version: 66.04
glider: 166
mission: 2
dive: 17
start: 5 24 109 10 53 11
data:
$ID,166
$MISSION,2
$DIVE,17
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-5600.6904
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,57
$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,0
$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
$GPS1,104731,2523.253,12229.973,40,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.8
$GPS2,105250,2523.254,12229.971,11,1.4,11,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,271.4,8921,-16.8,-10.000
$D_GRID,464
$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,-0.88,-170.3,0.0,0.0,0,74,0.00,0.00,-58.50,0.000,2,0.000,0.000,161,1518,2409
$GC,76,-0.88,-170.3,3.2,-4.3,9,129,9.12,2.08,-36.10,0.000,4,0.240,0.056,2429,2904,3558
$GC,258,-0.32,-170.3,41.3,-19.0,40,266,0.65,2.08,0.00,0.000,6,0.150,0.037,2622,1504,3559
$GC,605,-0.56,-170.3,76.4,-7.3,101,612,0.17,1.92,0.00,0.000,4,0.056,0.046,2533,203,3561
$GC,670,-0.36,-170.3,84.5,-14.4,112,677,0.22,1.90,0.00,0.000,6,0.144,0.030,2605,1503,3561
$GC,1015,-0.60,-170.3,106.4,-3.6,173,1023,0.17,2.05,0.00,0.000,4,0.058,0.041,2515,2907,3562
$GC,1160,-0.60,-170.3,120.4,-10.0,198,1166,0.00,2.03,0.00,0.000,6,0.000,0.033,2516,1504,3562
$GC,1504,-0.49,-170.3,165.0,-14.5,259,1510,0.17,0.00,0.00,0.000,6,0.146,0.000,2571,1504,3563
$GC,1849,-0.69,-170.3,195.3,-9.0,320,1856,0.17,2.08,0.00,0.000,4,0.059,0.043,2489,2907,3563
$GC,1885,-0.69,-170.3,199.7,-13.1,326,1892,0.00,2.03,0.00,0.000,6,0.000,0.035,2488,1506,3563
$GC,2229,-0.53,-170.3,249.2,-14.0,387,2237,0.22,1.92,0.00,0.000,4,0.146,0.046,2558,204,3563
$GC,2265,-0.53,-170.3,253.4,-11.3,393,2272,0.00,1.92,0.00,0.000,6,0.000,0.031,2559,1547,3563
$GC,2610,-0.70,-170.3,281.6,-8.4,454,2616,0.15,0.00,0.00,0.000,6,0.064,0.000,2487,1549,3563
$GC,2948,-0.59,-170.3,322.2,-12.5,499,2953,0.17,2.00,0.00,0.000,4,0.150,0.048,2542,205,3562
$GC,3038,-0.68,-170.3,331.6,-10.3,507,3042,0.00,1.92,0.00,0.000,6,0.000,0.032,2539,1526,3562
$GC,3368,-0.83,-170.3,356.9,-7.0,538,3372,0.20,2.03,0.00,0.000,4,0.107,0.044,2447,2896,3561
$GC,3537,-0.72,-170.3,374.1,-9.7,553,3541,0.17,1.98,0.00,0.000,6,0.149,0.041,2494,1542,3560
$GC,3865,-0.72,-170.3,399.2,-7.3,584,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1542,3559
$GC,4184,-0.72,-170.3,426.6,-9.5,614,4188,0.00,2.03,0.00,0.000,4,0.000,0.050,2486,2896,3557
$GC,4218,-0.81,-170.3,429.7,-8.6,617,4222,0.00,1.98,0.00,0.000,6,0.000,0.038,2490,1549,3557
$GC,4548,-0.81,-170.3,462.9,-11.1,648,4551,0.00,2.00,0.00,0.000,4,0.000,0.052,2488,209,3555
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4563,-0.20,0.0,464.3,11.8,649,4701,0.52,0.00,134.38,1.051,6,0.130,0.000,2659,1778,2863
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4702,begin climb
$GC,4703,0.88,170.3,469.6,0.0,663,4850,1.02,2.30,137.45,1.022,4,0.086,0.057,3016,3196,2167
$GC,4968,0.46,170.3,441.4,14.8,686,4975,0.52,2.15,0.00,0.000,6,0.174,0.041,2881,1785,2163
$GC,5293,0.55,182.0,410.9,9.5,717,5308,0.00,2.17,10.07,0.912,4,0.000,0.054,2888,385,2121
$GC,5363,0.55,182.0,403.6,10.4,723,5370,0.00,2.12,0.00,0.000,6,0.000,0.038,2887,1777,2120
$GC,5689,0.62,184.7,370.3,9.9,754,5694,0.12,2.15,0.00,0.000,4,0.071,0.051,2942,3190,2117
$GC,5751,0.46,184.7,362.3,12.7,759,5756,0.25,2.12,0.00,0.000,6,0.163,0.039,2884,1769,2116
$GC,6076,0.65,270.7,336.7,6.6,789,6159,0.17,2.35,71.68,0.989,4,0.060,0.051,2961,3197,1757
$GC,6182,0.50,270.7,324.6,13.6,799,6187,0.28,2.17,0.00,0.000,6,0.160,0.038,2899,1788,1754
$GC,6511,0.62,270.7,287.4,12.0,838,6517,0.12,2.15,0.00,0.000,4,0.069,0.052,2964,383,1750
$GC,6613,0.51,270.7,271.4,16.5,856,6621,0.25,2.10,0.00,0.000,6,0.153,0.039,2894,1768,1749
$GC,6959,0.76,338.2,239.5,7.3,917,7021,0.20,2.20,54.55,0.919,4,0.057,0.051,3002,385,1483
$GC,7044,0.56,338.2,228.3,16.2,931,7051,0.32,2.12,0.00,0.000,6,0.152,0.039,2911,1763,1480
$GC,7388,0.75,338.2,180.7,13.1,992,7396,0.17,2.12,0.00,0.000,4,0.120,0.051,3002,382,1476
$GC,7419,0.75,338.2,175.8,16.3,997,7426,0.00,2.05,0.00,0.000,6,0.000,0.041,3001,1764,1476
$GC,7762,0.57,338.2,103.7,19.0,1058,7769,0.28,2.10,0.00,0.000,4,0.157,0.049,2926,381,1475
$GC,7831,0.76,338.2,93.2,14.0,1070,7838,0.15,2.03,0.00,0.000,6,0.064,0.037,3003,1769,1474
$GC,8176,0.67,338.2,42.1,13.8,1131,8183,0.17,2.10,0.00,0.000,4,0.146,0.048,2956,376,1474
$GC,8217,0.92,387.2,38.4,8.1,1138,8263,0.20,2.00,39.62,0.755,6,0.052,0.035,3054,1733,1283
$STATE,8492,end climb,SURFACE_DEPTH_REACHED
$STATE,8492,begin surface coast
$FINISH,1.1,1.021975
$STATE,8518,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8532,29.38,0.708,0,0,1130,425.10
$SM_GC,2.14,0.00,0.00,29.38,0.000,0.000,0.708,156,1479,1130,-8.04,-0.68,425.10
$IRIDIUM_FIX,2515.12,12231.93,180898,080846
$TT8_MAMPS,0.027612
$HUMID,1539
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,22.30
$XPDR_PINGS,119
$ALTIM_BOTTOM_PING,425.6,55.8
$24V_AH,24.2,6.755
$10V_AH,10.7,3.568
$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,24.225,75.150,447.750,29.375,0.000,26.403,34.344,165.777,32.750,0.000,0.000,11.995,2001.487,3747.217,552.473,2237.686,339.642,0.000,1539.494,0.000,2229.274,0.000,24.095,0.000
$DEVICE_MAMPS,240.071,56.758,1050.790,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.549,888.450,1498.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66393,1190
$CAP_FILE_SIZE,108298,0
$CFSIZE,260165632,233885696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.348,309.2,1
$GPS,240509,131658,2524.238,12227.147,12,2.2,32,-3.7