version: 66.04
glider: 166
mission: 2
dive: 545
start: 8 25 109 9 15 24
data:
$ID,166
$MISSION,2
$DIVE,545
$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,-18101.148
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,090807,2517.053,12223.737,33,1.1,34,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.7
$GPS2,091502,2517.232,12223.581,14,1.2,14,-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,339.0,14581,-13.9,-10.000
$D_GRID,605
$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,16,-0.93,-243.4,0.0,0.0,0,93,0.00,0.00,-74.78,0.000,2,0.000,0.000,152,2098,2118
$GC,98,-0.93,-243.4,3.1,-4.1,12,171,9.25,2.17,-57.90,0.000,4,0.215,0.060,2505,3447,3940
$GC,426,-0.56,-243.4,77.7,-24.9,68,434,0.45,2.05,0.00,0.000,6,0.135,0.031,2640,2037,3942
$GC,777,-0.70,-243.4,110.5,-8.1,129,784,0.15,2.17,0.00,0.000,4,0.057,0.045,2555,3448,3944
$GC,815,-0.70,-243.4,114.6,-11.4,135,822,0.12,2.05,0.00,0.000,6,0.122,0.029,2593,2032,3944
$GC,1162,-0.75,-243.4,150.1,-10.4,196,1170,0.00,2.05,0.00,0.000,4,0.000,0.041,2594,660,3944
$GC,1332,-0.79,-243.4,167.6,-10.7,225,1338,0.00,2.03,0.00,0.000,6,0.000,0.035,2592,2028,3944
$GC,1680,-0.85,-243.4,202.3,-9.4,286,1687,0.15,2.20,0.00,0.000,4,0.058,0.048,2514,3465,3944
$GC,1705,-0.85,-243.4,205.2,-11.0,290,1712,0.12,2.08,0.00,0.000,6,0.133,0.030,2549,2043,3944
$GC,2052,-0.85,-243.4,247.2,-12.5,351,2058,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,660,3942
$GC,2126,-0.85,-243.4,256.1,-11.4,364,2134,0.00,2.10,0.00,0.000,6,0.000,0.036,2547,2034,3942
$GC,2478,-0.81,-243.4,291.7,-9.5,425,2484,0.00,2.22,0.00,0.000,4,0.000,0.051,2545,3466,3941
$GC,2515,-0.81,-243.4,295.2,-9.2,431,2521,0.00,2.12,0.00,0.000,6,0.000,0.031,2545,2037,3941
$GC,2844,-0.78,-243.4,336.2,-13.0,466,2847,0.00,2.10,0.00,0.000,4,0.000,0.044,2546,658,3940
$GC,2970,-0.78,-243.4,351.6,-10.7,477,2974,0.00,2.10,0.00,0.000,6,0.000,0.038,2545,2042,3939
$GC,3301,-0.78,-243.4,382.2,-10.1,508,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2042,3937
$GC,3623,-0.78,-243.4,413.3,-9.9,538,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2043,3936
$GC,3953,-0.78,-243.4,443.6,-8.9,569,3957,0.00,2.15,0.00,0.000,4,0.000,0.046,2546,656,3934
$GC,4001,-0.78,-243.4,448.4,-9.4,573,4005,0.00,2.10,0.00,0.000,6,0.000,0.039,2542,2030,3934
$GC,4332,-0.78,-243.4,479.4,-9.8,604,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2030,3933
$GC,4649,-0.78,-243.4,509.5,-10.6,630,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2030,3931
$GC,4958,-0.78,-243.4,539.4,-9.2,645,4962,0.00,2.28,0.00,0.000,4,0.000,0.058,2540,3463,3928
$GC,4999,-0.84,-243.4,544.4,-11.7,646,5006,0.00,2.15,0.00,0.000,6,0.000,0.035,2540,2018,3928
$GC,5316,-0.87,-243.4,571.5,-6.7,662,5320,0.00,2.30,0.00,0.000,4,0.000,0.056,2532,3459,3927
$GC,5396,-0.93,-243.4,577.6,-8.2,665,5402,0.00,2.15,0.00,0.000,6,0.000,0.035,2532,2029,3926
$STATE,5710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5710,begin apogee
$GC,5719,-0.23,0.0,606.3,9.3,681,5920,0.65,0.00,198.15,1.176,6,0.100,0.000,2749,1687,2945
$STATE,5921,end apogee,CONTROL_FINISHED_OK
$STATE,5921,begin climb
$GC,5925,0.93,243.4,618.0,0.0,691,6134,0.98,0.00,201.75,1.137,6,0.038,0.000,3138,1687,1950
$GC,6444,0.57,243.4,546.2,17.5,716,6448,0.43,2.25,0.00,0.000,4,0.152,0.051,3008,3097,1943
$GC,6665,0.46,243.4,524.3,11.9,726,6670,0.17,2.10,0.00,0.000,6,0.143,0.041,2969,1724,1941
$GC,6989,0.46,243.4,492.8,10.3,744,6993,0.00,2.17,0.00,0.000,4,0.000,0.053,2968,3103,1940
$GC,7220,0.47,253.6,467.7,9.7,764,7239,0.00,2.12,8.07,0.945,6,0.000,0.038,2976,1730,1911
$GC,7556,0.47,253.6,437.5,10.9,796,7560,0.00,2.15,0.00,0.000,4,0.000,0.051,2976,3098,1910
$GC,7754,0.47,253.6,413.9,11.2,813,7761,0.00,2.05,0.00,0.000,6,0.000,0.038,2986,1750,1908
$GC,8082,0.54,311.5,383.3,8.4,844,8139,0.00,2.22,50.55,1.042,4,0.000,0.051,2986,3097,1675
$GC,8333,0.69,430.0,363.9,6.7,866,8444,0.12,2.00,103.32,1.008,6,0.063,0.038,3059,1781,1192
$GC,8763,0.59,430.0,298.5,16.0,906,8770,0.17,2.10,0.00,0.000,4,0.139,0.049,3008,3097,1187
$GC,8936,0.59,430.0,277.2,11.1,936,8942,0.00,2.00,0.00,0.000,6,0.000,0.038,3016,1802,1186
$GC,9283,0.71,506.5,241.9,7.9,997,9359,0.10,2.12,66.18,0.920,4,0.074,0.050,3069,3102,880
$GC,9530,0.65,506.5,200.4,18.1,1039,9536,0.17,1.92,0.00,0.000,6,0.135,0.037,3028,1838,878
$GC,9877,0.75,536.7,156.6,9.2,1100,9909,0.10,0.00,27.00,0.838,6,0.074,0.000,3086,1837,756
$GC,10254,0.67,536.7,90.5,21.4,1165,10261,0.17,1.98,0.00,0.000,4,0.134,0.046,3029,3112,756
$GC,10519,1.29,888.6,69.7,0.3,1211,10591,0.45,1.95,64.40,0.770,6,0.028,0.035,3266,1827,455
$STATE,10771,end climb,SURFACE_DEPTH_REACHED
$STATE,10771,begin surface coast
$FINISH,1.2,0.998350
$STATE,10783,end surface coast,CONTROL_FINISHED_OK
$STATE,10783,begin surface
$SM_CCo,10864,0.00,0.000,0,0,450,612.02
$SM_GC,1.95,8.20,0.00,0.00,0.038,0.000,0.000,149,2080,450,-8.28,0.51,612.02
$IRIDIUM_FIX,2505.59,12222.79,191198,060649
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,9.77058
$TCM_TEMP,21.80
$XPDR_PINGS,168
$24V_AH,23.6,123.760
$10V_AH,10.6,79.518
$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,21.975,72.675,719.425,0.000,0.000,25.929,31.817,197.049,46.250,0.000,0.000,17.254,2091.357,5283.771,768.496,2486.170,641.789,0.000,1884.138,0.000,2470.481,0.000,31.870,0.000
$DEVICE_MAMPS,214.760,59.826,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.143,897.667,1514.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72682,1256
$CAP_FILE_SIZE,113668,0
$CFSIZE,260165632,190152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,147.3,1
$GPS,250809,121737,2517.537,12223.086,30,1.1,30,-3.6