version: 66.04
glider: 166
mission: 2
dive: 347
start: 7 16 109 17 30 22
data:
$ID,166
$MISSION,2
$DIVE,347
$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,-12213.028
$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,88
$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
$GPS1,172336,2422.704,12429.767,12,1.6,28,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.5
$GPS2,173001,2422.699,12429.718,15,1.3,32,-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,195.1,16297,-13.7,-7.990
$D_GRID,321
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-53.88,0.000,2,0.000,0.000,170,1692,2337
$GC,75,-1.01,-170.3,3.1,-4.0,8,128,9.10,2.12,-35.90,0.000,4,0.231,0.054,2434,267,3641
$GC,182,-1.01,-170.3,20.7,-20.7,25,189,0.00,2.00,0.00,0.000,6,0.000,0.027,2437,1646,3641
$GC,528,-1.01,-170.3,84.0,-17.0,86,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1646,3641
$GC,872,-1.01,-170.3,132.7,-14.6,147,878,0.00,2.05,0.00,0.000,4,0.000,0.043,2428,264,3642
$GC,914,-1.01,-170.3,139.5,-16.8,154,920,0.00,2.03,0.00,0.000,6,0.000,0.026,2429,1670,3642
$GC,1257,-1.01,-170.3,188.1,-12.2,215,1263,0.00,2.03,0.00,0.000,4,0.000,0.038,2431,3066,3643
$GC,1361,-1.01,-170.3,202.6,-14.4,233,1369,0.00,2.03,0.00,0.000,6,0.000,0.029,2427,1655,3643
$GC,1707,-1.01,-170.3,246.4,-10.6,294,1713,0.00,2.08,0.00,0.000,4,0.000,0.038,2428,3066,3642
$GC,1770,-1.01,-170.3,253.6,-11.4,305,1777,0.00,2.00,0.00,0.000,6,0.000,0.029,2425,1672,3643
$GC,2121,-1.01,-170.3,301.4,-10.6,366,2124,0.00,2.08,0.00,0.000,4,0.000,0.044,2425,277,3643
$GC,2238,-1.01,-170.3,314.8,-10.1,376,2244,0.00,2.03,0.00,0.000,6,0.000,0.027,2426,1678,3643
$STATE,2306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2306,begin apogee
$GC,2313,-0.29,0.0,321.0,8.9,383,2451,0.75,0.00,132.07,0.847,6,0.113,0.000,2679,1343,2945
$STATE,2451,end apogee,CONTROL_FINISHED_OK
$STATE,2452,begin climb
$GC,2454,1.01,170.3,326.0,0.0,397,2592,1.15,2.20,130.07,0.833,4,0.064,0.035,3104,2757,2250
$GC,2762,1.11,245.6,314.5,5.6,424,2831,0.00,2.08,59.28,0.818,6,0.000,0.035,3114,1355,1941
$GC,3159,1.17,298.1,284.3,6.3,478,3210,0.12,2.17,42.50,0.805,4,0.071,0.035,3171,2757,1727
$GC,3216,1.17,298.1,279.1,9.9,487,3222,0.00,2.12,0.00,0.000,6,0.000,0.035,3182,1340,1727
$GC,3560,1.17,298.1,239.0,12.6,548,3566,0.00,2.10,0.00,0.000,4,0.000,0.035,3182,2746,1724
$GC,3642,1.17,298.1,229.5,11.4,562,3649,0.15,2.05,0.00,0.000,6,0.181,0.035,3156,1347,1723
$GC,3988,1.17,298.1,195.7,9.4,623,3994,0.00,1.73,0.00,0.000,4,0.000,0.048,3162,208,1722
$GC,4149,1.19,310.6,180.0,7.6,651,4164,0.00,1.65,10.68,0.690,6,0.000,0.028,3162,1372,1678
$GC,4505,1.19,310.6,145.0,9.5,713,4512,0.00,1.77,0.00,0.000,4,0.000,0.046,3170,202,1676
$GC,4559,1.19,310.6,139.8,9.0,722,4565,0.00,1.62,0.00,0.000,6,0.000,0.028,3170,1353,1676
$GC,4905,1.25,360.0,112.4,6.4,783,4951,0.00,1.80,41.25,0.719,4,0.000,0.045,3179,205,1477
$GC,5092,1.28,384.2,97.8,7.2,815,5119,0.00,1.62,21.25,0.683,6,0.000,0.028,3179,1350,1377
$GC,5458,1.28,384.2,56.5,11.2,879,5464,0.00,1.73,0.00,0.000,4,0.000,0.045,3188,212,1374
$GC,5642,1.28,384.2,41.1,8.1,911,5649,0.00,1.60,0.00,0.000,6,0.000,0.027,3188,1353,1374
$GC,5986,1.28,384.2,11.7,8.7,972,5993,0.00,2.00,0.00,0.000,4,0.000,0.031,3189,2728,1372
$GC,6040,1.28,384.2,7.6,8.1,981,6048,0.00,2.03,0.00,0.000,6,0.000,0.032,3201,1325,1372
$STATE,6087,end climb,SURFACE_DEPTH_REACHED
$STATE,6087,begin surface coast
$FINISH,0.9,1.021350
$STATE,6121,end surface coast,CONTROL_FINISHED_OK
$STATE,6121,begin surface
$SM_CCo,6140,53.60,0.628,0,0,1110,450.13
$SM_GC,1.55,0.00,0.00,53.60,0.000,0.000,0.628,166,1684,1110,-8.16,0.25,450.13
$IRIDIUM_FIX,2415.74,12428.68,101098,151543
$TT8_MAMPS,0.026845
$HUMID,1605
$INTERNAL_PRESSURE,10.1222
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,24.3,74.870
$10V_AH,10.9,48.765
$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,19.200,51.625,437.100,53.600,0.000,23.374,36.028,181.253,1.500,0.000,0.000,32.623,1628.750,2041.572,538.790,1913.592,457.986,0.000,1365.982,0.000,1892.777,0.000,9.363,0.000
$DEVICE_MAMPS,230.867,54.457,846.768,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.119,820.624,1379.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53668,995
$CAP_FILE_SIZE,79498,0
$CFSIZE,260165632,207724544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.368,177.7,1
$GPS,160709,191454,2421.021,12429.685,41,1.4,41,-3.6