version: 66.04
glider: 166
mission: 2
dive: 346
start: 7 16 109 15 41 43
data:
$ID,166
$MISSION,2
$DIVE,346
$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,-12179.778
$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,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
$GPS1,153455,2424.312,12429.677,37,1.4,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.9
$GPS2,154119,2424.240,12429.654,11,1.4,16,-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,194.5,19151,-13.7,-7.990
$D_GRID,303
$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,14,-1.01,-170.3,0.0,0.0,0,73,0.00,0.00,-56.40,0.000,2,0.000,0.000,167,1685,2417
$GC,76,-1.01,-170.3,3.2,-4.4,9,124,9.02,2.20,-33.10,0.000,4,0.224,0.056,2441,263,3641
$GC,145,-1.01,-170.3,14.1,-18.0,19,151,0.00,2.03,0.00,0.000,6,0.000,0.028,2438,1676,3642
$GC,489,-1.01,-170.3,73.7,-15.6,80,495,0.00,2.12,0.00,0.000,4,0.000,0.041,2432,267,3642
$GC,503,-1.01,-170.3,75.7,-15.0,82,509,0.00,2.03,0.00,0.000,6,0.000,0.027,2431,1688,3642
$GC,848,-1.01,-170.3,120.9,-12.7,143,854,0.00,2.03,0.00,0.000,4,0.000,0.038,2430,3078,3643
$GC,861,-1.01,-170.3,122.4,-11.7,145,868,0.00,2.03,0.00,0.000,6,0.000,0.030,2429,1665,3643
$GC,1206,-1.01,-170.3,168.8,-11.5,206,1213,0.00,2.08,0.00,0.000,4,0.000,0.039,2429,3071,3643
$GC,1225,-1.01,-170.3,171.5,-12.7,209,1233,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1662,3643
$GC,1570,-1.01,-170.3,213.0,-11.6,270,1577,0.00,2.10,0.00,0.000,4,0.000,0.044,2427,271,3643
$GC,1612,-1.01,-170.3,218.5,-13.6,277,1619,0.00,2.00,0.00,0.000,6,0.000,0.026,2430,1677,3643
$GC,1960,-1.01,-170.3,259.3,-9.7,338,1966,0.00,2.03,0.00,0.000,4,0.000,0.039,2431,3066,3643
$GC,2106,-1.01,-170.3,277.8,-12.6,364,2113,0.00,2.03,0.00,0.000,6,0.000,0.031,2429,1656,3643
$STATE,2305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2312,-0.29,0.0,303.5,14.6,397,2449,0.75,0.00,132.32,0.843,6,0.112,0.000,2682,1333,2945
$STATE,2450,end apogee,CONTROL_FINISHED_OK
$STATE,2450,begin climb
$GC,2453,1.01,170.3,315.8,0.0,411,2591,1.15,2.22,130.27,0.831,4,0.067,0.036,3102,2757,2249
$GC,2744,1.01,170.3,305.2,11.2,436,2750,0.00,2.08,0.00,0.000,6,0.000,0.035,3113,1350,2248
$GC,3085,1.22,339.3,282.6,2.7,492,3225,0.17,2.12,133.18,0.818,4,0.065,0.035,3194,2745,1561
$GC,3235,1.22,339.3,269.0,12.4,516,3242,0.12,2.12,0.00,0.000,6,0.189,0.036,3177,1337,1559
$GC,3579,1.22,339.3,228.3,12.4,577,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1337,1555
$GC,3922,1.22,339.3,193.0,10.6,638,3929,0.00,2.10,0.00,0.000,4,0.000,0.035,3177,2748,1554
$GC,4011,1.22,339.3,181.8,13.3,653,4017,0.00,2.05,0.00,0.000,6,0.000,0.035,3185,1345,1553
$GC,4354,1.22,339.3,136.3,10.5,714,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1345,1552
$GC,4701,1.22,339.3,99.6,10.0,775,4708,0.00,1.73,0.00,0.000,4,0.000,0.046,3194,203,1551
$GC,4779,1.22,339.3,93.2,8.6,788,4786,0.00,1.65,0.00,0.000,6,0.000,0.028,3194,1371,1550
$GC,5122,1.22,339.3,62.5,9.8,849,5129,0.00,1.77,0.00,0.000,4,0.000,0.045,3203,203,1550
$GC,5198,1.22,339.3,56.0,8.1,862,5204,0.00,1.62,0.00,0.000,6,0.000,0.026,3203,1361,1550
$GC,5545,1.24,351.7,32.5,7.6,923,5560,0.00,1.80,9.98,0.591,4,0.000,0.044,3212,199,1510
$GC,5751,1.24,354.4,17.8,7.9,959,5760,0.10,1.60,3.95,0.403,6,0.166,0.026,3182,1340,1499
$STATE,5918,end climb,SURFACE_DEPTH_REACHED
$STATE,5918,begin surface coast
$FINISH,0.7,1.009302
$STATE,5951,end surface coast,CONTROL_FINISHED_OK
$STATE,5952,begin surface
$SM_CCo,5970,77.38,0.628,0,0,1108,450.13
$SM_GC,1.55,0.00,0.00,77.38,0.000,0.000,0.628,170,1692,1108,-8.16,0.48,450.13
$IRIDIUM_FIX,2418.11,12428.68,101098,131303
$TT8_MAMPS,0.026845
$HUMID,1583
$INTERNAL_PRESSURE,10.1222
$TCM_TEMP,26.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,250.3,107.2
$24V_AH,24.3,74.748
$10V_AH,10.9,48.663
$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,19.250,48.425,409.700,77.375,0.000,25.167,31.825,192.350,1.250,0.000,0.000,16.651,1616.277,1929.650,542.022,1869.115,476.591,0.000,1350.673,0.000,1869.719,0.000,9.070,0.000
$DEVICE_MAMPS,223.964,55.991,842.933,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.509,825.212,1386.084,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53785,994
$CAP_FILE_SIZE,77615,0
$CFSIZE,260165632,207781888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.319,169.8,1
$GPS,160709,172336,2422.704,12429.767,12,1.6,28,-3.6