version: 66.04
glider: 166
mission: 2
dive: 91
start: 6 5 109 10 39 42
data:
$ID,166
$MISSION,2
$DIVE,91
$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,-6960.708
$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,57
$R_STBD_OVSHOOT,63
$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
$GPS1,103037,2539.286,12319.900,39,1.2,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.3
$GPS2,103920,2539.427,12320.037,13,1.3,13,-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,193.4,57757,-17.1,-11.000
$D_GRID,727
$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,-194.7,0.0,0.0,0,91,0.00,0.00,-74.85,0.000,2,0.000,0.000,167,1482,2435
$GC,93,-0.94,-194.7,3.1,-5.5,12,145,9.12,1.92,-34.28,0.000,4,0.242,0.058,2430,219,3659
$GC,320,-0.15,-194.7,75.8,-35.1,51,328,0.82,1.88,0.00,0.000,6,0.161,0.031,2682,1493,3659
$GC,666,-0.57,-194.7,107.4,-6.6,112,673,0.32,2.05,0.00,0.000,4,0.040,0.037,2528,2904,3660
$GC,732,-0.35,-194.7,117.2,-17.8,123,739,0.32,2.03,0.00,0.000,6,0.139,0.031,2624,1492,3660
$GC,1076,-0.58,-194.7,155.3,-9.1,184,1083,0.17,1.92,0.00,0.000,4,0.057,0.042,2533,205,3661
$GC,1130,-0.37,-194.7,163.0,-16.9,193,1137,0.22,1.85,0.00,0.000,6,0.136,0.028,2619,1491,3662
$GC,1475,-0.66,-194.7,189.2,-6.6,254,1483,0.22,2.05,0.00,0.000,4,0.050,0.038,2506,2898,3662
$GC,1506,-0.66,-194.7,192.6,-11.5,259,1512,0.00,2.03,0.00,0.000,6,0.000,0.032,2506,1488,3661
$GC,1849,-0.50,-194.7,248.9,-13.4,320,1856,0.20,1.88,0.00,0.000,4,0.143,0.044,2570,210,3662
$GC,1878,-0.50,-194.7,252.3,-11.5,325,1884,0.00,1.83,0.00,0.000,6,0.000,0.028,2570,1494,3661
$GC,2222,-0.69,-194.7,278.3,-7.9,386,2230,0.15,2.05,0.00,0.000,4,0.061,0.041,2495,2902,3662
$GC,2253,-0.69,-194.7,281.7,-11.8,391,2259,0.00,2.03,0.00,0.000,6,0.000,0.032,2495,1498,3661
$GC,2585,-0.58,-194.7,326.6,-13.7,434,2590,0.17,2.08,0.00,0.000,4,0.140,0.042,2542,2899,3661
$GC,2658,-0.84,-194.7,333.6,-8.7,440,2662,0.22,2.05,0.00,0.000,6,0.048,0.034,2437,1485,3661
$GC,2981,-0.59,-194.7,388.7,-15.4,470,2983,0.35,0.00,0.00,0.000,6,0.140,0.000,2547,1485,3661
$GC,3301,-0.79,-194.7,415.9,-8.4,500,3306,0.15,2.10,0.00,0.000,4,0.062,0.044,2453,2889,3658
$GC,3333,-0.79,-194.7,419.2,-11.6,502,3341,0.00,2.05,0.00,0.000,6,0.000,0.037,2454,1510,3658
$GC,3658,-0.71,-194.7,459.2,-12.2,533,3662,0.20,1.95,0.00,0.000,4,0.135,0.049,2521,206,3655
$GC,3714,-0.85,-194.7,464.7,-9.2,538,3718,0.15,1.88,0.00,0.000,6,0.063,0.031,2447,1514,3655
$GC,4043,-0.77,-194.7,505.3,-12.5,567,4047,0.15,1.98,0.00,0.000,4,0.142,0.048,2491,207,3653
$GC,4126,-0.82,-194.7,513.9,-9.9,570,4133,0.00,1.90,0.00,0.000,6,0.000,0.033,2490,1499,3651
$GC,4441,-0.93,-194.7,540.4,-8.3,586,4445,0.15,2.10,0.00,0.000,4,0.064,0.046,2410,2906,3649
$GC,4550,-0.83,-194.7,552.6,-11.4,591,4554,0.20,2.05,0.00,0.000,6,0.139,0.038,2471,1516,3647
$GC,4876,-0.83,-194.7,579.6,-7.4,607,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1516,3645
$GC,5185,-0.90,-194.7,611.7,-11.0,622,5188,0.00,2.00,0.00,0.000,4,0.000,0.054,2471,197,3642
$GC,5216,-0.90,-194.7,615.6,-11.6,623,5223,0.00,1.95,0.00,0.000,6,0.000,0.036,2471,1503,3642
$GC,5533,-0.96,-194.7,649.4,-10.6,639,5535,0.12,0.00,0.00,0.000,6,0.072,0.000,2413,1505,3639
$GC,5843,-0.80,-194.7,688.5,-12.1,654,5847,0.20,2.00,0.00,0.000,4,0.149,0.054,2478,201,3637
$GC,5910,-0.86,-194.7,695.4,-9.3,657,5913,0.00,1.92,0.00,0.000,6,0.000,0.038,2478,1509,3636
$GC,6242,-0.96,-194.7,724.5,-9.3,673,6247,0.12,2.10,0.00,0.000,4,0.072,0.051,2410,2901,3633
$STATE,6263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6263,begin apogee
$GC,6268,-0.20,0.0,727.0,11.0,674,6428,0.80,0.00,156.60,1.277,6,0.131,0.000,2669,1743,2863
$STATE,6429,end apogee,CONTROL_FINISHED_OK
$STATE,6429,begin climb
$GC,6431,0.94,194.7,733.7,0.0,682,6599,1.02,0.00,164.52,1.244,6,0.046,0.000,3052,1742,2068
$GC,6895,0.39,194.7,656.7,21.0,705,6900,0.60,2.20,0.00,0.000,4,0.168,0.053,2874,3147,2062
$GC,6921,0.26,194.7,652.0,14.9,706,6926,0.17,2.15,0.00,0.000,6,0.134,0.041,2826,1757,2061
$GC,7243,0.65,309.6,628.6,6.6,722,7352,0.30,2.38,96.38,1.196,4,0.047,0.055,2973,330,1598
$GC,7452,0.48,309.6,595.7,17.9,731,7457,0.25,2.20,0.00,0.000,6,0.145,0.040,2896,1738,1594
$GC,7774,0.57,309.6,554.9,12.3,747,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1740,1590
$GC,8082,0.66,309.6,517.4,12.5,762,8084,0.17,0.00,0.00,0.000,6,0.061,0.000,2973,1741,1588
$GC,8399,0.48,309.6,459.9,18.0,787,8403,0.25,2.15,0.00,0.000,4,0.149,0.053,2905,343,1587
$GC,8437,0.57,309.6,454.2,13.0,790,8441,0.00,2.10,0.00,0.000,6,0.000,0.040,2905,1744,1587
$GC,8768,0.64,309.6,415.6,12.2,821,8770,0.12,0.00,0.00,0.000,6,0.069,0.000,2967,1745,1586
$GC,9087,0.51,309.6,361.7,16.7,851,9089,0.22,0.00,0.00,0.000,6,0.146,0.000,2902,1747,1585
$GC,9407,0.64,314.5,326.0,10.8,881,9411,0.12,2.12,0.00,0.000,4,0.068,0.050,2963,3147,1584
$GC,9461,0.56,314.5,317.5,15.6,885,9468,0.15,2.12,0.00,0.000,6,0.146,0.039,2925,1742,1583
$GC,9797,0.62,314.5,274.6,13.8,934,9805,0.00,2.10,0.00,0.000,4,0.000,0.052,2933,346,1583
$GC,9821,0.67,314.5,271.1,14.4,938,9829,0.00,2.05,0.00,0.000,6,0.000,0.038,2933,1744,1583
$GC,10166,0.77,338.1,231.4,10.1,999,10192,0.15,0.00,22.40,0.914,6,0.061,0.000,3013,1745,1484
$GC,10530,0.62,338.1,173.5,17.1,1063,10536,0.22,2.15,0.00,0.000,4,0.146,0.048,2951,337,1480
$GC,10616,0.79,351.4,162.0,10.5,1078,10637,0.12,2.05,12.20,0.807,6,0.068,0.035,3021,1741,1429
$GC,10977,0.72,351.4,112.8,14.6,1141,10984,0.17,2.12,0.00,0.000,4,0.137,0.046,2975,336,1427
$GC,11008,0.79,351.4,108.3,13.6,1146,11016,0.00,2.03,0.00,0.000,6,0.000,0.033,2975,1733,1427
$GC,11354,1.10,416.6,77.5,8.5,1207,11418,0.28,2.20,54.65,0.752,4,0.044,0.045,3124,345,1163
$GC,11504,0.85,416.6,49.7,20.2,1232,11511,0.38,2.05,0.00,0.000,6,0.140,0.031,3012,1741,1161
$GC,11848,1.16,492.3,16.3,8.1,1293,11920,0.22,2.22,62.67,0.680,4,0.047,0.045,3143,343,855
$STATE,11930,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,0.8,1.012668
$STATE,11943,end surface coast,CONTROL_FINISHED_OK
$STATE,11943,begin surface
$SM_CCo,12019,0.00,0.000,0,0,851,493.30
$SM_GC,1.63,8.12,0.00,0.00,0.043,0.000,0.000,161,1508,851,-8.03,0.23,493.30
$IRIDIUM_FIX,2529.44,12322.18,300898,101050
$TT8_MAMPS,0.026845
$HUMID,1482
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,122
$24V_AH,24.0,21.883
$10V_AH,10.7,13.377
$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,27.650,93.475,569.425,0.000,0.000,46.204,74.177,240.433,36.000,0.000,0.000,13.990,2257.873,6569.855,687.044,2492.083,534.371,0.000,1792.837,0.000,2479.874,0.000,38.612,0.000
$DEVICE_MAMPS,241.605,58.292,1277.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,885.269,946.129,1590.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75928,1308
$CAP_FILE_SIZE,134840,0
$CFSIZE,260165632,227868672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.272, 75.0,1
$GPS,050609,140107,2537.998,12321.438,34,1.1,34,-3.8