version: 66.04
glider: 166
mission: 2
dive: 349
start: 7 16 109 21 47 26
data:
$ID,166
$MISSION,2
$DIVE,349
$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,-12279.687
$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,50
$R_STBD_OVSHOOT,68
$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
$GPS1,213116,2418.914,12429.759,12,2.2,31,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.9
$GPS2,214704,2418.908,12429.693,11,2.7,30,-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,181.8,9277,-13.7,-7.990
$D_GRID,473
$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,-170.3,0.0,0.0,0,73,0.00,0.00,-56.45,0.000,2,0.000,0.000,168,1665,2422
$GC,77,-1.01,-170.3,3.1,-4.0,8,124,8.93,2.15,-32.42,0.000,4,0.222,0.054,2448,267,3641
$GC,171,-1.01,-170.3,20.8,-20.8,23,178,0.00,2.03,0.00,0.000,6,0.000,0.028,2443,1661,3641
$GC,517,-1.01,-170.3,82.0,-19.5,84,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1662,3641
$GC,859,-1.01,-170.3,133.3,-13.3,145,866,0.00,2.08,0.00,0.000,4,0.000,0.039,2439,3063,3641
$GC,907,-1.01,-170.3,139.5,-13.1,153,913,0.00,2.03,0.00,0.000,6,0.000,0.030,2440,1675,3641
$GC,1252,-1.01,-170.3,184.0,-13.5,214,1259,0.00,2.08,0.00,0.000,4,0.000,0.044,2433,264,3642
$GC,1289,-1.01,-170.3,189.9,-15.7,220,1296,0.00,2.05,0.00,0.000,6,0.000,0.028,2428,1679,3642
$GC,1634,-1.01,-170.3,238.3,-13.9,281,1640,0.00,2.03,0.00,0.000,4,0.000,0.038,2428,3070,3641
$GC,1702,-1.01,-170.3,248.2,-14.3,293,1708,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1662,3642
$GC,2046,-1.01,-170.3,296.1,-13.4,354,2053,0.00,2.08,0.00,0.000,4,0.000,0.044,2429,261,3642
$GC,2116,-1.01,-170.3,306.7,-15.1,363,2120,0.00,2.03,0.00,0.000,6,0.000,0.027,2428,1682,3641
$GC,2446,-1.01,-170.3,350.0,-13.2,394,2451,0.00,2.10,0.00,0.000,4,0.000,0.043,2429,276,3641
$GC,2495,-1.01,-170.3,356.6,-13.0,398,2503,0.00,2.03,0.00,0.000,6,0.000,0.027,2425,1674,3641
$GC,2822,-1.01,-170.3,396.8,-11.9,429,2825,0.00,2.05,0.00,0.000,4,0.000,0.040,2425,3071,3639
$GC,2892,-1.01,-170.3,405.4,-12.7,435,2895,0.00,2.03,0.00,0.000,6,0.000,0.031,2426,1668,3639
$GC,3226,-1.01,-170.3,441.9,-12.2,466,3230,0.00,2.08,0.00,0.000,4,0.000,0.045,2425,274,3637
$GC,3260,-1.01,-170.3,446.7,-13.3,469,3264,0.00,2.03,0.00,0.000,6,0.000,0.028,2425,1689,3637
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3503,begin apogee
$GC,3509,-0.29,0.0,473.6,10.8,492,3648,0.75,0.00,134.57,0.978,6,0.107,0.000,2681,1344,2945
$STATE,3648,end apogee,CONTROL_FINISHED_OK
$STATE,3648,begin climb
$GC,3652,1.01,170.3,483.9,0.0,506,3793,1.12,1.80,133.75,0.962,4,0.051,0.051,3120,214,2249
$GC,3816,1.01,170.3,478.9,10.7,520,3823,0.00,1.70,0.00,0.000,6,0.000,0.028,3120,1367,2248
$GC,4144,1.01,170.3,441.6,10.9,551,4148,0.00,2.00,0.00,0.000,4,0.000,0.038,3119,2740,2246
$GC,4227,1.01,170.3,432.8,9.4,558,4235,0.00,2.08,0.00,0.000,6,0.000,0.037,3129,1355,2245
$GC,4557,1.03,181.3,407.1,7.6,589,4572,0.00,2.10,9.27,0.829,4,0.000,0.041,3129,2739,2205
$GC,4640,1.03,181.3,399.7,8.5,596,4648,0.00,2.10,0.00,0.000,6,0.000,0.037,3139,1340,2203
$GC,4970,1.03,181.3,366.1,10.5,627,4973,0.00,2.08,0.00,0.000,4,0.000,0.038,3139,2750,2201
$GC,4986,1.03,181.3,364.0,9.8,628,4993,0.10,2.10,0.00,0.000,6,0.174,0.035,3117,1346,2200
$GC,5312,1.13,267.3,342.9,5.3,659,5388,0.00,2.15,69.10,0.920,4,0.000,0.045,3117,2744,1854
$GC,5450,1.18,304.4,334.8,6.8,671,5491,0.10,2.10,31.70,0.884,6,0.077,0.036,3170,1342,1703
$GC,5809,1.18,304.4,295.9,13.4,707,5815,0.00,1.70,0.00,0.000,4,0.000,0.048,3179,205,1698
$GC,5857,1.18,304.4,289.4,13.5,715,5863,0.00,1.62,0.00,0.000,6,0.000,0.030,3179,1358,1697
$GC,6201,1.18,304.4,245.9,12.3,776,6207,0.00,2.03,0.00,0.000,4,0.000,0.038,3179,2749,1696
$GC,6333,1.18,304.4,234.0,8.7,799,6339,0.00,2.08,0.00,0.000,6,0.000,0.036,3188,1338,1695
$GC,6679,1.18,304.4,193.9,12.7,860,6685,0.00,1.73,0.00,0.000,4,0.000,0.047,3196,200,1694
$GC,6778,1.18,304.4,181.5,12.2,877,6784,0.10,1.65,0.00,0.000,6,0.177,0.029,3167,1351,1694
$GC,7123,1.20,317.2,150.9,7.6,938,7139,0.00,1.80,11.15,0.712,4,0.000,0.045,3174,195,1651
$GC,7203,1.20,317.2,144.1,8.8,951,7210,0.00,1.67,0.00,0.000,6,0.000,0.029,3174,1364,1649
$GC,7548,1.22,341.0,107.9,7.2,1012,7575,0.00,2.08,20.95,0.722,4,0.000,0.035,3175,2735,1555
$GC,7702,1.25,360.2,97.5,7.4,1038,7728,0.00,2.05,17.70,0.699,6,0.000,0.034,3184,1337,1474
$GC,8067,1.30,399.1,65.8,6.8,1102,8106,0.00,1.70,33.03,0.690,4,0.000,0.044,3194,208,1318
$GC,8249,1.30,399.1,50.3,12.4,1133,8255,0.00,1.62,0.00,0.000,6,0.000,0.028,3194,1349,1316
$GC,8594,1.32,421.6,12.9,7.3,1194,8620,0.00,1.77,20.58,0.627,4,0.000,0.044,3203,203,1225
$STATE,8698,end climb,SURFACE_DEPTH_REACHED
$STATE,8698,begin surface coast
$FINISH,0.7,1.013254
$STATE,8734,end surface coast,CONTROL_FINISHED_OK
$STATE,8734,begin surface
$SM_CCo,8755,23.20,0.621,0,0,1110,450.13
$SM_GC,1.28,0.00,0.00,23.20,0.000,0.000,0.621,168,1682,1110,-8.16,0.20,450.13
$IRIDIUM_FIX,2411.01,12434.53,101098,212126
$TT8_MAMPS,0.027612
$HUMID,1638
$INTERNAL_PRESSURE,10.0831
$TCM_TEMP,25.70
$XPDR_PINGS,94
$ALTIM_BOTTOM_PING,400.4,119.6
$24V_AH,24.1,75.154
$10V_AH,10.8,49.008
$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,19.200,79.200,481.800,23.200,0.000,98.925,147.748,348.986,26.000,0.000,0.000,33.275,2011.556,3934.308,561.120,2319.080,900.710,0.000,1581.058,0.000,2294.266,0.000,19.143,0.000
$DEVICE_MAMPS,221.663,53.690,977.925,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,816.991,929.303,1563.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69542,1218
$CAP_FILE_SIZE,106499,0
$CFSIZE,260165632,207568896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273,178.8,1
$GPS,170709,001500,2416.847,12429.686,36,1.6,37,-3.6