version: 66.04
glider: 166
mission: 2
dive: 496
start: 8 17 109 0 16 43
data:
$ID,166
$MISSION,2
$DIVE,496
$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,390
$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,250
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17213.994
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$R_STBD_OVSHOOT,105
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,2
$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
$GPS1,001144,2418.214,12251.517,12,1.3,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.2
$GPS2,001625,2418.339,12251.496,9,1.3,15,-3.4
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,321.3,103943,-13.9,-10.000
$D_GRID,675
$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,-1.11,-243.4,0.0,0.0,0,99,0.00,0.00,-80.82,0.000,2,0.000,0.000,166,2042,2255
$GC,102,-1.11,-243.4,3.2,-6.6,12,161,8.60,1.98,-42.65,0.000,4,0.219,0.046,2384,673,3939
$GC,417,-1.11,-243.4,123.9,-36.7,66,424,0.00,1.95,0.00,0.000,6,0.000,0.028,2377,2020,3939
$GC,763,-1.11,-243.4,231.4,-32.4,127,768,0.00,1.95,0.00,0.000,4,0.000,0.032,2380,669,3940
$GC,994,-1.11,-243.4,299.5,-25.5,167,1005,0.15,1.98,0.00,0.000,6,0.174,0.028,2404,2053,3940
$GC,1320,-1.11,-243.4,379.1,-28.3,198,1324,0.00,2.00,0.00,0.000,4,0.000,0.035,2388,681,3938
$GC,1461,-1.11,-243.4,416.2,-24.4,210,1465,0.00,1.95,0.00,0.000,6,0.000,0.031,2383,2032,3937
$GC,1793,-1.11,-243.4,485.3,-20.7,241,1796,0.00,2.00,0.00,0.000,4,0.000,0.036,2380,672,3934
$GC,1883,-1.11,-243.4,506.2,-22.0,248,1887,0.00,1.95,0.00,0.000,6,0.000,0.035,2375,2000,3933
$GC,2220,-1.11,-243.4,582.4,-23.7,264,2223,0.00,1.95,0.00,0.000,4,0.000,0.041,2374,688,3929
$GC,2298,-1.11,-243.4,601.2,-22.7,267,2302,0.00,1.90,0.00,0.000,6,0.000,0.037,2366,1975,3928
$GC,2622,-1.11,-243.4,668.0,-20.5,283,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1977,3924
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2673,-0.29,0.0,676.4,20.1,285,2873,0.90,0.00,195.88,1.168,6,0.135,0.000,2648,1709,2945
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2874,begin climb
$GC,2877,1.11,243.4,691.5,0.0,295,3087,1.25,2.28,196.77,1.134,4,0.078,0.048,3110,294,1951
$GC,3109,1.11,243.4,674.2,13.7,305,3113,0.00,2.10,0.00,0.000,6,0.000,0.035,3110,1697,1948
$GC,3433,1.11,243.4,623.2,16.9,321,3437,0.00,2.12,0.00,0.000,4,0.000,0.047,3111,3102,1940
$GC,3695,1.11,243.4,575.9,18.1,332,3699,0.00,2.05,0.00,0.000,6,0.000,0.038,3123,1720,1936
$GC,4018,1.11,243.4,518.2,18.2,348,4022,0.00,2.10,0.00,0.000,4,0.000,0.048,3123,3108,1934
$GC,4248,1.11,243.4,478.8,16.7,363,4254,0.00,2.05,0.00,0.000,6,0.000,0.038,3134,1724,1931
$GC,4577,1.11,243.4,427.8,16.6,394,4580,0.00,2.10,0.00,0.000,4,0.000,0.048,3134,3106,1930
$GC,4668,1.11,243.4,409.6,20.9,402,4672,0.15,2.03,0.00,0.000,6,0.169,0.038,3106,1743,1928
$GC,4998,1.11,243.4,351.5,15.7,433,5002,0.00,2.08,0.00,0.000,4,0.000,0.048,3102,3105,1927
$GC,5146,1.11,243.4,330.4,13.7,446,5149,0.00,2.00,0.00,0.000,6,0.000,0.038,3109,1751,1926
$GC,5479,1.11,243.4,279.2,16.5,487,5485,0.00,2.05,0.00,0.000,4,0.000,0.047,3109,3099,1925
$GC,5576,1.11,243.4,262.7,16.3,504,5582,0.00,2.00,0.00,0.000,6,0.000,0.036,3118,1769,1924
$GC,5922,1.11,243.4,219.4,11.2,565,5929,0.00,2.03,0.00,0.000,4,0.000,0.045,3119,3106,1925
$GC,6083,1.11,243.4,201.8,11.5,593,6090,0.00,1.95,0.00,0.000,6,0.000,0.035,3127,1784,1924
$GC,6432,1.16,282.4,153.0,8.9,654,6469,0.00,2.35,29.38,0.823,4,0.000,0.048,3139,295,1792
$GC,6507,1.16,282.4,145.7,10.5,666,6513,0.00,2.22,0.00,0.000,6,0.000,0.034,3139,1789,1791
$GC,6852,1.16,282.4,104.4,11.9,727,6858,0.00,1.98,0.00,0.000,4,0.000,0.041,3139,3100,1789
$GC,7112,1.43,505.0,85.1,3.8,773,7305,0.10,1.98,182.90,0.732,6,0.031,0.032,3228,1766,885
$GC,7646,1.43,505.0,4.7,15.2,863,7652,0.00,2.03,0.00,0.000,4,0.000,0.038,3236,3123,884
$STATE,7657,end climb,SURFACE_DEPTH_REACHED
$STATE,7657,begin surface coast
$FINISH,0.9,0.995682
$STATE,7675,end surface coast,CONTROL_FINISHED_OK
$STATE,7675,begin surface
$SM_CCo,7756,0.00,0.000,0,0,881,506.30
$SM_GC,1.82,8.10,0.00,0.00,0.040,0.000,0.000,157,2062,881,-8.06,0.03,506.30
$IRIDIUM_FIX,2411.01,12248.94,111198,000054
$TT8_MAMPS,0.026845
$HUMID,1921
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,24.80
$XPDR_PINGS,116
$24V_AH,23.6,110.807
$10V_AH,10.7,72.482
$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,19.250,61.050,604.925,0.000,0.000,0.000,0.000,0.000,34.250,0.000,0.000,15.255,1450.589,3506.003,605.556,2052.095,211.205,0.000,1472.689,0.000,2030.040,0.000,37.373,0.000
$DEVICE_MAMPS,219.362,48.321,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.860,640.082,1311.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47458,868
$CAP_FILE_SIZE,93181,0
$CFSIZE,260165632,194179072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.389,  4.4,1
$GPS,170809,022706,2420.177,12250.481,30,0.9,31,-3.4