version: 66.04
glider: 166
mission: 2
dive: 63
start: 6 1 109 0 13 36
data:
$ID,166
$MISSION,2
$DIVE,63
$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,-6417.1284
$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,43
$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
$GPS1,000454,2529.737,12305.005,40,1.2,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.8
$GPS2,001314,2529.879,12304.979,11,1.4,11,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$TGT_RADIUS,2000.000
$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,166.9,34666,-17.1,-11.000
$D_GRID,879
$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,-58.08,0.000,2,0.000,0.000,204,1495,2354
$GC,77,-0.94,-194.7,3.0,-4.9,9,129,8.98,0.00,-39.72,0.000,6,0.242,0.000,2432,1493,3659
$GC,467,-0.23,-194.7,120.1,-29.3,77,474,0.73,1.92,0.00,0.000,4,0.165,0.044,2652,204,3660
$GC,592,-0.56,-194.7,134.6,-8.0,99,600,0.22,1.88,0.00,0.000,6,0.040,0.028,2542,1503,3661
$GC,938,-0.40,-194.7,189.2,-17.7,160,945,0.20,0.00,0.00,0.000,6,0.143,0.000,2604,1505,3661
$GC,1284,-0.66,-194.7,220.5,-7.7,221,1290,0.20,0.00,0.00,0.000,6,0.053,0.000,2502,1505,3663
$GC,1625,-0.54,-194.7,273.2,-15.3,282,1632,0.17,2.05,0.00,0.000,4,0.145,0.042,2558,2877,3663
$GC,1690,-0.77,-194.7,280.3,-10.0,293,1696,0.20,2.03,0.00,0.000,6,0.052,0.034,2463,1482,3663
$GC,2027,-0.53,-194.7,336.5,-15.6,335,2031,0.30,1.90,0.00,0.000,4,0.145,0.046,2559,202,3663
$GC,2072,-0.64,-194.7,342.1,-10.8,339,2076,0.00,1.85,0.00,0.000,6,0.000,0.029,2558,1483,3663
$GC,2403,-0.83,-194.7,375.1,-10.3,370,2407,0.17,2.08,0.00,0.000,4,0.059,0.042,2443,2891,3662
$GC,2457,-0.75,-194.7,383.3,-15.3,374,2465,0.10,2.05,0.00,0.000,6,0.139,0.034,2489,1503,3662
$GC,2782,-0.75,-194.7,427.9,-12.5,405,2785,0.00,1.92,0.00,0.000,4,0.000,0.049,2486,205,3661
$GC,2882,-0.69,-194.7,441.4,-12.9,414,2887,0.12,1.85,0.00,0.000,6,0.153,0.032,2515,1497,3661
$GC,3213,-0.86,-194.7,470.9,-8.8,445,3217,0.15,1.95,0.00,0.000,4,0.064,0.048,2443,201,3659
$GC,3262,-0.68,-194.7,477.7,-14.9,449,3270,0.22,1.90,0.00,0.000,6,0.135,0.033,2515,1494,3658
$GC,3596,-0.87,-194.7,504.5,-6.8,478,3601,0.17,2.08,0.00,0.000,4,0.060,0.046,2426,2893,3657
$GC,3680,-0.81,-194.7,513.2,-10.6,482,3684,0.17,2.03,0.00,0.000,6,0.137,0.044,2478,1517,3655
$GC,4012,-0.87,-194.7,542.6,-9.6,498,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1517,3654
$GC,4321,-0.94,-194.7,574.6,-10.7,513,4326,0.12,2.08,0.00,0.000,4,0.071,0.050,2418,2893,3651
$GC,4347,-0.88,-194.7,578.1,-12.7,514,4353,0.08,2.03,0.00,0.000,6,0.148,0.039,2444,1538,3650
$GC,4676,-0.83,-194.7,617.8,-11.9,530,4680,0.00,2.00,0.00,0.000,4,0.000,0.053,2445,204,3648
$GC,4732,-0.71,-194.7,625.7,-14.6,532,4736,0.22,1.92,0.00,0.000,6,0.146,0.037,2508,1524,3648
$GC,5052,-0.90,-194.7,652.6,-7.0,548,5054,0.17,0.00,0.00,0.000,6,0.061,0.000,2428,1526,3645
$GC,5361,-0.79,-194.7,690.4,-12.0,563,5363,0.20,0.00,0.00,0.000,6,0.142,0.000,2487,1526,3643
$GC,5670,-0.90,-194.7,715.8,-7.9,578,5675,0.12,2.08,0.00,0.000,4,0.074,0.053,2430,2895,3640
$GC,5697,-0.90,-194.7,718.5,-9.9,579,5701,0.00,2.05,0.00,0.000,6,0.000,0.041,2429,1534,3640
$GC,6019,-0.80,-194.7,754.0,-10.8,595,6023,0.17,2.03,0.00,0.000,4,0.149,0.054,2486,202,3638
$GC,6068,-0.86,-194.7,758.8,-8.6,597,6072,0.00,1.98,0.00,0.000,6,0.000,0.038,2493,1520,3637
$STATE,6273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6274,begin apogee
$GC,6278,-0.20,0.0,776.5,8.7,607,6439,0.52,0.00,158.70,1.318,6,0.117,0.000,2671,1754,2863
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6442,0.94,194.7,782.0,0.0,615,6617,1.05,2.40,166.43,1.278,4,0.051,0.055,3061,339,2068
$GC,6655,0.36,194.7,757.0,23.0,625,6663,0.73,2.22,0.00,0.000,6,0.166,0.040,2862,1745,2065
$GC,6971,0.56,239.6,727.0,9.3,641,7013,0.17,0.00,38.17,1.224,6,0.059,0.000,2939,1747,1886
$GC,7320,0.46,239.6,676.1,14.4,658,7322,0.20,0.00,0.00,0.000,6,0.153,0.000,2884,1748,1880
$GC,7630,0.58,252.6,643.2,10.5,673,7651,0.15,2.20,11.52,1.131,4,0.065,0.054,2962,343,1833
$GC,7697,0.43,252.6,633.3,16.0,676,7701,0.30,2.15,0.00,0.000,6,0.147,0.042,2877,1756,1831
$GC,8028,0.72,353.2,603.1,7.2,692,8123,0.28,2.33,88.62,1.209,4,0.051,0.054,3000,341,1422
$GC,8167,0.51,353.2,579.5,21.3,698,8174,0.28,2.22,0.00,0.000,6,0.146,0.042,2905,1744,1417
$GC,8482,0.64,353.2,540.2,11.5,714,8487,0.12,2.17,0.00,0.000,4,0.072,0.053,2960,3149,1412
$GC,8544,0.57,353.2,530.6,17.4,717,8548,0.17,2.12,0.00,0.000,6,0.158,0.043,2925,1746,1411
$GC,8868,0.63,353.2,488.5,12.6,736,8871,0.00,2.15,0.00,0.000,4,0.000,0.055,2934,346,1410
$GC,8924,0.68,353.2,481.2,13.2,741,8927,0.00,2.12,0.00,0.000,6,0.000,0.041,2933,1756,1409
$GC,9254,0.68,353.2,436.9,14.6,772,9258,0.00,2.17,0.00,0.000,4,0.000,0.054,2947,347,1409
$GC,9314,0.74,353.2,428.0,14.7,777,9321,0.00,2.10,0.00,0.000,6,0.000,0.041,2946,1730,1408
$GC,9640,0.74,353.2,379.4,14.8,808,9644,0.00,2.12,0.00,0.000,4,0.000,0.053,2957,345,1407
$GC,9677,0.74,353.2,373.5,14.9,811,9685,0.00,2.08,0.00,0.000,6,0.000,0.039,2957,1720,1407
$GC,10003,0.74,353.2,327.1,12.7,842,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1721,1407
$GC,10326,0.74,353.2,283.1,17.6,881,10332,0.00,2.10,0.00,0.000,4,0.000,0.051,2963,343,1407
$GC,10366,0.74,353.2,276.5,16.4,888,10373,0.00,2.05,0.00,0.000,6,0.000,0.038,2961,1733,1407
$GC,10710,0.79,353.2,228.0,14.1,949,10716,0.00,2.12,0.00,0.000,4,0.000,0.048,2956,3146,1407
$GC,10796,0.87,353.2,217.0,12.3,964,10803,0.15,2.12,0.00,0.000,6,0.058,0.041,3041,1708,1405
$GC,11140,0.64,353.2,159.9,17.1,1025,11147,0.28,2.17,0.00,0.000,4,0.149,0.044,2949,3154,1406
$GC,11182,0.80,375.0,154.9,10.2,1032,11209,0.12,2.10,17.33,0.824,6,0.064,0.037,3029,1725,1333
$GC,11548,0.67,375.0,101.4,15.9,1096,11555,0.22,2.08,0.00,0.000,4,0.140,0.046,2967,348,1331
$GC,11618,0.92,405.2,93.1,9.9,1108,11651,0.17,2.03,26.35,0.762,6,0.054,0.034,3060,1739,1211
$GC,11991,0.80,405.2,29.3,17.1,1173,11998,0.17,2.10,0.00,0.000,4,0.146,0.040,3001,3139,1208
$GC,12015,0.80,405.2,25.2,16.1,1177,12022,0.00,2.15,0.00,0.000,6,0.000,0.034,3008,1707,1208
$STATE,12206,end climb,SURFACE_DEPTH_REACHED
$STATE,12206,begin surface coast
$FINISH,0.9,1.022282
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12252,17.05,0.652,0,0,1129,425.10
$SM_GC,1.52,0.00,0.00,17.05,0.000,0.000,0.652,164,1489,1129,-8.05,-0.31,425.10
$IRIDIUM_FIX,2522.28,12302.33,260898,000006
$TT8_MAMPS,0.027612
$HUMID,1478
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.60
$XPDR_PINGS,106
$ALTIM_BOTTOM_PING,776.5,13.0
$24V_AH,23.9,16.051
$10V_AH,10.7,9.731
$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,25.950,95.850,507.125,17.050,0.000,48.190,71.267,216.925,32.750,0.000,0.000,11.555,2162.623,7113.983,639.859,2364.720,489.269,0.000,1694.913,0.000,2343.507,0.000,43.867,0.000
$DEVICE_MAMPS,242.372,55.991,1317.706,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,825.861,831.915,1401.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69759,1216
$CAP_FILE_SIZE,133622,0
$CFSIZE,260165632,230105088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.161, 11.0,1
$GPS,010609,033907,2528.966,12305.840,27,1.7,27,-3.7