version: 66.04
glider: 166
mission: 2
dive: 501
start: 8 17 109 12 55 5
data:
$ID,166
$MISSION,2
$DIVE,501
$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,-17299.979
$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,38
$R_STBD_OVSHOOT,65
$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
$GPS1,124830,2429.646,12248.761,33,1.5,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.6
$GPS2,125444,2429.744,12248.942,15,1.3,15,-3.5
$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,269.1,86094,-13.9,-10.000
$D_GRID,846
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.11,-243.4,0.0,0.0,0,71,0.00,0.00,-51.33,0.000,2,0.000,0.000,166,2102,2093
$GC,75,-1.11,-243.4,3.1,-6.1,8,139,8.80,2.22,-47.70,0.000,4,0.212,0.048,2383,634,3940
$GC,211,-1.11,-243.4,45.1,-39.0,30,218,0.00,2.08,0.00,0.000,6,0.000,0.031,2381,2048,3940
$GC,559,-1.11,-243.4,169.5,-37.7,91,565,0.00,2.12,0.00,0.000,4,0.000,0.040,2370,3477,3941
$GC,612,-1.11,-243.4,188.9,-35.4,100,618,0.00,2.08,0.00,0.000,6,0.000,0.027,2368,2031,3942
$GC,956,-1.11,-243.4,294.7,-31.8,161,963,0.12,2.03,0.00,0.000,4,0.175,0.034,2391,657,3943
$GC,1108,-1.11,-243.4,336.5,-25.3,176,1115,0.00,2.03,0.00,0.000,6,0.000,0.031,2380,2042,3943
$GC,1436,-1.11,-243.4,425.7,-28.5,207,1439,0.00,2.05,0.00,0.000,4,0.000,0.038,2375,669,3943
$GC,1537,-1.11,-243.4,452.6,-26.0,216,1541,0.00,2.00,0.00,0.000,6,0.000,0.034,2367,2017,3943
$GC,1867,-1.11,-243.4,537.8,-24.6,240,1871,0.00,2.03,0.00,0.000,4,0.000,0.040,2367,675,3941
$GC,1968,-1.11,-243.4,563.7,-25.1,244,1972,0.12,1.98,0.00,0.000,6,0.173,0.035,2387,2001,3940
$GC,2290,-1.11,-243.4,638.7,-23.6,260,2294,0.00,2.03,0.00,0.000,4,0.000,0.042,2386,672,3936
$GC,2425,-1.11,-243.4,671.7,-24.4,266,2429,0.00,2.00,0.00,0.000,6,0.000,0.038,2379,1998,3934
$GC,2759,-1.11,-243.4,746.2,-22.0,282,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1998,3931
$GC,3068,-1.11,-243.4,811.2,-20.2,297,3071,0.00,2.05,0.00,0.000,4,0.000,0.048,2379,672,3928
$STATE,3127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3127,begin apogee
$GC,3137,-0.29,0.0,824.2,20.9,299,3347,0.88,0.00,206.60,1.294,6,0.135,0.000,2649,1706,2945
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3348,begin climb
$GC,3351,1.11,243.4,837.2,0.0,310,3573,1.30,2.30,208.77,1.257,4,0.079,0.052,3114,317,1952
$GC,3787,1.11,243.4,782.2,16.1,329,3793,0.00,2.10,0.00,0.000,6,0.000,0.041,3114,1691,1944
$GC,4103,1.11,243.4,727.2,17.6,345,4107,0.00,2.17,0.00,0.000,4,0.000,0.052,3114,3098,1940
$GC,4360,1.11,243.4,683.1,17.1,356,4364,0.00,2.05,0.00,0.000,6,0.000,0.040,3124,1743,1937
$GC,4683,1.11,243.4,626.4,17.2,372,4686,0.00,2.12,0.00,0.000,4,0.000,0.053,3124,3102,1936
$GC,4941,1.11,243.4,579.9,18.2,383,4945,0.00,2.08,0.00,0.000,6,0.000,0.041,3132,1731,1933
$GC,5264,1.11,243.4,519.7,19.1,399,5268,0.00,2.25,0.00,0.000,4,0.000,0.053,3143,281,1932
$GC,5412,1.11,243.4,493.1,16.9,407,5417,0.15,2.30,0.00,0.000,6,0.170,0.042,3106,1776,1932
$GC,5738,1.11,243.4,444.3,14.1,437,5742,0.00,2.05,0.00,0.000,4,0.000,0.053,3105,3098,1931
$GC,5901,1.11,243.4,419.0,15.0,451,5907,0.00,1.98,0.00,0.000,6,0.000,0.039,3113,1792,1929
$GC,6231,1.11,243.4,368.6,14.8,482,6235,0.00,2.05,0.00,0.000,4,0.000,0.051,3113,3109,1929
$GC,6299,1.11,243.4,357.8,15.4,488,6303,0.00,2.00,0.00,0.000,6,0.000,0.039,3121,1791,1928
$GC,6633,1.11,243.4,310.2,14.6,519,6637,0.00,2.05,0.00,0.000,4,0.000,0.051,3121,3109,1928
$GC,6873,1.11,243.4,269.1,17.4,555,6879,0.00,2.00,0.00,0.000,6,0.000,0.038,3130,1783,1928
$GC,7217,1.11,243.4,217.3,12.8,616,7224,0.00,2.35,0.00,0.000,4,0.000,0.051,3141,267,1928
$GC,7388,1.11,243.4,194.4,12.6,646,7396,0.15,2.28,0.00,0.000,6,0.156,0.038,3101,1771,1928
$GC,7736,1.12,255.8,153.7,9.7,707,7750,0.00,2.12,7.75,0.738,4,0.000,0.046,3099,3109,1902
$GC,8006,1.20,317.4,129.9,8.3,754,8065,0.00,2.03,54.15,0.806,6,0.000,0.035,3106,1755,1650
$GC,8407,1.20,317.4,83.6,10.6,823,8413,0.00,2.08,0.00,0.000,4,0.000,0.044,3107,3110,1646
$GC,8670,1.40,481.6,60.4,5.5,869,8816,0.22,2.05,138.50,0.722,6,0.048,0.033,3221,1726,980
$STATE,9126,end climb,SURFACE_DEPTH_REACHED
$STATE,9126,begin surface coast
$FINISH,0.8,0.999685
$STATE,9151,end surface coast,CONTROL_FINISHED_OK
$STATE,9151,begin surface
$SM_CCo,9231,0.00,0.000,0,0,975,483.00
$SM_GC,1.69,8.18,0.00,0.00,0.041,0.000,0.000,149,2098,975,-8.05,1.05,483.00
$IRIDIUM_FIX,2418.11,12246.25,111198,101003
$TT8_MAMPS,0.026845
$HUMID,1737
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,24.70
$XPDR_PINGS,114
$ALTIM_BOTTOM_PING,803.3,45.1
$24V_AH,23.3,111.817
$10V_AH,10.6,72.992
$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,19.925,71.200,615.775,0.000,0.000,23.746,33.803,165.015,35.250,0.000,0.000,15.509,1637.117,4713.491,618.946,2104.369,525.673,0.000,1576.989,0.000,2067.982,0.000,48.526,0.000
$DEVICE_MAMPS,212.459,52.923,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.749,699.994,1180.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53828,951
$CAP_FILE_SIZE,93651,0
$CFSIZE,260165632,193904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.433, 18.9,1
$GPS,170809,153004,2431.293,12248.838,9,99.0,28,-3.5