version: 66.04
glider: 166
mission: 2
dive: 540
start: 8 24 109 19 38 11
data:
$ID,166
$MISSION,2
$DIVE,540
$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,-18022.41
$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,44
$R_STBD_OVSHOOT,55
$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
$GPS1,192414,2513.416,12224.971,13,1.7,14,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.9
$GPS2,193750,2513.684,12225.258,14,1.7,14,-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,335.3,20962,-13.9,-10.000
$D_GRID,521
$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,13,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,74,0.00,0.00,-55.15,0.000,2,0.000,0.000,161,2084,2094
$GC,79,-0.93,-243.4,3.1,-4.2,9,151,9.15,2.20,-53.08,0.000,4,0.210,0.057,2505,3459,3939
$GC,210,-0.63,-243.4,28.8,-25.3,30,218,0.38,2.05,0.00,0.000,6,0.127,0.029,2620,2045,3941
$GC,559,-0.63,-243.4,72.1,-13.2,91,566,0.00,2.05,0.00,0.000,4,0.000,0.038,2619,660,3942
$GC,739,-0.73,-243.4,91.5,-9.8,122,747,0.00,2.05,0.00,0.000,6,0.000,0.031,2618,2062,3942
$GC,1087,-0.83,-243.4,119.0,-9.4,183,1093,0.17,2.12,0.00,0.000,4,0.054,0.044,2519,3464,3942
$GC,1175,-0.68,-243.4,133.4,-17.8,198,1184,0.22,2.08,0.00,0.000,6,0.115,0.028,2595,2053,3942
$GC,1526,-0.75,-243.4,162.2,-6.2,259,1532,0.00,2.05,0.00,0.000,4,0.000,0.040,2595,677,3941
$GC,1654,-0.83,-243.4,172.4,-8.4,281,1661,0.12,2.05,0.00,0.000,6,0.063,0.033,2528,2069,3941
$GC,2000,-0.72,-243.4,223.7,-17.1,342,2007,0.17,0.00,0.00,0.000,6,0.131,0.000,2585,2069,3939
$GC,2347,-0.79,-243.4,259.1,-8.1,403,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2069,3938
$GC,2692,-0.88,-243.4,291.1,-9.6,464,2699,0.15,0.00,0.00,0.000,6,0.058,0.000,2504,2069,3937
$GC,3022,-0.75,-243.4,338.5,-15.1,500,3027,0.22,2.15,0.00,0.000,4,0.122,0.043,2577,681,3934
$GC,3077,-0.83,-243.4,345.3,-10.3,504,3084,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,2050,3934
$GC,3405,-0.91,-243.4,379.9,-10.2,535,3406,0.15,0.00,0.00,0.000,6,0.059,0.000,2493,2051,3932
$GC,3722,-0.79,-243.4,426.6,-14.3,565,3727,0.20,2.15,0.00,0.000,4,0.126,0.044,2560,673,3930
$GC,3791,-0.84,-243.4,432.8,-7.2,570,3799,0.00,2.12,0.00,0.000,6,0.000,0.038,2559,2053,3929
$GC,4117,-0.90,-243.4,452.4,-6.1,601,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2053,3927
$GC,4440,-0.98,-243.4,473.7,-8.0,631,4446,0.15,0.00,0.00,0.000,6,0.058,0.000,2475,2053,3924
$GC,4766,-0.83,-243.4,520.5,-13.5,655,4771,0.22,2.03,0.00,0.000,3,0.130,0.045,2547,754,3923
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4781,-0.23,0.0,522.1,13.1,655,4979,0.57,0.00,194.95,1.095,6,0.103,0.000,2742,1704,2945
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,0.93,243.4,531.7,0.0,665,5193,1.00,2.22,198.38,1.062,4,0.042,0.050,3133,3094,1950
$GC,5295,0.55,243.4,500.4,17.6,679,5300,0.50,2.10,0.00,0.000,6,0.153,0.038,2998,1723,1946
$GC,5627,0.66,364.5,475.8,6.7,710,5739,0.10,2.25,102.78,1.042,4,0.079,0.051,3048,3093,1458
$GC,5894,0.54,364.5,438.6,15.1,733,5902,0.22,2.12,0.00,0.000,6,0.137,0.038,2993,1690,1455
$GC,6219,0.59,364.5,405.8,10.2,764,6223,0.00,2.20,0.00,0.000,4,0.000,0.049,2993,3102,1453
$GC,6473,0.64,381.7,381.0,9.5,786,6493,0.00,2.08,15.38,0.965,6,0.000,0.038,3000,1733,1388
$GC,6821,0.69,381.7,345.7,10.9,819,6826,0.12,2.12,0.00,0.000,4,0.065,0.050,3071,3093,1386
$GC,6928,0.56,381.7,328.6,16.3,828,6936,0.28,2.03,0.00,0.000,6,0.136,0.038,2999,1743,1386
$GC,7258,0.65,414.6,296.5,9.1,862,7295,0.00,2.17,29.73,0.952,4,0.000,0.055,2998,3094,1254
$GC,7377,0.72,424.1,285.2,9.7,882,7396,0.12,2.03,9.77,0.844,6,0.061,0.036,3073,1749,1216
$GC,7736,0.61,424.1,229.3,17.9,945,7743,0.17,2.10,0.00,0.000,4,0.139,0.047,3014,3099,1214
$GC,7854,0.65,424.1,212.9,13.5,965,7861,0.00,1.98,0.00,0.000,6,0.000,0.036,3021,1790,1215
$GC,8201,0.65,424.1,166.9,12.3,1026,8207,0.00,2.03,0.00,0.000,4,0.000,0.047,3021,3102,1214
$GC,8395,0.69,424.1,142.3,11.8,1060,8401,0.00,1.98,0.00,0.000,6,0.000,0.035,3030,1805,1214
$GC,8742,0.73,424.1,104.5,11.5,1121,8749,0.00,2.03,0.00,0.000,4,0.000,0.044,3030,3120,1214
$GC,8791,0.76,424.1,99.0,11.2,1129,8799,0.00,2.00,0.00,0.000,6,0.000,0.035,3039,1805,1214
$GC,9140,0.92,485.4,66.0,8.3,1190,9199,0.17,2.10,53.35,0.779,4,0.051,0.044,3148,3097,965
$GC,9456,0.76,485.4,18.0,18.2,1244,9463,0.22,1.95,0.00,0.000,6,0.120,0.034,3065,1814,964
$STATE,9628,end climb,SURFACE_DEPTH_REACHED
$STATE,9628,begin surface coast
$FINISH,1.0,1.007601
$STATE,9673,end surface coast,CONTROL_FINISHED_OK
$STATE,9674,begin surface
$SM_CCo,9754,0.00,0.000,0,0,958,486.92
$SM_GC,2.09,7.62,0.00,0.00,0.038,0.000,0.000,153,2093,958,-8.27,0.88,486.92
$IRIDIUM_FIX,2505.59,12222.79,181198,191943
$TT8_MAMPS,0.026845
$HUMID,1793
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,22.70
$XPDR_PINGS,170
$24V_AH,23.7,122.686
$10V_AH,10.6,78.905
$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,22.450,66.475,604.325,0.000,0.000,73.543,101.792,350.240,45.750,0.000,0.000,14.262,2142.379,4344.598,660.011,2508.335,907.902,0.000,1752.252,0.000,2497.592,0.000,22.708,0.000
$DEVICE_MAMPS,210.158,56.758,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,870.302,970.698,1639.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72652,1282
$CAP_FILE_SIZE,117349,0
$CFSIZE,260165632,190488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.323,126.8,1
$GPS,240809,222201,2513.587,12225.488,37,1.2,37,-3.6