version: 66.04
glider: 166
mission: 2
dive: 331
start: 7 14 109 21 38 45
data:
$ID,166
$MISSION,2
$DIVE,331
$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,-11834.625
$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,43
$R_STBD_OVSHOOT,74
$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
$GPS1,213007,2447.153,12423.601,37,1.0,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.3
$GPS2,213814,2447.056,12423.716,14,1.4,14,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12423.900
$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,224.5,4189,-26.2,-7.990
$D_GRID,892
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.60,-49.9,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,2,0.000,0.000,165,1693,2379
$GC,76,-1.65,-84.5,3.4,-4.3,8,115,8.30,2.17,-24.50,0.000,4,0.224,0.054,2241,255,3290
$GC,238,-1.65,-84.5,45.0,-29.1,35,245,0.00,2.03,0.00,0.000,6,0.000,0.026,2234,1676,3290
$GC,583,-1.65,-84.5,127.3,-20.6,96,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1679,3291
$GC,927,-1.65,-84.5,189.9,-16.9,157,933,0.00,2.05,0.00,0.000,4,0.000,0.036,2224,3080,3293
$GC,1159,-1.65,-84.5,231.0,-17.5,198,1167,0.00,2.05,0.00,0.000,6,0.000,0.030,2225,1654,3293
$GC,1504,-1.65,-84.5,290.5,-16.4,259,1510,0.00,2.05,0.00,0.000,4,0.000,0.041,2221,274,3294
$GC,1689,-1.65,-84.5,323.6,-17.7,280,1693,0.17,2.00,0.00,0.000,6,0.214,0.027,2246,1679,3295
$GC,2020,-1.65,-84.5,375.3,-16.6,311,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1679,3294
$GC,2337,-1.65,-84.5,422.3,-14.8,341,2341,0.00,2.05,0.00,0.000,4,0.000,0.038,2227,3069,3293
$GC,2541,-1.65,-84.5,453.2,-15.4,359,2545,0.00,2.03,0.00,0.000,6,0.000,0.032,2226,1678,3293
$GC,2872,-1.65,-84.5,501.4,-14.5,390,2876,0.00,2.12,0.00,0.000,4,0.000,0.045,2226,267,3291
$GC,2918,-1.65,-84.5,508.6,-16.1,392,2921,0.00,2.03,0.00,0.000,6,0.000,0.029,2225,1666,3291
$GC,3249,-1.65,-84.5,557.5,-14.5,408,3253,0.00,2.10,0.00,0.000,4,0.000,0.042,2225,3073,3288
$GC,3351,-1.65,-84.5,572.2,-14.4,412,3355,0.12,2.05,0.00,0.000,6,0.213,0.035,2247,1676,3288
$GC,3671,-1.65,-84.5,616.2,-13.9,428,3674,0.00,2.15,0.00,0.000,4,0.000,0.049,2244,265,3285
$GC,3884,-1.65,-84.5,650.7,-16.0,437,3888,0.00,2.08,0.00,0.000,6,0.000,0.033,2246,1674,3283
$GC,4205,-1.65,-84.5,698.2,-14.8,453,4209,0.00,2.12,0.00,0.000,4,0.000,0.049,2236,3073,3280
$GC,4323,-1.65,-84.5,714.6,-12.9,458,4327,0.00,2.08,0.00,0.000,6,0.000,0.038,2236,1681,3278
$GC,4649,-1.65,-84.5,761.4,-14.7,474,4653,0.00,2.17,0.00,0.000,4,0.000,0.052,2236,268,3276
$GC,4704,-1.65,-84.5,770.8,-16.4,476,4708,0.00,2.12,0.00,0.000,6,0.000,0.039,2225,1687,3276
$GC,5026,-1.65,-84.5,820.1,-14.8,492,5030,0.00,2.22,0.00,0.000,4,0.000,0.053,2225,268,3273
$GC,5278,-1.65,-84.5,859.8,-16.0,503,5283,0.15,2.12,0.00,0.000,6,0.219,0.041,2248,1683,3271
$STATE,5521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5521,begin apogee
$GC,5529,-0.29,0.0,893.2,13.4,515,5606,1.55,0.00,70.47,1.394,6,0.183,0.000,2680,1345,2945
$STATE,5607,end apogee,CONTROL_FINISHED_OK
$STATE,5607,begin climb
$GC,5609,1.65,84.5,895.7,0.0,519,5695,1.77,2.30,74.38,1.358,4,0.067,0.054,3295,2753,2599
$GC,5807,1.65,84.5,878.1,12.7,528,5811,0.00,2.17,0.00,0.000,6,0.000,0.044,3304,1349,2597
$GC,6134,1.65,84.5,838.5,10.9,544,6137,0.00,1.80,0.00,0.000,4,0.000,0.064,3313,190,2594
$GC,6391,1.65,84.5,809.9,10.5,555,6395,0.00,1.77,0.00,0.000,6,0.000,0.048,3310,1352,2592
$GC,6713,1.65,84.5,781.2,8.4,571,6717,0.00,1.80,0.00,0.000,4,0.000,0.056,3317,199,2590
$GC,6876,1.65,84.5,768.0,8.1,578,6880,0.00,1.73,0.00,0.000,6,0.000,0.049,3315,1349,2589
$GC,7203,1.65,89.2,743.7,7.5,594,7206,0.00,2.15,0.00,0.000,4,0.000,0.050,3304,2758,2587
$GC,7343,1.66,93.5,732.4,7.5,600,7360,0.00,2.17,7.00,1.112,6,0.000,0.051,3313,1342,2563
$GC,7668,1.66,93.5,703.8,8.1,616,7671,0.00,1.77,0.00,0.000,4,0.000,0.056,3321,194,2561
$GC,7785,1.66,93.5,693.8,8.3,621,7789,0.00,1.77,0.00,0.000,6,0.000,0.042,3318,1353,2561
$GC,8115,1.67,104.6,671.1,6.8,637,8130,0.00,2.17,10.98,1.198,4,0.000,0.050,3311,2759,2517
$GC,8244,1.68,113.4,660.9,7.0,642,8258,0.00,2.17,9.20,1.146,6,0.000,0.044,3319,1341,2481
$GC,8577,1.68,113.4,630.5,9.2,658,8580,0.00,1.77,0.00,0.000,4,0.000,0.057,3328,195,2479
$GC,8834,1.68,113.4,604.8,9.2,669,8838,0.00,1.77,0.00,0.000,6,0.000,0.041,3325,1353,2479
$GC,9157,1.68,113.4,577.5,8.6,685,9161,0.00,2.15,0.00,0.000,4,0.000,0.049,3315,2762,2478
$GC,9383,1.69,119.7,559.1,7.3,695,9394,0.00,2.15,6.53,1.011,6,0.000,0.044,3324,1350,2456
$GC,9711,1.69,119.7,533.6,8.1,711,9715,0.00,2.17,0.00,0.000,4,0.000,0.056,3317,2755,2455
$GC,9840,1.70,125.5,523.3,7.4,716,9851,0.00,2.17,6.65,0.992,6,0.000,0.044,3325,1351,2433
$GC,10164,1.70,125.5,497.2,8.8,734,10167,0.00,2.17,0.00,0.000,4,0.000,0.048,3319,2762,2432
$GC,10371,1.70,129.9,480.0,7.5,752,10381,0.00,2.17,5.30,0.888,6,0.000,0.050,3328,1346,2415
$GC,10707,1.72,144.7,456.4,6.4,784,10729,0.00,1.85,13.88,1.075,4,0.000,0.054,3337,193,2355
$GC,10797,1.72,144.7,448.9,8.7,792,10801,0.00,1.75,0.00,0.000,6,0.000,0.047,3333,1358,2354
$GC,11128,1.72,144.7,417.8,10.5,823,11132,0.00,2.15,0.00,0.000,4,0.000,0.052,3327,2759,2354
$GC,11387,1.73,154.8,396.6,6.9,846,11404,0.00,2.15,10.18,0.984,6,0.000,0.042,3336,1341,2314
$GC,11729,1.73,154.8,365.6,9.6,878,11733,0.00,2.17,0.00,0.000,4,0.000,0.045,3333,2756,2313
$GC,11988,1.73,154.8,342.6,8.9,901,11991,0.00,2.15,0.00,0.000,6,0.000,0.041,3341,1336,2313
$GC,12321,1.73,154.8,313.6,8.3,932,12325,0.00,2.15,0.00,0.000,4,0.000,0.043,3338,2753,2313
$GC,12394,1.73,156.1,307.4,7.8,938,12401,0.00,2.12,0.00,0.000,6,0.000,0.041,3346,1338,2314
$GC,12732,1.75,167.7,283.1,6.8,990,12751,0.00,1.77,12.88,0.901,4,0.000,0.051,3358,201,2261
$GC,12870,1.75,167.7,270.6,9.5,1014,12877,0.00,1.73,0.00,0.000,6,0.000,0.035,3356,1358,2260
$GC,13216,1.75,170.4,241.0,7.7,1075,13229,0.00,2.12,4.10,0.593,4,0.000,0.041,3349,2747,2250
$GC,13372,1.77,188.6,231.3,6.0,1102,13397,0.00,2.10,16.42,0.867,6,0.000,0.038,3358,1340,2175
$GC,13737,1.77,188.6,203.1,9.2,1166,13744,0.00,1.75,0.00,0.000,4,0.000,0.048,3368,205,2174
$GC,13865,1.77,188.6,190.0,10.4,1188,13873,0.00,1.70,0.00,0.000,6,0.000,0.034,3363,1359,2174
$GC,14211,1.82,222.0,163.0,4.4,1249,14244,0.00,2.15,29.12,0.825,4,0.000,0.038,3354,2744,2038
$GC,14500,1.82,222.0,138.0,9.2,1299,14507,0.00,2.10,0.00,0.000,6,0.000,0.035,3362,1341,2035
$GC,14844,1.82,222.0,106.5,8.6,1360,14850,0.00,2.10,0.00,0.000,4,0.000,0.037,3356,2759,2036
$GC,15102,1.85,249.9,91.2,5.0,1406,15136,0.00,2.08,23.45,0.742,6,0.000,0.035,3364,1348,1926
$GC,15475,1.88,277.1,61.8,5.1,1471,15507,0.00,1.77,23.50,0.706,4,0.000,0.046,3373,203,1814
$GC,15655,1.92,309.3,52.0,4.5,1502,15689,0.00,1.67,27.42,0.693,6,0.000,0.029,3370,1361,1684
$GC,16027,1.92,309.3,17.7,10.4,1567,16033,0.00,2.03,0.00,0.000,4,0.000,0.035,3361,2748,1682
$STATE,16167,end climb,SURFACE_DEPTH_REACHED
$STATE,16167,begin surface coast
$FINISH,1.3,1.021267
$STATE,16179,end surface coast,CONTROL_FINISHED_OK
$STATE,16180,begin surface
$SM_CCo,16199,114.25,0.660,0,0,1110,450.13
$SM_GC,1.57,0.00,0.00,114.25,0.000,0.000,0.660,169,1661,1110,-8.16,-0.40,450.13
$IRIDIUM_FIX,2441.81,12420.24,081098,161613
$TT8_MAMPS,0.026845
$HUMID,1474
$INTERNAL_PRESSURE,10.0147
$TCM_TEMP,26.00
$XPDR_PINGS,160
$24V_AH,23.5,72.624
$10V_AH,10.7,46.803
$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,20.625,125.875,351.450,114.250,0.000,24.638,39.534,259.827,47.000,0.000,0.000,14.996,2871.764,9084.149,572.068,3543.635,721.237,0.000,2084.120,0.000,3515.844,0.000,47.758,0.000
$DEVICE_MAMPS,223.964,64.428,1394.406,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.080,1119.960,1877.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91602,1594
$CAP_FILE_SIZE,162232,0
$CFSIZE,260165632,208637952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,105.6,1
$GPS,150709,021200,2446.244,12424.370,38,1.4,43,-3.7