000,0.000,24.599,30.920,236.381,25.500,0.000,0.000,28.799,1881.587,4333.816,637.490,2162.227,434.330,0.000,1618.115,0.000,2127.046,0.000,31.907,0.000
$DEVICE_MAMPS,253.110,55.224,1129.024,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.162,788.372,1326.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63202,1121
$CAP_FILE_SIZE,108258,0
$CFSIZE,260165632,228036608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.322, 71.8,1
$GPS,050609,073236,2540.346,12318.687,9,1.5,26,-3.8