version: 66.04
glider: 166
mission: 2
dive: 22
start: 5 24 109 22 26 17
data:
$ID,166
$MISSION,2
$DIVE,22
$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,-5701.0229
$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,1485
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,50
$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
$GPS1,221737,2522.454,12232.010,29,1.6,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.2
$GPS2,222556,2522.557,12232.223,15,1.7,15,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,128.8,48214,-16.8,-10.000
$D_GRID,558
$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,13,-0.88,-170.3,0.0,0.0,0,81,0.00,0.00,-65.25,0.000,2,0.000,0.000,153,1490,2505
$GC,83,-0.88,-170.3,3.2,-4.7,10,130,9.15,2.00,-31.05,0.000,4,0.247,0.062,2443,205,3559
$GC,270,-0.28,-170.3,55.5,-27.4,42,277,0.60,1.90,0.00,0.000,6,0.156,0.035,2640,1477,3560
$GC,616,-0.64,-170.3,81.6,-5.5,103,623,0.30,2.08,0.00,0.000,4,0.046,0.042,2502,2887,3561
$GC,809,-0.45,-170.3,108.3,-16.3,137,816,0.30,2.03,0.00,0.000,6,0.149,0.035,2587,1493,3561
$GC,1155,-0.72,-170.3,144.3,-9.9,198,1161,0.22,1.90,0.00,0.000,4,0.051,0.046,2477,206,3563
$GC,1196,-0.49,-170.3,151.0,-18.5,205,1203,0.28,1.90,0.00,0.000,6,0.145,0.031,2579,1506,3563
$GC,1542,-0.77,-170.3,175.4,-3.8,266,1549,0.22,2.03,0.00,0.000,4,0.050,0.042,2468,2891,3563
$GC,1584,-0.67,-170.3,178.4,-8.5,273,1591,0.17,2.03,0.00,0.000,6,0.147,0.034,2517,1487,3563
$GC,1927,-0.67,-170.3,203.3,-10.5,334,1933,0.00,1.92,0.00,0.000,4,0.000,0.048,2517,208,3563
$GC,2118,-0.62,-170.3,225.3,-13.6,368,2126,0.00,1.85,0.00,0.000,6,0.000,0.031,2515,1478,3563
$GC,2464,-0.62,-170.3,265.5,-10.7,429,2470,0.00,2.08,0.00,0.000,4,0.000,0.044,2516,2889,3563
$GC,2498,-0.70,-170.3,269.1,-10.1,435,2504,0.00,2.05,0.00,0.000,6,0.000,0.035,2514,1476,3563
$GC,2838,-0.74,-170.3,307.6,-11.7,490,2841,0.00,1.88,0.00,0.000,4,0.000,0.050,2515,213,3562
$GC,2962,-0.74,-170.3,323.0,-12.2,501,2965,0.00,1.83,0.00,0.000,6,0.000,0.033,2516,1484,3562
$GC,3291,-0.82,-170.3,351.6,-7.0,532,3296,0.15,2.08,0.00,0.000,4,0.067,0.044,2441,2890,3561
$GC,3319,-0.72,-170.3,354.4,-10.1,534,3324,0.17,2.05,0.00,0.000,6,0.150,0.035,2493,1478,3560
$GC,3643,-0.72,-170.3,382.7,-8.4,564,3646,0.00,1.90,0.00,0.000,4,0.000,0.051,2493,201,3559
$GC,3681,-0.66,-170.3,386.3,-9.4,567,3687,0.00,1.88,0.00,0.000,6,0.000,0.033,2491,1481,3559
$GC,4005,-0.66,-170.3,419.2,-10.3,598,4009,0.00,2.08,0.00,0.000,4,0.000,0.047,2489,2886,3557
$GC,4178,-0.77,-170.3,435.5,-9.8,613,4184,0.00,2.03,0.00,0.000,6,0.000,0.038,2491,1504,3557
$GC,4502,-0.77,-170.3,463.5,-8.7,644,4506,0.00,1.95,0.00,0.000,4,0.000,0.053,2491,200,3555
$GC,4649,-0.77,-170.3,476.4,-7.8,657,4653,0.00,1.88,0.00,0.000,6,0.000,0.035,2489,1496,3555
$GC,4989,-0.82,-170.3,503.0,-7.3,687,4992,0.00,1.95,0.00,0.000,4,0.000,0.053,2489,201,3553
$GC,5044,-0.82,-170.3,507.5,-8.3,689,5048,0.00,1.88,0.00,0.000,6,0.000,0.035,2488,1477,3552
$GC,5366,-0.90,-170.3,532.5,-7.9,705,5368,0.12,0.00,0.00,0.000,6,0.076,0.000,2430,1478,3550
$STATE,5507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5507,begin apogee
$GC,5511,-0.20,0.0,547.9,11.4,712,5651,0.75,0.00,135.95,1.135,6,0.141,0.000,2668,1798,2863
$STATE,5652,end apogee,CONTROL_FINISHED_OK
$STATE,5652,begin climb
$GC,5653,0.88,170.3,552.9,0.0,719,5800,1.00,2.38,139.62,1.096,4,0.061,0.053,3035,386,2167
$GC,5941,0.35,170.3,514.7,18.9,732,5946,0.68,2.15,0.00,0.000,6,0.170,0.043,2845,1788,2163
$GC,6267,0.56,214.8,485.9,8.2,755,6312,0.20,2.28,36.67,1.075,4,0.057,0.054,2948,388,1986
$GC,6447,0.39,214.8,459.0,17.1,771,6452,0.30,2.12,0.00,0.000,6,0.150,0.040,2864,1780,1982
$GC,6772,0.58,243.1,429.8,8.9,801,6805,0.17,2.22,23.65,1.048,4,0.061,0.053,2950,389,1869
$GC,6918,0.44,243.1,410.3,14.1,814,6922,0.28,2.08,0.00,0.000,6,0.149,0.041,2872,1760,1866
$GC,7248,0.70,310.4,383.4,7.4,845,7314,0.20,2.35,56.17,1.039,4,0.058,0.051,2967,3197,1595
$GC,7330,0.53,310.4,371.8,16.4,852,7339,0.22,2.25,0.00,0.000,6,0.159,0.040,2911,1764,1593
$GC,7655,0.61,310.4,331.0,11.6,883,7659,0.00,2.15,0.00,0.000,4,0.000,0.053,2919,370,1589
$GC,7727,0.68,310.4,323.1,11.4,889,7734,0.00,2.12,0.00,0.000,6,0.000,0.039,2919,1765,1588
$GC,8058,0.68,310.4,279.5,14.8,932,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1766,1587
$GC,8403,0.74,310.4,235.9,12.0,993,8409,0.15,2.12,0.00,0.000,4,0.065,0.057,3001,376,1586
$GC,8561,0.48,310.4,207.7,19.7,1021,8568,0.38,2.08,0.00,0.000,6,0.153,0.041,2891,1776,1586
$GC,8905,0.73,327.5,172.9,9.3,1082,8926,0.20,2.20,13.82,0.851,4,0.054,0.050,3002,378,1526
$GC,9013,0.60,327.5,153.0,19.7,1100,9021,0.28,2.05,0.00,0.000,6,0.147,0.037,2923,1771,1525
$GC,9359,1.00,410.5,124.2,6.7,1161,9437,0.32,2.20,69.40,0.828,4,0.044,0.046,3080,373,1188
$GC,9460,0.73,410.5,107.2,19.4,1177,9467,0.40,2.10,0.00,0.000,6,0.156,0.035,2966,1769,1185
$GC,9806,0.87,410.5,68.8,11.2,1238,9813,0.15,2.12,0.00,0.000,4,0.060,0.044,3039,3187,1182
$GC,9905,0.72,410.5,53.0,18.0,1255,9912,0.28,2.08,0.00,0.000,6,0.153,0.035,2970,1774,1181
$GC,10249,1.07,460.2,17.0,8.0,1316,10300,0.25,2.20,41.45,0.717,4,0.044,0.048,3108,376,985
$STATE,10334,end climb,SURFACE_DEPTH_REACHED
$STATE,10335,begin surface coast
$FINISH,1.0,1.022504
$STATE,10346,end surface coast,CONTROL_FINISHED_OK
$STATE,10346,begin surface
$SM_CCo,10422,0.00,0.000,0,0,980,461.90
$SM_GC,1.81,8.10,0.00,0.00,0.051,0.000,0.000,164,1511,980,-8.02,0.74,461.90
$IRIDIUM_FIX,2510.35,12232.66,180898,222245
$TT8_MAMPS,0.026845
$HUMID,1490
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,23.30
$XPDR_PINGS,136
$ALTIM_BOTTOM_PING,475.2,97.5
$24V_AH,24.1,7.596
$10V_AH,10.7,4.114
$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,26.000,90.500,516.750,0.000,0.000,50.734,68.393,222.173,37.250,0.000,0.000,16.010,2270.669,4974.108,599.132,2602.734,472.580,0.000,1737.306,0.000,2586.714,0.000,24.433,0.000
$DEVICE_MAMPS,246.974,62.127,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,905.659,1002.619,1690.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75868,1332
$CAP_FILE_SIZE,126913,0
$CFSIZE,260165632,233562112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.242,343.2,1
$GPS,250509,012104,2522.797,12232.992,13,99.0,32,-3.7