version: 66.04
glider: 166
mission: 2
dive: 146
start: 6 15 109 14 2 24
data:
$ID,166
$MISSION,2
$DIVE,146
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,425
$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,-8031.0444
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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
$GPS1,135228,2424.117,12317.881,14,6.1,33,-3.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.2
$GPS2,140206,2424.093,12318.083,15,0.9,32,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,245.9,32778,-16.4,-12.000
$D_GRID,723
$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,-0.97,-243.4,0.0,0.0,0,102,0.00,0.00,-85.15,0.000,2,0.000,0.000,170,1531,2368
$GC,105,-0.97,-243.4,3.2,-6.3,13,158,8.90,2.08,-38.95,0.000,4,0.230,0.054,2421,188,3858
$GC,277,-0.22,-243.4,55.0,-34.9,42,284,0.80,1.90,0.00,0.000,6,0.156,0.028,2668,1490,3858
$GC,622,-0.54,-243.4,89.7,-6.8,103,630,0.28,2.08,0.00,0.000,4,0.042,0.035,2536,2911,3858
$GC,772,-0.42,-243.4,115.1,-16.3,129,779,0.20,2.08,0.00,0.000,6,0.123,0.029,2600,1491,3859
$GC,1117,-0.62,-243.4,154.7,-8.6,190,1123,0.17,1.88,0.00,0.000,4,0.054,0.039,2507,210,3860
$GC,1209,-0.34,-243.4,169.7,-18.4,206,1216,0.32,1.90,0.00,0.000,6,0.123,0.027,2631,1530,3860
$GC,1554,-1.15,-243.4,199.3,-10.5,267,1563,0.70,1.98,0.00,0.000,4,0.068,0.035,2368,2902,3860
$GC,1598,-0.76,-243.4,205.7,-16.6,274,1605,0.45,2.03,0.00,0.000,6,0.158,0.030,2489,1516,3860
$GC,1944,-0.64,-243.4,254.3,-14.7,335,1950,0.12,0.00,0.00,0.000,6,0.145,0.000,2534,1515,3861
$GC,2287,-0.71,-243.4,292.4,-12.1,396,2294,0.00,2.05,0.00,0.000,4,0.000,0.040,2534,2885,3859
$GC,2372,-0.91,-243.4,300.6,-9.0,410,2379,0.20,2.00,0.00,0.000,6,0.038,0.031,2415,1522,3859
$GC,2699,-0.52,-243.4,361.9,-18.7,441,2703,0.45,2.05,0.00,0.000,4,0.139,0.042,2555,2895,3857
$GC,2787,-0.89,-243.4,372.7,-9.3,448,2794,0.22,2.00,0.00,0.000,6,0.038,0.034,2408,1536,3857
$GC,3112,-0.58,-243.4,433.7,-17.6,479,3117,0.40,1.98,0.00,0.000,4,0.137,0.045,2543,208,3855
$GC,3163,-0.79,-243.4,439.9,-9.7,483,3167,0.17,1.92,0.00,0.000,6,0.059,0.029,2461,1549,3855
$GC,3493,-0.69,-243.4,486.3,-13.6,514,3497,0.17,2.00,0.00,0.000,4,0.134,0.044,2518,2897,3852
$GC,3564,-0.96,-243.4,492.3,-7.1,520,3571,0.20,1.98,0.00,0.000,6,0.040,0.035,2409,1559,3851
$GC,3883,-0.70,-243.4,539.7,-16.4,539,3885,0.32,0.00,0.00,0.000,6,0.136,0.000,2512,1559,3849
$GC,4192,-0.87,-243.4,568.0,-8.4,554,4193,0.15,0.00,0.00,0.000,6,0.064,0.000,2437,1559,3847
$GC,4501,-0.74,-243.4,608.9,-13.4,569,4503,0.22,0.00,0.00,0.000,6,0.132,0.000,2505,1559,3843
$GC,4810,-0.91,-243.4,638.2,-9.6,584,4814,0.17,2.03,0.00,0.000,4,0.061,0.049,2410,2891,3840
$GC,4865,-0.81,-243.4,645.5,-13.9,586,4869,0.22,1.95,0.00,0.000,6,0.134,0.038,2478,1568,3840
$GC,5188,-0.90,-243.4,680.7,-11.7,602,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1567,3837
$GC,5498,-1.01,-243.4,716.5,-11.3,617,5499,0.17,0.00,0.00,0.000,6,0.061,0.000,2397,1568,3835
$STATE,5557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5557,begin apogee
$GC,5562,-0.20,0.0,725.8,14.0,620,5763,0.85,0.00,197.25,1.251,6,0.134,0.000,2666,1743,2863
$STATE,5764,end apogee,CONTROL_FINISHED_OK
$STATE,5764,begin climb
$GC,5765,0.97,243.4,738.7,0.0,630,5982,1.02,2.30,202.98,1.207,4,0.043,0.057,3057,3151,1867
$GC,6082,0.46,243.4,692.5,23.2,644,6088,0.62,2.17,0.00,0.000,6,0.163,0.042,2891,1746,1863
$GC,6399,0.49,267.3,655.4,11.2,659,6424,0.00,2.22,20.50,1.129,4,0.000,0.054,2898,337,1772
$GC,6497,0.56,278.9,644.0,11.6,663,6512,0.00,2.12,11.27,1.051,6,0.000,0.037,2897,1738,1726
$GC,6829,0.61,278.9,605.2,12.2,680,6834,0.10,2.17,0.00,0.000,4,0.077,0.052,2958,338,1721
$GC,6878,0.45,278.9,597.1,17.5,682,6883,0.20,2.12,0.00,0.000,6,0.135,0.038,2883,1736,1721
$GC,7199,0.62,329.3,560.6,10.3,698,7248,0.17,2.22,43.20,1.146,4,0.058,0.053,2973,337,1520
$GC,7333,0.45,329.3,538.8,17.8,704,7337,0.30,2.08,0.00,0.000,6,0.142,0.038,2887,1705,1517
$GC,7655,0.66,374.8,505.8,10.5,720,7702,0.20,2.20,40.30,1.110,4,0.053,0.052,2987,351,1334
$GC,7725,0.50,374.8,494.6,17.7,724,7729,0.30,2.08,0.00,0.000,6,0.140,0.038,2901,1699,1331
$GC,8050,0.67,399.8,458.4,11.2,754,8078,0.17,2.15,22.45,1.059,4,0.056,0.054,2998,346,1232
$GC,8140,0.50,399.8,442.3,18.7,762,8144,0.32,2.03,0.00,0.000,6,0.139,0.038,2903,1682,1230
$GC,8464,0.84,499.1,410.6,8.7,792,8558,0.28,2.17,87.25,1.042,4,0.048,0.051,3042,338,827
$GC,8638,0.59,499.1,368.9,25.9,807,8643,0.38,2.03,0.00,0.000,6,0.142,0.044,2933,1664,823
$GC,8963,0.80,499.1,320.6,12.7,837,8964,0.20,0.00,0.00,0.000,6,0.053,0.000,3029,1666,821
$GC,9296,0.55,499.1,248.6,23.2,887,9302,0.35,2.25,0.00,0.000,4,0.139,0.051,2916,3145,820
$GC,9337,0.87,549.2,242.1,10.3,894,9387,0.25,2.25,42.75,0.913,6,0.044,0.038,3050,1632,624
$GC,9725,0.73,549.2,155.3,22.6,962,9733,0.22,1.98,0.00,0.000,4,0.137,0.047,2986,339,619
$GC,9761,0.88,549.2,148.0,18.7,968,9768,0.05,1.98,0.00,0.000,6,0.030,0.033,3051,1663,618
$GC,10107,0.88,549.2,85.4,13.5,1029,10113,0.00,2.03,0.00,0.000,4,0.000,0.047,3066,326,618
$GC,10192,0.88,549.2,73.7,12.8,1044,10199,0.12,1.92,0.00,0.000,6,0.121,0.031,3025,1637,618
$GC,10540,1.49,728.3,49.3,6.1,1105,10581,0.45,2.05,34.97,0.721,4,0.037,0.043,3248,338,454
$STATE,10700,end climb,SURFACE_DEPTH_REACHED
$STATE,10700,begin surface coast
$FINISH,1.3,1.021570
$STATE,10705,end surface coast,CONTROL_FINISHED_OK
$STATE,10705,begin surface
$SM_CCo,10782,0.00,0.000,0,0,450,591.91
$SM_GC,1.62,8.25,0.00,0.00,0.044,0.000,0.000,155,1532,450,-8.03,0.90,591.91
$IRIDIUM_FIX,2415.74,12317.11,090998,141454
$TT8_MAMPS,0.026845
$HUMID,1527
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.70
$XPDR_PINGS,96
$24V_AH,23.9,34.183
$10V_AH,10.8,21.283
$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,29.875,82.400,702.925,0.000,0.000,48.267,66.587,267.416,29.500,0.000,0.000,33.248,1973.009,5791.791,744.256,2274.939,568.065,0.000,1791.094,0.000,2233.428,0.000,38.967,0.000
$DEVICE_MAMPS,230.100,56.758,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,764.039,822.590,1382.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63255,1133
$CAP_FILE_SIZE,123579,0
$CFSIZE,260165632,223088640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.399, 72.4,1
$GPS,150609,170307,2424.189,12318.385,28,1.8,28,-3.5