version: 66.04
glider: 166
mission: 2
dive: 338
start: 7 15 109 22 33 37
data:
$ID,166
$MISSION,2
$DIVE,338
$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,-12010.43
$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,83
$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
$GPS1,222637,2439.253,12427.455,42,1.3,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.0
$GPS2,223315,2439.186,12427.533,11,2.2,30,-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,325.5,35090,-13.7,-7.990
$D_GRID,475
$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,-170.3,0.0,0.0,0,68,0.00,0.00,-50.75,0.000,2,0.000,0.000,169,1688,2272
$GC,71,-1.01,-170.3,3.0,-3.9,8,124,9.05,2.20,-38.65,0.000,4,0.225,0.051,2449,258,3642
$GC,288,-1.01,-170.3,44.6,-20.0,45,296,0.00,2.03,0.00,0.000,6,0.000,0.025,2448,1660,3642
$GC,635,-1.01,-170.3,108.5,-17.6,106,641,0.00,2.08,0.00,0.000,4,0.000,0.040,2445,258,3642
$GC,678,-1.01,-170.3,116.2,-18.6,113,685,0.00,2.03,0.00,0.000,6,0.000,0.026,2441,1687,3642
$GC,1023,-1.01,-170.3,163.8,-13.6,174,1030,0.00,2.05,0.00,0.000,4,0.000,0.037,2440,3072,3643
$GC,1155,-1.01,-170.3,182.5,-13.7,197,1162,0.00,2.05,0.00,0.000,6,0.000,0.028,2438,1664,3643
$GC,1501,-1.01,-170.3,222.7,-11.4,258,1507,0.00,2.08,0.00,0.000,4,0.000,0.037,2436,3078,3643
$GC,1527,-1.01,-170.3,225.5,-11.3,262,1533,0.00,2.05,0.00,0.000,6,0.000,0.028,2434,1668,3643
$GC,1871,-1.01,-170.3,265.5,-12.1,323,1877,0.00,2.08,0.00,0.000,4,0.000,0.042,2434,273,3643
$GC,1908,-1.01,-170.3,269.7,-12.2,329,1916,0.00,2.00,0.00,0.000,6,0.000,0.025,2440,1684,3643
$GC,2249,-1.01,-170.3,308.3,-10.7,383,2252,0.00,2.03,0.00,0.000,4,0.000,0.038,2442,3069,3643
$GC,2310,-1.01,-170.3,315.1,-10.2,388,2316,0.00,2.05,0.00,0.000,6,0.000,0.030,2426,1672,3643
$GC,2637,-1.01,-170.3,349.8,-10.3,419,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1672,3643
$GC,2953,-1.01,-170.3,384.6,-10.5,449,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1672,3641
$STATE,3152,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3153,begin apogee
$GC,3159,-0.29,0.0,404.7,9.2,468,3297,0.73,0.00,134.68,0.944,6,0.104,0.000,2675,1340,2944
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3298,begin climb
$GC,3302,1.01,170.3,412.8,0.0,482,3440,1.15,0.00,133.25,0.927,6,0.059,0.000,3107,1340,2250
$GC,3758,1.04,190.3,385.0,7.4,525,3782,0.00,2.12,16.88,0.862,4,0.000,0.038,3117,2744,2168
$GC,3897,1.06,209.8,374.7,7.4,537,3921,0.00,2.08,17.12,0.868,6,0.000,0.038,3128,1358,2088
$GC,4239,1.06,209.8,345.1,9.5,569,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1358,2083
$GC,4557,1.06,209.8,316.0,9.0,599,4561,0.00,2.08,0.00,0.000,4,0.000,0.039,3129,2750,2081
$GC,4754,1.06,209.8,298.9,9.1,617,4761,0.00,2.10,0.00,0.000,6,0.000,0.038,3140,1334,2080
$GC,5100,1.06,209.9,266.8,8.0,678,5106,0.00,2.10,0.00,0.000,4,0.000,0.039,3140,2743,2079
$GC,5315,1.06,209.9,249.7,8.2,716,5321,0.00,2.10,0.00,0.000,6,0.000,0.038,3149,1354,2078
$GC,5660,1.06,209.9,220.2,9.6,777,5667,0.00,1.75,0.00,0.000,4,0.000,0.049,3158,190,2077
$GC,5776,1.06,209.9,209.8,8.9,797,5784,0.15,1.65,0.00,0.000,6,0.174,0.031,3120,1356,2077
$GC,6123,1.17,294.9,190.7,5.3,858,6202,0.10,1.88,67.28,0.821,4,0.077,0.049,3176,192,1740
$GC,6288,1.17,294.9,176.4,9.7,885,6295,0.00,1.70,0.00,0.000,6,0.000,0.030,3176,1355,1738
$GC,6634,1.17,294.9,147.8,8.9,946,6641,0.00,2.05,0.00,0.000,4,0.000,0.038,3176,2730,1735
$GC,6722,1.17,294.9,139.0,10.3,961,6729,0.00,2.05,0.00,0.000,6,0.000,0.035,3185,1335,1735
$GC,7069,1.19,314.8,109.9,7.4,1022,7095,0.00,1.75,17.20,0.721,4,0.000,0.048,3192,205,1661
$GC,7169,1.27,375.3,103.5,6.1,1039,7226,0.00,1.65,50.47,0.736,6,0.000,0.029,3192,1355,1414
$GC,7564,1.27,375.3,70.0,9.0,1108,7570,0.00,2.03,0.00,0.000,4,0.000,0.035,3193,2753,1410
$GC,7681,1.27,375.3,60.2,9.0,1128,7687,0.00,2.08,0.00,0.000,6,0.000,0.035,3198,1334,1410
$GC,8025,1.27,375.3,27.7,9.7,1189,8033,0.00,1.70,0.00,0.000,4,0.000,0.046,3205,206,1410
$GC,8084,1.27,375.3,22.5,8.5,1199,8091,0.00,1.62,0.00,0.000,6,0.000,0.027,3206,1362,1410
$STATE,8308,end climb,SURFACE_DEPTH_REACHED
$STATE,8308,begin surface coast
$FINISH,0.7,1.021264
$STATE,8343,end surface coast,CONTROL_FINISHED_OK
$STATE,8343,begin surface
$SM_CCo,8362,60.50,0.645,0,0,1110,450.13
$SM_GC,1.78,0.00,0.00,60.50,0.000,0.000,0.645,169,1689,1110,-8.16,0.40,450.13
$IRIDIUM_FIX,2432.32,12424.16,091098,191959
$TT8_MAMPS,0.026845
$HUMID,1564
$INTERNAL_PRESSURE,10.0831
$TCM_TEMP,26.30
$XPDR_PINGS,92
$ALTIM_BOTTOM_PING,300.1,128.9
$24V_AH,24.2,73.730
$10V_AH,10.8,47.777
$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,19.225,60.050,436.875,60.500,0.000,23.717,33.887,184.430,24.500,0.000,0.000,31.052,2023.381,3390.937,573.049,2323.939,502.887,0.000,1562.509,0.000,2308.726,0.000,14.082,0.000
$DEVICE_MAMPS,225.498,51.389,944.177,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,835.406,966.116,1623.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69451,1245
$CAP_FILE_SIZE,96323,0
$CFSIZE,260165632,208191488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.453,153.6,1
$GPS,160709,005506,2437.719,12428.106,11,1.4,28,-3.7