version: 66.04
glider: 166
mission: 2
dive: 92
start: 6 5 109 14 7 54
data:
$ID,166
$MISSION,2
$DIVE,92
$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,-6976.6479
$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,38
$R_STBD_OVSHOOT,67
$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
$GPS1,140107,2537.998,12321.438,34,1.1,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.6
$GPS2,140732,2538.057,12321.523,15,1.1,15,-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,194.0,54250,-17.1,-11.000
$D_GRID,732
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.94,-194.7,0.0,0.0,0,86,0.00,0.00,-70.05,0.000,2,0.000,0.000,166,1509,2413
$GC,88,-0.94,-194.7,3.2,-6.1,11,140,9.15,2.00,-33.65,0.000,4,0.240,0.055,2432,202,3659
$GC,311,-0.19,-194.7,73.5,-32.2,49,319,0.80,1.90,0.00,0.000,6,0.166,0.029,2675,1495,3659
$GC,656,-0.58,-194.7,108.2,-7.1,110,663,0.32,2.05,0.00,0.000,4,0.039,0.035,2520,2906,3660
$GC,731,-0.34,-194.7,119.3,-17.0,123,738,0.35,2.05,0.00,0.000,6,0.137,0.031,2624,1481,3660
$GC,1078,-0.58,-194.7,157.0,-7.2,184,1084,0.17,1.88,0.00,0.000,4,0.056,0.041,2531,204,3661
$GC,1168,-0.32,-194.7,170.7,-16.1,200,1175,0.28,1.88,0.00,0.000,6,0.135,0.027,2631,1511,3661
$GC,1515,-0.67,-194.7,194.1,-8.0,261,1523,0.28,2.00,0.00,0.000,4,0.044,0.037,2497,2894,3663
$GC,1591,-0.46,-194.7,205.8,-17.4,274,1598,0.30,2.03,0.00,0.000,6,0.135,0.031,2587,1507,3663
$GC,1938,-0.68,-194.7,237.3,-8.4,335,1944,0.17,1.92,0.00,0.000,4,0.055,0.042,2495,199,3663
$GC,1967,-0.56,-194.7,241.4,-14.5,340,1974,0.15,1.88,0.00,0.000,6,0.144,0.028,2557,1500,3663
$GC,2312,-0.68,-194.7,277.1,-7.9,401,2320,0.12,2.05,0.00,0.000,4,0.070,0.039,2493,2905,3663
$GC,2371,-0.68,-194.7,283.4,-11.3,411,2378,0.00,2.00,0.00,0.000,6,0.000,0.031,2494,1515,3663
$GC,2710,-0.55,-194.7,332.6,-14.8,453,2714,0.20,1.92,0.00,0.000,4,0.141,0.045,2557,210,3663
$GC,2743,-0.61,-194.7,337.0,-11.5,456,2746,0.00,1.88,0.00,0.000,6,0.000,0.030,2557,1527,3663
$GC,3074,-0.82,-194.7,365.8,-8.6,487,3078,0.20,2.00,0.00,0.000,4,0.054,0.042,2434,2890,3661
$GC,3157,-0.70,-194.7,377.1,-14.5,494,3164,0.20,2.00,0.00,0.000,6,0.128,0.035,2520,1531,3660
$GC,3484,-0.87,-194.7,405.7,-8.0,525,3488,0.17,1.98,0.00,0.000,4,0.059,0.048,2435,203,3660
$GC,3533,-0.65,-194.7,412.0,-13.8,529,3541,0.28,1.92,0.00,0.000,6,0.139,0.032,2524,1512,3659
$GC,3858,-0.85,-194.7,434.4,-6.1,560,3862,0.17,2.05,0.00,0.000,4,0.058,0.044,2440,2897,3657
$GC,3929,-0.81,-194.7,441.2,-10.7,566,3937,0.10,2.03,0.00,0.000,6,0.134,0.035,2475,1528,3656
$GC,4254,-0.81,-194.7,470.5,-9.2,597,4258,0.00,2.00,0.00,0.000,4,0.000,0.054,2476,197,3654
$GC,4303,-0.81,-194.7,476.0,-11.6,601,4311,0.00,1.95,0.00,0.000,6,0.000,0.033,2475,1515,3654
$GC,4638,-0.85,-194.7,507.6,-9.0,629,4642,0.00,2.00,0.00,0.000,4,0.000,0.059,2476,198,3651
$GC,4676,-0.85,-194.7,511.8,-10.5,630,4683,0.00,1.95,0.00,0.000,6,0.000,0.037,2475,1512,3651
$GC,4993,-0.91,-194.7,540.8,-9.2,646,4996,0.00,2.08,0.00,0.000,4,0.000,0.049,2475,2902,3648
$GC,5025,-1.04,-194.7,543.9,-8.9,647,5030,0.20,2.05,0.00,0.000,6,0.054,0.041,2384,1510,3648
$GC,5347,-0.77,-194.7,592.9,-16.3,663,5351,0.30,1.98,0.00,0.000,4,0.152,0.052,2482,200,3645
$GC,5469,-0.83,-194.7,608.0,-12.2,668,5476,0.00,1.92,0.00,0.000,6,0.000,0.036,2480,1499,3644
$GC,5784,-0.92,-194.7,639.9,-9.5,684,5789,0.12,2.10,0.00,0.000,4,0.073,0.049,2411,2898,3642
$GC,5828,-0.84,-194.7,645.1,-12.7,686,5833,0.15,2.10,0.00,0.000,6,0.135,0.039,2462,1499,3641
$STATE,6115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6116,begin apogee
$GC,6121,-0.20,0.0,675.2,10.1,700,6280,0.62,0.00,156.52,1.233,6,0.118,0.000,2671,1755,2863
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6283,0.94,194.7,682.1,0.0,708,6455,1.00,2.28,162.18,1.205,4,0.046,0.053,3052,3145,2067
$GC,6494,0.37,194.7,660.1,20.2,717,6501,0.68,2.20,0.00,0.000,6,0.170,0.041,2860,1752,2064
$GC,6810,0.57,271.0,634.0,8.1,733,6877,0.17,0.00,64.03,1.174,6,0.059,0.000,2938,1751,1758
$GC,7179,0.46,271.0,579.7,15.0,751,7184,0.17,2.20,0.00,0.000,4,0.152,0.054,2894,338,1751
$GC,7218,0.53,271.0,574.5,12.6,753,7222,0.00,2.15,0.00,0.000,6,0.000,0.039,2894,1756,1751
$GC,7551,0.58,271.0,534.2,11.6,769,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1756,1748
$GC,7859,0.66,280.8,500.6,10.6,784,7870,0.17,0.00,8.27,1.005,6,0.060,0.000,2974,1757,1717
$GC,8178,0.47,280.8,446.4,17.4,813,8182,0.25,2.17,0.00,0.000,4,0.150,0.051,2905,343,1715
$GC,8261,0.56,280.8,435.1,12.3,820,8265,0.00,2.12,0.00,0.000,6,0.000,0.039,2905,1760,1715
$GC,8593,0.63,280.8,395.2,12.6,851,8597,0.10,2.17,0.00,0.000,4,0.077,0.054,2969,338,1714
$GC,8635,0.50,280.8,388.2,15.9,854,8644,0.20,2.10,0.00,0.000,6,0.144,0.039,2904,1729,1714
$GC,8961,0.62,302.2,352.5,10.2,885,8985,0.00,2.25,18.77,1.021,4,0.000,0.050,2904,3160,1630
$GC,9064,0.76,311.9,341.7,10.6,894,9079,0.20,2.15,9.55,0.927,6,0.052,0.039,3011,1730,1591
$GC,9400,0.52,311.9,283.5,17.6,933,9405,0.32,0.00,0.00,0.000,6,0.147,0.000,2911,1730,1587
$GC,9742,0.71,324.9,249.9,10.5,994,9762,0.17,2.15,12.07,0.889,4,0.104,0.051,3011,355,1538
$GC,9846,0.52,324.9,231.0,19.5,1012,9853,0.35,2.08,0.00,0.000,6,0.139,0.037,2906,1758,1536
$GC,10191,0.83,358.3,195.5,9.7,1073,10232,0.25,2.22,29.00,0.872,4,0.048,0.048,3044,352,1401
$GC,10272,0.60,358.3,181.4,20.3,1086,10280,0.38,2.08,0.00,0.000,6,0.138,0.035,2933,1745,1399
$GC,10620,0.87,389.1,143.5,9.8,1147,10654,0.20,2.22,26.92,0.812,4,0.051,0.048,3052,348,1275
$GC,10778,0.71,389.1,117.3,16.5,1174,10786,0.28,2.03,0.00,0.000,6,0.135,0.033,2970,1727,1272
$GC,11125,1.07,465.2,86.6,8.1,1235,11196,0.28,2.22,63.78,0.760,4,0.044,0.045,3115,348,965
$GC,11249,0.86,465.2,64.6,21.6,1255,11256,0.32,2.03,0.00,0.000,6,0.135,0.031,3017,1716,962
$GC,11594,1.11,496.9,25.0,9.8,1316,11628,0.20,2.17,27.08,0.680,4,0.051,0.044,3134,339,836
$GC,11673,0.87,496.9,9.9,21.7,1329,11680,0.38,2.00,0.00,0.000,6,0.139,0.029,3022,1693,834
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11718,begin surface coast
$FINISH,0.8,1.021282
$STATE,11749,end surface coast,CONTROL_FINISHED_OK
$STATE,11749,begin surface
$SM_CCo,11824,0.00,0.000,0,0,832,497.96
$SM_GC,1.53,7.68,0.00,0.00,0.044,0.000,0.000,150,1480,832,-8.04,-0.57,497.96
$IRIDIUM_FIX,2531.83,12318.87,300898,101002
$TT8_MAMPS,0.026845
$HUMID,1476
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,110
$ALTIM_BOTTOM_PING,675.2,24.7
$24V_AH,24.1,22.079
$10V_AH,10.7,13.508
$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,28.575,103.200,578.175,0.000,0.000,26.507,37.460,213.538,32.750,0.000,0.000,15.311,2327.458,6159.064,680.797,2578.265,459.633,0.000,1839.026,0.000,2561.253,0.000,37.217,0.000
$DEVICE_MAMPS,240.071,59.059,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,907.268,967.239,1624.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75612,1342
$CAP_FILE_SIZE,139302,0
$CFSIZE,260165632,227782656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.362, 84.7,1
$GPS,050609,172604,2536.421,12323.665,13,4.6,32,-3.8