version: 66.04
glider: 166
mission: 2
dive: 536
start: 8 24 109 8 1 18
data:
$ID,166
$MISSION,2
$DIVE,536
$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,390
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17961.895
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,2
$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
$GPS1,075230,2509.676,12226.722,39,1.8,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.3
$GPS2,080058,2509.777,12226.860,10,2.1,29,-3.6
$SPEED_LIMITS,0.173,0.326
$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,322.8,28364,-13.9,-10.000
$D_GRID,653
$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,15,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,100,0.00,0.00,-78.62,0.000,2,0.000,0.000,120,2094,2193
$GC,104,-0.93,-243.4,3.0,-4.1,12,169,9.57,2.17,-48.90,0.000,4,0.221,0.057,2497,3450,3940
$GC,199,-0.52,-243.4,20.7,-28.4,27,208,0.47,2.12,0.00,0.000,6,0.140,0.031,2654,2026,3941
$GC,549,-0.59,-243.4,63.3,-10.1,88,555,0.00,2.03,0.00,0.000,4,0.000,0.037,2653,656,3942
$GC,767,-0.74,-243.4,86.5,-9.3,126,774,0.20,2.03,0.00,0.000,6,0.048,0.031,2543,2043,3942
$GC,1116,-0.60,-243.4,132.7,-13.7,187,1124,0.22,2.08,0.00,0.000,4,0.127,0.035,2617,655,3943
$GC,1281,-0.74,-243.4,146.8,-8.1,215,1289,0.00,2.03,0.00,0.000,6,0.000,0.031,2615,2036,3943
$GC,1631,-0.87,-243.4,173.1,-6.7,276,1638,0.20,2.17,0.00,0.000,4,0.049,0.044,2504,3464,3942
$GC,1697,-0.74,-243.4,181.1,-13.9,287,1705,0.25,2.10,0.00,0.000,6,0.122,0.028,2580,2018,3942
$GC,2048,-0.79,-243.4,208.8,-6.7,348,2054,0.00,2.25,0.00,0.000,4,0.000,0.047,2579,3463,3941
$GC,2084,-0.88,-243.4,211.2,-6.1,354,2091,0.12,2.10,0.00,0.000,6,0.060,0.029,2517,2021,3941
$GC,2432,-0.73,-243.4,264.3,-17.1,415,2439,0.17,2.05,0.00,0.000,4,0.133,0.038,2575,669,3939
$GC,2526,-0.79,-243.4,277.4,-12.5,431,2533,0.00,2.03,0.00,0.000,6,0.000,0.033,2574,2027,3938
$GC,2871,-0.84,-243.4,312.9,-8.8,479,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2027,3936
$GC,3193,-0.89,-243.4,336.3,-6.4,509,3198,0.12,2.22,0.00,0.000,4,0.064,0.048,2504,3459,3934
$GC,3227,-0.81,-243.4,339.0,-8.4,511,3235,0.20,2.10,0.00,0.000,6,0.128,0.030,2563,2028,3934
$GC,3553,-0.86,-243.4,361.8,-5.4,542,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2026,3933
$GC,3874,-0.91,-243.4,393.1,-9.6,572,3878,0.12,2.08,0.00,0.000,4,0.067,0.041,2499,663,3930
$GC,3944,-0.78,-243.4,402.2,-13.9,578,3948,0.25,2.05,0.00,0.000,6,0.123,0.038,2568,2010,3930
$GC,4271,-0.85,-243.4,425.2,-5.2,608,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2009,3928
$GC,4592,-0.93,-243.4,447.3,-7.3,638,4598,0.15,0.00,0.00,0.000,6,0.056,0.000,2491,2010,3926
$GC,4918,-0.82,-243.4,487.6,-11.5,669,4922,0.17,2.08,0.00,0.000,4,0.131,0.044,2550,673,3924
$GC,4930,-0.73,-243.4,488.7,-10.0,669,4937,0.12,2.05,0.00,0.000,6,0.126,0.039,2585,2017,3924
$GC,5257,-0.85,-243.4,501.3,-5.0,699,5261,0.12,2.30,0.00,0.000,4,0.061,0.054,2505,3471,3923
$GC,5343,-0.85,-243.4,509.9,-11.3,703,5348,0.15,2.15,0.00,0.000,6,0.123,0.034,2549,2035,3922
$GC,5674,-0.91,-243.4,538.1,-7.9,719,5678,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,663,3920
$GC,5790,-0.97,-243.4,546.6,-7.4,724,5795,0.12,2.10,0.00,0.000,6,0.067,0.041,2485,2035,3920
$GC,6126,-0.86,-243.4,585.0,-12.2,740,6130,0.17,2.15,0.00,0.000,4,0.134,0.046,2542,657,3917
$GC,6173,-0.90,-243.4,589.7,-8.8,742,6177,0.00,2.10,0.00,0.000,6,0.000,0.041,2542,2019,3918
$GC,6506,-0.94,-243.4,617.7,-5.7,758,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2019,3916
$GC,6817,-0.99,-243.4,635.3,-6.4,773,6819,0.12,0.00,0.00,0.000,6,0.066,0.000,2481,2020,3913
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7005,-0.23,0.0,655.1,11.2,782,7207,0.82,0.00,198.73,1.221,6,0.118,0.000,2743,1688,2945
$STATE,7208,end apogee,CONTROL_FINISHED_OK
$STATE,7208,begin climb
$GC,7211,0.93,243.4,665.7,0.0,792,7427,1.00,2.35,204.62,1.180,4,0.041,0.056,3139,3102,1951
$GC,7507,0.53,243.4,632.2,23.5,805,7514,0.57,2.17,0.00,0.000,6,0.160,0.040,2990,1697,1946
$GC,7824,0.53,243.4,591.6,13.0,821,7828,0.00,2.22,0.00,0.000,4,0.000,0.055,2991,3103,1943
$GC,8013,0.48,243.4,567.9,12.0,829,8017,0.00,2.15,0.00,0.000,6,0.000,0.041,2998,1696,1942
$GC,8342,0.53,284.7,534.6,8.9,845,8389,0.00,2.25,37.12,1.079,4,0.000,0.054,2999,3099,1785
$GC,8515,0.65,386.0,520.0,7.2,853,8610,0.00,2.12,89.88,1.119,6,0.000,0.040,3008,1715,1371
$GC,8932,0.65,386.0,479.9,12.1,881,8936,0.00,2.17,0.00,0.000,4,0.000,0.054,3008,3100,1365
$GC,9173,0.65,386.0,448.0,14.3,902,9180,0.00,2.10,0.00,0.000,6,0.000,0.041,3018,1752,1365
$GC,9503,0.65,386.0,406.9,12.3,933,9506,0.00,2.12,0.00,0.000,4,0.000,0.052,3018,3102,1364
$GC,9575,0.65,386.0,396.5,13.7,939,9583,0.00,2.05,0.00,0.000,6,0.000,0.039,3026,1761,1364
$GC,9904,0.65,386.0,354.2,12.0,970,9908,0.00,2.10,0.00,0.000,4,0.000,0.051,3026,3101,1363
$GC,10034,0.65,386.0,337.9,12.7,981,10040,0.00,2.03,0.00,0.000,6,0.000,0.039,3033,1776,1363
$GC,10363,0.65,386.0,298.7,12.4,1013,10369,0.00,2.10,0.00,0.000,4,0.000,0.051,3033,3111,1363
$GC,10595,0.65,386.0,264.1,14.2,1054,10602,0.00,2.00,0.00,0.000,6,0.000,0.038,3039,1817,1363
$GC,10942,0.62,386.0,211.6,16.4,1115,10949,0.00,2.03,0.00,0.000,4,0.000,0.050,3039,3108,1363
$GC,11061,0.57,386.0,192.6,15.9,1135,11069,0.08,1.98,0.00,0.000,6,0.110,0.038,3007,1828,1363
$GC,11409,0.66,386.0,153.8,10.2,1196,11415,0.00,2.03,0.00,0.000,4,0.000,0.048,3007,3129,1361
$GC,11560,0.73,386.0,138.3,10.1,1222,11567,0.05,1.95,0.00,0.000,6,0.063,0.037,3077,1854,1361
$GC,11908,0.69,386.0,91.0,14.3,1283,11917,0.12,1.98,0.00,0.000,4,0.143,0.048,3042,3099,1361
$GC,12020,0.73,422.5,79.7,9.0,1302,12059,0.00,1.88,31.62,0.799,6,0.000,0.035,3047,1869,1221
$GC,12404,0.95,485.9,42.9,8.2,1368,12469,0.17,2.55,54.90,0.758,4,0.048,0.049,3167,289,963
$GC,12483,0.85,485.9,32.6,14.6,1380,12490,0.25,2.47,0.00,0.000,6,0.127,0.035,3095,1906,962
$GC,12830,1.14,580.3,3.1,7.4,1441,12838,0.22,0.00,5.50,0.552,2,0.043,0.000,3219,1907,942
$STATE,12839,end climb,SURFACE_DEPTH_REACHED
$STATE,12839,begin surface coast
$FINISH,1.1,1.012446
$STATE,12884,end surface coast,CONTROL_FINISHED_OK
$STATE,12884,begin surface
$SM_CCo,12966,0.00,0.000,0,0,940,491.58
$SM_GC,1.90,7.97,0.00,0.00,0.032,0.000,0.000,134,2095,940,-8.29,0.96,491.58
$IRIDIUM_FIX,2458.45,12249.26,181198,040430
$TT8_MAMPS,0.026845
$HUMID,1774
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,22.70
$XPDR_PINGS,180
$24V_AH,23.4,121.872
$10V_AH,10.5,78.415
$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,24.350,98.150,622.375,0.000,0.000,33.604,48.217,227.465,49.750,0.000,0.000,30.047,2494.981,6541.471,724.931,2914.052,781.624,0.000,1991.757,0.000,2886.796,0.000,32.708,0.000
$DEVICE_MAMPS,220.896,56.758,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,987.462,1074.087,1809.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82082,1450
$CAP_FILE_SIZE,141135,0
$CFSIZE,260165632,190722048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204,106.8,1
$GPS,240809,113836,2510.419,12226.579,34,0.8,34,-3.6