version: 66.04
glider: 166
mission: 2
dive: 224
start: 6 20 109 11 52 15
data:
$ID,166
$MISSION,2
$DIVE,224
$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,-9697.3486
$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,41
$R_STBD_OVSHOOT,67
$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
$GPS1,114606,2421.020,12330.814,37,0.9,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.0
$GPS2,115155,2421.054,12330.877,12,1.4,17,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2431.000,12343.000
$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,48.6,27506,-16.4,-12.000
$D_GRID,505
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-87.97,0.000,2,0.000,0.000,146,1513,2444
$GC,108,-0.97,-243.4,3.2,-5.5,14,161,9.05,2.05,-37.20,0.000,4,0.231,0.050,2427,2902,3937
$GC,168,-0.16,-243.4,15.6,-23.5,23,175,0.88,2.05,0.00,0.000,6,0.149,0.028,2686,1475,3937
$GC,514,-0.98,-243.4,57.8,-12.5,84,521,0.70,2.08,0.00,0.000,4,0.061,0.031,2422,2911,3939
$GC,698,-0.51,-243.4,95.5,-22.4,116,705,0.55,2.05,0.00,0.000,6,0.139,0.029,2571,1477,3939
$GC,1043,-0.65,-243.4,137.7,-10.3,177,1050,0.12,2.10,0.00,0.000,4,0.066,0.034,2509,2894,3939
$GC,1237,-0.65,-243.4,158.7,-10.2,211,1243,0.00,2.00,0.00,0.000,6,0.000,0.029,2506,1522,3940
$GC,1581,-0.60,-243.4,202.5,-14.6,272,1588,0.12,2.03,0.00,0.000,4,0.140,0.035,2548,2886,3941
$GC,1717,-0.81,-243.4,215.7,-9.5,295,1723,0.20,1.95,0.00,0.000,6,0.051,0.028,2448,1522,3941
$GC,2063,-0.58,-243.4,265.6,-14.0,356,2070,0.28,2.03,0.00,0.000,4,0.133,0.037,2539,2894,3941
$GC,2150,-0.77,-243.4,273.6,-8.6,371,2157,0.15,1.95,0.00,0.000,6,0.057,0.030,2463,1533,3941
$GC,2493,-0.63,-243.4,321.1,-13.5,419,2497,0.20,2.03,0.00,0.000,4,0.132,0.038,2540,2897,3940
$GC,2532,-0.81,-243.4,325.7,-10.2,422,2536,0.17,1.95,0.00,0.000,6,0.053,0.031,2453,1548,3939
$GC,2865,-0.63,-243.4,375.8,-14.2,453,2869,0.22,2.00,0.00,0.000,4,0.135,0.041,2529,2891,3938
$GC,2954,-0.79,-243.4,384.4,-7.9,461,2959,0.12,1.90,0.00,0.000,6,0.064,0.031,2465,1571,3937
$GC,3285,-0.65,-243.4,428.0,-12.9,492,3289,0.17,1.98,0.00,0.000,4,0.136,0.041,2519,2895,3936
$GC,3330,-0.81,-243.4,432.6,-9.2,496,3334,0.12,1.88,0.00,0.000,6,0.063,0.034,2453,1600,3935
$GC,3661,-0.66,-243.4,476.0,-13.2,527,3663,0.25,0.00,0.00,0.000,6,0.131,0.000,2529,1599,3934
$STATE,3975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3975,begin apogee
$GC,3980,-0.20,0.0,506.4,8.9,554,4177,0.43,0.00,190.85,1.052,6,0.105,0.000,2668,1753,2945
$STATE,4178,end apogee,CONTROL_FINISHED_OK
$STATE,4178,begin climb
$GC,4180,0.97,243.4,516.6,0.0,564,4378,1.05,0.00,193.30,1.031,6,0.058,0.000,3046,1752,1952
$GC,4689,0.67,243.4,464.0,12.3,601,4693,0.28,2.15,0.00,0.000,4,0.152,0.048,2968,357,1944
$GC,4827,0.75,309.6,450.5,9.8,613,4889,0.00,2.05,53.20,0.996,6,0.000,0.031,2968,1731,1682
$GC,5208,0.87,345.1,412.0,10.8,649,5244,0.15,2.20,30.08,0.973,4,0.060,0.048,3058,357,1537
$GC,5498,0.64,345.1,365.8,15.1,675,5503,0.38,2.00,0.00,0.000,6,0.137,0.033,2946,1727,1532
$GC,5828,1.02,478.0,339.4,7.6,706,5952,0.30,2.28,111.22,0.953,4,0.044,0.048,3099,346,995
$GC,6166,0.85,478.0,283.3,19.2,744,6174,0.30,2.00,0.00,0.000,6,0.136,0.032,3007,1690,991
$GC,6512,1.18,580.5,246.8,8.6,805,6609,0.28,2.30,86.57,0.878,4,0.045,0.044,3142,3138,577
$GC,6713,0.90,580.5,205.6,23.8,839,6719,0.43,2.25,0.00,0.000,6,0.143,0.034,3027,1638,577
$GC,7057,1.25,641.0,165.6,10.0,900,7092,0.28,2.30,26.58,0.805,4,0.041,0.040,3163,3145,454
$GC,7185,1.04,641.0,140.6,22.3,921,7192,0.32,2.33,0.00,0.000,6,0.140,0.034,3077,1583,453
$GC,7531,1.38,709.3,102.9,9.7,982,7538,0.25,1.85,0.00,0.000,4,0.044,0.044,3210,354,451
$GC,7682,1.12,709.3,72.9,22.5,1008,7690,0.30,1.75,0.00,0.000,6,0.134,0.029,3099,1567,451
$GC,8029,1.54,812.5,36.7,8.6,1069,8036,0.32,1.85,0.00,0.000,4,0.041,0.044,3266,354,451
$STATE,8193,end climb,SURFACE_DEPTH_REACHED
$STATE,8193,begin surface coast
$FINISH,0.8,1.021298
$STATE,8203,end surface coast,CONTROL_FINISHED_OK
$STATE,8204,begin surface
$SM_CCo,8282,0.00,0.000,0,0,449,612.27
$SM_GC,1.45,8.10,0.00,0.00,0.042,0.000,0.000,157,1523,449,-8.02,0.65,612.27
$IRIDIUM_FIX,2413.38,12329.59,140998,090945
$TT8_MAMPS,0.026845
$HUMID,1621
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,24.90
$XPDR_PINGS,142
$24V_AH,24.4,46.562
$10V_AH,10.8,27.732
$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,26.475,61.175,691.800,0.000,0.000,26.165,32.970,177.306,38.750,0.000,0.000,17.315,1826.993,3505.238,716.864,2154.534,425.220,0.000,1694.337,0.000,2141.745,0.000,22.721,0.000
$DEVICE_MAMPS,230.867,55.991,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,738.577,831.495,1396.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63125,1100
$CAP_FILE_SIZE,99474,0
$CFSIZE,260165632,219717632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 75.8,1
$GPS,200609,141131,2420.932,12332.256,40,1.0,41,-3.5