version: 66.04
glider: 166
mission: 2
dive: 14
start: 5 24 109 2 17 46
data:
$ID,166
$MISSION,2
$DIVE,14
$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,396
$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,175
$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,425
$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,-5558.6353
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.4
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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,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
$GPS1,020525,2521.480,12232.328,40,1.4,40,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.1
$GPS2,021726,2522.102,12232.365,17,1.6,17,-3.7
$SPEED_LIMITS,0.173,0.279
$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,252.2,13439,-16.8,-10.000
$D_GRID,508
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.87,-170.3,0.0,0.0,0,76,0.00,0.00,-59.10,0.000,2,0.000,0.000,167,1494,2482
$GC,78,-0.87,-170.3,3.1,-3.9,9,123,9.40,2.12,-28.85,0.000,4,0.252,0.055,2434,2904,3559
$GC,196,-0.06,-170.3,37.2,-34.8,29,204,0.95,2.05,0.00,0.000,6,0.183,0.035,2700,1507,3559
$GC,542,-0.93,-170.3,64.6,-5.4,90,548,0.75,1.92,0.00,0.000,4,0.071,0.046,2421,205,3561
$GC,728,-0.26,-170.3,106.7,-26.5,123,737,0.70,1.90,0.00,0.000,6,0.174,0.031,2638,1501,3561
$GC,1076,-0.64,-170.3,132.4,-6.0,184,1083,0.30,2.05,0.00,0.000,4,0.047,0.040,2498,2910,3563
$GC,1162,-0.54,-170.3,143.8,-14.8,199,1170,0.17,2.05,0.00,0.000,6,0.146,0.032,2547,1491,3563
$GC,1510,-0.59,-170.3,178.3,-7.1,260,1516,0.00,1.92,0.00,0.000,4,0.000,0.047,2547,207,3563
$GC,1747,-0.59,-170.3,199.4,-9.7,302,1753,0.00,1.88,0.00,0.000,6,0.000,0.030,2547,1506,3563
$GC,2091,-0.66,-170.3,232.5,-8.9,363,2098,0.12,1.92,0.00,0.000,4,0.073,0.045,2488,211,3563
$GC,2183,-0.45,-170.3,245.7,-14.0,379,2191,0.30,1.83,0.00,0.000,6,0.148,0.031,2576,1493,3563
$GC,2530,-0.68,-170.3,271.1,-5.8,440,2536,0.17,0.00,0.00,0.000,6,0.059,0.000,2489,1496,3560
$GC,2874,-0.57,-170.3,309.8,-10.9,494,2878,0.17,1.92,0.00,0.000,4,0.147,0.048,2545,209,3560
$GC,3002,-0.66,-170.3,321.6,-9.1,505,3008,0.00,1.83,0.00,0.000,6,0.000,0.032,2544,1485,3558
$GC,3327,-0.79,-170.3,347.6,-7.5,536,3332,0.17,2.08,0.00,0.000,4,0.115,0.045,2450,2892,3556
$GC,3415,-0.66,-170.3,356.9,-11.4,543,3423,0.15,2.08,0.00,0.000,6,0.146,0.036,2506,1491,3555
$GC,3739,-0.66,-170.3,385.5,-9.3,574,3743,0.00,1.92,0.00,0.000,4,0.000,0.058,2506,200,3554
$GC,3901,-0.66,-170.3,401.6,-9.7,588,3908,0.00,1.85,0.00,0.000,6,0.000,0.036,2493,1460,3553
$GC,4226,-0.66,-170.3,431.4,-8.6,619,4230,0.00,1.88,0.00,0.000,4,0.000,0.052,2495,209,3550
$GC,4465,-0.66,-170.3,454.6,-9.3,640,4469,0.00,1.83,0.00,0.000,6,0.000,0.036,2489,1474,3550
$GC,4796,-0.72,-170.3,482.5,-8.8,671,4799,0.00,2.12,0.00,0.000,4,0.000,0.050,2488,2902,3547
$GC,4822,-0.83,-170.3,485.0,-8.1,673,4829,0.00,2.15,0.00,0.000,6,0.000,0.038,2489,1463,3547
$STATE,5111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5115,-0.20,0.0,509.4,8.4,696,5254,0.52,0.00,134.50,1.101,6,0.127,0.000,2662,1792,2863
$STATE,5255,end apogee,CONTROL_FINISHED_OK
$STATE,5255,begin climb
$GC,5256,0.87,170.3,513.3,0.0,703,5406,0.98,2.30,138.90,1.059,4,0.074,0.051,3017,3180,2167
$GC,5491,0.45,170.3,488.6,16.2,716,5498,0.55,2.12,0.00,0.000,6,0.176,0.040,2877,1794,2164
$GC,5816,0.60,208.6,462.0,8.5,747,5854,0.15,2.28,31.65,1.040,4,0.062,0.053,2953,382,2011
$GC,5887,0.46,208.6,453.1,14.0,753,5895,0.22,2.17,0.00,0.000,6,0.155,0.039,2874,1780,2009
$GC,6213,0.67,258.2,423.8,8.0,784,6259,0.17,2.30,41.08,1.038,4,0.061,0.053,2962,379,1808
$GC,6383,0.55,258.2,402.3,13.4,799,6388,0.22,2.12,0.00,0.000,6,0.153,0.040,2900,1778,1805
$GC,6708,0.72,299.7,372.4,8.4,829,6752,0.17,2.28,34.78,1.019,4,0.061,0.054,2995,385,1640
$GC,6832,0.56,299.7,353.0,17.0,840,6836,0.32,2.08,0.00,0.000,6,0.158,0.040,2905,1748,1637
$GC,7161,0.71,307.1,318.5,9.7,871,7175,0.15,2.28,6.72,0.839,4,0.066,0.051,2971,3190,1610
$GC,7305,0.61,307.1,296.7,15.5,885,7312,0.22,2.15,0.00,0.000,6,0.166,0.040,2920,1756,1609
$GC,7649,0.70,307.1,257.4,10.6,946,7655,0.00,2.08,0.00,0.000,4,0.000,0.053,2929,386,1607
$GC,7739,0.80,307.1,247.6,11.1,962,7746,0.15,2.05,0.00,0.000,6,0.065,0.039,3004,1774,1607
$GC,8083,0.60,307.1,195.1,16.1,1023,8090,0.28,0.00,0.00,0.000,6,0.164,0.000,2922,1777,1606
$GC,8429,0.75,307.1,157.5,11.1,1084,8435,0.12,2.10,0.00,0.000,4,0.070,0.049,2987,382,1606
$GC,8578,0.68,307.1,133.8,16.1,1110,8585,0.15,2.03,0.00,0.000,6,0.159,0.038,2947,1775,1607
$GC,8923,0.82,310.3,99.0,9.9,1171,8932,0.12,2.17,3.67,0.516,4,0.068,0.047,3011,3196,1598
$GC,9085,0.73,310.3,75.9,14.9,1199,9094,0.20,2.12,0.00,0.000,6,0.146,0.038,2958,1748,1597
$GC,9432,0.99,368.6,45.8,7.7,1260,9490,0.20,2.15,48.42,0.744,4,0.051,0.051,3069,381,1358
$GC,9728,0.84,368.6,3.1,13.8,1311,9736,0.17,1.98,0.00,0.000,6,0.133,0.033,2996,1716,1353
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,1.1,1.009104
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9783,44.50,0.686,0,0,1130,425.10
$SM_GC,1.55,0.00,0.00,44.50,0.000,0.000,0.686,167,1495,1130,-8.00,-0.23,425.10
$IRIDIUM_FIX,2512.73,12233.94,180898,020227
$TT8_MAMPS,0.027612
$HUMID,1479
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,23.40
$XPDR_PINGS,110
$ALTIM_BOTTOM_PING,450.1,110.6
$24V_AH,24.2,6.300
$10V_AH,10.7,3.194
$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,26.150,78.850,439.725,44.500,0.000,67.698,137.010,286.966,30.500,0.000,0.000,17.515,2258.728,4517.172,579.926,2559.761,630.462,0.000,1680.107,0.000,2544.025,0.000,22.427,0.000
$DEVICE_MAMPS,252.343,57.525,1101.412,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.789,983.791,1657.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75810,1318
$CAP_FILE_SIZE,126657,0
$CFSIZE,260165632,234070016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 82.5,1
$GPS,240509,050236,2521.695,12232.111,13,0.9,29,-3.7