version: 66.04
glider: 166
mission: 2
dive: 555
start: 8 26 109 13 41 11
data:
$ID,166
$MISSION,2
$DIVE,555
$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,-18313.182
$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,38
$R_STBD_OVSHOOT,67
$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
$GPS1,133350,2521.216,12226.001,12,1.9,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.6
$GPS2,134050,2521.135,12225.923,15,2.0,15,-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,119.9,80160,-13.9,-10.000
$D_GRID,613
$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,-243.4,0.0,0.0,0,90,0.00,0.00,-71.53,0.000,2,0.000,0.000,165,2098,2030
$GC,95,-0.93,-243.4,3.2,-4.9,11,160,9.45,2.15,-50.42,0.000,4,0.222,0.055,2500,3451,3940
$GC,202,-0.49,-243.4,26.7,-30.9,28,209,0.50,2.05,0.00,0.000,6,0.136,0.029,2660,2037,3941
$GC,549,-0.49,-243.4,75.7,-12.9,89,557,0.00,2.15,0.00,0.000,4,0.000,0.043,2641,3447,3942
$GC,576,-0.49,-243.4,78.8,-11.5,93,584,0.00,2.00,0.00,0.000,6,0.000,0.027,2647,2077,3942
$GC,925,-0.66,-243.4,106.8,-4.5,154,932,0.12,2.08,0.00,0.000,4,0.059,0.035,2566,669,3944
$GC,1083,-0.61,-243.4,128.2,-16.0,181,1091,0.17,2.10,0.00,0.000,6,0.116,0.032,2618,2067,3944
$GC,1434,-0.76,-243.4,150.0,-4.7,242,1441,0.12,2.10,0.00,0.000,4,0.060,0.035,2538,664,3944
$GC,1506,-0.67,-243.4,158.3,-14.0,254,1514,0.20,2.12,0.00,0.000,6,0.114,0.033,2602,2072,3944
$GC,1853,-0.78,-243.4,191.9,-8.3,315,1859,0.00,2.10,0.00,0.000,4,0.000,0.038,2602,672,3943
$GC,1884,-0.89,-243.4,194.7,-8.4,320,1891,0.20,2.08,0.00,0.000,6,0.048,0.032,2503,2082,3943
$GC,2232,-0.72,-243.4,238.9,-11.7,381,2240,0.25,2.12,0.00,0.000,4,0.129,0.046,2581,3459,3941
$GC,2259,-0.65,-243.4,241.5,-10.5,385,2266,0.00,2.00,0.00,0.000,6,0.000,0.028,2581,2085,3941
$GC,2607,-0.73,-243.4,270.3,-11.7,446,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2085,3939
$GC,2953,-0.82,-243.4,296.3,-0.7,507,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2085,3937
$GC,3296,-0.91,-243.4,308.7,-8.2,557,3300,0.15,2.15,0.00,0.000,4,0.054,0.040,2502,672,3934
$GC,3387,-0.79,-243.4,321.6,-15.4,565,3392,0.25,2.15,0.00,0.000,6,0.123,0.037,2568,2092,3934
$GC,3713,-0.85,-243.4,354.4,-8.4,595,3717,0.00,2.15,0.00,0.000,4,0.000,0.052,2560,3468,3932
$GC,3738,-0.91,-243.4,356.6,-9.1,597,3742,0.00,2.05,0.00,0.000,6,0.000,0.031,2560,2084,3932
$GC,4070,-0.94,-243.4,393.9,-10.9,628,4074,0.12,2.17,0.00,0.000,4,0.063,0.041,2491,666,3928
$GC,4103,-0.83,-243.4,398.4,-13.3,630,4110,0.15,2.20,0.00,0.000,6,0.125,0.039,2556,2086,3928
$GC,4430,-0.87,-243.4,426.4,-7.7,661,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2086,3927
$GC,4751,-0.94,-243.4,452.0,-10.2,691,4756,0.12,2.20,0.00,0.000,4,0.062,0.044,2488,670,3925
$GC,4796,-0.80,-243.4,458.6,-15.5,694,4803,0.25,2.15,0.00,0.000,6,0.127,0.041,2561,2082,3925
$GC,5124,-0.91,-243.4,480.7,0.0,725,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2082,3923
$STATE,5202,end dive,NO_VERTICAL_VELOCITY
$STATE,5202,begin apogee
$GC,5210,-0.23,0.0,480.8,0.0,733,5408,0.50,0.00,193.02,1.065,6,0.091,0.000,2741,1702,2945
$STATE,5409,end apogee,CONTROL_FINISHED_OK
$STATE,5409,begin climb
$GC,5412,0.93,243.4,480.7,0.0,753,5621,1.08,2.35,196.70,1.030,4,0.085,0.052,3123,293,1951
$GC,5792,0.64,243.4,440.1,19.1,787,5797,0.32,2.17,0.00,0.000,6,0.149,0.038,3030,1712,1945
$GC,6118,0.53,243.4,404.0,10.7,817,6123,0.12,2.15,0.00,0.000,4,0.146,0.048,2993,3097,1942
$GC,6361,0.48,243.4,377.8,11.5,838,6364,0.00,2.10,0.00,0.000,6,0.000,0.037,3001,1714,1940
$GC,6695,0.48,282.5,345.0,8.9,869,6734,0.00,2.22,32.12,0.975,4,0.000,0.049,3001,3096,1793
$GC,6888,0.43,282.5,326.6,10.3,886,6893,0.17,2.08,0.00,0.000,6,0.133,0.038,2962,1728,1789
$GC,7216,0.67,393.3,302.8,6.9,916,7318,0.20,2.22,94.18,0.955,4,0.051,0.048,3066,3106,1340
$GC,7488,0.52,393.3,262.0,16.8,960,7495,0.30,2.05,0.00,0.000,6,0.135,0.037,2987,1751,1337
$GC,7837,0.64,393.3,223.6,10.9,1021,7844,0.12,2.10,0.00,0.000,4,0.063,0.047,3060,3097,1336
$GC,7965,0.53,393.3,201.6,17.9,1043,7972,0.28,2.00,0.00,0.000,6,0.130,0.036,2988,1771,1336
$GC,8312,0.78,505.2,171.7,6.9,1104,8415,0.20,2.12,95.20,0.862,4,0.081,0.048,3095,3106,884
$GC,8536,0.61,505.2,131.3,20.9,1141,8544,0.30,2.03,0.00,0.000,6,0.135,0.036,3016,1755,882
$GC,8885,0.73,505.2,87.7,11.5,1202,8892,0.12,2.08,0.00,0.000,4,0.062,0.045,3091,3100,882
$GC,8990,0.65,505.2,72.3,14.2,1220,8997,0.17,1.98,0.00,0.000,6,0.111,0.035,3025,1810,881
$GC,9338,1.15,702.1,48.0,4.6,1281,9435,0.40,2.03,89.75,0.759,4,0.034,0.044,3232,3099,454
$STATE,9574,end climb,SURFACE_DEPTH_REACHED
$STATE,9574,begin surface coast
$FINISH,1.0,1.020954
$STATE,9592,end surface coast,CONTROL_FINISHED_OK
$STATE,9592,begin surface
$SM_CCo,9675,0.00,0.000,0,0,449,612.27
$SM_GC,1.69,8.12,0.00,0.00,0.039,0.000,0.000,147,2045,449,-8.28,-0.45,612.27
$IRIDIUM_FIX,2512.73,12223.33,201198,111125
$TT8_MAMPS,0.026845
$HUMID,1866
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,22.00
$XPDR_PINGS,176
$24V_AH,23.8,125.989
$10V_AH,10.6,80.757
$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,24.500,76.125,700.975,0.000,0.000,25.072,32.803,210.166,47.500,0.000,0.000,15.393,2155.600,4020.442,723.651,2543.796,644.534,0.000,1864.718,0.000,2530.478,0.000,26.806,0.000
$DEVICE_MAMPS,221.663,55.224,1065.363,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.055,986.937,1665.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75695,1324
$CAP_FILE_SIZE,116827,0
$CFSIZE,260165632,189480960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,302.3,1
$GPS,260809,162336,2521.544,12226.583,31,0.8,31,-3.6