version: 66.04
glider: 166
mission: 2
dive: 345
start: 7 16 109 13 24 50
data:
$ID,166
$MISSION,2
$DIVE,345
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,450
$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,-12162.498
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,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
$GPS1,131322,2426.667,12429.527,12,99.0,32,-3.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.4
$GPS2,132428,2426.615,12429.499,13,99.0,32,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2413.900,12429.800
$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,191.5,23555,-13.7,-7.990
$D_GRID,387
$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,15,-1.01,-170.3,0.0,0.0,0,70,0.00,0.00,-53.10,0.000,2,0.000,0.000,170,1694,2343
$GC,73,-1.01,-170.3,3.3,-5.1,9,126,9.23,2.17,-34.15,0.000,4,0.235,0.054,2441,268,3642
$GC,184,-1.01,-170.3,22.9,-20.1,27,191,0.00,2.00,0.00,0.000,6,0.000,0.027,2437,1646,3642
$GC,529,-1.01,-170.3,86.3,-16.0,88,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1647,3642
$GC,871,-1.01,-170.3,131.9,-12.6,149,878,0.00,2.08,0.00,0.000,4,0.000,0.042,2442,274,3643
$GC,935,-1.01,-170.3,140.6,-13.7,160,942,0.00,2.03,0.00,0.000,6,0.000,0.027,2434,1674,3643
$GC,1279,-1.01,-170.3,186.9,-12.9,221,1285,0.00,2.03,0.00,0.000,4,0.000,0.038,2430,3070,3643
$GC,1326,-1.01,-170.3,192.7,-12.5,229,1333,0.00,2.03,0.00,0.000,6,0.000,0.030,2430,1659,3643
$GC,1671,-1.01,-170.3,238.9,-12.5,290,1678,0.00,2.05,0.00,0.000,4,0.000,0.044,2430,274,3643
$GC,1726,-1.01,-170.3,245.6,-13.0,299,1732,0.00,2.00,0.00,0.000,6,0.000,0.027,2428,1680,3643
$GC,2070,-1.01,-170.3,288.3,-12.8,360,2076,0.00,2.03,0.00,0.000,4,0.000,0.039,2428,3064,3642
$GC,2139,-1.01,-170.3,296.4,-11.6,372,2145,0.00,2.03,0.00,0.000,6,0.000,0.031,2427,1657,3643
$GC,2471,-1.01,-170.3,333.7,-11.0,406,2475,0.00,2.08,0.00,0.000,4,0.000,0.044,2428,264,3643
$GC,2517,-1.01,-170.3,339.2,-12.8,410,2521,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1681,3642
$GC,2851,-1.01,-170.3,381.6,-12.1,441,2855,0.00,2.05,0.00,0.000,4,0.000,0.041,2427,3076,3641
$GC,2897,-1.01,-170.3,386.6,-10.0,445,2900,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1674,3641
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2907,begin apogee
$GC,2915,-0.29,0.0,387.9,10.2,446,3052,0.75,0.00,133.20,0.905,6,0.115,0.000,2679,1336,2945
$STATE,3053,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3055,1.01,170.3,396.6,0.0,460,3194,1.15,2.17,131.48,0.889,4,0.064,0.037,3102,2759,2250
$GC,3323,1.01,170.3,379.1,8.6,484,3327,0.00,2.10,0.00,0.000,6,0.000,0.036,3112,1356,2248
$GC,3655,1.01,170.3,350.6,9.1,515,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1356,2247
$GC,3973,1.05,198.2,322.0,7.1,545,4005,0.00,2.15,22.77,0.835,4,0.000,0.036,3112,2751,2135
$GC,4131,1.08,225.1,310.9,7.1,559,4158,0.00,2.10,22.38,0.828,6,0.000,0.037,3122,1340,2026
$GC,4490,1.08,225.1,282.8,8.8,609,4496,0.00,2.10,0.00,0.000,4,0.000,0.036,3122,2759,2022
$GC,4560,1.08,225.1,276.7,8.8,621,4566,0.00,2.10,0.00,0.000,6,0.000,0.036,3133,1338,2021
$GC,4903,1.08,225.1,246.3,9.2,682,4909,0.00,2.10,0.00,0.000,4,0.000,0.036,3132,2765,2020
$GC,4945,1.08,225.1,242.5,9.8,689,4951,0.00,2.10,0.00,0.000,6,0.000,0.035,3143,1339,2019
$GC,5289,1.12,253.0,213.1,7.1,750,5320,0.00,1.75,22.52,0.784,4,0.000,0.048,3152,206,1912
$GC,5574,1.12,253.0,188.8,8.7,800,5581,0.00,1.65,0.00,0.000,6,0.000,0.028,3152,1368,1909
$GC,5920,1.18,306.4,159.0,6.3,861,5971,0.00,2.03,43.78,0.762,4,0.000,0.035,3152,2726,1695
$GC,6109,1.18,306.4,144.9,9.0,893,6116,0.00,2.03,0.00,0.000,6,0.000,0.035,3163,1347,1692
$GC,6454,1.19,315.8,114.8,7.7,954,6468,0.00,2.10,8.98,0.639,4,0.000,0.034,3162,2734,1656
$GC,6498,1.22,336.8,111.6,7.3,961,6524,0.00,2.08,18.75,0.696,6,0.000,0.035,3173,1345,1570
$GC,6863,1.30,403.7,80.5,5.9,1025,6925,0.00,1.75,55.55,0.700,4,0.000,0.046,3183,215,1298
$GC,7078,1.30,403.7,60.0,11.6,1062,7084,0.00,1.62,0.00,0.000,6,0.000,0.028,3182,1364,1293
$GC,7421,1.30,403.7,22.6,9.3,1123,7428,0.00,2.00,0.00,0.000,4,0.000,0.032,3183,2734,1292
$GC,7441,1.30,403.7,21.1,8.8,1126,7448,0.00,2.03,0.00,0.000,6,0.000,0.033,3193,1331,1292
$STATE,7638,end climb,SURFACE_DEPTH_REACHED
$STATE,7638,begin surface coast
$FINISH,0.8,1.010173
$STATE,7671,end surface coast,CONTROL_FINISHED_OK
$STATE,7671,begin surface
$SM_CCo,7690,37.40,0.628,0,0,1109,450.13
$SM_GC,1.95,0.00,0.00,37.40,0.000,0.000,0.628,171,1686,1109,-8.15,0.31,450.13
$IRIDIUM_FIX,2418.11,12428.68,101098,131305
$TT8_MAMPS,0.026845
$HUMID,1633
$INTERNAL_PRESSURE,10.0929
$TCM_TEMP,25.80
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,325.3,94.9
$24V_AH,24.2,74.625
$10V_AH,10.8,48.561
$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,19.000,65.475,459.400,37.400,0.000,50.234,83.599,313.220,5.250,0.000,0.000,33.546,1904.544,3020.883,539.026,2220.669,709.258,0.000,1501.125,0.000,2194.830,0.000,17.487,0.000
$DEVICE_MAMPS,234.702,53.690,905.060,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,780.606,917.599,1542.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66437,1167
$CAP_FILE_SIZE,95358,0
$CFSIZE,260165632,207802368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.434,172.4,1
$GPS,160709,153455,2424.312,12429.677,37,1.4,38,-3.6