version: 66.04
glider: 166
mission: 2
dive: 227
start: 6 20 109 18 48 4
data:
$ID,166
$MISSION,2
$DIVE,227
$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,-9762.8662
$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,61
$R_STBD_OVSHOOT,61
$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
$GPS1,184146,2420.686,12334.042,13,2.2,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.3
$GPS2,184746,2420.674,12334.097,12,2.2,31,-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,36.7,24306,-16.4,-12.000
$D_GRID,402
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-83.30,0.000,2,0.000,0.000,145,1483,2297
$GC,104,-0.97,-243.4,3.0,-5.8,13,164,9.10,2.17,-43.90,0.000,4,0.232,0.050,2410,2906,3940
$GC,413,-0.44,-243.4,77.7,-25.5,66,420,0.55,2.05,0.00,0.000,6,0.140,0.029,2590,1502,3942
$GC,758,-0.57,-243.4,118.3,-10.1,127,765,0.12,2.05,0.00,0.000,4,0.065,0.035,2524,2897,3943
$GC,784,-0.57,-243.4,121.1,-11.5,131,791,0.12,2.03,0.00,0.000,6,0.137,0.028,2553,1482,3943
$GC,1128,-0.64,-243.4,162.9,-13.0,192,1135,0.00,2.10,0.00,0.000,4,0.000,0.037,2561,2888,3943
$GC,1204,-0.78,-243.4,171.8,-11.8,205,1212,0.20,2.03,0.00,0.000,6,0.049,0.029,2466,1475,3944
$GC,1551,-0.55,-243.4,222.7,-13.6,266,1558,0.25,2.10,0.00,0.000,4,0.132,0.037,2554,2896,3945
$GC,1685,-0.75,-243.4,233.2,-8.3,289,1693,0.15,1.98,0.00,0.000,6,0.056,0.030,2468,1524,3945
$GC,2031,-0.59,-243.4,277.4,-12.3,350,2037,0.22,0.00,0.00,0.000,6,0.129,0.000,2548,1524,3945
$GC,2375,-0.74,-243.4,309.1,-10.4,404,2379,0.15,2.05,0.00,0.000,4,0.061,0.038,2471,2898,3944
$GC,2506,-0.68,-243.4,325.9,-12.8,415,2513,0.17,1.98,0.00,0.000,6,0.128,0.032,2521,1542,3943
$GC,2831,-0.77,-243.4,362.6,-11.0,446,2835,0.00,2.03,0.00,0.000,4,0.000,0.041,2514,2897,3941
$GC,2866,-0.91,-243.4,366.3,-10.2,449,2870,0.20,1.98,0.00,0.000,6,0.050,0.032,2422,1539,3941
$STATE,3087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3087,begin apogee
$GC,3094,-0.20,0.0,402.1,16.0,470,3293,0.75,0.00,188.80,0.960,6,0.133,0.000,2661,1762,2945
$STATE,3294,end apogee,CONTROL_FINISHED_OK
$STATE,3294,begin climb
$GC,3297,0.97,243.4,415.2,0.0,490,3495,1.10,2.33,190.35,0.942,4,0.074,0.048,3058,346,1952
$GC,3518,0.64,243.4,405.7,12.9,511,3523,0.40,2.10,0.00,0.000,6,0.146,0.030,2945,1749,1950
$GC,3843,0.92,394.4,380.6,7.0,541,3971,0.22,2.17,121.93,0.928,4,0.052,0.042,3055,3142,1336
$GC,4085,0.78,394.4,347.5,15.5,562,4090,0.28,2.15,0.00,0.000,6,0.138,0.034,2991,1711,1333
$GC,4410,0.97,426.9,311.8,10.9,592,4445,0.17,2.17,27.62,0.874,4,0.054,0.041,3087,3141,1204
$GC,4586,0.78,426.9,280.4,18.7,616,4593,0.35,2.20,0.00,0.000,6,0.137,0.035,2991,1654,1202
$GC,4931,1.10,516.2,242.7,9.0,677,5012,0.25,2.38,75.03,0.858,4,0.044,0.040,3117,3145,839
$GC,5070,0.93,516.2,220.0,17.0,700,5077,0.30,2.30,0.00,0.000,6,0.139,0.035,3040,1615,839
$GC,5415,1.25,582.5,181.9,9.8,761,5481,0.25,2.40,55.72,0.810,4,0.043,0.039,3167,3145,570
$GC,5594,1.05,582.5,148.7,19.4,791,5601,0.35,2.35,0.00,0.000,6,0.137,0.034,3072,1573,569
$GC,5939,1.38,665.5,111.3,9.3,852,5972,0.28,1.92,24.65,0.739,4,0.041,0.049,3217,342,454
$GC,6143,1.15,665.5,69.9,19.1,887,6150,0.30,1.83,0.00,0.000,6,0.132,0.028,3107,1598,452
$GC,6488,1.49,750.1,32.2,9.2,948,6496,0.28,1.92,0.00,0.000,4,0.041,0.043,3252,341,452
$STATE,6643,end climb,SURFACE_DEPTH_REACHED
$STATE,6643,begin surface coast
$FINISH,0.8,1.021406
$STATE,6654,end surface coast,CONTROL_FINISHED_OK
$STATE,6654,begin surface
$SM_CCo,6732,0.00,0.000,0,0,450,612.02
$SM_GC,1.36,8.18,0.00,0.00,0.042,0.000,0.000,160,1535,450,-8.03,0.99,612.02
$IRIDIUM_FIX,2413.38,12334.84,140998,161658
$TT8_MAMPS,0.026845
$HUMID,1566
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.30
$XPDR_PINGS,78
$24V_AH,24.5,47.169
$10V_AH,10.8,28.041
$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,24.700,54.775,684.100,0.000,0.000,26.443,35.782,168.029,21.750,0.000,0.000,32.949,1561.292,2565.362,701.919,1857.900,403.764,0.000,1563.709,0.000,1831.750,0.000,16.040,0.000
$DEVICE_MAMPS,232.401,49.855,959.517,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.180,746.898,1255.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53908,977
$CAP_FILE_SIZE,85707,0
$CFSIZE,260165632,219570176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003,182.5,1
$GPS,200609,204131,2420.876,12334.751,42,1.1,42,-3.5