version: 66.04
glider: 166
mission: 2
dive: 350
start: 7 17 109 0 21 56
data:
$ID,166
$MISSION,2
$DIVE,350
$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,-12293.396
$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,47
$R_STBD_OVSHOOT,74
$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
$GPS1,001500,2416.847,12429.686,36,1.6,37,-3.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.4
$GPS2,002131,2416.848,12429.643,13,1.8,13,-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,177.6,5467,-27.6,-7.990
$D_GRID,647
$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,-1.68,-45.1,0.0,0.0,0,73,0.00,0.00,-55.88,0.000,2,0.000,0.000,168,1682,2394
$GC,77,-1.71,-72.9,3.3,-4.7,9,117,8.02,2.12,-23.08,0.000,4,0.219,0.054,2217,265,3243
$GC,233,-1.71,-72.9,41.6,-26.8,35,240,0.00,2.03,0.00,0.000,6,0.000,0.027,2207,1663,3244
$GC,579,-1.71,-72.9,119.6,-25.4,96,585,0.00,2.08,0.00,0.000,4,0.000,0.042,2209,266,3245
$GC,838,-1.71,-72.9,175.3,-21.9,142,846,0.12,2.03,0.00,0.000,6,0.225,0.026,2224,1698,3246
$GC,1184,-1.71,-72.9,239.0,-18.2,203,1190,0.00,2.12,0.00,0.000,4,0.000,0.041,2225,264,3247
$GC,1248,-1.71,-72.9,251.3,-19.5,214,1256,0.00,2.03,0.00,0.000,6,0.000,0.028,2216,1680,3247
$GC,1597,-1.71,-72.9,309.3,-17.4,271,1601,0.00,2.12,0.00,0.000,4,0.000,0.041,2215,254,3247
$GC,1855,-1.71,-72.9,353.0,-15.6,294,1860,0.12,2.05,0.00,0.000,6,0.224,0.026,2222,1694,3247
$GC,2186,-1.71,-72.9,398.5,-14.3,325,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1694,3247
$GC,2507,-1.71,-72.9,447.4,-14.2,355,2510,0.00,2.03,0.00,0.000,4,0.000,0.038,2203,3078,3247
$GC,2557,-1.71,-72.9,455.3,-14.7,359,2563,0.00,2.05,0.00,0.000,6,0.000,0.031,2206,1664,3247
$GC,2891,-1.71,-72.9,502.7,-12.4,390,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1663,3246
$GC,3204,-1.71,-72.9,543.1,-14.5,405,3209,0.12,2.10,0.00,0.000,4,0.206,0.044,2229,267,3244
$GC,3238,-1.71,-72.9,549.1,-16.4,406,3247,0.00,2.03,0.00,0.000,6,0.000,0.029,2225,1674,3244
$STATE,3448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3448,begin apogee
$GC,3456,-0.29,0.0,581.5,14.0,417,3520,1.58,0.00,60.70,1.055,6,0.174,0.000,2676,1350,2945
$STATE,3521,end apogee,CONTROL_FINISHED_OK
$STATE,3521,begin climb
$GC,3524,1.71,72.9,584.9,0.0,420,3594,1.77,2.22,59.67,1.035,4,0.060,0.038,3334,2761,2646
$GC,3644,1.74,98.1,585.0,5.0,425,3671,0.00,2.12,21.62,0.993,6,0.000,0.037,3345,1343,2544
$GC,3993,1.74,98.1,544.0,12.8,442,3996,0.00,1.70,0.00,0.000,4,0.000,0.048,3356,204,2541
$GC,4031,1.74,98.1,538.6,12.6,443,4037,0.00,1.67,0.00,0.000,6,0.000,0.031,3355,1359,2540
$GC,4348,1.74,98.1,506.9,8.5,459,4351,0.00,2.03,0.00,0.000,4,0.000,0.039,3344,2744,2537
$GC,4489,1.75,102.5,494.7,7.5,467,4498,0.00,2.08,3.95,0.635,6,0.000,0.037,3354,1340,2526
$GC,4826,1.79,133.9,472.5,4.3,499,4858,0.00,2.12,26.12,1.016,4,0.000,0.039,3346,2754,2399
$GC,5110,1.79,133.9,445.6,10.9,524,5117,0.00,2.12,0.00,0.000,6,0.000,0.037,3354,1349,2396
$GC,5439,1.81,154.2,417.4,5.6,555,5462,0.00,2.17,17.23,0.969,4,0.000,0.040,3345,2752,2316
$GC,5478,1.81,154.2,413.9,8.2,558,5486,0.00,2.12,0.00,0.000,6,0.000,0.037,3353,1356,2315
$GC,5806,1.81,154.2,382.8,8.5,589,5809,0.00,1.73,0.00,0.000,4,0.000,0.048,3362,202,2313
$GC,6064,1.81,154.2,361.2,9.4,612,6067,0.00,1.65,0.00,0.000,6,0.000,0.033,3362,1355,2311
$GC,6398,1.82,163.2,333.2,6.9,643,6412,0.00,2.12,8.18,0.823,4,0.000,0.039,3352,2753,2279
$GC,6521,1.82,163.2,322.3,8.4,654,6525,0.00,2.10,0.00,0.000,6,0.000,0.036,3359,1333,2278
$GC,6848,1.82,163.2,295.3,8.0,689,6854,0.00,1.67,0.00,0.000,4,0.000,0.047,3367,207,2278
$GC,7108,1.82,163.2,275.2,8.2,735,7114,0.00,1.62,0.00,0.000,6,0.000,0.031,3365,1356,2278
$GC,7450,1.82,163.2,246.6,8.7,796,7456,0.00,2.03,0.00,0.000,4,0.000,0.038,3357,2740,2278
$GC,7548,1.85,185.8,240.5,5.3,813,7574,0.00,2.05,19.25,0.837,6,0.000,0.036,3365,1349,2187
$GC,7913,1.85,185.8,219.2,8.1,877,7918,0.00,2.08,0.00,0.000,4,0.000,0.038,3361,2747,2186
$GC,8143,1.85,185.8,198.9,8.2,918,8151,0.00,2.10,0.00,0.000,6,0.000,0.035,3367,1342,2186
$GC,8489,1.88,207.0,180.8,5.5,979,8515,0.00,1.70,19.12,0.775,4,0.000,0.044,3376,206,2099
$GC,8769,1.88,207.0,154.6,11.0,1028,8776,0.00,1.65,0.00,0.000,6,0.000,0.029,3377,1355,2098
$GC,9116,1.88,207.0,123.0,8.0,1089,9122,0.00,2.05,0.00,0.000,4,0.000,0.035,3377,2742,2097
$GC,9247,1.88,212.5,114.6,7.3,1112,9260,0.00,2.08,6.05,0.581,6,0.000,0.034,3386,1347,2078
$GC,9598,1.92,243.1,87.3,4.4,1174,9632,0.00,2.05,26.08,0.706,4,0.000,0.033,3380,2743,1952
$GC,9686,1.92,243.1,80.6,8.3,1188,9693,0.00,2.05,0.00,0.000,6,0.000,0.033,3386,1350,1949
$GC,10029,1.93,252.7,52.4,6.9,1249,10044,0.00,2.10,8.57,0.591,4,0.000,0.033,3381,2743,1914
$GC,10276,1.93,252.7,33.4,8.5,1292,10283,0.00,2.08,0.00,0.000,6,0.000,0.033,3388,1345,1914
$GC,10621,1.98,291.0,16.2,3.4,1353,10661,0.00,1.67,32.50,0.641,4,0.000,0.041,3399,206,1755
$STATE,10796,end climb,SURFACE_DEPTH_REACHED
$STATE,10797,begin surface coast
$FINISH,0.8,1.021406
$STATE,10824,end surface coast,CONTROL_FINISHED_OK
$STATE,10824,begin surface
$SM_CCo,10845,126.57,0.634,0,0,1110,450.13
$SM_GC,1.40,0.00,0.00,126.57,0.000,0.000,0.634,168,1697,1110,-8.16,0.62,450.13
$IRIDIUM_FIX,2408.65,12426.00,101098,212100
$TT8_MAMPS,0.026845
$HUMID,1597
$INTERNAL_PRESSURE,10.0831
$TCM_TEMP,25.90
$XPDR_PINGS,161
$ALTIM_BOTTOM_PING,575.8,28.5
$24V_AH,24.0,75.275
$10V_AH,10.8,49.144
$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,20.425,84.350,309.050,126.575,0.000,23.157,30.833,201.381,44.750,0.000,0.000,13.083,2371.363,5163.520,539.908,2706.129,582.831,0.000,1679.751,0.000,2706.976,0.000,33.537,0.000
$DEVICE_MAMPS,225.498,54.457,1055.392,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,936.004,1039.912,1749.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78925,1388
$CAP_FILE_SIZE,118169,0
$CFSIZE,260165632,207482880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,167.3,1
$GPS,170709,032606,2415.346,12430.085,35,0.8,38,-3.6