version: 66.04
glider: 166
mission: 2
dive: 553
start: 8 26 109 9 8 59
data:
$ID,166
$MISSION,2
$DIVE,553
$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,-18261.953
$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,62
$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
$GPS1,085800,2522.125,12223.535,38,1.2,38,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.3
$GPS2,090838,2522.122,12223.478,12,1.2,12,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$TGT_RADIUS,2000.000
$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,126.2,84587,-13.9,-10.000
$D_GRID,492
$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,-243.4,0.0,0.0,0,92,0.00,0.00,-73.32,0.000,2,0.000,0.000,183,2088,2090
$GC,96,-0.93,-243.4,3.3,-6.4,11,163,9.32,2.28,-51.80,0.000,4,0.219,0.050,2505,644,3939
$GC,324,-0.58,-243.4,56.5,-28.1,49,331,0.43,2.08,0.00,0.000,6,0.121,0.035,2630,2042,3941
$GC,673,-0.68,-243.4,88.0,-9.6,110,679,0.00,2.15,0.00,0.000,4,0.000,0.045,2622,3459,3943
$GC,749,-0.83,-243.4,94.8,-9.0,123,756,0.20,2.08,0.00,0.000,6,0.045,0.028,2526,2017,3943
$GC,1097,-0.65,-243.4,152.2,-16.7,184,1105,0.22,0.00,0.00,0.000,6,0.128,0.000,2601,2014,3943
$GC,1446,-0.73,-243.4,181.8,-7.9,245,1452,0.00,2.03,0.00,0.000,4,0.000,0.039,2597,663,3941
$GC,1496,-0.81,-243.4,186.1,-9.3,253,1503,0.12,2.08,0.00,0.000,6,0.061,0.033,2530,2069,3941
$GC,1843,-0.70,-243.4,237.5,-13.1,314,1849,0.17,2.12,0.00,0.000,4,0.126,0.038,2590,679,3940
$GC,1910,-0.78,-243.4,244.0,-7.9,325,1916,0.00,2.05,0.00,0.000,6,0.000,0.034,2587,2053,3939
$GC,2256,-0.85,-243.4,278.3,-9.2,386,2263,0.12,2.17,0.00,0.000,4,0.063,0.047,2517,3463,3937
$GC,2315,-0.77,-243.4,285.9,-13.3,396,2323,0.17,2.05,0.00,0.000,6,0.120,0.029,2569,2056,3937
$GC,2651,-0.82,-243.4,322.0,-11.5,438,2654,0.00,2.10,0.00,0.000,4,0.000,0.041,2569,675,3936
$GC,2680,-0.86,-243.4,325.6,-12.2,440,2688,0.00,2.08,0.00,0.000,6,0.000,0.035,2569,2062,3935
$GC,3007,-0.92,-243.4,358.9,-10.1,471,3008,0.12,0.00,0.00,0.000,6,0.062,0.000,2496,2063,3934
$GC,3325,-0.77,-243.4,409.1,-17.1,501,3330,0.20,2.17,0.00,0.000,4,0.126,0.043,2563,675,3931
$GC,3382,-0.84,-243.4,416.4,-10.2,505,3389,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,2071,3931
$STATE,3450,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3450,begin apogee
$GC,3458,-0.23,0.0,422.7,8.5,512,3656,0.52,0.00,192.27,1.002,6,0.094,0.000,2745,1698,2945
$STATE,3656,end apogee,CONTROL_FINISHED_OK
$STATE,3657,begin climb
$GC,3661,0.93,243.4,438.0,0.0,532,3871,0.98,2.30,195.23,0.979,4,0.045,0.048,3124,3096,1948
$GC,4125,0.59,243.4,389.2,15.8,573,4132,0.43,2.10,0.00,0.000,6,0.150,0.036,3011,1701,1944
$GC,4451,0.65,330.3,361.5,7.6,604,4530,0.00,2.25,71.85,0.953,4,0.000,0.049,3020,289,1597
$GC,4728,0.73,396.6,340.1,8.2,628,4792,0.10,2.17,56.83,0.934,6,0.077,0.036,3074,1730,1327
$GC,5116,0.61,396.6,278.8,17.6,674,5123,0.20,2.10,0.00,0.000,4,0.135,0.046,3010,3094,1323
$GC,5362,0.66,396.6,250.3,11.1,717,5368,0.00,2.08,0.00,0.000,6,0.000,0.035,3017,1736,1322
$GC,5708,0.66,396.6,210.9,12.3,778,5714,0.00,2.10,0.00,0.000,4,0.000,0.046,3016,3094,1321
$GC,5784,0.66,396.6,201.1,12.9,791,5790,0.00,2.05,0.00,0.000,6,0.000,0.035,3027,1728,1320
$GC,6130,0.67,412.0,155.4,9.6,852,6150,0.00,2.15,13.20,0.792,4,0.000,0.046,3027,3100,1265
$GC,6247,0.67,412.0,140.7,13.7,872,6255,0.00,2.05,0.00,0.000,6,0.000,0.035,3036,1753,1264
$GC,6596,0.91,549.0,101.7,6.2,933,6721,0.20,2.12,116.80,0.785,4,0.049,0.044,3151,3096,706
$GC,6849,0.83,549.0,54.9,21.8,975,6856,0.25,2.03,0.00,0.000,6,0.120,0.034,3083,1738,704
$GC,7199,1.45,849.6,33.1,1.7,1036,7258,0.50,2.33,52.12,0.711,4,0.031,0.045,3338,290,455
$GC,7313,1.14,849.6,10.6,23.5,1054,7320,0.52,2.25,0.00,0.000,6,0.160,0.033,3187,1788,454
$STATE,7346,end climb,SURFACE_DEPTH_REACHED
$STATE,7346,begin surface coast
$FINISH,1.0,1.011463
$STATE,7365,end surface coast,CONTROL_FINISHED_OK
$STATE,7365,begin surface
$SM_CCo,7447,0.00,0.000,0,0,451,611.78
$SM_GC,1.73,8.05,0.00,0.00,0.036,0.000,0.000,148,2099,451,-8.29,1.07,611.78
$IRIDIUM_FIX,2512.73,12225.35,201198,090920
$TT8_MAMPS,0.026845
$HUMID,1779
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,23.20
$XPDR_PINGS,156
$ALTIM_BOTTOM_PING,376.1,71.4
$24V_AH,23.8,125.571
$10V_AH,10.6,80.515
$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,22.850,60.575,698.300,0.000,0.000,48.022,68.507,293.229,41.250,0.000,0.000,12.802,1697.562,2877.970,711.520,2046.094,741.324,0.000,1659.440,0.000,2038.931,0.000,17.307,0.000
$DEVICE_MAMPS,218.595,49.855,1001.702,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.044,821.316,1386.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59966,1063
$CAP_FILE_SIZE,96735,0
$CFSIZE,260165632,189636608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,137.3,1
$GPS,260809,111416,2521.391,12225.032,12,3.8,32,-3.6