version: 66.04
glider: 166
mission: 2
dive: 337
start: 7 15 109 19 31 12
data:
$ID,166
$MISSION,2
$DIVE,337
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,450
$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,-11978.748
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,191258,2441.191,12426.530,14,3.9,33,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.2
$GPS2,193052,2441.077,12426.564,13,3.1,32,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2458.000,12430.000
$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,329.1,31868,-13.7,-7.990
$D_GRID,604
$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,15,-1.01,-170.3,0.0,0.0,0,74,0.00,0.00,-57.12,0.000,2,0.000,0.000,170,1653,2439
$GC,77,-1.01,-170.3,3.3,-4.6,9,125,9.23,2.10,-32.17,0.000,4,0.232,0.051,2447,282,3642
$GC,347,-1.01,-170.3,56.9,-20.9,55,355,0.00,2.00,0.00,0.000,6,0.000,0.025,2447,1675,3642
$GC,693,-1.01,-170.3,116.1,-14.7,116,700,0.00,2.05,0.00,0.000,4,0.000,0.036,2447,3065,3642
$GC,723,-1.01,-170.3,120.4,-14.1,121,730,0.00,2.00,0.00,0.000,6,0.000,0.028,2447,1683,3642
$GC,1068,-1.01,-170.3,168.6,-14.5,182,1074,0.00,2.03,0.00,0.000,4,0.000,0.037,2447,3066,3642
$GC,1149,-1.01,-170.3,178.7,-11.6,196,1155,0.00,2.03,0.00,0.000,6,0.000,0.028,2445,1644,3642
$GC,1494,-1.01,-170.3,217.4,-11.9,257,1500,0.00,2.03,0.00,0.000,4,0.000,0.041,2440,270,3642
$GC,1523,-1.01,-170.3,221.0,-12.1,262,1530,0.00,2.03,0.00,0.000,6,0.000,0.026,2431,1677,3642
$GC,1868,-1.01,-170.3,261.1,-10.8,323,1875,0.00,2.03,0.00,0.000,4,0.000,0.038,2428,3065,3642
$GC,1929,-1.01,-170.3,267.3,-10.6,333,1935,0.00,2.00,0.00,0.000,6,0.000,0.029,2429,1670,3642
$GC,2270,-1.01,-170.3,305.7,-12.2,390,2273,0.00,2.08,0.00,0.000,4,0.000,0.043,2427,270,3642
$GC,2305,-1.01,-170.3,310.2,-14.0,393,2308,0.00,2.00,0.00,0.000,6,0.000,0.026,2431,1676,3642
$GC,2637,-1.01,-170.3,349.8,-11.9,424,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1676,3641
$GC,2955,-1.01,-170.3,384.7,-10.8,454,2959,0.00,2.12,0.00,0.000,4,0.000,0.045,2429,267,3639
$GC,2994,-1.01,-170.3,389.7,-12.5,457,3000,0.00,2.03,0.00,0.000,6,0.000,0.028,2429,1677,3638
$GC,3319,-1.01,-170.3,423.9,-10.4,488,3323,0.00,2.05,0.00,0.000,4,0.000,0.041,2435,3063,3636
$GC,3346,-1.01,-170.3,427.0,-10.5,490,3353,0.00,2.05,0.00,0.000,6,0.000,0.032,2434,1676,3637
$GC,3673,-1.01,-170.3,460.9,-10.0,521,3677,0.00,2.12,0.00,0.000,4,0.000,0.048,2435,264,3635
$GC,3709,-1.01,-170.3,464.8,-11.1,524,3713,0.00,2.05,0.00,0.000,6,0.000,0.029,2430,1683,3634
$GC,4041,-1.01,-170.3,495.6,-9.0,555,4045,0.00,2.08,0.00,0.000,4,0.000,0.044,2425,3076,3632
$GC,4064,-1.01,-170.3,497.9,-9.2,557,4068,0.00,2.05,0.00,0.000,6,0.000,0.034,2426,1672,3631
$STATE,4105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4105,begin apogee
$GC,4112,-0.29,0.0,501.8,9.3,560,4251,0.77,0.00,135.82,1.035,6,0.104,0.000,2687,1340,2945
$STATE,4252,end apogee,CONTROL_FINISHED_OK
$STATE,4252,begin climb
$GC,4255,1.01,170.3,509.1,0.0,567,4399,1.10,2.25,135.05,1.015,4,0.047,0.041,3125,2752,2249
$GC,4480,1.01,170.3,496.5,11.2,578,4486,0.00,2.15,0.00,0.000,6,0.000,0.040,3135,1353,2247
$GC,4808,1.01,170.3,459.5,11.5,609,4812,0.00,2.10,0.00,0.000,4,0.000,0.041,3135,2759,2244
$GC,5033,1.01,170.3,436.4,9.4,629,5038,0.15,2.12,0.00,0.000,6,0.183,0.040,3108,1335,2242
$GC,5359,1.02,171.9,410.4,7.9,659,5363,0.00,2.12,0.00,0.000,4,0.000,0.042,3107,2761,2238
$GC,5521,1.02,171.9,395.6,9.7,673,5528,0.00,2.12,0.00,0.000,6,0.000,0.040,3115,1342,2237
$GC,5849,1.03,183.0,370.7,7.6,704,5865,0.00,2.15,9.12,0.880,4,0.000,0.048,3115,2744,2198
$GC,5910,1.03,183.0,364.9,9.4,709,5916,0.00,2.10,0.00,0.000,6,0.000,0.040,3125,1343,2198
$GC,6237,1.06,206.1,338.6,7.3,740,6262,0.00,1.80,20.55,0.944,4,0.000,0.053,3134,201,2103
$GC,6427,1.06,206.1,321.1,9.3,757,6431,0.00,1.67,0.00,0.000,6,0.000,0.033,3134,1362,2101
$GC,6758,1.06,206.1,291.2,8.1,796,6764,0.00,2.05,0.00,0.000,4,0.000,0.040,3134,2753,2099
$GC,6889,1.08,225.7,281.3,7.4,819,6914,0.00,2.10,17.05,0.887,6,0.000,0.038,3142,1340,2023
$GC,7254,1.08,225.7,250.6,8.5,883,7260,0.00,1.73,0.00,0.000,4,0.000,0.050,3152,195,2020
$GC,7353,1.10,238.9,242.7,7.6,900,7372,0.00,1.70,11.82,0.822,6,0.000,0.032,3152,1360,1971
$GC,7710,1.15,278.9,212.8,6.7,963,7749,0.00,2.12,33.83,0.851,4,0.000,0.038,3152,2734,1806
$GC,7998,1.15,278.9,184.0,10.7,1013,8004,0.00,2.08,0.00,0.000,6,0.000,0.036,3162,1333,1803
$GC,8343,1.15,278.9,153.6,8.9,1074,8349,0.00,2.08,0.00,0.000,4,0.000,0.037,3162,2744,1802
$GC,8468,1.15,278.9,142.5,8.8,1096,8475,0.00,2.10,0.00,0.000,6,0.000,0.036,3172,1343,1802
$GC,8814,1.19,316.7,116.4,6.8,1157,8852,0.00,2.10,32.12,0.760,4,0.000,0.035,3172,2750,1652
$GC,8882,1.19,316.7,111.2,8.3,1168,8889,0.00,2.12,0.00,0.000,6,0.000,0.035,3182,1347,1651
$GC,9227,1.20,320.1,82.9,7.9,1229,9241,0.00,2.10,4.15,0.472,4,0.000,0.034,3182,2743,1639
$GC,9320,1.20,320.1,75.4,8.0,1245,9327,0.00,2.08,0.00,0.000,6,0.000,0.034,3192,1351,1639
$GC,9666,1.22,335.4,50.1,7.5,1306,9686,0.00,2.05,14.65,0.653,4,0.000,0.033,3192,2739,1577
$GC,9790,1.22,340.8,39.2,7.8,1327,9805,0.00,2.05,6.25,0.537,6,0.000,0.033,3198,1334,1554
$GC,10145,1.22,340.8,13.7,8.1,1389,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1334,1554
$STATE,10291,end climb,SURFACE_DEPTH_REACHED
$STATE,10291,begin surface coast
$FINISH,0.8,1.001138
$STATE,10336,end surface coast,CONTROL_FINISHED_OK
$STATE,10337,begin surface
$SM_CCo,10355,88.75,0.645,0,0,1110,450.13
$SM_GC,1.55,0.00,0.00,88.75,0.000,0.000,0.645,168,1687,1110,-8.16,0.34,450.13
$IRIDIUM_FIX,2429.95,12426.12,091098,191938
$TT8_MAMPS,0.026845
$HUMID,1550
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,26.20
$XPDR_PINGS,154
$ALTIM_BOTTOM_PING,400.8,125.2
$24V_AH,24.0,73.595
$10V_AH,10.8,47.655
$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,19.275,90.875,420.425,88.750,0.000,108.456,151.972,462.341,41.000,0.000,0.000,33.608,2386.932,4746.972,604.746,2732.436,1040.886,0.000,1760.370,0.000,2702.824,0.000,19.147,0.000
$DEVICE_MAMPS,232.401,52.923,1035.450,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,959.449,1068.721,1797.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79103,1423
$CAP_FILE_SIZE,125991,0
$CFSIZE,260165632,208220160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.474,150.1,1
$GPS,150709,222637,2439.253,12427.455,42,1.3,42,-3.7