version: 66.04
glider: 166
mission: 2
dive: 226
start: 6 20 109 16 42 28
data:
$ID,166
$MISSION,2
$DIVE,226
$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,-9729.2891
$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,40
$R_STBD_OVSHOOT,54
$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
$GPS1,163234,2420.701,12333.302,10,3.9,30,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.8
$GPS2,164208,2420.654,12333.394,12,2.0,12,-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,28.8,25083,-16.4,-12.000
$D_GRID,443
$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,-243.4,0.0,0.0,0,102,0.00,0.00,-85.15,0.000,2,0.000,0.000,145,1510,2376
$GC,104,-0.97,-243.4,3.2,-6.4,13,163,9.18,2.10,-39.75,0.000,4,0.235,0.050,2414,2901,3939
$GC,418,-0.44,-243.4,82.0,-24.2,67,426,0.60,2.05,0.00,0.000,6,0.137,0.031,2594,1479,3941
$GC,763,-0.59,-243.4,124.0,-10.6,128,770,0.12,2.12,0.00,0.000,4,0.064,0.036,2527,2900,3941
$GC,861,-0.59,-243.4,136.8,-12.8,145,867,0.00,2.00,0.00,0.000,6,0.000,0.030,2524,1541,3941
$GC,1205,-0.59,-243.4,179.5,-11.8,206,1211,0.00,2.03,0.00,0.000,4,0.000,0.038,2526,2918,3942
$GC,1299,-0.69,-243.4,189.9,-11.6,222,1305,0.00,2.00,0.00,0.000,6,0.000,0.031,2525,1558,3943
$GC,1645,-0.75,-243.4,231.4,-11.1,283,1652,0.00,2.00,0.00,0.000,4,0.000,0.039,2534,2911,3942
$GC,1699,-0.88,-243.4,237.0,-9.9,292,1706,0.17,1.95,0.00,0.000,6,0.041,0.031,2434,1576,3942
$GC,2043,-0.62,-243.4,292.5,-15.6,353,2049,0.30,0.00,0.00,0.000,6,0.135,0.000,2533,1575,3942
$GC,2378,-0.74,-243.4,326.0,-10.1,390,2382,0.12,1.98,0.00,0.000,4,0.069,0.040,2476,2908,3940
$GC,2490,-0.74,-243.4,341.1,-14.4,400,2494,0.00,1.92,0.00,0.000,6,0.000,0.033,2476,1581,3939
$GC,2821,-0.62,-243.4,390.4,-14.0,431,2825,0.20,1.98,0.00,0.000,4,0.130,0.041,2542,2905,3937
$GC,2866,-0.85,-243.4,395.2,-8.7,435,2871,0.15,1.90,0.00,0.000,6,0.041,0.033,2438,1614,3937
$STATE,3163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3163,begin apogee
$GC,3168,-0.20,0.0,443.1,16.0,463,3368,0.70,0.00,188.95,0.992,6,0.128,0.000,2661,1765,2944
$STATE,3369,end apogee,CONTROL_FINISHED_OK
$STATE,3369,begin climb
$GC,3371,0.97,243.4,458.1,0.0,483,3571,1.10,2.28,191.30,0.976,4,0.077,0.047,3052,342,1952
$GC,3745,0.64,243.4,428.9,13.7,516,3752,0.30,2.10,0.00,0.000,6,0.143,0.031,2949,1751,1946
$GC,4071,0.87,352.9,400.3,8.4,547,4165,0.20,2.22,87.88,0.953,4,0.055,0.046,3058,356,1505
$GC,4294,0.68,352.9,370.0,14.5,566,4302,0.30,2.05,0.00,0.000,6,0.131,0.031,2950,1726,1502
$GC,4620,1.04,455.0,343.0,8.6,597,4711,0.30,2.25,85.00,0.927,4,0.043,0.047,3098,348,1090
$GC,4881,0.81,455.0,297.5,17.4,621,4887,0.32,2.00,0.00,0.000,6,0.136,0.031,3000,1710,1086
$GC,5227,1.08,511.1,258.9,10.1,682,5283,0.20,2.15,47.53,0.875,4,0.051,0.045,3115,339,859
$GC,5452,0.89,511.1,219.2,18.0,721,5459,0.30,1.95,0.00,0.000,6,0.137,0.031,3025,1674,856
$GC,5795,1.19,585.7,183.4,9.5,782,5866,0.25,2.28,62.92,0.826,4,0.045,0.041,3153,3142,556
$GC,5986,1.03,585.7,149.7,19.5,814,5994,0.32,2.28,0.00,0.000,6,0.139,0.034,3069,1618,555
$GC,6333,1.40,659.8,111.1,9.5,875,6361,0.30,2.38,21.95,0.746,4,0.041,0.038,3215,3150,454
$GC,6502,1.08,659.8,75.8,22.4,904,6509,0.47,2.30,0.00,0.000,6,0.150,0.032,3085,1586,454
$GC,6848,1.44,697.3,36.3,10.8,965,6854,0.28,1.85,0.00,0.000,4,0.041,0.044,3229,349,453
$GC,6864,1.67,709.7,34.3,11.6,967,6870,0.10,1.75,0.00,0.000,6,0.053,0.029,3288,1568,453
$STATE,6999,end climb,SURFACE_DEPTH_REACHED
$STATE,6999,begin surface coast
$FINISH,0.7,1.021348
$STATE,7014,end surface coast,CONTROL_FINISHED_OK
$STATE,7014,begin surface
$SM_CCo,7091,0.00,0.000,0,0,450,611.78
$SM_GC,1.39,8.25,0.00,0.00,0.040,0.000,0.000,159,1483,450,-8.04,-0.48,611.78
$IRIDIUM_FIX,2411.01,12334.84,140998,161602
$TT8_MAMPS,0.026845
$HUMID,1594
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.00
$XPDR_PINGS,122
$24V_AH,24.4,46.978
$10V_AH,10.8,27.942
$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,24.550,54.100,685.525,0.000,0.000,49.287,75.147,271.117,33.000,0.000,0.000,14.260,1598.010,2863.245,696.249,1929.365,576.334,0.000,1595.674,0.000,1922.454,0.000,17.707,0.000
$DEVICE_MAMPS,234.702,87.438,991.731,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.192,752.215,1264.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56944,993
$CAP_FILE_SIZE,91007,0
$CFSIZE,260165632,219623424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,192.8,1
$GPS,200609,184146,2420.686,12334.042,13,2.2,33,-3.5