version: 66.04
glider: 166
mission: 2
dive: 332
start: 7 15 109 2 28 9
data:
$ID,166
$MISSION,2
$DIVE,332
$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,-11850.652
$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,54
$R_STBD_OVSHOOT,75
$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
$GPS1,021200,2446.244,12424.370,38,1.4,43,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.7
$GPS2,022732,2446.153,12424.577,15,1.5,15,-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,244.0,2753,-18.7,-7.990
$D_GRID,765
$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,14,-1.22,-95.9,0.0,0.0,0,73,0.00,0.00,-55.88,0.000,2,0.000,0.000,169,1661,2421
$GC,76,-1.30,-161.4,3.4,-4.3,8,123,9.05,2.15,-30.65,0.000,4,0.237,0.054,2353,277,3604
$GC,210,-1.30,-161.4,35.1,-26.6,30,217,0.00,2.03,0.00,0.000,6,0.000,0.028,2353,1687,3605
$GC,556,-1.30,-161.4,113.0,-19.8,91,563,0.00,2.05,0.00,0.000,4,0.000,0.038,2352,3070,3604
$GC,575,-1.30,-161.4,116.7,-19.5,94,582,0.00,2.03,0.00,0.000,6,0.000,0.029,2352,1658,3604
$GC,920,-1.30,-161.4,178.4,-17.7,155,926,0.00,2.08,0.00,0.000,4,0.000,0.035,2342,3077,3605
$GC,1018,-1.30,-161.4,194.9,-15.6,172,1024,0.00,2.03,0.00,0.000,6,0.000,0.028,2342,1661,3605
$GC,1363,-1.30,-161.4,254.6,-17.0,233,1369,0.00,2.05,0.00,0.000,4,0.000,0.041,2342,274,3605
$GC,1400,-1.30,-161.4,260.9,-17.9,239,1406,0.00,2.03,0.00,0.000,6,0.000,0.027,2341,1694,3605
$GC,1739,-1.30,-161.4,315.2,-15.5,291,1743,0.00,2.10,0.00,0.000,4,0.000,0.041,2341,276,3605
$GC,1767,-1.30,-161.4,320.0,-16.8,293,1773,0.00,2.03,0.00,0.000,6,0.000,0.028,2341,1686,3605
$GC,2091,-1.30,-161.4,370.6,-14.8,324,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1686,3605
$GC,2412,-1.30,-161.4,418.3,-15.1,354,2416,0.00,2.05,0.00,0.000,4,0.000,0.041,2325,3075,3603
$GC,2485,-1.30,-161.4,429.2,-14.6,360,2492,0.08,2.05,0.00,0.000,6,0.171,0.031,2349,1677,3603
$GC,2811,-1.30,-161.4,475.3,-14.5,391,2815,0.00,2.10,0.00,0.000,4,0.000,0.045,2345,280,3601
$GC,2935,-1.30,-161.4,495.8,-16.6,402,2939,0.00,2.03,0.00,0.000,6,0.000,0.029,2342,1679,3601
$GC,3258,-1.30,-161.4,543.4,-14.1,419,3262,0.00,2.12,0.00,0.000,4,0.000,0.045,2338,276,3598
$GC,3342,-1.30,-161.4,556.1,-14.8,422,3350,0.00,2.08,0.00,0.000,6,0.000,0.031,2343,1675,3598
$GC,3658,-1.30,-161.4,597.9,-12.8,438,3662,0.00,2.12,0.00,0.000,4,0.000,0.048,2340,273,3595
$GC,3713,-1.30,-161.4,606.1,-14.5,440,3717,0.00,2.05,0.00,0.000,6,0.000,0.033,2350,1671,3595
$GC,4034,-1.30,-161.4,649.7,-14.4,456,4042,0.00,2.12,0.00,0.000,4,0.000,0.047,2353,3083,3591
$GC,4082,-1.30,-161.4,656.4,-14.2,458,4086,0.00,2.08,0.00,0.000,6,0.000,0.035,2353,1673,3591
$GC,4416,-1.30,-161.4,700.9,-13.8,474,4419,0.00,2.12,0.00,0.000,4,0.000,0.051,2354,268,3588
$GC,4516,-1.30,-161.4,716.5,-15.6,478,4520,0.00,2.08,0.00,0.000,6,0.000,0.033,2343,1678,3587
$GC,4838,-1.30,-161.4,761.3,-14.5,494,4841,0.00,2.12,0.00,0.000,4,0.000,0.056,2341,3069,3583
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4863,begin apogee
$GC,4871,-0.29,0.0,765.6,15.2,495,5008,1.10,0.00,132.88,1.273,6,0.150,0.000,2676,1347,2945
$STATE,5009,end apogee,CONTROL_FINISHED_OK
$STATE,5009,begin climb
$GC,5012,1.30,161.4,772.6,0.0,502,5154,1.45,1.90,135.07,1.238,4,0.064,0.057,3196,199,2286
$GC,5186,1.30,161.4,761.1,14.7,510,5189,0.00,1.75,0.00,0.000,6,0.000,0.035,3194,1362,2284
$GC,5518,1.30,161.4,716.0,13.5,526,5521,0.00,2.10,0.00,0.000,4,0.000,0.045,3192,2753,2280
$GC,5647,1.30,161.4,698.0,12.8,531,5653,0.00,2.12,0.00,0.000,6,0.000,0.042,3200,1350,2278
$GC,5963,1.30,161.4,658.2,12.7,547,5966,0.00,1.77,0.00,0.000,4,0.000,0.055,3208,190,2276
$GC,6055,1.30,161.4,646.9,12.2,551,6058,0.00,1.70,0.00,0.000,6,0.000,0.038,3206,1350,2275
$GC,6388,1.30,161.4,610.4,9.6,567,6392,0.00,2.12,0.00,0.000,4,0.000,0.046,3200,2756,2274
$GC,6466,1.30,161.4,602.4,10.4,570,6470,0.00,2.17,0.00,0.000,6,0.000,0.047,3208,1351,2273
$GC,6788,1.30,161.4,567.4,11.6,586,6791,0.00,1.77,0.00,0.000,4,0.000,0.062,3217,198,2271
$GC,6861,1.30,161.4,558.3,12.7,589,6865,0.00,1.73,0.00,0.000,6,0.000,0.045,3216,1365,2270
$GC,7188,1.30,161.4,521.5,10.6,605,7192,0.00,2.08,0.00,0.000,4,0.000,0.045,3209,2744,2270
$GC,7261,1.30,161.4,513.1,11.1,608,7265,0.00,2.12,0.00,0.000,6,0.000,0.043,3218,1348,2269
$GC,7583,1.30,161.4,475.9,10.0,633,7587,0.00,1.80,0.00,0.000,4,0.000,0.054,3229,201,2268
$GC,7697,1.30,161.4,464.9,9.8,643,7701,0.00,1.70,0.00,0.000,6,0.000,0.039,3228,1355,2267
$GC,8031,1.30,161.4,431.6,10.2,674,8035,0.00,2.12,0.00,0.000,4,0.000,0.049,3222,2753,2266
$GC,8228,1.30,161.4,413.5,8.8,691,8234,0.15,2.12,0.00,0.000,6,0.203,0.041,3198,1344,2266
$GC,8552,1.30,161.4,388.1,8.4,722,8556,0.00,2.12,0.00,0.000,4,0.000,0.044,3191,2750,2266
$GC,8710,1.30,161.4,373.7,9.6,736,8714,0.00,2.12,0.00,0.000,6,0.000,0.040,3201,1335,2266
$GC,9043,1.30,161.4,345.7,8.4,767,9047,0.00,2.15,0.00,0.000,4,0.000,0.042,3198,2759,2266
$GC,9294,1.34,196.0,326.7,6.1,789,9327,0.00,2.12,26.50,0.966,6,0.000,0.039,3207,1343,2145
$GC,9649,1.34,196.0,295.4,10.0,826,9656,0.00,2.12,0.00,0.000,4,0.000,0.041,3205,2753,2143
$GC,9742,1.34,196.0,285.4,11.2,842,9749,0.00,2.10,0.00,0.000,6,0.000,0.038,3213,1350,2143
$GC,10088,1.34,196.0,252.1,9.1,903,10094,0.00,2.10,0.00,0.000,4,0.000,0.041,3211,2753,2143
$GC,10348,1.37,216.2,232.0,6.9,949,10373,0.00,2.10,18.30,0.861,6,0.000,0.037,3220,1345,2062
$GC,10712,1.37,216.2,204.1,8.2,1013,10718,0.00,1.73,0.00,0.000,4,0.000,0.049,3228,202,2061
$GC,10973,1.37,216.2,178.6,10.2,1059,10980,0.00,1.70,0.00,0.000,6,0.000,0.032,3228,1367,2060
$GC,11318,1.38,222.0,154.8,7.7,1120,11331,0.00,2.05,6.45,0.653,4,0.000,0.037,3224,2753,2039
$GC,11371,1.38,222.0,150.3,8.4,1129,11377,0.00,2.08,0.00,0.000,6,0.000,0.035,3233,1348,2039
$GC,11718,1.42,257.8,123.4,6.0,1190,11757,0.00,2.12,30.48,0.769,4,0.000,0.036,3232,2737,1892
$GC,11799,1.46,290.2,118.5,6.2,1203,11843,0.00,2.08,29.92,0.711,6,0.000,0.035,3240,1345,1759
$GC,12185,1.48,306.6,92.9,7.1,1270,12205,0.00,1.77,14.73,0.693,4,0.000,0.046,3249,205,1693
$GC,12363,1.48,306.6,77.9,8.6,1301,12369,0.00,1.67,0.00,0.000,6,0.000,0.029,3249,1364,1692
$GC,12709,1.49,317.0,51.2,7.4,1362,12723,0.00,2.10,10.25,0.618,4,0.000,0.034,3249,2748,1652
$GC,12777,1.49,317.0,45.7,8.5,1373,12784,0.00,2.08,0.00,0.000,6,0.000,0.032,3253,1331,1651
$GC,13121,1.49,318.3,16.8,7.9,1434,13129,0.00,2.10,0.00,0.000,4,0.000,0.032,3252,2745,1652
$GC,13194,1.49,318.3,10.8,8.4,1446,13201,0.00,2.03,0.00,0.000,6,0.000,0.031,3265,1349,1652
$STATE,13291,end climb,SURFACE_DEPTH_REACHED
$STATE,13291,begin surface coast
$FINISH,0.7,1.000443
$STATE,13338,end surface coast,CONTROL_FINISHED_OK
$STATE,13338,begin surface
$SM_CCo,13356,107.80,0.650,0,0,1109,450.13
$SM_GC,1.56,0.00,0.00,107.80,0.000,0.000,0.650,169,1698,1109,-8.16,0.65,450.13
$IRIDIUM_FIX,2434.69,12407.06,091098,020230
$TT8_MAMPS,0.026845
$HUMID,1473
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,26.50
$XPDR_PINGS,140
$24V_AH,23.5,72.807
$10V_AH,10.8,46.955
$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,20.025,122.325,404.575,107.800,0.000,80.094,133.709,416.889,40.750,0.000,0.000,15.398,2559.253,7216.239,629.825,2991.689,1001.708,0.000,1925.525,0.000,2964.745,0.000,39.429,0.000
$DEVICE_MAMPS,237.003,62.127,1273.220,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.364,1073.803,1805.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85220,1471
$CAP_FILE_SIZE,144685,0
$CFSIZE,260165632,208572416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.191,120.3,1
$GPS,150709,061354,2444.953,12424.976,41,1.1,41,-3.7