version: 66.04
glider: 166
mission: 2
dive: 219
start: 6 20 109 2 57 22
data:
$ID,166
$MISSION,2
$DIVE,219
$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,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,-9599.1592
$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,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,025144,2419.994,12328.745,8,2.0,8,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.6
$GPS2,025702,2420.011,12328.804,11,1.4,11,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12335.000
$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,185.1,38515,-16.4,-12.000
$D_GRID,372
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-88.45,0.000,2,0.000,0.000,161,1525,2477
$GC,108,-0.97,-243.4,3.1,-5.4,11,159,8.88,2.05,-36.25,0.000,4,0.228,0.050,2404,2883,3941
$GC,232,-0.28,-243.4,35.1,-30.0,30,242,0.77,2.05,0.00,0.000,6,0.150,0.031,2639,1489,3941
$GC,583,-0.50,-243.4,73.1,-7.6,91,591,0.17,2.05,0.00,0.000,4,0.054,0.036,2548,2866,3943
$GC,816,-0.50,-243.4,104.2,-12.4,132,823,0.10,1.95,0.00,0.000,6,0.117,0.031,2574,1532,3943
$GC,1162,-0.63,-243.4,141.1,-10.6,193,1169,0.12,1.98,0.00,0.000,4,0.067,0.036,2514,2886,3944
$GC,1226,-0.63,-243.4,149.7,-13.6,204,1232,0.00,1.98,0.00,0.000,6,0.000,0.031,2509,1534,3944
$GC,1571,-0.63,-243.4,197.6,-11.2,265,1578,0.00,2.00,0.00,0.000,4,0.000,0.038,2523,2874,3945
$GC,1685,-0.72,-243.4,210.3,-11.0,285,1691,0.00,1.92,0.00,0.000,6,0.000,0.031,2520,1537,3945
$GC,2029,-0.72,-243.4,249.7,-10.5,346,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1536,3945
$GC,2377,-0.77,-243.4,284.7,-8.2,407,2384,0.10,1.98,0.00,0.000,4,0.074,0.039,2472,2869,3943
$GC,2480,-0.67,-243.4,296.5,-12.2,425,2487,0.17,1.90,0.00,0.000,6,0.128,0.032,2525,1553,3943
$GC,2811,-0.73,-243.4,332.2,-12.0,459,2814,0.00,1.95,0.00,0.000,4,0.000,0.041,2525,2868,3940
$GC,2906,-0.87,-243.4,342.1,-9.8,467,2912,0.20,1.88,0.00,0.000,6,0.050,0.033,2433,1573,3939
$STATE,3100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3100,begin apogee
$GC,3106,-0.20,0.0,373.1,16.4,486,3297,0.75,0.00,187.10,0.935,6,0.131,0.000,2668,1741,2945
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3298,begin climb
$GC,3300,0.97,243.4,384.9,0.0,505,3498,1.08,2.25,188.40,0.923,4,0.076,0.048,3044,355,1952
$GC,3595,0.64,243.4,364.4,13.4,531,3600,0.35,2.05,0.00,0.000,6,0.143,0.030,2942,1751,1948
$GC,3921,0.86,356.0,339.0,8.3,561,4021,0.17,2.28,89.43,0.900,4,0.060,0.048,3045,349,1493
$GC,4194,0.71,356.0,299.5,15.7,585,4201,0.28,2.00,0.00,0.000,6,0.130,0.030,2962,1731,1487
$GC,4539,0.99,434.2,263.0,9.4,646,4613,0.22,2.20,64.20,0.860,4,0.048,0.050,3088,355,1174
$GC,4720,0.79,434.2,233.8,16.8,677,4727,0.32,1.95,0.00,0.000,6,0.133,0.030,2989,1700,1171
$GC,5066,1.10,531.9,199.5,8.8,738,5156,0.25,2.12,81.07,0.825,4,0.046,0.046,3128,348,775
$GC,5337,0.97,531.9,152.6,17.0,784,5344,0.22,1.92,0.00,0.000,6,0.127,0.030,3053,1666,771
$GC,5683,1.26,604.4,113.8,9.6,845,5753,0.22,2.28,60.28,0.757,4,0.045,0.039,3170,3136,480
$GC,5850,1.08,604.4,82.8,18.6,873,5857,0.32,2.30,0.00,0.000,6,0.137,0.033,3083,1604,478
$GC,6195,1.45,663.3,46.1,10.1,934,6210,0.30,1.88,6.40,0.558,4,0.040,0.044,3247,349,454
$GC,6378,1.14,663.3,4.8,23.4,965,6385,0.43,1.77,0.00,0.000,6,0.137,0.028,3110,1591,453
$STATE,6391,end climb,SURFACE_DEPTH_REACHED
$STATE,6391,begin surface coast
$FINISH,0.9,1.021217
$STATE,6405,end surface coast,CONTROL_FINISHED_OK
$STATE,6405,begin surface
$SM_CCo,6482,0.00,0.000,0,0,451,611.78
$SM_GC,1.41,7.70,0.00,0.00,0.040,0.000,0.000,148,1475,451,-8.01,-0.71,611.78
$IRIDIUM_FIX,2411.01,12328.29,140998,010123
$TT8_MAMPS,0.026845
$HUMID,1611
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.10
$XPDR_PINGS,54
$24V_AH,24.6,45.656
$10V_AH,10.9,27.251
$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,23.150,49.000,676.875,0.000,0.000,24.002,37.492,166.130,15.250,0.000,0.000,11.381,1544.021,2211.664,663.963,2005.965,381.267,0.000,1554.102,0.000,2002.722,0.000,12.712,0.000
$DEVICE_MAMPS,227.799,69.797,934.973,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.023,751.888,1426.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53752,969
$CAP_FILE_SIZE,86591,0
$CFSIZE,260165632,219992064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 33.5,1
$GPS,200609,044637,2419.670,12328.534,40,1.0,40,-3.5