version: 66.04
glider: 166
mission: 2
dive: 537
start: 8 24 109 11 46 46
data:
$ID,166
$MISSION,2
$DIVE,537
$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,-17977.736
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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
$GPS1,113836,2510.419,12226.579,34,0.8,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.6
$GPS2,114625,2510.429,12226.686,15,1.1,15,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,322.5,27132,-13.9,-10.000
$D_GRID,567
$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,16,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,78,0.00,0.00,-56.70,0.000,2,0.000,0.000,119,2096,2202
$GC,82,-0.93,-243.4,3.3,-5.5,8,146,9.52,0.00,-49.65,0.000,6,0.222,0.000,2510,2096,3939
$GC,486,-0.69,-243.4,91.7,-17.3,78,494,0.25,2.20,0.00,0.000,4,0.132,0.037,2591,641,3943
$GC,570,-0.69,-243.4,100.2,-7.1,92,576,0.00,2.08,0.00,0.000,6,0.000,0.033,2588,2045,3943
$GC,919,-0.74,-243.4,137.7,-11.2,153,925,0.00,2.12,0.00,0.000,4,0.000,0.038,2588,637,3944
$GC,1001,-0.80,-243.4,146.7,-10.6,167,1008,0.00,2.10,0.00,0.000,6,0.000,0.032,2586,2056,3944
$GC,1349,-0.87,-243.4,181.6,-9.0,228,1356,0.12,2.12,0.00,0.000,4,0.065,0.038,2518,648,3943
$GC,1383,-0.80,-243.4,185.3,-12.3,233,1390,0.15,2.08,0.00,0.000,6,0.134,0.035,2559,2043,3943
$GC,1729,-0.80,-243.4,223.4,-11.8,294,1736,0.00,2.17,0.00,0.000,4,0.000,0.048,2551,3462,3942
$GC,1807,-0.84,-243.4,232.8,-11.8,307,1814,0.00,2.10,0.00,0.000,6,0.000,0.030,2551,2029,3942
$GC,2153,-0.84,-243.4,274.2,-11.5,368,2160,0.00,2.08,0.00,0.000,4,0.000,0.041,2551,675,3940
$GC,2190,-0.84,-243.4,278.5,-11.1,374,2197,0.00,2.08,0.00,0.000,6,0.000,0.036,2547,2064,3940
$GC,2530,-0.84,-243.4,311.0,-10.2,424,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2064,3938
$GC,2852,-0.84,-243.4,344.1,-8.9,454,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2065,3936
$GC,3182,-0.84,-243.4,375.1,-9.9,485,3186,0.00,2.17,0.00,0.000,4,0.000,0.044,2546,675,3934
$GC,3285,-0.84,-243.4,386.7,-11.3,494,3288,0.00,2.10,0.00,0.000,6,0.000,0.038,2545,2051,3934
$GC,3616,-0.84,-243.4,423.8,-8.9,525,3620,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,660,3932
$GC,3674,-0.88,-243.4,428.6,-8.6,530,3678,0.00,2.12,0.00,0.000,6,0.000,0.039,2543,2048,3932
$GC,4010,-0.88,-243.4,457.7,-8.5,561,4014,0.00,2.28,0.00,0.000,4,0.000,0.062,2543,3468,3929
$GC,4086,-0.94,-243.4,464.6,-8.8,567,4090,0.00,2.12,0.00,0.000,6,0.000,0.034,2543,2048,3928
$GC,4417,-0.97,-243.4,495.0,-9.0,598,4422,0.12,2.15,0.00,0.000,4,0.064,0.046,2478,655,3928
$GC,4484,-0.84,-243.4,504.4,-14.8,602,4489,0.25,2.12,0.00,0.000,6,0.123,0.042,2550,2035,3927
$GC,4807,-0.91,-243.4,534.2,-10.3,618,4811,0.00,2.28,0.00,0.000,4,0.000,0.059,2548,3463,3925
$GC,4881,-1.00,-243.4,542.2,-10.6,621,4885,0.15,2.15,0.00,0.000,6,0.058,0.035,2475,2026,3924
$STATE,5071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5071,begin apogee
$GC,5080,-0.23,0.0,569.1,15.1,630,5282,0.85,0.00,198.10,1.151,6,0.117,0.000,2746,1696,2945
$STATE,5283,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5286,0.93,243.4,579.4,0.0,640,5498,1.00,2.30,201.70,1.116,4,0.041,0.054,3143,3101,1950
$GC,5718,0.54,243.4,519.2,18.9,658,5725,0.55,2.12,0.00,0.000,6,0.156,0.041,2996,1702,1943
$GC,6038,0.77,432.5,496.9,4.8,677,6212,0.17,2.28,163.57,1.081,4,0.061,0.053,3086,3099,1180
$GC,6464,0.61,432.5,431.3,19.9,714,6472,0.20,2.17,0.00,0.000,6,0.139,0.041,3016,1703,1177
$GC,6791,0.65,432.5,389.8,13.2,745,6795,0.00,2.22,0.00,0.000,4,0.000,0.051,3016,3112,1173
$GC,6899,0.69,432.5,375.7,12.3,754,6905,0.00,2.12,0.00,0.000,6,0.000,0.040,3021,1705,1173
$GC,7229,0.69,432.5,336.8,11.8,785,7233,0.00,2.20,0.00,0.000,4,0.000,0.051,3021,3102,1172
$GC,7359,0.69,432.5,319.2,14.2,796,7368,0.00,2.12,0.00,0.000,6,0.000,0.040,3029,1726,1173
$GC,7697,0.69,432.5,270.6,11.9,845,7703,0.00,2.17,0.00,0.000,4,0.000,0.050,3029,3108,1172
$GC,7893,0.70,443.9,250.8,9.7,879,7907,0.00,2.08,9.73,0.870,6,0.000,0.038,3038,1748,1135
$GC,8249,0.72,460.0,215.6,9.6,941,8274,0.00,2.17,16.05,0.889,4,0.000,0.050,3038,3101,1069
$GC,8402,0.72,460.0,198.0,13.3,967,8408,0.00,2.05,0.00,0.000,6,0.000,0.038,3046,1749,1068
$GC,8749,0.72,460.0,153.8,11.4,1028,8757,0.00,2.12,0.00,0.000,4,0.000,0.048,3048,3112,1068
$GC,8911,0.72,460.0,136.4,10.7,1056,8918,0.00,2.00,0.00,0.000,6,0.000,0.035,3057,1810,1068
$GC,9260,0.72,460.0,104.9,12.5,1117,9266,0.00,2.03,0.00,0.000,4,0.000,0.048,3059,3114,1067
$GC,9488,0.75,460.0,78.1,12.2,1157,9495,0.00,2.00,0.00,0.000,6,0.000,0.034,3067,1807,1067
$GC,9836,0.96,535.0,41.6,7.9,1218,9908,0.17,2.45,65.10,0.756,4,0.051,0.046,3181,291,762
$GC,9940,0.85,535.0,27.6,15.1,1234,9948,0.30,2.35,0.00,0.000,6,0.124,0.034,3091,1841,761
$STATE,10234,end climb,SURFACE_DEPTH_REACHED
$STATE,10234,begin surface coast
$FINISH,1.1,1.021427
$STATE,10280,end surface coast,CONTROL_FINISHED_OK
$STATE,10281,begin surface
$SM_CCo,10362,0.00,0.000,0,0,759,536.23
$SM_GC,1.97,7.72,0.00,0.00,0.038,0.000,0.000,147,2092,759,-8.27,0.88,536.23
$IRIDIUM_FIX,2500.82,12226.81,181198,080827
$TT8_MAMPS,0.026845
$HUMID,1746
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,22.60
$XPDR_PINGS,181
$24V_AH,23.5,122.091
$10V_AH,10.6,78.545
$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,21.550,82.550,654.250,0.000,0.000,24.157,38.652,224.407,49.000,0.000,0.000,15.213,2171.820,4668.479,692.664,2600.016,682.013,0.000,1836.562,0.000,2577.279,0.000,26.051,0.000
$DEVICE_MAMPS,222.430,62.127,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,880.130,960.531,1621.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75806,1294
$CAP_FILE_SIZE,116714,0
$CFSIZE,260165632,190672896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 18.4,1
$GPS,240809,144036,2511.714,12225.438,29,1.2,29,-3.6