version: 66.04
glider: 166
mission: 2
dive: 2
start: 5 22 109 3 33 50
data:
$ID,166
$MISSION,2
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,167
$T_MISSION,200
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,0
$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,580.68237
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5165.0928
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2707
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1991
$C_ROLL_CLIMB,1991
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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,1
$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
$GPS1,032944,2455.676,12239.519,15,1.5,15,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.5
$GPS2,033332,2455.759,12239.593,15,1.6,15,-3.6
$SPEED_LIMITS,0.173,0.260
$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,339.3,59402,-18.2,-9.980
$D_GRID,1396
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.79,-146.0,0.0,0.0,0,122,0.00,0.00,-105.82,0.000,2,0.000,0.000,151,2019,2792
$GC,124,-0.79,-146.0,3.2,-6.6,18,156,9.32,2.15,-17.02,0.000,4,0.253,0.054,2441,592,3460
$GC,410,-0.79,-146.0,79.3,-24.9,68,416,0.00,2.03,0.00,0.000,6,0.000,0.032,2433,2013,3460
$GC,753,-0.79,-146.0,156.9,-18.0,129,759,0.00,2.03,0.00,0.000,4,0.000,0.044,2429,3407,3460
$GC,950,-0.79,-146.0,189.9,-13.2,164,957,0.00,2.03,0.00,0.000,6,0.000,0.029,2429,1974,3460
$GC,1294,-0.79,-146.0,238.3,-14.8,225,1299,0.00,2.00,0.00,0.000,4,0.000,0.041,2430,586,3460
$GC,1552,-0.79,-146.0,279.4,-15.1,271,1558,0.00,2.03,0.00,0.000,6,0.000,0.032,2424,1999,3460
$GC,1890,-0.79,-146.0,320.6,-12.0,317,1894,0.12,2.08,0.00,0.000,4,0.177,0.041,2453,586,3457
$GC,2147,-0.79,-146.0,351.1,-12.8,340,2151,0.00,2.05,0.00,0.000,6,0.000,0.033,2452,1988,3455
$GC,2477,-0.79,-146.0,392.8,-12.3,371,2481,0.00,2.05,0.00,0.000,4,0.000,0.044,2452,589,3453
$GC,2733,-0.79,-146.0,421.2,-10.5,394,2738,0.00,2.05,0.00,0.000,6,0.000,0.035,2451,1983,3450
$GC,3065,-0.79,-146.0,454.4,-10.2,425,3068,0.00,2.10,0.00,0.000,4,0.000,0.051,2449,3397,3447
$GC,3322,-0.79,-146.0,480.4,-9.3,448,3326,0.00,2.03,0.00,0.000,6,0.000,0.033,2449,1987,3445
$STATE,3513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3513,begin apogee
$GC,3516,-0.17,0.0,501.0,10.6,466,3635,0.62,0.00,111.70,1.056,6,0.137,0.000,2647,1986,2862
$STATE,3636,end apogee,CONTROL_FINISHED_OK
$STATE,3636,begin climb
$GC,3637,0.79,146.0,504.1,0.0,472,3764,0.88,2.28,116.20,1.014,4,0.082,0.049,2958,3391,2265
$GC,3864,0.79,146.0,481.8,14.6,488,3869,0.00,2.08,0.00,0.000,6,0.000,0.035,2968,1998,2263
$GC,4195,0.79,146.0,437.5,12.4,519,4198,0.00,2.12,0.00,0.000,4,0.000,0.051,2978,585,2259
$GC,4355,0.79,146.0,416.9,12.9,533,4363,0.00,2.10,0.00,0.000,6,0.000,0.039,2978,1989,2258
$GC,4681,0.79,146.0,379.7,12.4,564,4684,0.00,2.12,0.00,0.000,4,0.000,0.048,2989,577,2255
$GC,4826,0.79,146.0,359.8,13.9,577,4830,0.00,2.08,0.00,0.000,6,0.000,0.044,2989,1993,2254
$GC,5156,0.79,146.0,321.0,11.7,608,5159,0.00,2.12,0.00,0.000,4,0.000,0.048,2999,577,2252
$GC,5279,0.79,146.0,305.1,14.8,619,5283,0.15,2.08,0.00,0.000,6,0.187,0.041,2961,1998,2252
$GC,5618,0.80,156.5,266.6,9.5,676,5631,0.00,2.12,6.68,0.791,4,0.000,0.050,2970,585,2225
$GC,5817,0.82,171.3,246.4,9.3,711,5835,0.00,2.05,13.15,0.877,6,0.000,0.036,2970,1992,2164
$GC,6171,0.89,227.7,213.4,7.4,774,6223,0.00,2.20,44.58,0.881,4,0.000,0.047,2981,577,1932
$GC,6453,0.89,227.7,181.4,13.3,824,6460,0.00,2.10,0.00,0.000,6,0.000,0.035,2981,1984,1928
$GC,6797,0.90,238.1,149.1,9.5,885,6810,0.00,2.17,8.65,0.736,4,0.000,0.046,2991,583,1892
$GC,6889,0.90,238.1,137.6,12.9,901,6895,0.00,2.10,0.00,0.000,6,0.000,0.034,2991,1998,1891
$GC,7234,0.93,262.3,103.9,8.9,962,7259,0.00,2.22,20.30,0.756,4,0.000,0.045,3001,573,1793
$GC,7349,0.93,262.3,90.7,12.4,982,7355,0.00,2.08,0.00,0.000,6,0.000,0.033,3001,1996,1791
$GC,7692,0.93,262.3,54.3,10.1,1043,7698,0.00,2.12,0.00,0.000,4,0.000,0.044,3012,588,1790
$GC,7805,0.93,262.3,41.8,10.1,1063,7811,0.00,2.03,0.00,0.000,6,0.000,0.032,3012,1999,1790
$GC,8150,1.01,327.1,12.8,7.0,1124,8209,0.00,2.20,50.38,0.676,4,0.000,0.044,3021,586,1527
$STATE,8264,end climb,SURFACE_DEPTH_REACHED
$STATE,8264,begin surface coast
$FINISH,0.8,1.021674
$STATE,8299,end surface coast,CONTROL_FINISHED_OK
$STATE,8299,begin surface
$SM_CCo,8315,160.32,0.649,0,0,495,580.87
$SM_GC,1.40,0.00,0.00,160.32,0.000,0.000,0.649,160,2007,495,-7.98,0.45,580.87
$IRIDIUM_FIX,2444.18,12240.12,160898,030357
$TT8_MAMPS,0.027612
$HUMID,1477
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,119
$24V_AH,24.5,4.157
$10V_AH,10.8,1.526
$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,18.750,67.100,371.625,160.325,0.000,0.000,0.000,0.000,33.000,0.000,0.000,15.279,1776.722,3797.501,613.408,2277.632,79.495,0.000,1590.143,0.000,2258.784,0.000,23.204,0.000
$DEVICE_MAMPS,253.110,53.690,1056.159,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.170,858.470,1445.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66271,1150
$CAP_FILE_SIZE,103651,0
$CFSIZE,260165632,235032576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,055624,2457.592,12241.271,29,1.4,47,-3.6