version: 66.04
glider: 166
mission: 2
dive: 149
start: 6 15 109 23 22 28
data:
$ID,166
$MISSION,2
$DIVE,149
$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,-8093.8823
$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,37
$R_STBD_OVSHOOT,71
$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
$GPS1,231606,2422.715,12318.651,30,1.2,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.0
$GPS2,232208,2422.752,12318.708,13,1.2,13,-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,223.1,47849,-16.4,-12.000
$D_GRID,637
$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,-243.4,0.0,0.0,0,96,0.00,0.00,-79.95,0.000,2,0.000,0.000,173,1512,2222
$GC,99,-0.97,-243.4,3.1,-5.1,12,163,8.93,2.03,-46.40,0.000,4,0.232,0.058,2418,199,3857
$GC,267,-0.10,-243.4,53.5,-41.9,40,275,0.93,1.90,0.00,0.000,6,0.162,0.029,2699,1490,3859
$GC,612,-0.83,-243.4,94.5,-11.9,101,620,0.62,2.05,0.00,0.000,4,0.071,0.035,2466,2908,3860
$GC,650,-0.87,-243.4,99.1,-12.8,107,658,0.00,2.05,0.00,0.000,6,0.000,0.030,2466,1487,3860
$GC,996,-0.47,-243.4,176.5,-21.9,168,1003,0.35,1.90,0.00,0.000,4,0.137,0.042,2575,217,3862
$GC,1077,-0.62,-243.4,187.0,-10.2,182,1085,0.08,1.88,0.00,0.000,6,0.059,0.027,2525,1529,3863
$GC,1424,-0.62,-243.4,230.9,-14.2,243,1431,0.00,1.98,0.00,0.000,4,0.000,0.041,2526,2877,3864
$GC,1524,-0.76,-243.4,242.2,-10.1,260,1530,0.00,2.00,0.00,0.000,6,0.000,0.033,2526,1523,3864
$GC,1868,-0.76,-243.4,276.1,-10.4,321,1873,0.00,2.03,0.00,0.000,4,0.000,0.042,2527,2885,3864
$GC,1959,-0.90,-243.4,284.1,-8.2,337,1965,0.20,2.00,0.00,0.000,6,0.053,0.033,2434,1508,3864
$GC,2290,-0.55,-243.4,341.0,-17.2,376,2292,0.40,0.00,0.00,0.000,6,0.138,0.000,2557,1507,3863
$GC,2609,-0.79,-243.4,367.4,-7.5,406,2613,0.17,2.05,0.00,0.000,4,0.057,0.043,2464,2871,3862
$GC,2734,-0.79,-243.4,382.4,-13.7,417,2738,0.00,2.00,0.00,0.000,6,0.000,0.035,2465,1513,3861
$GC,3064,-0.64,-243.4,431.2,-15.8,448,3066,0.22,0.00,0.00,0.000,6,0.133,0.000,2533,1513,3859
$GC,3384,-0.81,-243.4,466.1,-10.0,478,3388,0.17,2.08,0.00,0.000,4,0.059,0.045,2447,2885,3857
$GC,3424,-0.76,-243.4,470.9,-13.6,481,3429,0.15,2.03,0.00,0.000,6,0.133,0.036,2493,1512,3856
$GC,3752,-0.76,-243.4,510.5,-11.9,508,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1512,3854
$GC,4062,-0.76,-243.4,545.2,-10.3,523,4065,0.00,2.08,0.00,0.000,4,0.000,0.048,2482,2885,3852
$GC,4112,-0.89,-243.4,550.2,-9.4,525,4116,0.00,2.03,0.00,0.000,6,0.000,0.038,2485,1512,3851
$GC,4439,-0.94,-243.4,583.6,-9.7,541,4444,0.12,2.08,0.00,0.000,4,0.069,0.048,2416,2879,3849
$GC,4485,-0.83,-243.4,589.1,-13.1,543,4489,0.17,2.03,0.00,0.000,6,0.138,0.045,2471,1522,3849
$GC,4816,-0.83,-243.4,623.2,-10.1,559,4820,0.00,2.05,0.00,0.000,4,0.000,0.049,2455,2875,3846
$GC,4850,-0.90,-243.4,626.4,-9.3,560,4854,0.00,2.00,0.00,0.000,6,0.000,0.040,2457,1526,3846
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4967,-0.20,0.0,637.8,10.1,566,5168,0.65,0.00,197.27,1.184,6,0.114,0.000,2671,1738,2863
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5170,0.97,243.4,645.9,0.0,576,5380,1.02,2.30,200.68,1.144,4,0.044,0.051,3060,3145,1869
$GC,5471,0.41,243.4,602.0,23.8,589,5476,0.68,2.17,0.00,0.000,6,0.158,0.040,2878,1743,1864
$GC,5799,0.62,318.4,568.5,9.5,605,5867,0.17,2.28,63.12,1.113,4,0.058,0.061,2966,340,1564
$GC,5912,0.46,318.4,551.2,16.6,610,5917,0.22,2.20,0.00,0.000,6,0.133,0.043,2895,1747,1562
$GC,6233,0.64,359.1,515.7,10.7,626,6276,0.15,2.25,34.95,1.088,4,0.061,0.052,2976,343,1399
$GC,6315,0.46,359.1,501.1,19.3,629,6322,0.25,2.17,0.00,0.000,6,0.133,0.037,2887,1747,1396
$GC,6641,0.79,435.3,465.9,9.5,659,6714,0.28,2.28,67.15,1.073,4,0.048,0.051,3028,340,1087
$GC,6798,0.50,435.3,433.3,22.1,672,6806,0.43,2.12,0.00,0.000,6,0.140,0.036,2902,1714,1083
$GC,7123,0.79,453.7,399.9,11.4,703,7148,0.22,2.15,16.52,0.990,4,0.048,0.050,3030,338,1012
$GC,7195,0.51,453.7,386.1,22.4,709,7200,0.43,2.08,0.00,0.000,6,0.140,0.037,2904,1717,1011
$GC,7520,1.06,624.7,358.2,6.3,739,7648,0.47,2.28,119.00,0.992,4,0.037,0.058,3120,343,454
$GC,7704,0.62,624.7,308.9,32.7,756,7709,0.60,2.08,0.00,0.000,6,0.144,0.039,2943,1691,451
$GC,8044,1.00,646.5,270.4,11.3,812,8052,0.30,2.10,0.00,0.000,4,0.041,0.051,3089,333,448
$GC,8068,1.00,646.5,265.9,17.0,816,8076,0.00,2.03,0.00,0.000,6,0.000,0.035,3088,1705,448
$GC,8415,0.72,646.5,167.7,26.3,877,8422,0.35,2.17,0.00,0.000,4,0.138,0.044,2976,3151,448
$GC,8444,0.79,646.5,162.5,14.9,882,8451,0.00,2.17,0.00,0.000,6,0.000,0.035,2983,1685,447
$GC,8788,1.30,723.1,136.4,9.5,943,8795,0.40,2.05,0.00,0.000,4,0.036,0.049,3175,330,447
$GC,8993,0.93,723.1,79.6,29.1,979,8999,0.38,1.95,0.00,0.000,6,0.156,0.032,3041,1663,447
$GC,9337,1.39,817.4,39.5,8.9,1040,9346,0.35,2.00,0.00,0.000,4,0.039,0.045,3215,326,447
$GC,9437,0.99,817.4,14.9,28.6,1057,9444,0.45,1.92,0.00,0.000,6,0.145,0.030,3056,1651,447
$STATE,9516,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,0.8,1.008899
$STATE,9545,end surface coast,CONTROL_FINISHED_OK
$STATE,9547,begin surface
$SM_CCo,9622,0.00,0.000,0,0,447,592.64
$SM_GC,1.66,7.65,0.00,0.00,0.042,0.000,0.000,164,1492,447,-8.03,-0.23,592.64
$IRIDIUM_FIX,2413.38,12317.79,090998,202032
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.80
$XPDR_PINGS,125
$24V_AH,24.0,34.906
$10V_AH,10.8,21.621
$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,27.975,83.475,698.700,0.000,0.000,25.680,36.417,198.214,35.750,0.000,0.000,13.457,1859.878,4804.092,755.009,2141.024,422.725,0.000,1753.738,0.000,2116.198,0.000,31.058,0.000
$DEVICE_MAMPS,232.401,60.593,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.529,765.479,1287.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60064,1076
$CAP_FILE_SIZE,112690,0
$CFSIZE,260165632,222896128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.303, 79.8,1
$GPS,160609,020406,2421.922,12318.970,43,0.9,43,-3.5