version: 66.04
glider: 166
mission: 2
dive: 229
start: 6 20 109 23 9 42
data:
$ID,166
$MISSION,2
$DIVE,229
$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,-9823.5645
$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,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,230213,2421.879,12334.853,13,1.8,32,-3.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.3
$GPS2,230924,2421.940,12334.865,38,1.5,42,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,301.0,38604,-16.4,-12.000
$D_GRID,591
$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,-243.4,0.0,0.0,0,107,0.00,0.00,-89.95,0.000,2,0.000,0.000,169,1527,2489
$GC,110,-0.97,-243.4,3.4,-6.3,14,162,9.18,2.05,-34.78,0.000,4,0.237,0.056,2422,198,3939
$GC,361,-0.31,-243.4,75.2,-27.1,57,368,0.65,1.88,0.00,0.000,6,0.143,0.028,2632,1488,3940
$GC,707,-0.54,-243.4,110.7,-9.4,118,713,0.20,2.05,0.00,0.000,4,0.053,0.037,2530,2892,3942
$GC,851,-0.54,-243.4,130.9,-14.1,143,858,0.12,2.03,0.00,0.000,6,0.130,0.031,2561,1485,3942
$GC,1196,-0.59,-243.4,173.6,-10.1,204,1203,0.00,2.10,0.00,0.000,4,0.000,0.038,2565,2892,3942
$GC,1252,-0.74,-243.4,178.6,-9.4,213,1259,0.12,1.98,0.00,0.000,6,0.030,0.031,2474,1541,3942
$GC,1596,-0.52,-243.4,232.8,-15.2,274,1602,0.28,0.00,0.00,0.000,6,0.130,0.000,2564,1541,3943
$GC,1940,-0.95,-243.4,262.3,-7.4,335,1946,0.32,2.00,0.00,0.000,4,0.041,0.038,2404,2894,3943
$GC,2149,-0.64,-243.4,293.1,-16.4,372,2157,0.43,2.00,0.00,0.000,6,0.137,0.033,2534,1539,3943
$GC,2480,-0.74,-243.4,326.7,-10.2,408,2484,0.10,2.00,0.00,0.000,4,0.078,0.040,2480,2892,3941
$GC,2559,-0.74,-243.4,335.8,-11.4,415,2562,0.00,1.95,0.00,0.000,6,0.000,0.032,2480,1547,3941
$GC,2889,-0.64,-243.4,377.0,-13.5,446,2893,0.17,2.03,0.00,0.000,4,0.134,0.041,2530,2897,3938
$GC,2969,-0.80,-243.4,385.5,-10.6,453,2974,0.15,1.92,0.00,0.000,6,0.057,0.032,2455,1568,3938
$GC,3299,-0.62,-243.4,431.9,-14.0,484,3301,0.28,0.00,0.00,0.000,6,0.131,0.000,2538,1568,3936
$GC,3620,-0.80,-243.4,460.9,-8.8,514,3624,0.17,1.98,0.00,0.000,4,0.057,0.042,2438,2893,3934
$GC,3680,-0.75,-243.4,468.4,-12.6,519,3687,0.20,1.92,0.00,0.000,6,0.130,0.034,2499,1574,3933
$GC,4006,-0.83,-243.4,499.6,-9.0,550,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1573,3931
$GC,4326,-0.93,-243.4,531.3,-9.7,566,4330,0.17,1.98,0.00,0.000,4,0.058,0.044,2407,2885,3928
$GC,4403,-0.78,-243.4,541.8,-13.0,569,4407,0.22,1.92,0.00,0.000,6,0.127,0.035,2482,1595,3927
$GC,4724,-0.78,-243.4,578.7,-11.0,585,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1594,3924
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4850,-0.20,0.0,592.2,11.3,591,5049,0.57,0.00,192.77,1.134,6,0.108,0.000,2673,1594,2944
$STATE,5050,end apogee,CONTROL_FINISHED_OK
$STATE,5050,begin climb
$GC,5052,0.97,243.4,606.9,0.0,601,5258,1.05,2.35,197.18,1.104,4,0.047,0.047,3071,3030,1951
$GC,5281,0.52,243.4,590.9,16.9,612,5287,0.60,2.12,0.00,0.000,6,0.154,0.038,2908,1654,1948
$GC,5603,0.76,326.1,562.4,9.3,628,5677,0.20,2.28,68.40,1.085,4,0.115,0.054,2998,243,1614
$GC,5818,0.68,326.1,533.7,14.1,638,5822,0.15,2.05,0.00,0.000,6,0.143,0.035,2957,1617,1610
$GC,6140,0.82,361.0,497.9,10.8,654,6177,0.12,2.22,29.30,1.055,4,0.067,0.052,3031,246,1473
$GC,6250,0.66,361.0,481.7,14.9,663,6256,0.28,2.05,0.00,0.000,6,0.137,0.040,2951,1619,1470
$GC,6575,0.98,480.5,452.6,8.0,694,6687,0.25,2.25,102.80,1.052,4,0.068,0.052,3081,249,985
$GC,6800,0.81,480.5,415.6,17.7,714,6805,0.28,2.00,0.00,0.000,6,0.139,0.035,3000,1586,982
$GC,7126,1.01,501.0,378.8,11.3,744,7151,0.17,2.10,18.27,0.963,4,0.053,0.050,3096,241,901
$GC,7259,0.83,501.0,353.5,21.0,755,7265,0.30,1.95,0.00,0.000,6,0.138,0.035,3007,1562,898
$GC,7583,1.02,509.3,313.7,11.7,786,7597,0.17,2.10,8.27,0.837,4,0.054,0.050,3111,236,868
$GC,7677,0.80,509.3,296.8,19.5,795,7683,0.38,1.92,0.00,0.000,6,0.137,0.042,2997,1550,867
$GC,8021,1.05,511.7,261.2,11.9,856,8029,0.20,2.00,0.00,0.000,4,0.049,0.049,3110,242,866
$GC,8092,0.89,511.7,248.7,19.0,868,8100,0.20,1.88,0.00,0.000,6,0.135,0.033,3029,1517,866
$GC,8438,1.13,552.7,207.9,10.6,929,8488,0.17,2.05,38.00,0.871,4,0.051,0.054,3141,227,690
$GC,8563,0.96,552.7,185.2,20.2,950,8570,0.25,1.90,0.00,0.000,6,0.128,0.031,3047,1503,688
$GC,8906,1.32,621.8,147.8,9.7,1011,8964,0.28,2.00,49.88,0.811,4,0.041,0.051,3196,246,454
$GC,9034,1.09,621.8,124.8,19.4,1032,9042,0.30,1.85,0.00,0.000,6,0.133,0.031,3090,1488,453
$GC,9380,1.33,621.8,84.5,12.0,1093,9387,0.17,1.90,0.00,0.000,4,0.051,0.045,3185,236,452
$GC,9484,1.25,621.8,66.5,17.8,1111,9491,0.12,1.77,0.00,0.000,6,0.133,0.030,3143,1460,452
$GC,9829,1.42,639.9,20.2,11.4,1172,9837,0.15,1.85,0.00,0.000,4,0.057,0.044,3234,226,452
$GC,9916,1.21,639.9,5.7,17.7,1187,9923,0.32,1.75,0.00,0.000,6,0.138,0.028,3129,1444,452
$STATE,9933,end climb,SURFACE_DEPTH_REACHED
$STATE,9933,begin surface coast
$FINISH,0.8,1.015155
$STATE,9954,end surface coast,CONTROL_FINISHED_OK
$STATE,9954,begin surface
$SM_CCo,10030,0.00,0.000,0,0,451,611.78
$SM_GC,1.43,7.68,0.00,0.00,0.036,0.000,0.000,153,1445,451,-8.03,-1.55,611.78
$IRIDIUM_FIX,2413.38,12338.12,140998,202013
$TT8_MAMPS,0.026845
$HUMID,1611
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.00
$XPDR_PINGS,139
$24V_AH,24.2,47.602
$10V_AH,10.8,28.269
$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,27.150,76.125,704.875,0.000,0.000,22.764,42.687,219.583,38.750,0.000,0.000,42.506,2021.007,4804.500,767.336,2368.749,495.698,0.000,1834.227,0.000,2325.045,0.000,29.283,0.000
$DEVICE_MAMPS,237.003,55.991,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.836,860.775,1447.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69462,1193
$CAP_FILE_SIZE,117394,0
$CFSIZE,260165632,219410432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,120.7,1
$GPS,210609,015758,2422.805,12334.443,12,99.0,31,-3.5