version: 66.04
glider: 166
mission: 2
dive: 551
start: 8 26 109 3 19 59
data:
$ID,166
$MISSION,2
$DIVE,551
$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,-18216.119
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,031206,2521.857,12221.791,12,1.6,24,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.1
$GPS2,031938,2521.776,12221.574,12,1.2,12,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,115.7,86922,-13.9,-10.000
$D_GRID,591
$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,16,-0.93,-243.4,0.0,0.0,0,92,0.00,0.00,-73.47,0.000,2,0.000,0.000,197,2055,2069
$GC,97,-0.93,-243.4,3.0,-3.8,11,168,9.20,2.12,-53.70,0.000,4,0.217,0.051,2514,642,3939
$GC,199,-0.43,-243.4,22.0,-31.0,27,206,0.52,2.15,0.00,0.000,6,0.138,0.034,2674,2065,3939
$GC,547,-0.60,-243.4,56.7,-7.0,88,553,0.12,0.00,0.00,0.000,6,0.058,0.000,2587,2065,3942
$GC,895,-0.60,-243.4,94.5,-13.3,149,903,0.15,2.12,0.00,0.000,4,0.119,0.036,2634,647,3943
$GC,922,-0.66,-243.4,98.2,-13.0,153,930,0.00,2.10,0.00,0.000,6,0.000,0.031,2630,2051,3943
$GC,1270,-0.81,-243.4,119.2,-3.2,214,1277,0.17,2.12,0.00,0.000,4,0.049,0.036,2528,639,3943
$GC,1353,-0.68,-243.4,127.2,-11.9,228,1360,0.28,2.08,0.00,0.000,6,0.123,0.033,2605,2045,3943
$GC,1701,-0.79,-243.4,163.1,-9.3,289,1709,0.12,2.15,0.00,0.000,4,0.062,0.045,2531,3457,3942
$GC,1769,-0.73,-243.4,171.5,-14.1,300,1776,0.17,2.08,0.00,0.000,6,0.119,0.029,2583,2021,3942
$GC,2116,-0.79,-243.4,206.8,-10.5,361,2123,0.00,2.03,0.00,0.000,4,0.000,0.039,2583,671,3940
$GC,2159,-0.87,-243.4,211.5,-11.2,368,2166,0.10,2.08,0.00,0.000,6,0.048,0.034,2517,2047,3940
$GC,2508,-0.75,-243.4,263.4,-14.8,429,2515,0.17,0.00,0.00,0.000,6,0.125,0.000,2575,2047,3938
$GC,2857,-0.83,-243.4,294.9,-7.4,490,2864,0.00,2.08,0.00,0.000,4,0.000,0.041,2575,678,3937
$GC,2932,-0.90,-243.4,301.4,-8.0,502,2939,0.15,2.05,0.00,0.000,6,0.056,0.035,2500,2048,3936
$GC,3259,-0.75,-243.4,346.5,-14.6,533,3263,0.22,2.12,0.00,0.000,4,0.127,0.041,2574,670,3934
$GC,3288,-0.75,-243.4,349.8,-10.2,535,3296,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,2040,3934
$GC,3622,-0.83,-243.4,378.6,-8.9,566,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2040,3932
$GC,3943,-0.92,-243.4,394.0,-3.4,596,3947,0.15,2.10,0.00,0.000,4,0.054,0.044,2491,680,3929
$GC,3996,-0.77,-243.4,398.6,-10.2,600,4000,0.28,2.08,0.00,0.000,6,0.130,0.040,2572,2038,3929
$GC,4323,-0.84,-243.4,412.4,-6.2,630,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2038,3928
$GC,4653,-0.93,-243.4,432.7,-7.3,661,4660,0.15,0.00,0.00,0.000,6,0.058,0.000,2494,2038,3925
$GC,4979,-0.80,-243.4,485.1,-16.2,692,4983,0.20,2.12,0.00,0.000,4,0.126,0.045,2559,677,3924
$GC,5085,-0.88,-243.4,498.9,-12.2,701,5093,0.00,2.08,0.00,0.000,6,0.000,0.040,2559,2032,3923
$GC,5415,-0.93,-243.4,523.1,-6.2,718,5419,0.12,2.28,0.00,0.000,4,0.064,0.056,2491,3464,3922
$GC,5465,-0.86,-243.4,528.8,-11.8,720,5469,0.17,2.12,0.00,0.000,6,0.120,0.035,2543,2046,3921
$GC,5787,-0.89,-243.4,547.5,-1.0,736,5790,0.00,2.15,0.00,0.000,4,0.000,0.047,2543,651,3920
$GC,5906,-0.94,-243.4,549.6,-4.5,741,5910,0.00,2.10,0.00,0.000,6,0.000,0.040,2542,2027,3919
$GC,6234,-0.98,-243.4,577.7,-10.5,757,6239,0.12,2.30,0.00,0.000,4,0.065,0.058,2474,3460,3918
$GC,6269,-0.90,-243.4,582.6,-15.4,758,6276,0.17,2.15,0.00,0.000,6,0.123,0.035,2528,2020,3917
$STATE,6335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6335,begin apogee
$GC,6343,-0.23,0.0,592.6,14.4,762,6543,0.65,0.00,196.70,1.171,6,0.101,0.000,2744,1688,2945
$STATE,6544,end apogee,CONTROL_FINISHED_OK
$STATE,6544,begin climb
$GC,6547,0.93,243.4,615.5,0.0,772,6758,1.00,2.35,202.15,1.141,4,0.044,0.054,3129,3099,1950
$GC,6903,0.57,243.4,576.6,22.0,788,6908,0.47,2.12,0.00,0.000,6,0.155,0.040,3003,1706,1944
$GC,7221,0.50,243.4,525.4,17.3,803,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1706,1942
$GC,7534,0.42,243.4,469.0,21.3,825,7538,0.15,2.20,0.00,0.000,4,0.127,0.051,2957,3102,1940
$GC,7748,0.42,243.4,432.0,11.2,844,7751,0.00,2.12,0.00,0.000,6,0.000,0.038,2966,1706,1939
$GC,8084,0.70,429.7,417.2,4.8,875,8252,0.20,2.30,158.93,1.043,4,0.051,0.051,3067,3094,1193
$GC,8479,0.54,429.7,350.0,17.7,909,8485,0.28,2.10,0.00,0.000,6,0.138,0.039,2997,1719,1189
$GC,8805,0.63,465.1,321.2,9.0,940,8842,0.00,2.22,31.40,0.969,4,0.000,0.050,2998,3096,1048
$GC,8972,0.77,501.5,305.5,9.0,954,9012,0.17,2.05,32.90,0.953,6,0.052,0.038,3092,1744,900
$GC,9356,0.58,501.5,222.8,23.6,1018,9363,0.28,2.12,0.00,0.000,4,0.136,0.048,3004,3102,898
$GC,9460,0.70,501.5,206.7,12.1,1036,9468,0.10,2.05,0.00,0.000,6,0.068,0.038,3070,1749,897
$GC,9809,0.60,501.5,149.7,16.6,1097,9816,0.20,2.12,0.00,0.000,4,0.133,0.048,3003,3105,896
$GC,9952,0.80,552.1,134.5,8.6,1121,10005,0.20,2.03,44.53,0.851,6,0.046,0.038,3117,1762,693
$GC,10349,0.71,552.1,56.4,18.4,1189,10355,0.20,2.08,0.00,0.000,4,0.130,0.046,3051,3100,692
$GC,10529,0.97,596.0,35.9,8.8,1220,10575,0.12,1.95,38.47,0.762,6,0.035,0.035,3165,1822,514
$STATE,10757,end climb,SURFACE_DEPTH_REACHED
$STATE,10757,begin surface coast
$FINISH,1.1,0.997394
$STATE,10779,end surface coast,CONTROL_FINISHED_OK
$STATE,10780,begin surface
$SM_CCo,10861,0.00,0.000,0,0,511,597.06
$SM_GC,1.88,7.95,0.00,0.00,0.037,0.000,0.000,148,2096,511,-8.28,0.99,597.06
$IRIDIUM_FIX,2510.35,12227.36,201198,000023
$TT8_MAMPS,0.027612
$HUMID,1894
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,21.60
$XPDR_PINGS,171
$24V_AH,23.6,125.146
$10V_AH,10.6,80.283
$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,24.750,81.500,705.075,0.000,0.000,23.948,32.815,228.185,46.750,0.000,0.000,12.725,2151.758,5159.058,776.976,2513.477,700.887,0.000,1908.885,0.000,2503.566,0.000,27.712,0.000
$DEVICE_MAMPS,217.061,58.292,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.869,937.656,1579.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72665,1263
$CAP_FILE_SIZE,122772,0
$CFSIZE,260165632,189730816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293,318.6,1
$GPS,260809,062224,2522.885,12222.240,27,1.3,45,-3.6