version: 66.04
glider: 166
mission: 2
dive: 340
start: 7 16 109 3 15 35
data:
$ID,166
$MISSION,2
$DIVE,340
$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,-12040.377
$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,49
$R_STBD_OVSHOOT,93
$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
$GPS1,030907,2436.592,12428.623,32,1.1,32,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.0
$GPS2,031514,2436.602,12428.606,15,1.2,15,-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,322.1,39698,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,67,0.00,0.00,-48.35,0.000,2,0.000,0.000,169,1707,2212
$GC,70,-1.01,-170.3,3.0,-3.6,7,130,9.00,2.03,-40.97,0.000,4,0.225,0.050,2429,3045,3642
$GC,272,-1.01,-170.3,37.4,-18.6,41,279,0.12,2.00,0.00,0.000,6,0.155,0.028,2455,1668,3642
$GC,617,-1.01,-170.3,96.8,-16.1,102,624,0.00,2.03,0.00,0.000,4,0.000,0.035,2452,3060,3642
$GC,641,-1.01,-170.3,100.8,-15.9,106,647,0.00,2.00,0.00,0.000,6,0.000,0.028,2448,1680,3642
$GC,985,-1.01,-170.3,151.5,-14.3,167,992,0.00,2.08,0.00,0.000,4,0.000,0.041,2452,269,3643
$GC,1072,-1.01,-170.3,163.9,-13.7,182,1079,0.00,1.98,0.00,0.000,6,0.000,0.025,2462,1652,3643
$GC,1417,-1.01,-170.3,206.2,-12.5,243,1424,0.00,2.05,0.00,0.000,4,0.000,0.037,2453,3064,3644
$GC,1515,-1.01,-170.3,218.4,-12.2,260,1522,0.00,2.03,0.00,0.000,6,0.000,0.028,2454,1645,3643
$GC,1862,-1.01,-170.3,258.3,-11.7,321,1868,0.00,2.10,0.00,0.000,4,0.000,0.038,2451,3067,3643
$GC,1904,-1.01,-170.3,263.0,-11.6,328,1910,0.00,2.03,0.00,0.000,6,0.000,0.029,2452,1650,3644
$GC,2251,-1.01,-170.3,304.1,-12.5,387,2255,0.00,2.05,0.00,0.000,4,0.000,0.044,2450,274,3643
$GC,2269,-1.01,-170.3,306.3,-12.3,388,2276,0.00,2.03,0.00,0.000,6,0.000,0.026,2451,1700,3643
$GC,2598,-1.01,-170.3,344.7,-11.0,419,2601,0.00,2.00,0.00,0.000,4,0.000,0.040,2449,3064,3643
$GC,2655,-1.01,-170.3,350.7,-9.5,424,2658,0.00,2.00,0.00,0.000,6,0.000,0.030,2444,1673,3643
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2756,-0.29,0.0,360.7,10.6,433,2894,0.68,0.00,133.68,0.887,6,0.104,0.000,2677,1337,2945
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin climb
$GC,2897,1.01,170.3,370.6,0.0,447,3037,1.15,2.15,131.60,0.872,4,0.062,0.035,3106,2749,2249
$GC,3121,1.01,170.3,363.3,9.0,466,3128,0.00,2.12,0.00,0.000,6,0.000,0.035,3117,1350,2248
$GC,3448,1.01,170.3,331.5,10.0,497,3452,0.00,2.08,0.00,0.000,4,0.000,0.037,3114,2755,2246
$GC,3620,1.03,180.8,316.7,7.7,512,3635,0.00,2.08,9.23,0.739,6,0.000,0.036,3124,1348,2207
$GC,3963,1.07,212.9,291.0,7.0,555,3994,0.00,1.80,26.48,0.830,4,0.000,0.049,3132,205,2076
$GC,4186,1.07,212.9,273.1,8.3,594,4192,0.00,1.67,0.00,0.000,6,0.000,0.029,3132,1365,2073
$GC,4532,1.08,225.4,246.2,7.6,655,4551,0.00,2.05,10.80,0.746,4,0.000,0.038,3132,2744,2025
$GC,4626,1.08,225.4,237.9,10.2,671,4632,0.00,2.08,0.00,0.000,6,0.000,0.035,3142,1341,2024
$GC,4970,1.08,225.4,207.3,8.2,732,4977,0.00,1.73,0.00,0.000,4,0.000,0.048,3152,205,2023
$GC,5068,1.08,225.4,198.2,8.8,749,5076,0.00,1.62,0.00,0.000,6,0.000,0.028,3151,1355,2022
$GC,5415,1.14,271.6,171.9,6.5,810,5459,0.00,2.05,37.47,0.774,4,0.000,0.035,3152,2737,1837
$GC,5478,1.17,299.8,167.6,7.1,820,5510,0.00,2.08,24.50,0.743,6,0.000,0.035,3162,1343,1721
$GC,5850,1.18,301.8,132.8,7.9,885,5857,0.00,2.05,0.00,0.000,4,0.000,0.035,3162,2740,1716
$GC,5908,1.18,301.8,127.6,8.7,895,5914,0.00,2.08,0.00,0.000,6,0.000,0.035,3173,1349,1716
$GC,6253,1.18,301.8,97.2,8.1,956,6259,0.00,1.73,0.00,0.000,4,0.000,0.047,3182,205,1716
$GC,6329,1.24,356.4,91.9,6.3,969,6380,0.00,1.60,46.08,0.711,6,0.000,0.027,3181,1346,1491
$GC,6718,1.24,356.4,62.3,9.6,1037,6725,0.00,2.03,0.00,0.000,4,0.000,0.033,3185,2750,1487
$GC,6783,1.24,356.4,56.3,9.0,1048,6790,0.00,2.05,0.00,0.000,6,0.000,0.033,3197,1341,1487
$GC,7127,1.26,369.4,28.8,7.6,1109,7144,0.00,2.10,11.70,0.597,4,0.000,0.032,3198,2737,1439
$GC,7184,1.26,369.4,24.1,8.5,1118,7191,0.00,2.03,0.00,0.000,6,0.000,0.033,3207,1344,1439
$STATE,7435,end climb,SURFACE_DEPTH_REACHED
$STATE,7436,begin surface coast
$FINISH,0.6,1.021157
$STATE,7481,end surface coast,CONTROL_FINISHED_OK
$STATE,7481,begin surface
$SM_CCo,7500,64.90,0.628,0,0,1110,450.13
$SM_GC,1.54,0.00,0.00,64.90,0.000,0.000,0.628,169,1684,1110,-8.16,0.25,450.13
$IRIDIUM_FIX,2427.58,12426.12,101098,010152
$TT8_MAMPS,0.026845
$HUMID,1558
$INTERNAL_PRESSURE,10.1124
$TCM_TEMP,26.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,250.2,146.9
$24V_AH,24.2,73.991
$10V_AH,10.9,48.008
$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,18.975,68.425,431.525,64.900,0.000,24.168,30.450,179.931,3.250,0.000,0.000,15.570,1914.618,2771.722,559.270,2204.107,482.704,0.000,1511.827,0.000,2199.426,0.000,9.177,0.000
$DEVICE_MAMPS,224.731,49.855,887.419,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.988,936.434,1573.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66349,1171
$CAP_FILE_SIZE,92945,0
$CFSIZE,260165632,208080896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.333,152.7,1
$GPS,160709,052252,2435.667,12428.981,13,99.0,32,-3.7