version: 66.04
glider: 166
mission: 2
dive: 213
start: 6 19 109 18 22 48
data:
$ID,166
$MISSION,2
$DIVE,213
$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,275
$T_MISSION,330
$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,590.68237
$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,-9451.9795
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$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,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,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
$GPS1,180806,2418.551,12327.410,33,1.0,43,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.6
$GPS2,182228,2418.718,12327.510,14,2.1,33,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,358.5,104498,-16.4,-12.000
$D_GRID,392
$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,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-84.75,0.000,2,0.000,0.000,148,1490,2373
$GC,104,-0.97,-243.4,3.1,-6.2,13,157,8.82,1.95,-38.00,0.000,4,0.229,0.056,2421,214,3856
$GC,395,-0.37,-243.4,84.3,-26.4,63,403,0.57,1.83,0.00,0.000,6,0.137,0.027,2616,1486,3857
$GC,740,-0.54,-243.4,121.0,-9.4,124,747,0.15,2.08,0.00,0.000,4,0.060,0.036,2539,2893,3857
$GC,955,-0.54,-243.4,147.5,-11.1,162,961,0.00,1.95,0.00,0.000,6,0.000,0.031,2538,1554,3858
$GC,1298,-0.48,-243.4,190.8,-12.5,223,1306,0.17,1.98,0.00,0.000,4,0.125,0.038,2597,2901,3857
$GC,1402,-0.80,-243.4,198.9,-6.6,241,1409,0.25,1.92,0.00,0.000,6,0.032,0.030,2447,1572,3857
$GC,1749,-0.47,-243.4,257.4,-17.2,302,1756,0.40,2.03,0.00,0.000,4,0.136,0.042,2581,203,3857
$GC,1808,-0.65,-243.4,264.6,-9.1,312,1815,0.12,2.00,0.00,0.000,6,0.046,0.025,2512,1596,3857
$GC,2158,-0.60,-243.4,305.4,-11.7,370,2162,0.12,1.90,0.00,0.000,4,0.139,0.038,2547,2901,3855
$GC,2294,-0.77,-243.4,317.4,-8.9,382,2299,0.10,1.88,0.00,0.000,6,0.048,0.031,2465,1611,3855
$GC,2626,-0.57,-243.4,362.2,-13.5,413,2631,0.25,1.90,0.00,0.000,4,0.136,0.042,2546,2889,3853
$GC,2683,-0.74,-243.4,368.1,-8.0,418,2688,0.12,1.83,0.00,0.000,6,0.064,0.031,2480,1618,3853
$STATE,2874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2874,begin apogee
$GC,2879,-0.20,0.0,392.8,13.1,436,3069,0.60,0.00,186.25,0.941,6,0.120,0.000,2670,1751,2863
$STATE,3070,end apogee,CONTROL_FINISHED_OK
$STATE,3070,begin climb
$GC,3072,0.97,243.4,402.4,0.0,455,3272,1.08,2.22,188.73,0.928,4,0.077,0.048,3046,355,1870
$GC,3322,0.66,243.4,382.9,15.4,477,3331,0.32,2.05,0.00,0.000,6,0.144,0.029,2953,1746,1867
$GC,3648,0.82,331.3,353.6,9.1,508,3726,0.15,2.20,70.32,0.900,4,0.064,0.046,3036,368,1512
$GC,3911,0.67,331.3,312.9,15.7,531,3918,0.28,1.98,0.00,0.000,6,0.132,0.030,2954,1724,1508
$GC,4248,0.97,435.4,282.5,8.6,580,4340,0.25,2.20,85.60,0.877,4,0.047,0.046,3087,365,1087
$GC,4544,0.80,435.4,231.0,16.4,631,4551,0.30,1.92,0.00,0.000,6,0.131,0.030,2996,1701,1082
$GC,4889,1.25,575.5,200.9,7.4,692,5016,0.35,2.15,116.25,0.821,4,0.040,0.044,3173,366,515
$GC,5163,0.96,575.5,140.8,22.2,738,5170,0.38,1.88,0.00,0.000,6,0.130,0.029,3051,1644,512
$GC,5509,1.38,668.4,105.7,8.9,799,5530,0.32,1.95,13.23,0.691,4,0.038,0.044,3219,345,454
$GC,5721,1.05,668.4,58.8,24.0,836,5728,0.40,1.83,0.00,0.000,6,0.128,0.028,3072,1614,453
$GC,6067,1.56,761.2,25.8,8.9,897,6075,0.40,1.88,0.00,0.000,4,0.036,0.044,3271,358,453
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,0.7,1.001847
$STATE,6181,end surface coast,CONTROL_FINISHED_OK
$STATE,6182,begin surface
$SM_CCo,6260,0.00,0.000,0,0,451,591.42
$SM_GC,1.44,8.18,0.00,0.00,0.043,0.000,0.000,160,1516,451,-8.02,0.45,591.42
$IRIDIUM_FIX,2408.65,12326.32,130998,181830
$TT8_MAMPS,0.026845
$HUMID,1596
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.40
$XPDR_PINGS,47
$24V_AH,24.7,44.697
$10V_AH,10.9,26.731
$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,24.100,47.275,660.375,0.000,0.000,130.572,375.772,0.000,13.750,0.000,0.000,34.786,1461.386,2568.121,656.281,1787.361,656.513,0.000,1487.607,0.000,1759.344,0.000,14.379,0.000
$DEVICE_MAMPS,228.566,56.758,941.109,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.983,707.391,1189.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50588,917
$CAP_FILE_SIZE,78788,0
$CFSIZE,260165632,220209152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.178, 49.3,1
$GPS,190609,200810,2419.574,12328.469,9,2.5,28,-3.5