version: 66.04
glider: 166
mission: 2
dive: 93
start: 6 5 109 17 33 6
data:
$ID,166
$MISSION,2
$DIVE,93
$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,-7009.4985
$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,50
$R_STBD_OVSHOOT,58
$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
$GPS1,172604,2536.421,12323.665,13,4.6,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.0
$GPS2,173246,2536.492,12323.740,12,99.0,31,-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,195.6,49771,-17.1,-11.000
$D_GRID,756
$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,-194.7,0.0,0.0,0,90,0.00,0.00,-73.80,0.000,2,0.000,0.000,168,1481,2489
$GC,93,-0.94,-194.7,3.3,-6.2,12,139,8.88,1.98,-30.98,0.000,4,0.232,0.056,2428,196,3657
$GC,381,-0.13,-194.7,99.9,-32.4,62,390,0.85,1.90,0.00,0.000,6,0.162,0.030,2689,1491,3658
$GC,729,-0.61,-194.7,128.3,-7.2,123,736,0.38,2.05,0.00,0.000,4,0.048,0.035,2529,2906,3660
$GC,799,-0.51,-194.7,138.2,-17.0,135,806,0.15,2.03,0.00,0.000,6,0.139,0.030,2570,1497,3660
$GC,1144,-0.51,-194.7,181.6,-11.0,196,1151,0.00,1.92,0.00,0.000,4,0.000,0.044,2570,210,3661
$GC,1230,-0.51,-194.7,191.6,-12.4,211,1236,0.00,1.88,0.00,0.000,6,0.000,0.028,2571,1511,3661
$GC,1574,-0.62,-194.7,226.6,-10.6,272,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1512,3661
$GC,1916,-0.79,-194.7,262.8,-10.5,333,1922,0.22,2.03,0.00,0.000,4,0.053,0.040,2462,2895,3661
$GC,1945,-0.70,-194.7,266.7,-14.4,338,1953,0.17,2.05,0.00,0.000,6,0.140,0.033,2514,1478,3660
$GC,2290,-0.64,-194.7,313.0,-12.3,390,2293,0.00,2.10,0.00,0.000,4,0.000,0.042,2502,2899,3661
$GC,2316,-0.64,-194.7,315.9,-10.5,392,2323,0.00,2.05,0.00,0.000,6,0.000,0.033,2514,1507,3661
$GC,2642,-0.64,-194.7,349.3,-10.4,423,2646,0.00,2.05,0.00,0.000,4,0.000,0.044,2492,2889,3661
$GC,2709,-0.72,-194.7,355.7,-9.3,429,2713,0.00,1.98,0.00,0.000,6,0.000,0.035,2509,1529,3661
$GC,3039,-0.72,-194.7,390.0,-10.0,460,3042,0.00,2.03,0.00,0.000,4,0.000,0.044,2490,2893,3660
$GC,3084,-0.86,-194.7,394.4,-9.6,464,3087,0.00,2.00,0.00,0.000,6,0.000,0.035,2494,1518,3659
$GC,3415,-0.93,-194.7,427.5,-10.3,495,3419,0.15,2.05,0.00,0.000,4,0.062,0.044,2413,2893,3657
$GC,3470,-0.77,-194.7,435.0,-13.6,500,3475,0.25,1.98,0.00,0.000,6,0.134,0.037,2490,1538,3657
$GC,3795,-0.86,-194.7,468.4,-9.1,530,3798,0.00,2.00,0.00,0.000,4,0.000,0.054,2490,203,3655
$GC,3833,-0.92,-194.7,472.2,-10.2,533,3840,0.08,1.95,0.00,0.000,6,0.060,0.032,2426,1537,3654
$GC,4165,-0.78,-194.7,515.5,-13.7,560,4167,0.20,0.00,0.00,0.000,6,0.143,0.000,2485,1538,3652
$GC,4475,-0.87,-194.7,548.4,-10.6,575,4479,0.00,2.03,0.00,0.000,4,0.000,0.060,2485,204,3649
$GC,4548,-0.93,-194.7,556.5,-11.0,578,4552,0.12,1.95,0.00,0.000,6,0.073,0.042,2426,1537,3648
$GC,4873,-0.82,-194.7,597.7,-12.4,594,4877,0.17,2.05,0.00,0.000,4,0.143,0.049,2479,2902,3645
$GC,4912,-0.98,-194.7,601.4,-8.3,595,4918,0.15,2.03,0.00,0.000,6,0.061,0.039,2407,1530,3644
$GC,5228,-0.81,-194.7,644.2,-14.2,611,5232,0.20,2.00,0.00,0.000,4,0.149,0.053,2472,201,3642
$GC,5281,-0.81,-194.7,651.0,-11.4,613,5286,0.00,1.98,0.00,0.000,6,0.000,0.037,2472,1527,3642
$GC,5604,-0.88,-194.7,683.6,-10.0,629,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1527,3639
$GC,5913,-0.97,-194.7,714.4,-10.0,644,5915,0.12,0.00,0.00,0.000,6,0.071,0.000,2413,1528,3637
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6225,-0.20,0.0,756.4,13.9,659,6387,0.80,0.00,157.68,1.301,6,0.132,0.000,2670,1761,2863
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6389,0.94,194.7,765.8,0.0,667,6563,1.00,2.30,164.23,1.270,4,0.046,0.054,3050,3150,2069
$GC,6641,0.38,194.7,736.8,21.1,678,6646,0.65,2.20,0.00,0.000,6,0.171,0.041,2865,1750,2064
$GC,6963,0.51,233.4,705.8,9.5,694,7004,0.12,2.28,32.62,1.201,4,0.071,0.056,2934,341,1911
$GC,7031,0.38,233.4,697.0,14.5,697,7036,0.20,2.20,0.00,0.000,6,0.140,0.039,2862,1742,1908
$GC,7358,0.60,301.0,667.3,8.4,713,7423,0.17,2.35,58.62,1.216,4,0.060,0.056,2956,343,1634
$GC,7450,0.45,301.0,653.9,16.7,717,7455,0.25,2.20,0.00,0.000,6,0.144,0.039,2887,1753,1632
$GC,7777,0.57,301.0,615.4,12.1,733,7782,0.10,2.20,0.00,0.000,4,0.077,0.054,2944,343,1627
$GC,7822,0.47,301.0,608.5,16.5,735,7827,0.20,2.10,0.00,0.000,6,0.145,0.041,2888,1732,1626
$GC,8148,0.58,301.0,568.6,12.0,751,8152,0.12,2.17,0.00,0.000,4,0.069,0.052,2945,3155,1625
$GC,8173,0.58,301.0,564.6,15.6,752,8178,0.00,2.17,0.00,0.000,6,0.000,0.041,2955,1730,1624
$GC,8495,0.46,301.0,514.3,15.0,768,8500,0.20,2.12,0.00,0.000,4,0.155,0.054,2901,345,1624
$GC,8572,0.56,312.5,505.3,10.6,771,8588,0.00,2.08,9.48,1.049,6,0.000,0.041,2901,1717,1588
$GC,8906,0.65,312.5,467.9,12.2,800,8911,0.12,2.17,0.00,0.000,4,0.069,0.052,2961,3148,1586
$GC,8940,0.53,312.5,463.0,15.4,803,8945,0.22,2.15,0.00,0.000,6,0.155,0.041,2909,1720,1584
$GC,9265,0.61,312.5,419.7,12.6,833,9269,0.00,2.17,0.00,0.000,4,0.000,0.051,2909,3149,1584
$GC,9337,0.70,312.5,410.7,12.3,839,9344,0.08,2.15,0.00,0.000,6,0.035,0.041,2985,1730,1583
$GC,9661,0.49,312.5,353.7,18.5,870,9663,0.30,0.00,0.00,0.000,6,0.146,0.000,2897,1730,1583
$GC,9981,0.67,321.2,320.2,10.7,900,9996,0.17,2.17,8.20,0.910,4,0.058,0.053,2999,345,1553
$GC,10023,0.46,321.2,313.2,17.6,903,10030,0.32,2.12,0.00,0.000,6,0.143,0.038,2883,1754,1552
$GC,10359,0.82,397.9,281.9,8.1,952,10432,0.30,0.00,65.93,0.964,6,0.046,0.000,3030,1756,1240
$GC,10769,0.60,397.9,198.1,21.3,1024,10777,0.30,2.17,0.00,0.000,4,0.144,0.047,2945,341,1232
$GC,10863,0.78,397.9,185.2,11.7,1040,10871,0.12,2.10,0.00,0.000,6,0.068,0.036,3015,1759,1232
$GC,11209,0.71,397.9,129.5,15.3,1101,11216,0.17,2.17,0.00,0.000,4,0.140,0.047,2969,333,1231
$GC,11289,0.89,397.9,119.8,11.2,1115,11296,0.15,2.05,0.00,0.000,6,0.059,0.035,3050,1738,1231
$GC,11636,0.84,397.9,70.7,11.7,1176,11644,0.15,2.10,0.00,0.000,4,0.140,0.045,3016,340,1231
$GC,11701,0.97,410.8,63.8,10.5,1187,11722,0.10,2.03,11.02,0.698,6,0.077,0.032,3073,1744,1189
$GC,12062,0.88,410.8,9.7,15.6,1250,12068,0.17,2.08,0.00,0.000,4,0.138,0.041,3014,3147,1188
$GC,12104,1.09,424.7,4.7,10.5,1257,12123,0.15,2.15,13.95,0.650,6,0.039,0.035,3116,1706,1130
$STATE,12128,end climb,SURFACE_DEPTH_REACHED
$STATE,12128,begin surface coast
$FINISH,0.9,1.010996
$STATE,12151,end surface coast,CONTROL_FINISHED_OK
$STATE,12152,begin surface
$SM_CCo,12227,0.00,0.000,0,0,1125,426.33
$SM_GC,1.77,7.93,0.00,0.00,0.051,0.000,0.000,150,1489,1125,-8.02,-0.31,426.33
$IRIDIUM_FIX,2527.05,12318.87,300898,141431
$TT8_MAMPS,0.026078
$HUMID,1508
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.70
$XPDR_PINGS,110
$ALTIM_BOTTOM_PING,727.7,84.3
$24V_AH,23.9,22.273
$10V_AH,10.7,13.632
$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,26.700,104.825,521.725,0.000,0.000,33.071,46.501,198.588,33.250,0.000,0.000,32.221,2223.857,6851.289,613.642,2490.030,442.951,0.000,1737.460,0.000,2447.903,0.000,41.612,0.000
$DEVICE_MAMPS,231.634,59.826,1300.832,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.825,885.420,1490.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72680,1265
$CAP_FILE_SIZE,137511,0
$CFSIZE,260165632,227713024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.284, 73.8,1
$GPS,050609,205806,2535.009,12325.236,35,1.4,40,-3.8