version: 66.04
glider: 166
mission: 2
dive: 90
start: 6 5 109 7 38 35
data:
$ID,166
$MISSION,2
$DIVE,90
$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,-6946.0894
$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,53
$R_STBD_OVSHOOT,54
$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
$GPS1,073236,2540.346,12318.687,9,1.5,26,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.4
$GPS2,073814,2540.394,12318.784,12,1.3,12,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,192.8,60436,-17.1,-11.000
$D_GRID,657
$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,-194.7,0.0,0.0,0,96,0.00,0.00,-79.53,0.000,2,0.000,0.000,168,1472,2530
$GC,99,-0.94,-194.7,3.4,-5.4,12,144,9.02,1.88,-29.12,0.000,4,0.240,0.058,2428,211,3658
$GC,399,-0.20,-194.7,104.0,-31.1,64,406,0.75,1.90,0.00,0.000,6,0.157,0.031,2666,1505,3659
$GC,744,-0.62,-194.7,129.0,-5.1,125,750,0.32,0.00,0.00,0.000,6,0.041,0.000,2512,1508,3662
$GC,1088,-0.37,-194.7,193.3,-15.9,186,1095,0.32,1.92,0.00,0.000,4,0.141,0.042,2614,209,3663
$GC,1180,-0.60,-194.7,201.6,-6.3,202,1188,0.12,1.88,0.00,0.000,6,0.045,0.028,2524,1519,3663
$GC,1525,-0.51,-194.7,248.4,-13.5,263,1532,0.17,2.00,0.00,0.000,4,0.138,0.041,2579,2885,3664
$GC,1573,-0.82,-194.7,252.7,-7.4,271,1580,0.30,2.00,0.00,0.000,6,0.041,0.032,2447,1502,3664
$GC,1914,-0.52,-194.7,310.1,-16.1,326,1918,0.38,2.05,0.00,0.000,4,0.143,0.041,2555,2888,3664
$GC,1953,-0.77,-194.7,314.2,-8.1,329,1957,0.17,1.98,0.00,0.000,6,0.052,0.033,2460,1517,3664
$GC,2282,-0.65,-194.7,356.4,-12.1,360,2286,0.20,2.05,0.00,0.000,4,0.137,0.043,2520,2895,3664
$GC,2343,-0.91,-194.7,360.9,-6.0,365,2348,0.20,2.00,0.00,0.000,6,0.051,0.035,2424,1513,3664
$GC,2668,-0.67,-194.7,406.0,-15.2,395,2673,0.28,1.95,0.00,0.000,4,0.144,0.047,2514,204,3662
$GC,2715,-0.75,-194.7,411.4,-10.1,399,2719,0.00,1.88,0.00,0.000,6,0.000,0.031,2510,1508,3662
$GC,3045,-0.90,-194.7,439.4,-9.1,430,3049,0.17,2.05,0.00,0.000,4,0.061,0.045,2420,2894,3660
$GC,3099,-0.81,-194.7,446.2,-12.7,434,3108,0.15,2.05,0.00,0.000,6,0.132,0.035,2473,1513,3660
$GC,3425,-0.81,-194.7,483.0,-11.8,465,3429,0.00,1.98,0.00,0.000,4,0.000,0.054,2473,198,3657
$GC,3575,-0.81,-194.7,503.7,-13.7,477,3582,0.00,1.92,0.00,0.000,6,0.000,0.038,2472,1496,3655
$GC,3892,-0.81,-194.7,538.7,-10.4,493,3895,0.00,2.10,0.00,0.000,4,0.000,0.054,2472,2905,3654
$GC,3958,-0.92,-194.7,544.7,-9.8,496,3962,0.00,2.05,0.00,0.000,6,0.000,0.043,2472,1515,3652
$GC,4291,-0.98,-194.7,578.0,-9.7,512,4293,0.15,0.00,0.00,0.000,6,0.064,0.000,2403,1514,3650
$GC,4600,-0.80,-194.7,621.1,-14.0,527,4604,0.22,1.98,0.00,0.000,4,0.151,0.053,2475,207,3647
$GC,4667,-0.80,-194.7,628.4,-9.9,530,4671,0.00,1.92,0.00,0.000,6,0.000,0.035,2475,1523,3646
$STATE,4977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4977,begin apogee
$GC,4981,-0.20,0.0,658.2,9.2,545,5141,0.60,0.00,156.52,1.213,6,0.120,0.000,2673,1757,2863
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,0.94,194.7,665.9,0.0,553,5314,0.98,0.00,161.25,1.183,6,0.046,0.000,3048,1759,2067
$GC,5620,0.40,194.7,588.0,20.7,576,5623,0.62,0.00,0.00,0.000,6,0.166,0.000,2868,1759,2061
$GC,5930,0.62,292.8,563.1,7.3,591,6018,0.17,2.35,80.60,1.142,4,0.060,0.053,2965,352,1668
$GC,6074,0.46,292.8,542.1,17.0,597,6079,0.28,2.15,0.00,0.000,6,0.144,0.038,2887,1744,1665
$GC,6389,0.62,310.7,508.4,10.3,612,6413,0.15,2.17,15.60,1.055,4,0.062,0.053,2957,3150,1594
$GC,6440,0.50,310.7,500.5,16.4,614,6445,0.20,2.15,0.00,0.000,6,0.146,0.041,2905,1759,1593
$GC,6766,0.59,327.0,463.2,10.4,644,6790,0.00,2.28,14.65,1.039,4,0.000,0.054,2913,339,1528
$GC,6891,0.69,327.0,448.9,12.1,655,6895,0.15,2.12,0.00,0.000,6,0.067,0.038,2983,1745,1526
$GC,7216,0.49,327.0,391.5,17.9,685,7220,0.28,2.15,0.00,0.000,4,0.150,0.051,2899,3148,1524
$GC,7303,0.65,327.0,379.9,11.6,692,7312,0.10,2.12,0.00,0.000,6,0.051,0.040,2972,1747,1524
$GC,7629,0.51,327.0,324.0,17.8,723,7633,0.22,2.12,0.00,0.000,4,0.149,0.049,2902,3150,1523
$GC,7718,0.67,327.0,311.8,11.7,731,7723,0.12,2.08,0.00,0.000,6,0.065,0.039,2977,1751,1522
$GC,8056,0.56,327.0,258.0,14.7,784,8064,0.17,2.12,0.00,0.000,4,0.150,0.048,2920,3158,1522
$GC,8115,0.70,327.0,250.8,11.2,794,8122,0.10,2.05,0.00,0.000,6,0.071,0.039,2986,1762,1522
$GC,8460,0.60,327.0,198.6,13.7,855,8467,0.17,2.12,0.00,0.000,4,0.174,0.048,2940,350,1522
$GC,8489,0.65,327.0,194.7,12.7,860,8497,0.00,2.08,0.00,0.000,6,0.000,0.043,2940,1769,1521
$GC,8837,0.81,329.8,157.5,10.9,921,8844,0.17,2.15,0.00,0.000,4,0.054,0.048,3048,348,1521
$GC,9007,0.59,329.8,131.3,14.2,951,9015,0.40,2.03,0.00,0.000,6,0.138,0.035,2926,1754,1521
$GC,9354,1.09,453.7,110.8,6.3,1012,9465,0.40,2.28,103.82,0.782,4,0.038,0.045,3125,349,1012
$GC,9494,0.79,453.7,83.3,23.5,1034,9501,0.38,2.10,0.00,0.000,6,0.138,0.031,2991,1729,1009
$GC,9840,1.20,513.4,47.3,8.7,1095,9898,0.32,2.17,49.85,0.702,4,0.041,0.044,3160,355,768
$GC,9943,0.84,513.4,25.2,27.1,1112,9951,0.50,2.03,0.00,0.000,6,0.147,0.030,3012,1734,767
$STATE,10140,end climb,SURFACE_DEPTH_REACHED
$STATE,10140,begin surface coast
$FINISH,0.7,1.010193
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10176,begin surface
$SM_CCo,10251,0.00,0.000,0,0,763,514.88
$SM_GC,1.54,7.60,0.00,0.00,0.041,0.000,0.000,163,1482,763,-8.01,-0.51,514.88
$IRIDIUM_FIX,2529.44,12318.87,300898,050559
$TT8_MAMPS,0.027612
$HUMID,1488
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,100
$24V_AH,24.1,21.682
$10V_AH,10.7,13.248
$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,27.050,83.025,582.300,0.000,0.000,26.328,38.005,183.001,30.000,0.000,0.000,12.683,1988.077,5284.126,639.126,2288.926,388.645,0.000,1681.383,0.000,2268.947,0.000,36.619,0.000
$DEVICE_MAMPS,240.071,57.525,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.163,843.882,1418.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66406,1153
$CAP_FILE_SIZE,118305,0
$CFSIZE,260165632,227962880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225, 66.0,1
$GPS,050609,103037,2539.286,12319.900,39,1.2,39,-3.8