version: 66.04
glider: 166
mission: 2
dive: 21
start: 5 24 109 19 32 58
data:
$ID,166
$MISSION,2
$DIVE,21
$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,-5684.3848
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,192737,2522.950,12230.535,39,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.4
$GPS2,193238,2523.125,12230.722,13,1.2,13,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,144.5,50935,-16.8,-10.000
$D_GRID,530
$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,-0.88,-170.3,0.0,0.0,0,69,0.00,0.00,-52.22,0.000,2,0.000,0.000,143,1508,2270
$GC,71,-0.88,-170.3,3.0,-3.6,8,130,9.35,2.05,-43.22,0.000,4,0.250,0.063,2442,197,3559
$GC,283,0.08,-170.3,68.9,-42.0,44,290,0.98,1.92,0.00,0.000,6,0.161,0.031,2753,1509,3562
$GC,626,-0.93,-170.3,101.5,-10.6,105,635,0.90,0.00,0.00,0.000,6,0.101,0.000,2438,1510,3564
$GC,973,-0.54,-170.3,153.1,-16.3,166,980,0.35,1.98,0.00,0.000,4,0.156,0.046,2544,189,3565
$GC,1184,-0.60,-170.3,172.6,-9.1,203,1190,0.00,2.03,0.00,0.000,6,0.000,0.031,2544,1600,3566
$GC,1527,-0.74,-170.3,205.3,-10.4,264,1534,0.15,0.00,0.00,0.000,6,0.064,0.000,2472,1602,3566
$GC,1871,-0.59,-170.3,254.8,-14.7,325,1879,0.20,2.10,0.00,0.000,4,0.146,0.047,2533,201,3566
$GC,2098,-0.68,-170.3,279.5,-11.5,365,2105,0.00,1.98,0.00,0.000,6,0.000,0.031,2534,1579,3566
$GC,2443,-0.85,-170.3,307.7,-7.8,418,2447,0.20,2.08,0.00,0.000,4,0.058,0.048,2436,198,3565
$GC,2654,-0.59,-170.3,340.8,-15.3,436,2662,0.32,1.98,0.00,0.000,6,0.145,0.033,2536,1546,3565
$GC,2980,-0.78,-170.3,363.9,-6.1,467,2984,0.17,2.00,0.00,0.000,4,0.059,0.045,2452,2899,3563
$GC,3039,-0.73,-170.3,370.0,-10.3,472,3047,0.10,1.98,0.00,0.000,6,0.140,0.036,2490,1563,3563
$GC,3365,-0.73,-170.3,400.2,-9.2,503,3369,0.00,2.00,0.00,0.000,4,0.000,0.048,2487,2908,3561
$GC,3426,-0.80,-170.3,405.6,-8.4,508,3433,0.00,2.00,0.00,0.000,6,0.000,0.039,2488,1562,3562
$GC,3751,-0.80,-170.3,437.6,-8.3,539,3755,0.00,2.03,0.00,0.000,4,0.000,0.051,2488,202,3560
$GC,3829,-0.80,-170.3,445.3,-10.0,546,3833,0.00,1.98,0.00,0.000,6,0.000,0.037,2487,1566,3560
$GC,4159,-0.80,-170.3,476.1,-8.7,577,4163,0.00,2.05,0.00,0.000,4,0.000,0.052,2487,202,3558
$GC,4252,-0.80,-170.3,485.9,-10.7,585,4261,0.00,1.98,0.00,0.000,6,0.000,0.035,2487,1541,3558
$GC,4574,-0.87,-170.3,515.1,-8.9,608,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1541,3556
$STATE,4757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4757,begin apogee
$GC,4761,-0.20,0.0,530.7,8.1,617,4900,0.55,0.00,136.48,1.113,6,0.123,0.000,2668,1797,2863
$STATE,4901,end apogee,CONTROL_FINISHED_OK
$STATE,4901,begin climb
$GC,4903,0.88,170.3,535.6,0.0,624,5053,0.95,2.28,138.82,1.075,4,0.061,0.051,3016,3178,2166
$GC,5154,0.44,170.3,504.2,18.2,635,5159,0.50,2.17,0.00,0.000,6,0.174,0.039,2872,1786,2163
$GC,5483,0.57,218.2,475.4,8.1,664,5529,0.15,2.22,39.45,1.058,4,0.063,0.053,2948,385,1971
$GC,5598,0.42,218.2,461.2,13.8,674,5603,0.30,2.15,0.00,0.000,6,0.151,0.039,2865,1791,1968
$GC,5922,0.66,280.6,435.0,7.5,704,5980,0.20,2.33,51.58,1.052,4,0.057,0.052,2968,383,1717
$GC,6002,0.47,280.6,425.0,14.8,711,6007,0.30,2.17,0.00,0.000,6,0.155,0.038,2886,1794,1715
$GC,6327,0.61,284.1,392.3,9.9,741,6331,0.12,2.15,0.00,0.000,4,0.071,0.051,2943,3197,1710
$GC,6426,0.52,284.1,378.1,15.8,749,6434,0.15,2.15,0.00,0.000,6,0.154,0.040,2907,1791,1709
$GC,6750,0.52,284.1,342.2,11.3,780,6754,0.00,2.12,0.00,0.000,4,0.000,0.050,2907,3186,1708
$GC,6795,0.58,284.1,336.9,12.3,784,6799,0.00,2.08,0.00,0.000,6,0.000,0.038,2914,1789,1707
$GC,7125,0.58,284.1,300.3,11.3,815,7128,0.00,2.12,0.00,0.000,4,0.000,0.052,2924,382,1707
$GC,7253,0.58,284.1,284.1,12.9,837,7260,0.00,2.08,0.00,0.000,6,0.000,0.038,2924,1788,1707
$GC,7597,0.58,284.1,241.2,13.2,898,7604,0.00,2.12,0.00,0.000,4,0.000,0.057,2934,385,1706
$GC,7637,0.58,284.1,236.1,12.5,905,7644,0.00,2.08,0.00,0.000,6,0.000,0.038,2934,1794,1706
$GC,7982,0.58,284.1,195.3,11.4,966,7988,0.00,2.12,0.00,0.000,4,0.000,0.053,2944,385,1706
$GC,8078,0.53,284.1,183.1,13.7,983,8085,0.15,2.03,0.00,0.000,6,0.153,0.039,2903,1778,1706
$GC,8424,0.73,325.5,149.6,8.4,1044,8466,0.17,2.22,35.78,0.860,4,0.061,0.050,3003,379,1534
$GC,8528,0.53,325.5,134.3,16.1,1061,8536,0.35,2.05,0.00,0.000,6,0.148,0.037,2901,1759,1531
$GC,8876,0.83,356.4,107.6,8.8,1122,8909,0.25,2.15,25.77,0.808,4,0.049,0.049,3035,377,1409
$GC,8999,0.62,356.4,85.4,17.5,1143,9006,0.35,2.03,0.00,0.000,6,0.140,0.036,2932,1748,1406
$GC,9345,0.95,437.4,57.9,6.8,1204,9423,0.25,2.28,67.60,0.761,4,0.048,0.048,3051,3176,1077
$GC,9580,0.86,437.4,16.9,14.3,1244,9587,0.20,2.17,0.00,0.000,6,0.155,0.036,3006,1719,1074
$STATE,9709,end climb,SURFACE_DEPTH_REACHED
$STATE,9709,begin surface coast
$FINISH,1.1,1.022692
$STATE,9744,end surface coast,CONTROL_FINISHED_OK
$STATE,9744,begin surface
$SM_CCo,9818,0.00,0.000,0,0,1069,440.07
$SM_GC,1.89,7.65,0.00,0.00,0.052,0.000,0.000,150,1492,1069,-8.01,-0.31,440.07
$IRIDIUM_FIX,2515.12,12228.64,180898,171734
$TT8_MAMPS,0.026845
$HUMID,1512
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,22.70
$XPDR_PINGS,158
$ALTIM_BOTTOM_PING,475.2,65.7
$24V_AH,24.1,7.424
$10V_AH,10.7,3.982
$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,25.325,80.050,495.475,0.000,0.000,25.081,31.374,159.607,42.750,0.000,0.000,13.225,2159.989,4604.638,571.494,2452.746,330.672,0.000,1645.424,0.000,2439.503,0.000,23.967,0.000
$DEVICE_MAMPS,250.042,62.894,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,865.788,941.646,1587.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72687,1273
$CAP_FILE_SIZE,114843,0
$CFSIZE,260165632,233644032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 84.4,1
$GPS,240509,221737,2522.454,12232.010,29,1.6,29,-3.7