version: 66.04
glider: 166
mission: 2
dive: 343
start: 7 16 109 9 2 56
data:
$ID,166
$MISSION,2
$DIVE,343
$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,-12112.899
$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,44
$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
$GPS1,085152,2432.175,12429.448,12,3.6,31,-3.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.8
$GPS2,090236,2431.980,12429.456,11,1.4,27,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2413.900,12429.800
$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,217.8,33490,-13.7,-7.990
$D_GRID,313
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-52.30,0.000,2,0.000,0.000,169,1682,2304
$GC,74,-1.01,-170.3,3.0,-3.7,8,127,9.10,2.17,-36.62,0.000,4,0.229,0.052,2444,264,3641
$GC,198,-1.01,-170.3,25.3,-21.3,28,204,0.00,2.03,0.00,0.000,6,0.000,0.028,2443,1681,3641
$GC,543,-1.01,-170.3,84.9,-9.6,89,550,0.00,2.12,0.00,0.000,4,0.000,0.041,2445,272,3641
$GC,580,-1.01,-170.3,89.4,-12.6,95,588,0.00,2.05,0.00,0.000,6,0.000,0.028,2438,1707,3642
$GC,925,-1.01,-170.3,145.4,-14.9,156,932,0.00,2.03,0.00,0.000,4,0.000,0.038,2436,3076,3642
$GC,961,-1.01,-170.3,150.3,-13.9,162,967,0.00,2.03,0.00,0.000,6,0.000,0.030,2443,1662,3642
$GC,1306,-1.01,-170.3,193.6,-15.2,223,1313,0.00,2.08,0.00,0.000,4,0.000,0.039,2434,3070,3642
$GC,1337,-1.01,-170.3,198.2,-15.0,228,1343,0.00,2.03,0.00,0.000,6,0.000,0.031,2439,1660,3642
$GC,1682,-1.01,-170.3,240.9,-13.6,289,1688,0.00,2.10,0.00,0.000,4,0.000,0.040,2430,3078,3642
$GC,1719,-1.01,-170.3,245.8,-13.6,295,1726,0.00,2.03,0.00,0.000,6,0.000,0.030,2431,1671,3642
$GC,2064,-1.01,-170.3,293.5,-11.8,356,2070,0.00,2.08,0.00,0.000,4,0.000,0.039,2430,3074,3642
$GC,2144,-1.01,-170.3,302.7,-11.0,368,2148,0.00,2.03,0.00,0.000,6,0.000,0.031,2430,1671,3642
$STATE,2228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2228,begin apogee
$GC,2234,-0.29,0.0,313.4,12.8,376,2371,0.73,0.00,132.00,0.849,6,0.111,0.000,2675,1345,2945
$STATE,2372,end apogee,CONTROL_FINISHED_OK
$STATE,2372,begin climb
$GC,2376,1.01,170.3,324.3,0.0,390,2513,1.17,2.15,130.27,0.834,4,0.072,0.036,3102,2765,2250
$GC,2593,1.06,206.0,321.2,6.9,409,2628,0.00,2.10,28.95,0.799,6,0.000,0.038,3104,1363,2105
$GC,2947,1.06,206.0,293.2,8.3,448,2954,0.00,1.77,0.00,0.000,4,0.000,0.051,3104,202,2101
$GC,3107,1.06,206.0,280.1,8.0,476,3114,0.00,1.67,0.00,0.000,6,0.000,0.028,3101,1376,2101
$GC,3452,1.07,213.7,255.1,7.7,537,3465,0.00,2.00,7.10,0.660,4,0.000,0.035,3102,2739,2073
$GC,3569,1.07,213.7,245.5,8.3,557,3575,0.00,2.08,0.00,0.000,6,0.000,0.035,3113,1327,2071
$GC,3913,1.09,233.8,220.5,7.4,618,3938,0.00,2.12,17.38,0.763,4,0.000,0.035,3112,2726,1989
$GC,4006,1.11,244.9,213.3,7.6,634,4020,0.00,2.03,10.07,0.703,6,0.000,0.035,3123,1350,1946
$GC,4359,1.11,244.9,185.0,9.5,696,4365,0.00,1.73,0.00,0.000,4,0.000,0.048,3133,209,1942
$GC,4406,1.11,244.9,180.5,9.3,704,4412,0.00,1.62,0.00,0.000,6,0.000,0.028,3131,1362,1942
$GC,4750,1.11,247.9,154.7,7.9,765,4757,0.00,2.03,0.00,0.000,4,0.000,0.035,3132,2749,1941
$GC,4838,1.11,247.9,146.9,9.0,780,4844,0.00,2.05,0.00,0.000,6,0.000,0.035,3143,1349,1940
$GC,5183,1.21,332.0,123.1,5.3,841,5260,0.00,1.75,70.22,0.736,4,0.000,0.045,3152,204,1590
$GC,5273,1.23,347.7,116.9,7.5,855,5294,0.00,1.65,14.38,0.662,6,0.000,0.028,3152,1342,1526
$GC,5632,1.23,347.7,87.4,9.6,918,5639,0.00,2.03,0.00,0.000,4,0.000,0.034,3151,2742,1522
$GC,5802,1.23,347.7,70.7,9.3,948,5808,0.00,2.05,0.00,0.000,6,0.000,0.033,3162,1332,1521
$GC,6147,1.28,385.9,47.2,6.8,1009,6185,0.00,0.00,31.65,0.663,6,0.000,0.000,3162,1332,1371
$GC,6523,1.28,385.9,18.6,8.0,1075,6530,0.00,1.70,0.00,0.000,4,0.000,0.045,3174,204,1368
$GC,6644,1.33,426.9,9.5,6.7,1096,6688,0.00,1.62,35.17,0.627,6,0.000,0.027,3174,1364,1202
$STATE,6715,end climb,SURFACE_DEPTH_REACHED
$STATE,6715,begin surface coast
$FINISH,0.6,1.003963
$STATE,6744,end surface coast,CONTROL_FINISHED_OK
$STATE,6744,begin surface
$SM_CCo,6763,18.48,0.595,0,0,1109,450.13
$SM_GC,1.52,0.00,0.00,18.48,0.000,0.000,0.595,165,1678,1109,-8.16,0.08,450.13
$IRIDIUM_FIX,2425.21,12430.02,101098,090933
$TT8_MAMPS,0.026845
$HUMID,1608
$INTERNAL_PRESSURE,10.1124
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,24.3,74.358
$10V_AH,10.9,48.327
$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,18.900,59.725,477.200,18.475,0.000,48.495,80.833,317.434,1.500,0.000,0.000,27.814,1796.563,2314.445,542.286,2094.204,680.704,0.000,1446.113,0.000,2086.257,0.000,9.365,0.000
$DEVICE_MAMPS,229.333,52.156,849.069,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,743.185,915.612,1539.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59979,1113
$CAP_FILE_SIZE,89408,0
$CFSIZE,260165632,207937536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.622,170.0,1
$GPS,160709,105704,2429.326,12429.504,9,99.0,28,-3.6