version: 66.04
glider: 166
mission: 2
dive: 148
start: 6 15 109 20 31 7
data:
$ID,166
$MISSION,2
$DIVE,148
$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,-8079.7979
$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,46
$R_STBD_OVSHOOT,44
$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
$GPS1,202406,2423.881,12318.604,30,1.8,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.4
$GPS2,203049,2423.886,12318.768,15,1.6,32,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2357.000,12321.000
$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,224.2,49936,-16.4,-12.000
$D_GRID,713
$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,-0.97,-243.4,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,2,0.000,0.000,165,1476,2380
$GC,105,-0.97,-243.4,3.4,-6.8,13,158,8.95,1.90,-37.53,0.000,4,0.232,0.054,2423,197,3856
$GC,238,-0.27,-243.4,44.7,-36.3,35,247,0.68,1.95,0.00,0.000,6,0.145,0.030,2646,1515,3859
$GC,585,-0.54,-243.4,86.1,-8.0,96,592,0.22,2.03,0.00,0.000,4,0.048,0.037,2535,2904,3859
$GC,705,-0.44,-243.4,102.8,-14.3,117,712,0.17,2.05,0.00,0.000,6,0.125,0.030,2588,1499,3859
$GC,1050,-0.61,-243.4,139.5,-8.4,178,1056,0.15,0.00,0.00,0.000,6,0.059,0.000,2510,1499,3860
$GC,1393,-0.55,-243.4,191.9,-14.2,239,1401,0.17,2.10,0.00,0.000,4,0.137,0.040,2571,2896,3860
$GC,1432,-0.81,-243.4,196.0,-9.1,245,1439,0.25,2.03,0.00,0.000,6,0.045,0.028,2449,1463,3860
$GC,1777,-0.51,-243.4,259.7,-16.7,306,1784,0.35,2.12,0.00,0.000,4,0.136,0.038,2564,2908,3861
$GC,1835,-0.82,-243.4,265.4,-7.6,316,1842,0.17,2.00,0.00,0.000,6,0.027,0.031,2446,1534,3861
$GC,2172,-0.56,-243.4,324.5,-17.5,364,2180,0.32,2.03,0.00,0.000,4,0.134,0.040,2550,2903,3860
$GC,2214,-0.84,-243.4,329.0,-7.2,367,2222,0.22,1.98,0.00,0.000,6,0.046,0.031,2437,1533,3859
$GC,2538,-0.57,-243.4,380.6,-16.6,398,2543,0.35,1.98,0.00,0.000,4,0.135,0.045,2550,202,3858
$GC,2593,-0.79,-243.4,386.3,-7.5,402,2600,0.12,1.92,0.00,0.000,6,0.048,0.029,2466,1529,3858
$GC,2918,-0.73,-243.4,422.8,-12.3,433,2922,0.12,2.03,0.00,0.000,4,0.138,0.044,2509,2894,3855
$GC,3031,-0.92,-243.4,432.9,-8.4,443,3036,0.20,1.98,0.00,0.000,6,0.052,0.035,2415,1535,3855
$GC,3361,-0.63,-243.4,486.3,-16.4,474,3363,0.38,0.00,0.00,0.000,6,0.138,0.000,2534,1534,3852
$GC,3688,-0.86,-243.4,513.3,-9.1,498,3692,0.17,2.05,0.00,0.000,4,0.057,0.045,2434,2895,3849
$GC,3765,-0.78,-243.4,524.6,-15.0,501,3774,0.12,2.03,0.00,0.000,6,0.127,0.037,2492,1539,3848
$GC,4091,-0.87,-243.4,565.5,-11.8,517,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1539,3846
$GC,4400,-0.97,-243.4,600.2,-10.5,532,4402,0.17,0.00,0.00,0.000,6,0.059,0.000,2407,1539,3843
$GC,4710,-0.75,-243.4,647.7,-14.6,547,4714,0.25,2.08,0.00,0.000,4,0.145,0.051,2483,2889,3841
$GC,4749,-0.91,-243.4,652.2,-8.7,549,4753,0.12,2.03,0.00,0.000,6,0.064,0.038,2419,1527,3840
$GC,5083,-0.76,-243.4,694.2,-13.2,565,5085,0.25,0.00,0.00,0.000,6,0.137,0.000,2495,1526,3838
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5369,begin apogee
$GC,5374,-0.20,0.0,714.1,6.7,579,5574,0.52,0.00,196.80,1.249,6,0.106,0.000,2669,1732,2863
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5575,begin climb
$GC,5576,0.97,243.4,720.2,0.0,589,5788,1.02,2.38,202.88,1.203,4,0.042,0.053,3070,341,1870
$GC,5838,0.39,243.4,680.4,25.6,601,5844,0.73,2.22,0.00,0.000,6,0.165,0.044,2869,1753,1867
$GC,6160,0.58,296.7,643.6,10.2,617,6211,0.17,2.30,45.55,1.163,4,0.058,0.054,2960,338,1653
$GC,6250,0.40,296.7,629.9,16.6,621,6255,0.28,2.20,0.00,0.000,6,0.133,0.044,2860,1749,1650
$GC,6577,0.78,427.0,603.0,7.7,637,6697,0.32,2.30,113.78,1.160,4,0.045,0.059,3018,340,1122
$GC,6809,0.53,427.0,553.6,22.7,647,6817,0.30,2.15,0.00,0.000,6,0.156,0.039,2911,1724,1118
$GC,7125,0.66,427.0,510.6,13.4,663,7130,0.12,2.15,0.00,0.000,4,0.068,0.052,2979,342,1114
$GC,7158,0.55,427.0,504.5,19.3,664,7165,0.17,2.10,0.00,0.000,6,0.138,0.038,2923,1723,1113
$GC,7482,0.64,427.0,453.9,14.8,694,7486,0.00,2.12,0.00,0.000,4,0.000,0.053,2931,345,1112
$GC,7554,0.71,427.0,442.0,16.8,700,7561,0.08,2.05,0.00,0.000,6,0.062,0.038,2978,1699,1111
$GC,7879,0.57,427.0,380.8,19.3,731,7884,0.17,2.20,0.00,0.000,4,0.145,0.049,2921,3150,1110
$GC,7934,0.73,427.0,372.3,14.2,735,7942,0.12,2.15,0.00,0.000,6,0.063,0.039,2996,1711,1110
$GC,8258,0.57,427.0,313.5,17.0,766,8263,0.22,2.08,0.00,0.000,4,0.140,0.057,2934,343,1110
$GC,8348,0.88,533.6,304.0,8.5,774,8449,0.25,2.00,91.15,0.979,6,0.051,0.037,3048,1706,686
$GC,8787,0.64,533.6,205.9,22.6,848,8794,0.30,2.20,0.00,0.000,4,0.138,0.045,2952,3148,682
$GC,8858,0.99,569.9,196.4,10.8,860,8897,0.20,2.20,31.02,0.876,6,0.035,0.037,3090,1698,539
$GC,9237,0.79,569.9,108.0,19.2,926,9244,0.30,2.08,0.00,0.000,4,0.137,0.046,3003,337,535
$GC,9369,1.31,695.3,94.6,7.8,949,9396,0.40,2.03,18.55,0.767,6,0.038,0.033,3186,1704,454
$GC,9736,0.97,695.3,3.8,25.1,1013,9743,0.43,2.08,0.00,0.000,4,0.153,0.045,3065,334,453
$STATE,9747,end climb,SURFACE_DEPTH_REACHED
$STATE,9747,begin surface coast
$FINISH,1.0,1.010921
$STATE,9759,end surface coast,CONTROL_FINISHED_OK
$STATE,9759,begin surface
$SM_CCo,9836,0.00,0.000,0,0,452,591.42
$SM_GC,1.58,7.70,0.00,0.00,0.041,0.000,0.000,165,1512,452,-8.01,0.34,591.42
$IRIDIUM_FIX,2415.74,12319.09,090998,171734
$TT8_MAMPS,0.026845
$HUMID,1591
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,23.80
$XPDR_PINGS,80
$24V_AH,23.9,34.669
$10V_AH,10.7,21.513
$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,27.775,79.250,699.725,0.000,0.000,23.102,37.041,213.957,25.250,0.000,0.000,32.890,1767.011,5211.907,753.136,2062.373,435.866,0.000,1719.155,0.000,2020.751,0.000,36.088,0.000
$DEVICE_MAMPS,231.634,59.059,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.521,730.649,1229.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56818,1017
$CAP_FILE_SIZE,112486,0
$CFSIZE,260165632,222961664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245, 94.0,1
$GPS,150609,231606,2422.715,12318.651,30,1.2,30,-3.5