version: 66.04
glider: 166
mission: 2
dive: 150
start: 6 16 109 2 9 46
data:
$ID,166
$MISSION,2
$DIVE,150
$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,-8110.5342
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,020406,2421.922,12318.970,43,0.9,43,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.9
$GPS2,020926,2421.913,12318.943,15,1.1,15,-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,224.2,46270,-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,-243.4,0.0,0.0,0,99,0.00,0.00,-82.22,0.000,2,0.000,0.000,165,1492,2285
$GC,102,-0.97,-243.4,3.0,-5.3,13,161,9.00,2.00,-43.78,0.000,4,0.234,0.057,2418,198,3858
$GC,349,-0.11,-243.4,82.9,-35.8,55,356,0.88,1.92,0.00,0.000,6,0.146,0.028,2696,1517,3859
$GC,691,-0.90,-243.4,106.6,-9.0,116,698,0.65,2.00,0.00,0.000,4,0.070,0.034,2452,2910,3860
$GC,766,-0.50,-243.4,118.3,-19.8,129,773,0.40,2.03,0.00,0.000,6,0.137,0.031,2573,1504,3860
$GC,1112,-0.57,-243.4,165.5,-10.5,190,1119,0.00,1.92,0.00,0.000,4,0.000,0.041,2573,210,3861
$GC,1145,-0.62,-243.4,168.7,-10.5,195,1152,0.08,1.88,0.00,0.000,6,0.064,0.027,2525,1528,3861
$GC,1489,-0.62,-243.4,216.3,-13.9,256,1496,0.00,2.00,0.00,0.000,4,0.000,0.038,2525,2885,3862
$GC,1531,-0.68,-243.4,221.7,-13.2,263,1537,0.00,1.98,0.00,0.000,6,0.000,0.029,2524,1509,3863
$GC,1873,-0.68,-243.4,264.8,-12.9,324,1880,0.00,2.03,0.00,0.000,4,0.000,0.038,2524,2892,3863
$GC,1931,-0.80,-243.4,270.8,-9.6,334,1938,0.12,2.00,0.00,0.000,6,0.067,0.031,2460,1522,3862
$GC,2273,-0.54,-243.4,326.2,-15.1,381,2278,0.28,2.00,0.00,0.000,4,0.136,0.040,2546,2880,3861
$GC,2379,-0.81,-243.4,336.6,-8.7,390,2387,0.15,1.95,0.00,0.000,6,0.042,0.032,2459,1546,3862
$GC,2705,-0.61,-243.4,390.0,-14.5,421,2709,0.22,1.98,0.00,0.000,4,0.133,0.041,2533,2874,3859
$GC,2750,-0.83,-243.4,395.3,-9.7,425,2755,0.17,1.95,0.00,0.000,6,0.054,0.033,2446,1529,3859
$GC,3081,-0.58,-243.4,450.4,-18.0,456,3085,0.30,2.03,0.00,0.000,4,0.132,0.044,2541,2886,3858
$GC,3135,-0.87,-243.4,456.6,-8.3,460,3142,0.22,2.00,0.00,0.000,6,0.048,0.035,2432,1534,3858
$GC,3469,-0.62,-243.4,511.1,-17.1,489,3474,0.30,2.00,0.00,0.000,4,0.137,0.047,2528,197,3855
$GC,3554,-0.77,-243.4,520.7,-9.3,493,3558,0.12,1.90,0.00,0.000,6,0.071,0.031,2464,1511,3855
$GC,3887,-0.68,-243.4,564.0,-13.0,509,3891,0.20,2.08,0.00,0.000,4,0.132,0.045,2517,2897,3852
$GC,3971,-0.97,-243.4,570.5,-6.6,513,3976,0.25,2.00,0.00,0.000,6,0.045,0.036,2396,1534,3851
$GC,4300,-0.67,-243.4,620.7,-16.3,529,4304,0.38,2.03,0.00,0.000,4,0.141,0.056,2521,197,3848
$GC,4340,-0.80,-243.4,625.7,-9.9,531,4344,0.00,1.98,0.00,0.000,6,0.000,0.041,2514,1538,3848
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4489,-0.20,0.0,637.8,8.3,538,4689,0.47,0.00,196.45,1.172,6,0.100,0.000,2670,1764,2863
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4690,begin climb
$GC,4691,0.97,243.4,649.9,0.0,548,4899,1.05,2.38,199.82,1.137,4,0.046,0.054,3070,343,1870
$GC,4950,0.40,243.4,618.3,23.4,560,4958,0.62,2.20,0.00,0.000,6,0.157,0.037,2873,1746,1867
$GC,5265,0.61,301.1,584.3,10.1,576,5320,0.17,2.25,48.83,1.104,4,0.055,0.051,2971,348,1634
$GC,5399,0.42,301.1,562.5,16.7,582,5404,0.32,2.10,0.00,0.000,6,0.136,0.040,2875,1730,1630
$GC,5721,0.68,352.8,530.9,10.3,598,5772,0.20,2.25,44.03,1.091,4,0.052,0.051,2985,351,1424
$GC,5834,0.50,352.8,511.2,18.6,603,5838,0.30,2.10,0.00,0.000,6,0.136,0.036,2898,1731,1420
$GC,6162,0.77,430.1,476.3,9.4,630,6241,0.22,2.30,67.30,1.071,4,0.051,0.050,3019,335,1108
$GC,6324,0.56,430.1,443.9,21.3,644,6332,0.30,2.10,0.00,0.000,6,0.133,0.039,2913,1699,1105
$GC,6649,0.77,435.5,407.8,11.8,675,6661,0.17,2.10,5.32,0.769,4,0.055,0.050,3016,339,1086
$GC,6697,0.57,435.5,399.4,20.2,679,6702,0.32,2.03,0.00,0.000,6,0.137,0.041,2920,1697,1085
$GC,7023,0.93,524.0,364.6,9.1,709,7112,0.30,2.22,77.35,0.997,4,0.043,0.050,3076,339,724
$GC,7128,0.55,524.0,341.3,25.7,718,7135,0.47,2.10,0.00,0.000,6,0.138,0.041,2916,1689,723
$GC,7454,1.14,662.3,313.4,7.4,749,7520,0.47,2.17,57.53,0.939,4,0.035,0.053,3144,348,454
$GC,7544,0.64,662.3,287.8,35.2,759,7550,0.68,2.00,0.00,0.000,6,0.143,0.039,2944,1662,452
$GC,7888,1.16,758.1,251.1,8.8,820,7896,0.43,2.05,0.00,0.000,4,0.035,0.048,3149,331,451
$GC,7942,0.70,758.1,237.7,32.3,829,7949,0.60,1.95,0.00,0.000,6,0.146,0.034,2967,1652,450
$GC,8287,1.18,843.3,197.2,9.2,890,8294,0.38,2.00,0.00,0.000,4,0.038,0.048,3149,337,450
$GC,8329,0.81,843.3,188.7,26.5,897,8336,0.43,1.90,0.00,0.000,6,0.140,0.033,2999,1626,450
$GC,8674,1.07,843.3,136.1,13.7,958,8681,0.20,1.95,0.00,0.000,4,0.051,0.047,3112,339,450
$GC,8716,0.87,843.3,127.3,25.8,965,8723,0.28,1.88,0.00,0.000,6,0.131,0.031,3021,1621,450
$GC,9061,1.41,1003.8,84.6,6.7,1026,9067,0.43,1.92,0.00,0.000,4,0.038,0.045,3224,342,450
$GC,9141,0.97,1003.8,65.6,25.7,1040,9149,0.50,1.83,0.00,0.000,6,0.145,0.031,3050,1596,450
$GC,9489,1.27,1038.6,24.1,10.8,1101,9496,0.22,1.90,0.00,0.000,4,0.048,0.044,3172,328,450
$GC,9582,1.01,1038.6,4.8,24.5,1117,9589,0.32,1.80,0.00,0.000,6,0.134,0.028,3065,1583,450
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.8,1.009725
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9682,0.00,0.000,0,0,449,592.15
$SM_GC,1.65,7.65,0.00,0.00,0.041,0.000,0.000,163,1477,449,-8.04,-0.65,592.15
$IRIDIUM_FIX,2413.38,12321.07,090998,232324
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.00
$XPDR_PINGS,127
$24V_AH,24.1,35.138
$10V_AH,10.8,21.734
$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,31.250,93.525,696.625,0.000,0.000,22.583,32.542,162.501,36.250,0.000,0.000,16.024,1946.407,4654.350,794.655,2218.700,385.829,0.000,1821.624,0.000,2194.438,0.000,31.067,0.000
$DEVICE_MAMPS,233.935,72.098,1171.976,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,754.388,815.074,1370.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63292,1121
$CAP_FILE_SIZE,119445,0
$CFSIZE,260165632,222822400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346, 75.4,1
$GPS,160609,045206,2421.212,12319.328,14,1.3,25,-3.5