version: 66.04
glider: 166
mission: 2
dive: 339
start: 7 16 109 1 5 0
data:
$ID,166
$MISSION,2
$DIVE,339
$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,-12024.181
$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,45
$R_STBD_OVSHOOT,85
$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
$GPS1,005506,2437.719,12428.106,11,1.4,28,-3.7
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.2
$GPS2,010438,2437.658,12428.163,13,1.9,13,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2458.000,12430.000
$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,323.4,37800,-13.7,-7.990
$D_GRID,360
$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,-1.01,-170.3,0.0,0.0,0,74,0.00,0.00,-56.00,0.000,2,0.000,0.000,169,1689,2425
$GC,78,-1.01,-170.3,3.4,-5.0,9,125,9.10,2.08,-32.25,0.000,4,0.227,0.050,2434,3051,3640
$GC,284,-1.01,-170.3,41.0,-19.2,44,290,0.00,2.03,0.00,0.000,6,0.000,0.029,2443,1634,3640
$GC,629,-1.01,-170.3,102.7,-16.4,105,635,0.00,2.08,0.00,0.000,4,0.000,0.038,2441,3047,3641
$GC,739,-1.01,-170.3,118.6,-14.0,124,746,0.00,2.00,0.00,0.000,6,0.000,0.029,2432,1673,3641
$GC,1083,-1.01,-170.3,167.1,-15.8,185,1089,0.00,2.08,0.00,0.000,4,0.000,0.041,2432,261,3642
$GC,1127,-1.01,-170.3,173.8,-16.7,192,1133,0.00,2.00,0.00,0.000,6,0.000,0.028,2428,1645,3642
$GC,1473,-1.01,-170.3,223.2,-13.5,253,1479,0.00,2.10,0.00,0.000,4,0.000,0.038,2433,3079,3642
$GC,1553,-1.01,-170.3,234.7,-14.2,267,1561,0.00,2.03,0.00,0.000,6,0.000,0.030,2428,1668,3642
$GC,1901,-1.01,-170.3,284.1,-12.7,328,1908,0.00,2.08,0.00,0.000,4,0.000,0.043,2428,266,3643
$GC,1938,-1.01,-170.3,288.9,-13.2,334,1944,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1688,3642
$GC,2268,-1.01,-170.3,323.3,-9.7,373,2272,0.00,2.03,0.00,0.000,4,0.000,0.040,2437,3069,3642
$GC,2329,-1.01,-170.3,329.2,-9.4,378,2336,0.00,2.05,0.00,0.000,6,0.000,0.031,2447,1674,3642
$STATE,2619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2628,-0.29,0.0,360.9,12.3,406,2766,0.70,0.00,133.57,0.894,6,0.110,0.000,2669,1337,2945
$STATE,2766,end apogee,CONTROL_FINISHED_OK
$STATE,2766,begin climb
$GC,2769,1.01,170.3,370.8,0.0,420,2911,1.20,2.17,131.93,0.878,4,0.066,0.038,3103,2746,2249
$GC,3036,1.01,170.3,358.9,8.6,443,3039,0.00,2.08,0.00,0.000,6,0.000,0.037,3115,1356,2247
$GC,3368,1.01,170.3,330.6,8.5,474,3372,0.00,2.08,0.00,0.000,4,0.000,0.038,3113,2756,2246
$GC,3616,1.07,214.5,313.0,6.6,496,3656,0.00,2.10,35.42,0.854,6,0.000,0.038,3125,1343,2070
$GC,3986,1.07,214.5,281.9,8.0,547,3992,0.00,1.73,0.00,0.000,4,0.000,0.049,3135,198,2065
$GC,4152,1.08,226.0,268.4,7.6,576,4166,0.00,1.67,10.02,0.752,6,0.000,0.029,3134,1369,2023
$GC,4506,1.08,226.0,238.4,9.4,638,4512,0.00,1.80,0.00,0.000,4,0.000,0.048,3144,198,2020
$GC,4666,1.08,226.0,222.5,9.6,666,4672,0.00,1.65,0.00,0.000,6,0.000,0.029,3143,1351,2019
$GC,5011,1.08,226.0,195.3,8.6,727,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1352,2018
$GC,5353,1.18,301.0,170.0,5.6,788,5419,0.00,2.15,60.42,0.782,4,0.000,0.035,3146,2748,1717
$GC,5474,1.18,301.9,161.9,8.0,807,5480,0.00,2.10,0.00,0.000,6,0.000,0.035,3154,1341,1714
$GC,5818,1.18,301.9,127.2,9.6,868,5824,0.00,2.05,0.00,0.000,4,0.000,0.035,3153,2741,1712
$GC,5938,1.29,391.1,118.9,5.2,889,6021,0.00,2.05,73.53,0.737,6,0.000,0.035,3163,1344,1350
$GC,6361,1.29,391.1,84.3,10.2,962,6367,0.00,2.05,0.00,0.000,4,0.000,0.035,3163,2748,1346
$GC,6504,1.29,391.1,69.9,9.8,987,6510,0.00,2.05,0.00,0.000,6,0.000,0.034,3178,1344,1346
$GC,6848,1.31,407.9,40.7,7.5,1048,6869,0.00,2.05,15.05,0.628,4,0.000,0.032,3179,2741,1282
$GC,7017,1.31,407.9,26.4,9.2,1077,7025,0.00,2.08,0.00,0.000,6,0.000,0.033,3192,1345,1282
$STATE,7289,end climb,SURFACE_DEPTH_REACHED
$STATE,7289,begin surface coast
$FINISH,0.8,1.000964
$STATE,7323,end surface coast,CONTROL_FINISHED_OK
$STATE,7323,begin surface
$SM_CCo,7342,35.00,0.627,0,0,1109,450.13
$SM_GC,1.70,0.00,0.00,35.00,0.000,0.000,0.627,169,1707,1109,-8.16,0.90,450.13
$IRIDIUM_FIX,2427.58,12429.41,101098,010153
$TT8_MAMPS,0.026845
$HUMID,1578
$INTERNAL_PRESSURE,10.1026
$TCM_TEMP,26.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,275.6,137.5
$24V_AH,24.2,73.865
$10V_AH,10.8,47.892
$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,18.950,57.325,459.950,35.000,0.000,46.973,61.935,263.501,5.000,0.000,0.000,13.122,1843.049,2785.880,533.597,2153.834,631.209,0.000,1458.365,0.000,2160.085,0.000,10.821,0.000
$DEVICE_MAMPS,227.032,49.855,893.555,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.390,906.665,1522.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63214,1131
$CAP_FILE_SIZE,89426,0
$CFSIZE,260165632,208146432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.378,150.2,1
$GPS,160709,030907,2436.592,12428.623,32,1.1,32,-3.7