version: 66.04
glider: 166
mission: 2
dive: 341
start: 7 16 109 5 29 26
data:
$ID,166
$MISSION,2
$DIVE,341
$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,-12069.282
$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,48
$R_STBD_OVSHOOT,86
$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
$GPS1,052252,2435.667,12428.981,13,99.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.6
$GPS2,052906,2435.679,12428.977,12,1.0,28,-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,326.4,41375,-13.7,-7.990
$D_GRID,277
$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,15,-1.01,-170.3,0.0,0.0,0,71,0.00,0.00,-53.53,0.000,2,0.000,0.000,170,1684,2344
$GC,74,-1.01,-170.3,3.2,-4.1,8,127,8.93,2.05,-35.62,0.000,4,0.225,0.050,2446,3045,3642
$GC,291,-1.01,-170.3,41.9,-17.6,45,298,0.00,2.00,0.00,0.000,6,0.000,0.028,2445,1665,3642
$GC,636,-1.01,-170.3,97.7,-14.9,106,643,0.00,2.05,0.00,0.000,4,0.000,0.039,2445,266,3642
$GC,730,-1.01,-170.3,111.2,-14.9,122,738,0.00,2.00,0.00,0.000,6,0.000,0.025,2445,1664,3642
$GC,1076,-1.01,-170.3,165.0,-15.4,183,1083,0.00,2.08,0.00,0.000,4,0.000,0.040,2445,282,3643
$GC,1134,-1.01,-170.3,174.7,-16.3,193,1141,0.00,2.00,0.00,0.000,6,0.000,0.026,2444,1673,3643
$GC,1480,-1.01,-170.3,220.9,-11.8,254,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1673,3643
$GC,1827,-1.01,-170.3,265.0,-13.2,315,1833,0.00,2.03,0.00,0.000,4,0.000,0.038,2442,3061,3643
$GC,1891,-1.01,-170.3,273.8,-13.8,326,1899,0.00,2.00,0.00,0.000,6,0.000,0.029,2443,1686,3643
$STATE,1914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1914,begin apogee
$GC,1921,-0.29,0.0,277.5,13.7,330,2057,0.70,0.00,131.12,0.814,6,0.114,0.000,2668,1346,2945
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2058,begin climb
$GC,2061,1.01,170.3,289.4,0.0,352,2199,1.20,2.20,129.68,0.805,4,0.072,0.036,3100,2756,2249
$GC,2269,1.01,170.3,288.3,8.1,385,2275,0.00,2.10,0.00,0.000,6,0.000,0.036,3105,1350,2249
$GC,2614,1.01,170.3,258.5,8.0,446,2620,0.00,1.75,0.00,0.000,4,0.000,0.050,3106,199,2247
$GC,2700,1.06,205.2,251.6,6.9,461,2737,0.00,1.62,28.10,0.770,6,0.000,0.027,3104,1369,2107
$GC,3077,1.06,205.2,226.1,9.0,527,3083,0.00,1.75,0.00,0.000,4,0.000,0.046,3115,197,2103
$GC,3271,1.06,205.2,208.4,9.2,561,3277,0.00,1.60,0.00,0.000,6,0.000,0.027,3113,1357,2102
$GC,3616,1.06,207.6,183.0,7.9,622,3622,0.00,2.03,0.00,0.000,4,0.000,0.035,3113,2754,2101
$GC,3652,1.06,207.6,179.9,8.4,628,3659,0.00,2.08,0.00,0.000,6,0.000,0.035,3125,1333,2101
$GC,3997,1.15,277.9,160.1,5.8,689,4061,0.00,1.70,57.08,0.749,4,0.000,0.045,3134,210,1810
$GC,4119,1.15,277.9,150.1,9.4,709,4126,0.00,1.62,0.00,0.000,6,0.000,0.028,3134,1343,1807
$GC,4464,1.15,277.9,120.4,8.2,770,4470,0.00,2.03,0.00,0.000,4,0.000,0.035,3132,2738,1805
$GC,4595,1.16,289.1,109.3,7.6,793,4614,0.00,2.03,9.85,0.632,6,0.000,0.034,3143,1347,1766
$GC,4952,1.18,304.6,83.7,7.5,856,4972,0.00,1.73,14.18,0.653,4,0.000,0.045,3152,196,1702
$GC,5081,1.20,318.7,74.0,7.5,878,5101,0.00,1.62,12.95,0.638,6,0.000,0.027,3151,1345,1644
$GC,5441,1.25,362.5,49.2,6.6,941,5484,0.00,2.08,36.08,0.663,4,0.000,0.033,3152,2725,1466
$GC,5549,1.25,362.5,40.6,8.5,959,5555,0.00,2.05,0.00,0.000,6,0.000,0.033,3160,1349,1465
$GC,5893,1.30,399.7,15.6,6.8,1020,5933,0.10,1.75,31.30,0.627,4,0.074,0.044,3227,206,1314
$GC,5962,1.30,399.7,9.9,8.9,1031,5969,0.10,1.62,0.00,0.000,6,0.152,0.025,3195,1353,1313
$STATE,6047,end climb,SURFACE_DEPTH_REACHED
$STATE,6047,begin surface coast
$FINISH,0.7,1.021254
$STATE,6084,end surface coast,CONTROL_FINISHED_OK
$STATE,6084,begin surface
$SM_CCo,6102,39.60,0.619,0,0,1109,450.13
$SM_GC,1.68,0.00,0.00,39.60,0.000,0.000,0.619,168,1685,1109,-8.16,0.28,450.13
$IRIDIUM_FIX,2425.21,12430.02,101098,030352
$TT8_MAMPS,0.026845
$HUMID,1579
$INTERNAL_PRESSURE,10.1222
$TCM_TEMP,26.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.4,139.1
$24V_AH,24.3,74.107
$10V_AH,10.9,48.116
$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,18.975,50.425,450.325,39.600,0.000,25.885,33.351,169.823,1.000,0.000,0.000,28.274,1662.289,1917.844,528.408,1951.466,453.921,0.000,1377.379,0.000,1942.956,0.000,9.155,0.000
$DEVICE_MAMPS,224.731,49.855,813.787,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.706,895.879,1504.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56879,1052
$CAP_FILE_SIZE,80073,0
$CFSIZE,260165632,208048128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.518,160.1,1
$GPS,160709,071302,2434.254,12429.320,33,1.8,37,-3.6