version: 66.04
glider: 166
mission: 2
dive: 546
start: 8 25 109 12 28 35
data:
$ID,166
$MISSION,2
$DIVE,546
$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,-18116.869
$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,34
$R_STBD_OVSHOOT,53
$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
$GPS1,121737,2517.537,12223.086,30,1.1,30,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.9
$GPS2,122814,2517.533,12223.285,15,1.1,15,-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,354.0,14123,-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,-243.4,0.0,0.0,0,95,0.00,0.00,-77.18,0.000,2,0.000,0.000,146,2082,2127
$GC,99,-0.93,-243.4,3.1,-4.1,12,167,9.45,2.22,-51.95,0.000,4,0.224,0.058,2498,3457,3939
$GC,226,-0.57,-243.4,26.9,-24.5,32,233,0.45,2.10,0.00,0.000,6,0.135,0.031,2635,2027,3941
$GC,574,-0.57,-243.4,66.9,-6.7,93,581,0.00,2.05,0.00,0.000,4,0.000,0.041,2634,660,3941
$GC,728,-0.65,-243.4,80.3,-10.4,120,735,0.00,2.08,0.00,0.000,6,0.000,0.035,2631,2061,3942
$GC,1076,-0.77,-243.4,110.2,-7.9,181,1084,0.17,2.15,0.00,0.000,4,0.052,0.044,2534,3471,3942
$GC,1119,-0.67,-243.4,115.4,-14.9,188,1126,0.22,2.05,0.00,0.000,6,0.117,0.029,2606,2050,3942
$GC,1468,-0.72,-243.4,145.9,-6.9,249,1476,0.00,2.10,0.00,0.000,4,0.000,0.042,2605,676,3943
$GC,1581,-0.81,-243.4,155.1,-7.9,268,1588,0.12,2.05,0.00,0.000,6,0.064,0.035,2536,2059,3943
$GC,1929,-0.72,-243.4,205.4,-13.1,329,1936,0.17,2.12,0.00,0.000,4,0.124,0.041,2596,675,3942
$GC,2007,-0.81,-243.4,212.6,-7.4,342,2013,0.00,2.08,0.00,0.000,6,0.000,0.035,2594,2042,3942
$GC,2356,-0.90,-243.4,230.7,-7.0,403,2362,0.17,2.20,0.00,0.000,4,0.053,0.048,2504,3463,3941
$GC,2393,-0.85,-243.4,234.9,-12.0,409,2401,0.15,2.08,0.00,0.000,6,0.129,0.031,2547,2056,3941
$GC,2740,-0.81,-243.4,280.3,-14.2,470,2747,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,664,3939
$GC,2800,-0.81,-243.4,289.1,-14.7,480,2806,0.00,2.08,0.00,0.000,6,0.000,0.038,2545,2045,3939
$GC,3132,-0.78,-243.4,327.4,-10.3,518,3135,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,661,3938
$GC,3161,-0.74,-243.4,330.9,-12.0,520,3168,0.10,2.12,0.00,0.000,6,0.121,0.038,2577,2043,3937
$GC,3488,-0.83,-243.4,357.5,-9.1,551,3491,0.00,2.22,0.00,0.000,4,0.000,0.052,2573,3471,3936
$GC,3525,-0.94,-243.4,360.7,-9.5,554,3530,0.15,2.12,0.00,0.000,6,0.056,0.032,2495,2038,3936
$GC,3851,-0.78,-243.4,418.1,-17.3,584,3855,0.20,2.12,0.00,0.000,4,0.128,0.045,2561,661,3934
$GC,3927,-0.83,-243.4,428.3,-12.5,590,3931,0.00,2.10,0.00,0.000,6,0.000,0.039,2560,2041,3934
$GC,4263,-0.88,-243.4,466.9,-11.1,621,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2042,3932
$GC,4592,-0.95,-243.4,498.1,-8.6,652,4599,0.15,0.00,0.00,0.000,6,0.058,0.000,2478,2041,3929
$GC,4910,-0.81,-243.4,542.3,-15.5,669,4915,0.22,2.17,0.00,0.000,4,0.127,0.047,2554,659,3928
$GC,4962,-0.87,-243.4,548.7,-10.3,671,4966,0.00,2.12,0.00,0.000,6,0.000,0.041,2553,2043,3927
$GC,5285,-0.95,-243.4,576.8,-7.5,687,5287,0.12,0.00,0.00,0.000,6,0.063,0.000,2485,2043,3926
$STATE,5508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5508,begin apogee
$GC,5517,-0.23,0.0,606.7,14.7,698,5719,0.80,0.00,197.95,1.170,6,0.116,0.000,2742,1695,2945
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5719,begin climb
$GC,5723,0.93,243.4,622.3,0.0,708,5935,1.00,2.30,201.35,1.137,4,0.041,0.058,3131,3100,1950
$GC,6009,0.53,243.4,595.1,18.9,720,6015,0.52,2.17,0.00,0.000,6,0.156,0.040,2991,1689,1946
$GC,6332,0.48,243.4,556.5,12.9,736,6335,0.00,2.22,0.00,0.000,4,0.000,0.052,2991,3102,1944
$GC,6447,0.41,243.4,541.0,13.5,741,6452,0.17,2.15,0.00,0.000,6,0.137,0.040,2951,1695,1941
$GC,6776,0.59,353.7,513.2,7.0,757,6877,0.17,2.30,94.22,1.105,4,0.055,0.052,3040,3106,1502
$GC,7132,0.47,353.7,467.1,14.1,782,7139,0.20,2.15,0.00,0.000,6,0.132,0.041,2971,1720,1497
$GC,7459,0.64,419.3,446.5,8.2,813,7525,0.15,2.28,57.45,1.065,4,0.058,0.052,3054,3100,1234
$GC,7709,0.51,419.3,410.4,14.3,835,7713,0.28,2.10,0.00,0.000,6,0.135,0.040,2983,1729,1232
$GC,8036,0.63,437.0,382.8,9.5,865,8059,0.12,2.17,16.80,0.986,4,0.063,0.051,3058,3106,1162
$GC,8200,0.51,437.0,351.5,20.3,879,8207,0.28,2.05,0.00,0.000,6,0.133,0.038,2985,1764,1161
$GC,8526,0.62,437.0,305.1,13.9,910,8531,0.10,2.12,0.00,0.000,4,0.070,0.048,3049,3114,1160
$GC,8624,0.54,437.0,286.6,19.9,923,8631,0.22,2.03,0.00,0.000,6,0.131,0.038,2992,1788,1160
$GC,8971,0.75,526.7,246.3,7.5,984,9058,0.17,2.12,78.97,0.930,4,0.052,0.051,3098,3103,796
$GC,9216,0.58,526.7,199.8,21.4,1025,9223,0.25,2.00,0.00,0.000,6,0.130,0.038,3011,1810,795
$GC,9562,0.69,526.7,164.9,10.0,1086,9568,0.00,2.03,0.00,0.000,4,0.000,0.048,3011,3121,794
$GC,9694,0.90,595.3,152.7,8.1,1109,9764,0.17,1.98,59.90,0.853,6,0.026,0.036,3143,1826,517
$GC,10106,0.75,595.3,57.0,19.7,1180,10113,0.25,2.00,0.00,0.000,4,0.133,0.046,3062,3115,514
$GC,10278,1.01,617.7,40.8,9.4,1210,10299,0.17,1.90,14.18,0.728,6,0.035,0.035,3180,1858,455
$STATE,10494,end climb,SURFACE_DEPTH_REACHED
$STATE,10495,begin surface coast
$FINISH,1.2,1.006292
$STATE,10513,end surface coast,CONTROL_FINISHED_OK
$STATE,10513,begin surface
$SM_CCo,10595,0.00,0.000,0,0,452,611.53
$SM_GC,1.88,7.95,0.00,0.00,0.035,0.000,0.000,147,2100,452,-8.29,1.10,611.53
$IRIDIUM_FIX,2510.35,12249.84,191198,121215
$TT8_MAMPS,0.026845
$HUMID,1860
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,21.80
$XPDR_PINGS,169
$24V_AH,23.6,124.005
$10V_AH,10.6,79.647
$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,24.875,85.550,720.825,0.000,0.000,46.481,93.769,262.901,46.750,0.000,0.000,15.089,2115.969,5032.393,770.167,2503.387,798.426,0.000,1903.888,0.000,2482.603,0.000,32.367,0.000
$DEVICE_MAMPS,223.964,58.292,1170.442,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,849.224,920.676,1553.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72740,1251
$CAP_FILE_SIZE,124640,0
$CFSIZE,260165632,190070784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.266,299.1,1
$GPS,250809,152622,2519.602,12220.727,13,2.7,32,-3.6