version: 66.04
glider: 166
mission: 2
dive: 94
start: 6 5 109 21 9 48
data:
$ID,166
$MISSION,2
$DIVE,94
$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,-7042.7827
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,205806,2535.009,12325.236,35,1.4,40,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.5
$GPS2,210928,2535.221,12325.377,12,99.0,31,-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,196.9,46311,-17.1,-11.000
$D_GRID,662
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,75,0.00,0.00,-58.05,0.000,2,0.000,0.000,178,1488,2436
$GC,77,-0.94,-194.7,3.4,-6.9,9,125,8.98,1.98,-33.00,0.000,4,0.235,0.057,2431,205,3657
$GC,379,-0.23,-194.7,103.7,-29.1,61,386,0.73,1.90,0.00,0.000,6,0.152,0.031,2662,1490,3658
$GC,723,-0.61,-194.7,133.4,-7.9,122,729,0.30,0.00,0.00,0.000,6,0.043,0.000,2517,1493,3659
$GC,1066,-0.38,-194.7,194.3,-18.3,183,1073,0.30,0.00,0.00,0.000,6,0.140,0.000,2612,1493,3660
$GC,1411,-0.69,-194.7,219.0,-6.3,244,1417,0.25,0.00,0.00,0.000,6,0.048,0.000,2488,1493,3661
$GC,1753,-0.47,-194.7,274.4,-14.8,305,1763,0.30,0.00,0.00,0.000,6,0.142,0.000,2582,1493,3661
$GC,2106,-0.72,-194.7,301.1,-7.5,366,2110,0.20,2.08,0.00,0.000,4,0.054,0.041,2459,2901,3662
$GC,2216,-0.64,-194.7,314.9,-13.3,375,2225,0.15,2.05,0.00,0.000,6,0.128,0.034,2529,1512,3661
$GC,2541,-0.70,-194.7,355.3,-12.4,406,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1512,3661
$GC,2861,-0.78,-194.7,390.7,-10.5,436,2865,0.00,2.08,0.00,0.000,4,0.000,0.045,2509,2904,3660
$GC,2964,-0.97,-194.7,400.1,-8.6,445,2969,0.22,2.05,0.00,0.000,6,0.050,0.035,2405,1500,3659
$GC,3289,-0.70,-194.7,449.7,-14.6,475,3294,0.32,2.10,0.00,0.000,4,0.148,0.045,2507,2902,3657
$GC,3323,-0.82,-194.7,453.0,-7.9,478,3327,0.00,2.03,0.00,0.000,6,0.000,0.035,2507,1518,3657
$GC,3653,-0.98,-194.7,477.7,-8.3,509,3658,0.20,2.08,0.00,0.000,4,0.055,0.046,2407,2898,3655
$GC,3730,-0.85,-194.7,487.3,-13.0,515,3739,0.15,2.05,0.00,0.000,6,0.137,0.037,2458,1525,3654
$GC,4060,-0.85,-194.7,523.0,-10.5,537,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1526,3652
$GC,4369,-0.85,-194.7,556.3,-11.0,552,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1526,3649
$GC,4678,-0.85,-194.7,588.9,-10.0,567,4682,0.00,2.00,0.00,0.000,4,0.000,0.053,2458,199,3646
$GC,4745,-0.79,-194.7,596.5,-11.8,570,4750,0.12,1.95,0.00,0.000,6,0.156,0.035,2487,1536,3646
$GC,5080,-0.91,-194.7,624.9,-8.1,586,5085,0.12,2.05,0.00,0.000,4,0.071,0.050,2424,2902,3642
$GC,5134,-0.91,-194.7,630.9,-10.7,588,5139,0.00,2.03,0.00,0.000,6,0.000,0.039,2424,1548,3641
$STATE,5413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5413,begin apogee
$GC,5417,-0.20,0.0,664.5,12.3,602,5577,0.77,0.00,156.02,1.216,6,0.130,0.000,2675,1758,2863
$STATE,5577,end apogee,CONTROL_FINISHED_OK
$STATE,5578,begin climb
$GC,5579,0.94,194.7,670.9,0.0,610,5753,0.98,2.30,161.95,1.184,4,0.042,0.052,3051,3140,2067
$GC,5799,0.37,194.7,647.3,20.8,620,5804,0.73,2.15,0.00,0.000,6,0.171,0.047,2861,1746,2064
$GC,6125,0.67,333.9,624.1,5.7,636,6253,0.22,2.33,117.72,1.164,4,0.054,0.054,2977,349,1500
$GC,6303,0.49,333.9,599.3,17.1,644,6308,0.28,2.17,0.00,0.000,6,0.147,0.045,2901,1747,1497
$GC,6630,0.60,333.9,562.2,11.8,660,6634,0.00,2.20,0.00,0.000,4,0.000,0.054,2909,338,1491
$GC,6698,0.69,333.9,553.5,13.1,663,6702,0.15,2.10,0.00,0.000,6,0.069,0.039,2977,1730,1491
$GC,7013,0.49,333.9,496.8,18.2,679,7018,0.25,2.17,0.00,0.000,4,0.151,0.052,2901,3154,1489
$GC,7052,0.57,333.9,490.8,13.5,682,7056,0.00,2.15,0.00,0.000,6,0.000,0.041,2909,1720,1488
$GC,7383,0.65,333.9,446.9,13.3,713,7385,0.12,0.00,0.00,0.000,6,0.069,0.000,2974,1720,1488
$GC,7701,0.48,333.9,388.0,18.8,743,7706,0.25,2.17,0.00,0.000,4,0.146,0.049,2893,3149,1486
$GC,7767,0.68,333.9,378.5,12.2,748,7774,0.12,2.15,0.00,0.000,6,0.048,0.040,2977,1725,1485
$GC,8092,0.52,333.9,320.6,18.5,779,8097,0.22,2.10,0.00,0.000,4,0.147,0.051,2915,340,1485
$GC,8123,0.52,333.9,315.7,14.1,781,8131,0.00,2.08,0.00,0.000,6,0.000,0.037,2915,1728,1484
$GC,8460,0.65,333.9,277.8,12.9,829,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1729,1484
$GC,8802,0.82,334.2,236.9,11.0,890,8809,0.20,2.12,0.00,0.000,4,0.052,0.050,3035,328,1484
$GC,8885,0.52,334.2,221.3,22.2,904,8892,0.43,2.05,0.00,0.000,6,0.143,0.036,2905,1732,1484
$GC,9230,0.89,405.2,188.0,8.3,965,9294,0.30,2.25,58.12,0.864,4,0.044,0.048,3062,336,1210
$GC,9381,0.60,405.2,157.2,23.3,990,9388,0.43,2.05,0.00,0.000,6,0.142,0.035,2936,1718,1207
$GC,9725,1.06,501.3,120.9,7.4,1051,9816,0.35,2.22,81.05,0.793,4,0.040,0.046,3111,343,817
$GC,9873,0.78,501.3,89.5,25.7,1075,9882,0.40,2.03,0.00,0.000,6,0.143,0.031,2991,1708,814
$GC,10221,1.23,568.9,53.9,8.4,1136,10285,0.35,2.12,56.00,0.715,4,0.039,0.044,3167,346,541
$STATE,10424,end climb,SURFACE_DEPTH_REACHED
$STATE,10424,begin surface coast
$FINISH,0.8,1.010299
$STATE,10438,end surface coast,CONTROL_FINISHED_OK
$STATE,10438,begin surface
$SM_CCo,10515,0.00,0.000,0,0,537,570.57
$SM_GC,1.73,8.00,0.00,0.00,0.045,0.000,0.000,159,1512,537,-8.01,0.34,570.57
$IRIDIUM_FIX,2527.05,12324.17,300898,212112
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.40
$XPDR_PINGS,100
$24V_AH,24.1,22.486
$10V_AH,10.7,13.749
$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,26.900,71.350,630.875,0.000,0.000,77.123,192.596,169.300,29.750,0.000,0.000,32.654,2001.349,5632.068,650.555,2319.554,587.336,0.000,1701.432,0.000,2279.572,0.000,32.751,0.000
$DEVICE_MAMPS,235.469,56.758,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.819,816.900,1374.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66372,1173
$CAP_FILE_SIZE,116763,0
$CFSIZE,260165632,227659776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.321, 74.6,1
$GPS,060609,000607,2534.108,12326.626,31,1.0,31,-3.8