version: 66.04
glider: 166
mission: 2
dive: 344
start: 7 16 109 11 3 30
data:
$ID,166
$MISSION,2
$DIVE,344
$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,-12128.321
$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,48
$R_STBD_OVSHOOT,88
$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
$GPS1,105704,2429.326,12429.504,9,99.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.1
$GPS2,110308,2429.264,12429.478,14,1.7,14,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2413.900,12429.800
$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,204.3,28460,-13.7,-7.990
$D_GRID,378
$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,16,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-53.67,0.000,2,0.000,0.000,168,1678,2350
$GC,75,-1.01,-170.3,3.3,-4.3,8,128,9.30,2.15,-34.50,0.000,4,0.238,0.053,2443,266,3641
$GC,186,-1.01,-170.3,23.4,-20.4,26,194,0.00,2.00,0.00,0.000,6,0.000,0.026,2442,1652,3642
$GC,532,-1.01,-170.3,82.6,-13.1,87,538,0.00,2.05,0.00,0.000,4,0.000,0.040,2443,266,3642
$GC,562,-1.01,-170.3,86.9,-13.5,92,568,0.00,2.03,0.00,0.000,6,0.000,0.026,2439,1693,3642
$GC,907,-1.01,-170.3,138.6,-16.3,153,913,0.00,2.03,0.00,0.000,4,0.000,0.038,2437,3062,3643
$GC,1004,-1.01,-170.3,153.1,-13.8,170,1012,0.00,2.03,0.00,0.000,6,0.000,0.028,2444,1668,3643
$GC,1352,-1.01,-170.3,198.0,-15.6,231,1359,0.00,2.05,0.00,0.000,4,0.000,0.042,2440,278,3643
$GC,1403,-1.01,-170.3,206.5,-16.4,240,1409,0.00,2.03,0.00,0.000,6,0.000,0.026,2436,1709,3644
$GC,1747,-1.01,-170.3,250.7,-11.9,301,1753,0.00,2.00,0.00,0.000,4,0.000,0.039,2430,3078,3643
$GC,1776,-1.01,-170.3,254.2,-11.6,306,1784,0.00,2.03,0.00,0.000,6,0.000,0.029,2435,1663,3643
$GC,2122,-1.01,-170.3,297.9,-13.2,367,2128,0.00,2.08,0.00,0.000,4,0.000,0.044,2435,270,3643
$GC,2150,-1.01,-170.3,302.0,-14.3,371,2156,0.00,2.03,0.00,0.000,6,0.000,0.027,2429,1686,3643
$GC,2477,-1.01,-170.3,338.8,-10.3,402,2481,0.00,2.03,0.00,0.000,4,0.000,0.039,2428,3067,3643
$GC,2582,-1.01,-170.3,351.1,-11.3,411,2588,0.00,2.03,0.00,0.000,6,0.000,0.031,2429,1665,3643
$STATE,2831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2831,begin apogee
$GC,2838,-0.29,0.0,379.1,11.6,435,2976,0.73,0.00,133.32,0.901,6,0.108,0.000,2676,1346,2945
$STATE,2976,end apogee,CONTROL_FINISHED_OK
$STATE,2976,begin climb
$GC,2979,1.01,170.3,390.3,0.0,449,3118,1.15,2.22,131.60,0.888,4,0.061,0.038,3103,2753,2249
$GC,3179,1.01,170.3,386.1,10.1,466,3186,0.00,2.12,0.00,0.000,6,0.000,0.035,3114,1361,2248
$GC,3507,1.01,170.3,353.0,9.0,497,3511,0.00,1.75,0.00,0.000,4,0.000,0.050,3124,194,2247
$GC,3591,1.01,170.3,344.9,9.1,504,3597,0.00,1.67,0.00,0.000,6,0.000,0.028,3123,1361,2246
$GC,3919,1.11,246.2,325.0,5.6,535,3988,0.00,2.10,59.65,0.868,4,0.000,0.037,3123,2732,1939
$GC,4061,1.11,246.2,313.0,10.5,547,4068,0.00,2.08,0.00,0.000,6,0.000,0.036,3133,1343,1936
$GC,4398,1.11,246.2,278.4,10.3,597,4405,0.00,2.08,0.00,0.000,4,0.000,0.037,3133,2742,1933
$GC,4440,1.11,246.2,274.0,10.4,604,4446,0.00,2.05,0.00,0.000,6,0.000,0.035,3143,1346,1933
$GC,4785,1.11,246.2,241.0,8.8,665,4791,0.00,2.05,0.00,0.000,4,0.000,0.037,3143,2738,1931
$GC,4814,1.11,246.2,238.1,9.2,670,4820,0.00,2.05,0.00,0.000,6,0.000,0.035,3153,1337,1930
$GC,5159,1.14,275.3,207.4,7.1,731,5190,0.00,1.75,23.62,0.787,4,0.000,0.048,3162,207,1822
$GC,5231,1.14,275.3,201.7,8.3,743,5238,0.00,1.62,0.00,0.000,6,0.000,0.028,3161,1362,1820
$GC,5576,1.14,275.3,170.1,9.6,804,5583,0.00,2.03,0.00,0.000,4,0.000,0.035,3161,2730,1817
$GC,5612,1.14,275.3,166.4,10.4,810,5618,0.00,2.03,0.00,0.000,6,0.000,0.035,3172,1341,1817
$GC,5957,1.14,275.3,133.2,8.9,871,5964,0.00,1.73,0.00,0.000,4,0.000,0.046,3180,200,1817
$GC,6129,1.14,275.3,118.1,8.8,901,6136,0.10,1.62,0.00,0.000,6,0.169,0.028,3151,1345,1817
$GC,6474,1.20,317.6,93.4,6.7,962,6514,0.00,2.12,35.25,0.713,4,0.000,0.034,3151,2748,1650
$GC,6550,1.20,317.6,86.7,10.1,974,6557,0.00,2.08,0.00,0.000,6,0.000,0.034,3160,1345,1649
$GC,6895,1.28,383.1,61.3,5.9,1035,6955,0.00,1.80,53.85,0.685,4,0.000,0.046,3170,198,1382
$GC,7071,1.28,389.5,48.3,7.8,1064,7084,0.00,1.65,6.55,0.531,6,0.000,0.028,3169,1357,1356
$GC,7424,1.29,395.7,20.7,7.8,1126,7438,0.00,1.73,7.15,0.529,4,0.000,0.043,3181,199,1330
$GC,7547,1.29,395.7,9.6,8.4,1147,7555,0.00,1.62,0.00,0.000,6,0.000,0.026,3180,1359,1329
$STATE,7622,end climb,SURFACE_DEPTH_REACHED
$STATE,7623,begin surface coast
$FINISH,0.7,1.008603
$STATE,7657,end surface coast,CONTROL_FINISHED_OK
$STATE,7657,begin surface
$SM_CCo,7676,43.55,0.624,0,0,1110,450.13
$SM_GC,1.38,0.00,0.00,43.55,0.000,0.000,0.624,163,1693,1110,-8.16,0.51,450.13
$IRIDIUM_FIX,2422.84,12430.02,101098,090923
$TT8_MAMPS,0.026845
$HUMID,1621
$INTERNAL_PRESSURE,10.1124
$TCM_TEMP,26.10
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,350.1,71.4
$24V_AH,24.2,74.486
$10V_AH,10.9,48.443
$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,19.175,71.325,451.000,43.550,0.000,25.520,32.877,175.186,8.250,0.000,0.000,14.793,1901.698,2927.518,570.346,2200.556,484.357,0.000,1529.506,0.000,2190.174,0.000,21.168,0.000
$DEVICE_MAMPS,237.770,52.923,901.225,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.944,930.114,1563.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66307,1166
$CAP_FILE_SIZE,94678,0
$CFSIZE,260165632,207859712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.527,174.4,1
$GPS,160709,131322,2426.667,12429.527,12,99.0,32,-3.6