version: 66.04
glider: 166
mission: 2
dive: 542
start: 8 25 109 1 28 29
data:
$ID,166
$MISSION,2
$DIVE,542
$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,-18053.182
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,012104,2513.868,12224.615,13,2.4,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.1
$GPS2,012808,2513.700,12224.734,12,1.0,12,-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,2.0,20931,-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,12,begin dive
$GC,15,-0.93,-243.4,0.0,0.0,0,76,0.00,0.00,-58.65,0.000,2,0.000,0.000,176,2096,2218
$GC,81,-0.93,-243.4,3.2,-3.9,9,146,9.10,2.20,-48.38,0.000,4,0.211,0.053,2503,651,3938
$GC,193,-0.48,-243.4,27.4,-31.1,27,201,0.50,2.12,0.00,0.000,6,0.137,0.035,2663,2050,3939
$GC,543,-0.59,-243.4,57.5,-5.0,88,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2051,3941
$GC,888,-0.79,-243.4,78.2,-6.5,149,895,0.25,2.15,0.00,0.000,4,0.044,0.042,2521,3472,3942
$GC,959,-0.61,-243.4,88.6,-19.0,161,966,0.32,2.10,0.00,0.000,6,0.119,0.028,2622,2019,3942
$GC,1307,-0.74,-243.4,125.6,-5.6,222,1314,0.12,2.03,0.00,0.000,4,0.062,0.038,2550,659,3943
$GC,1449,-0.70,-243.4,141.3,-11.7,246,1456,0.17,2.03,0.00,0.000,6,0.127,0.033,2600,2030,3943
$GC,1796,-0.80,-243.4,166.8,-8.3,307,1804,0.12,2.20,0.00,0.000,4,0.061,0.046,2519,3466,3943
$GC,1823,-0.80,-243.4,169.6,-9.1,311,1832,0.10,2.15,0.00,0.000,6,0.116,0.028,2556,2014,3943
$GC,2172,-0.80,-243.4,211.4,-10.1,372,2178,0.00,2.03,0.00,0.000,4,0.000,0.041,2556,666,3943
$GC,2303,-0.80,-243.4,224.7,-11.4,395,2315,0.00,2.03,0.00,0.000,6,0.000,0.035,2556,2016,3943
$GC,2657,-0.80,-243.4,264.7,-10.1,456,2663,0.00,2.05,0.00,0.000,4,0.000,0.043,2556,673,3941
$GC,2715,-0.80,-243.4,270.6,-9.6,466,2722,0.00,2.03,0.00,0.000,6,0.000,0.036,2555,2000,3941
$GC,3067,-0.83,-243.4,301.2,-10.0,527,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2001,3939
$GC,3389,-0.86,-243.4,341.3,-13.7,557,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2001,3938
$GC,3718,-0.91,-243.4,386.7,-13.1,588,3722,0.00,2.30,0.00,0.000,4,0.000,0.053,2547,3466,3936
$GC,3782,-0.91,-243.4,394.9,-12.7,593,3786,0.00,2.17,0.00,0.000,6,0.000,0.033,2547,2016,3935
$GC,4113,-0.91,-243.4,429.3,-8.5,624,4117,0.00,2.08,0.00,0.000,4,0.000,0.046,2548,664,3934
$GC,4143,-0.91,-243.4,432.1,-9.7,626,4149,0.00,2.05,0.00,0.000,6,0.000,0.041,2545,2014,3933
$GC,4473,-0.91,-243.4,461.9,-9.9,657,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2014,3931
$GC,4802,-0.91,-243.4,504.3,-16.1,687,4806,0.00,2.10,0.00,0.000,4,0.000,0.048,2546,662,3929
$GC,4871,-0.95,-243.4,515.7,-15.3,690,4875,0.00,2.10,0.00,0.000,6,0.000,0.045,2546,2009,3928
$STATE,4912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4912,begin apogee
$GC,4920,-0.23,0.0,521.7,13.3,692,5121,0.60,0.00,197.15,1.109,6,0.099,0.000,2748,1688,2945
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5126,0.93,243.4,549.1,0.0,702,5333,1.02,2.30,200.00,1.085,4,0.043,0.056,3140,3099,1951
$GC,5540,0.55,243.4,518.6,16.6,721,5545,0.52,2.15,0.00,0.000,6,0.157,0.041,3000,1692,1945
$GC,5857,0.62,337.3,495.4,7.4,738,5946,0.00,2.33,80.55,1.064,4,0.000,0.052,3000,3103,1568
$GC,6025,0.62,337.3,480.1,10.4,752,6031,0.00,2.15,0.00,0.000,6,0.000,0.038,3008,1687,1566
$GC,6355,0.67,381.2,445.6,8.8,783,6401,0.00,2.25,38.60,1.036,4,0.000,0.051,3008,3103,1390
$GC,6599,0.64,381.2,410.3,15.3,804,6606,0.00,2.10,0.00,0.000,6,0.000,0.039,3018,1719,1387
$GC,6929,0.64,381.2,366.9,11.6,835,6933,0.00,2.17,0.00,0.000,4,0.000,0.050,3018,3111,1386
$GC,7124,0.60,381.2,342.7,12.5,852,7128,0.00,2.10,0.00,0.000,6,0.000,0.044,3028,1735,1386
$GC,7461,0.56,381.2,300.4,13.8,883,7465,0.00,2.15,0.00,0.000,4,0.000,0.049,3028,3111,1385
$GC,7699,0.50,381.2,261.6,16.3,924,7706,0.20,2.05,0.00,0.000,6,0.130,0.038,2979,1750,1385
$GC,8048,0.83,552.4,228.8,5.3,985,8206,0.25,2.17,148.55,0.911,4,0.046,0.049,3113,3105,690
$GC,8312,0.64,552.4,177.9,24.0,1029,8319,0.32,2.05,0.00,0.000,6,0.133,0.038,3026,1753,689
$GC,8660,0.72,557.3,128.2,9.9,1090,8670,0.00,2.17,4.55,0.588,4,0.000,0.048,3027,3111,673
$GC,8822,0.99,656.2,115.0,7.3,1117,8875,0.28,2.03,47.30,0.815,6,0.039,0.036,3168,1757,455
$GC,9220,0.89,656.2,27.3,16.8,1185,9227,0.17,2.08,0.03,0.202,4,0.135,0.044,3109,3103,452
$GC,9356,1.02,656.2,9.5,11.7,1208,9362,0.00,1.92,0.00,0.000,6,0.000,0.035,3116,1837,452
$STATE,9418,end climb,SURFACE_DEPTH_REACHED
$STATE,9418,begin surface coast
$FINISH,1.1,0.997706
$STATE,9452,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9533,0.00,0.000,0,0,450,612.02
$SM_GC,1.85,7.70,0.00,0.00,0.032,0.000,0.000,145,2099,450,-8.29,1.07,612.02
$IRIDIUM_FIX,2458.45,12617.92,181198,222234
$TT8_MAMPS,0.026845
$HUMID,1836
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,21.40
$XPDR_PINGS,152
$24V_AH,23.8,123.107
$10V_AH,10.6,79.162
$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,21.775,72.900,716.725,0.000,0.000,23.609,32.785,200.122,41.250,0.000,0.000,13.006,2026.661,4134.996,755.211,2388.544,639.717,0.000,1822.431,0.000,2384.399,0.000,25.229,0.000
$DEVICE_MAMPS,210.925,55.991,1109.082,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,830.829,917.650,1546.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69613,1225
$CAP_FILE_SIZE,108688,0
$CFSIZE,260165632,190357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,317.6,1
$GPS,250809,040837,2515.698,12223.493,36,1.0,36,-3.6