version: 66.04
glider: 166
mission: 2
dive: 557
start: 8 26 109 19 3 16
data:
$ID,166
$MISSION,2
$DIVE,557
$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,-18351.758
$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,57
$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
$GPS1,185206,2521.077,12227.232,14,0.9,31,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.8
$GPS2,190256,2521.139,12227.107,14,1.1,14,-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,117.4,78528,-13.9,-10.000
$D_GRID,534
$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,-243.4,0.0,0.0,0,83,0.00,0.00,-64.60,0.000,2,0.000,0.000,198,2099,2006
$GC,87,-0.93,-243.4,3.1,-5.7,10,158,9.25,2.15,-51.75,0.000,4,0.219,0.058,2506,3453,3940
$GC,226,-0.48,-243.4,34.7,-28.5,32,234,0.50,2.08,0.00,0.000,6,0.137,0.030,2660,2027,3941
$GC,576,-0.63,-243.4,71.7,-11.0,93,583,0.10,2.08,0.00,0.000,4,0.068,0.038,2584,663,3943
$GC,652,-0.63,-243.4,82.5,-14.6,106,659,0.12,2.03,0.00,0.000,6,0.132,0.033,2614,2035,3943
$GC,1003,-0.73,-243.4,108.9,-8.3,167,1009,0.00,2.17,0.00,0.000,4,0.000,0.047,2609,3459,3944
$GC,1028,-0.86,-243.4,111.1,-8.0,171,1035,0.20,2.05,0.00,0.000,6,0.046,0.028,2515,2040,3944
$GC,1376,-0.68,-243.4,164.9,-15.2,232,1385,0.22,2.10,0.00,0.000,4,0.127,0.039,2593,648,3944
$GC,1416,-0.68,-243.4,169.4,-9.6,238,1423,0.00,2.08,0.00,0.000,6,0.000,0.034,2587,2048,3944
$GC,1764,-0.74,-243.4,202.7,-9.7,299,1770,0.00,2.17,0.00,0.000,4,0.000,0.049,2585,3457,3942
$GC,1796,-0.83,-243.4,205.9,-10.0,304,1804,0.00,2.08,0.00,0.000,6,0.000,0.029,2586,2032,3942
$GC,2148,-0.90,-243.4,243.5,-11.6,365,2154,0.15,0.00,0.00,0.000,6,0.056,0.000,2505,2032,3940
$GC,2499,-0.74,-243.4,306.0,-18.1,424,2501,0.25,0.00,0.00,0.000,6,0.123,0.000,2581,2032,3938
$GC,2819,-0.82,-243.4,340.7,-10.5,454,2822,0.00,2.10,0.00,0.000,4,0.000,0.044,2580,667,3937
$GC,2859,-0.91,-243.4,345.8,-11.8,457,2866,0.17,2.10,0.00,0.000,6,0.052,0.038,2494,2050,3936
$GC,3185,-0.77,-243.4,402.6,-16.4,488,3189,0.22,2.15,0.00,0.000,4,0.129,0.043,2567,670,3934
$GC,3295,-0.83,-243.4,414.4,-9.2,497,3299,0.00,2.08,0.00,0.000,6,0.000,0.038,2566,2035,3934
$GC,3627,-0.90,-243.4,443.8,-10.6,528,3631,0.12,2.25,0.00,0.000,4,0.064,0.052,2490,3462,3932
$GC,3684,-0.83,-243.4,451.0,-13.0,532,3692,0.20,2.10,0.00,0.000,6,0.118,0.032,2551,2043,3931
$GC,4010,-0.89,-243.4,483.4,-10.3,563,4014,0.00,2.12,0.00,0.000,4,0.000,0.046,2551,663,3928
$GC,4081,-0.93,-243.4,490.7,-10.6,569,4085,0.00,2.12,0.00,0.000,6,0.000,0.041,2548,2047,3928
$GC,4407,-0.98,-243.4,521.4,-9.3,589,4409,0.12,0.00,0.00,0.000,6,0.065,0.000,2478,2047,3927
$STATE,4448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4448,begin apogee
$GC,4457,-0.23,0.0,526.2,10.4,591,4657,0.82,0.00,195.57,1.107,6,0.114,0.000,2743,1695,2945
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4661,0.93,243.4,539.3,0.0,601,4870,1.05,2.28,198.52,1.073,4,0.071,0.050,3129,283,1950
$GC,4889,0.57,243.4,533.9,12.4,610,4896,0.43,2.20,0.00,0.000,6,0.152,0.036,3007,1718,1946
$GC,5205,0.50,243.4,501.8,10.2,626,5209,0.00,2.15,0.00,0.000,4,0.000,0.050,3007,3095,1942
$GC,5409,0.40,243.4,477.6,12.8,643,5414,0.22,2.08,0.00,0.000,6,0.131,0.038,2950,1726,1940
$GC,5738,0.53,295.1,447.2,8.6,673,5787,0.12,2.22,43.08,1.052,4,0.065,0.051,3019,3089,1740
$GC,5946,0.46,310.1,425.2,9.6,691,5966,0.20,2.03,14.07,0.976,6,0.133,0.037,2972,1758,1680
$GC,6283,0.61,376.2,402.5,8.2,723,6351,0.12,2.17,57.45,1.030,4,0.065,0.051,3043,3085,1410
$GC,6491,0.50,376.2,373.3,13.6,741,6498,0.25,2.00,0.00,0.000,6,0.133,0.037,2980,1771,1408
$GC,6817,0.59,376.2,341.2,12.1,772,6821,0.00,2.08,0.00,0.000,4,0.000,0.050,2980,3098,1406
$GC,6921,0.67,376.2,329.7,10.4,781,6925,0.15,1.98,0.00,0.000,6,0.056,0.037,3061,1796,1406
$GC,7256,0.55,376.2,283.0,14.0,822,7263,0.20,2.05,0.00,0.000,4,0.134,0.049,2996,3100,1405
$GC,7428,0.66,427.4,267.6,8.6,851,7481,0.00,1.95,44.62,0.947,6,0.000,0.036,3003,1813,1202
$GC,7824,0.73,427.4,225.4,10.7,920,7832,0.15,2.00,0.00,0.000,4,0.058,0.047,3083,3103,1199
$GC,8020,0.57,427.4,190.3,18.9,954,8027,0.22,1.92,0.00,0.000,6,0.130,0.036,3004,1849,1199
$GC,8369,0.67,427.4,154.2,11.1,1015,8375,0.00,1.95,0.00,0.000,4,0.000,0.047,3004,3091,1198
$GC,8508,0.76,427.4,138.8,11.5,1039,8514,0.12,1.88,0.00,0.000,6,0.041,0.035,3111,1855,1198
$GC,8856,0.63,427.4,79.1,13.5,1100,8864,0.28,1.92,0.00,0.000,4,0.127,0.044,3021,3100,1198
$GC,8905,0.84,507.0,74.3,7.8,1108,8983,0.10,1.90,68.03,0.791,6,0.043,0.035,3124,1848,876
$GC,9326,0.88,507.0,22.5,10.7,1180,9333,0.00,1.95,0.00,0.000,4,0.000,0.042,3125,3093,873
$GC,9502,1.06,563.9,4.9,8.4,1210,9529,0.00,1.83,22.70,0.697,2,0.000,0.032,3132,1888,771
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$FINISH,1.0,1.008204
$STATE,9568,end surface coast,CONTROL_FINISHED_OK
$STATE,9568,begin surface
$SM_CCo,9649,0.00,0.000,0,0,768,533.77
$SM_GC,1.79,7.88,0.00,0.00,0.040,0.000,0.000,153,2079,768,-8.27,0.51,533.77
$IRIDIUM_FIX,2512.73,12228.64,201198,191919
$TT8_MAMPS,0.027612
$HUMID,1812
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,22.90
$XPDR_PINGS,174
$ALTIM_BOTTOM_PING,526.2,11.3
$24V_AH,23.7,126.422
$10V_AH,10.6,81.000
$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,23.975,79.300,644.050,0.000,0.000,45.801,65.456,312.875,47.250,0.000,0.000,14.487,2050.270,4318.579,697.402,2407.043,816.952,0.000,1775.632,0.000,2389.564,0.000,27.157,0.000
$DEVICE_MAMPS,218.595,58.292,1106.781,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,828.728,916.040,1548.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69673,1221
$CAP_FILE_SIZE,118250,0
$CFSIZE,260165632,189353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,153.4,1
$GPS,260809,214515,2520.094,12229.371,11,5.4,30,-3.6