version: 66.04
glider: 166
mission: 2
dive: 230
start: 6 21 109 2 4 51
data:
$ID,166
$MISSION,2
$DIVE,230
$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,-9869.0615
$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,40
$R_STBD_OVSHOOT,58
$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
$GPS1,015758,2422.805,12334.443,12,99.0,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.1
$GPS2,020431,2422.832,12334.448,44,1.1,44,-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,308.3,37031,-16.4,-12.000
$D_GRID,658
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,2,0.000,0.000,182,1448,2381
$GC,106,-0.97,-243.4,3.1,-5.8,13,164,8.98,1.92,-40.00,0.000,4,0.233,0.058,2417,193,3940
$GC,276,-0.26,-243.4,50.1,-31.0,42,284,0.73,1.92,0.00,0.000,6,0.147,0.030,2650,1500,3941
$GC,622,-1.01,-243.4,84.9,-9.1,103,629,0.60,2.05,0.00,0.000,4,0.056,0.037,2410,2903,3943
$GC,753,-0.56,-243.4,110.3,-23.7,126,760,0.50,2.03,0.00,0.000,6,0.130,0.032,2557,1500,3943
$GC,1100,-0.65,-243.4,150.0,-9.7,187,1106,0.00,2.05,0.00,0.000,4,0.000,0.039,2572,2899,3945
$GC,1175,-0.85,-243.4,157.1,-9.4,200,1183,0.22,2.00,0.00,0.000,6,0.038,0.031,2443,1532,3945
$GC,1524,-0.58,-243.4,211.6,-15.4,261,1531,0.32,2.03,0.00,0.000,4,0.133,0.038,2549,2901,3945
$GC,1582,-0.84,-243.4,217.8,-8.6,271,1589,0.22,1.95,0.00,0.000,6,0.046,0.031,2441,1545,3945
$GC,1925,-0.61,-243.4,270.3,-16.0,332,1933,0.28,2.00,0.00,0.000,4,0.132,0.040,2533,2898,3945
$GC,2010,-0.82,-243.4,279.2,-9.8,346,2016,0.12,1.92,0.00,0.000,6,0.043,0.031,2456,1578,3945
$GC,2344,-0.68,-243.4,324.7,-13.8,390,2352,0.17,1.95,0.00,0.000,4,0.133,0.040,2514,2897,3943
$GC,2421,-0.83,-243.4,332.3,-9.2,396,2429,0.10,1.90,0.00,0.000,6,0.046,0.032,2431,1599,3943
$GC,2746,-0.62,-243.4,379.1,-13.8,427,2751,0.32,2.10,0.00,0.000,4,0.133,0.044,2537,199,3941
$GC,2767,-0.62,-243.4,381.6,-10.8,428,2775,0.00,2.05,0.00,0.000,6,0.000,0.028,2534,1599,3941
$GC,3094,-0.82,-243.4,409.2,-7.9,459,3098,0.17,1.92,0.00,0.000,4,0.055,0.041,2446,2903,3939
$GC,3195,-0.76,-243.4,420.2,-11.3,468,3199,0.17,1.90,0.00,0.000,6,0.127,0.033,2498,1592,3938
$GC,3526,-0.86,-243.4,451.0,-8.8,499,3528,0.12,0.00,0.00,0.000,6,0.069,0.000,2435,1591,3936
$GC,3844,-0.73,-243.4,489.0,-12.1,529,3849,0.20,1.98,0.00,0.000,4,0.136,0.044,2499,2905,3934
$GC,3891,-0.90,-243.4,493.5,-8.4,533,3895,0.15,1.92,0.00,0.000,6,0.059,0.035,2426,1588,3933
$GC,4215,-0.75,-243.4,538.8,-14.8,551,4217,0.22,0.00,0.00,0.000,6,0.136,0.000,2495,1587,3931
$GC,4522,-0.86,-243.4,571.9,-10.4,566,4526,0.00,1.98,0.00,0.000,4,0.000,0.052,2494,2893,3928
$GC,4562,-1.05,-243.4,575.8,-10.0,567,4568,0.28,1.90,0.00,0.000,6,0.045,0.036,2374,1596,3928
$GC,4877,-0.73,-243.4,630.5,-17.0,583,4882,0.38,1.98,0.00,0.000,4,0.143,0.048,2495,2891,3924
$GC,4950,-0.93,-243.4,637.7,-7.9,586,4954,0.17,1.90,0.00,0.000,6,0.054,0.046,2411,1609,3924
$STATE,5124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5124,begin apogee
$GC,5129,-0.20,0.0,660.7,13.5,595,5329,0.82,0.00,195.18,1.190,6,0.127,0.000,2674,1609,2944
$STATE,5330,end apogee,CONTROL_FINISHED_OK
$STATE,5330,begin climb
$GC,5332,0.97,243.4,673.6,0.0,605,5538,1.02,0.00,199.55,1.157,6,0.046,0.000,3066,1609,1952
$GC,5834,0.55,243.4,616.4,15.6,629,5839,0.47,2.12,0.00,0.000,4,0.173,0.051,2936,242,1943
$GC,5855,0.38,243.4,613.3,13.2,630,5860,0.25,2.12,0.00,0.000,6,0.116,0.040,2860,1654,1943
$GC,6176,0.98,430.6,594.0,5.8,646,6341,0.52,2.35,158.93,1.136,4,0.036,0.051,3093,252,1188
$GC,6358,0.63,430.6,562.2,20.8,654,6365,0.47,2.20,0.00,0.000,6,0.146,0.035,2941,1647,1186
$GC,6674,1.03,529.9,533.5,8.7,670,6768,0.32,2.30,86.82,1.095,4,0.042,0.051,3101,256,784
$GC,6882,0.78,529.9,491.2,22.0,681,6887,0.38,2.08,0.00,0.000,6,0.141,0.042,2991,1623,780
$GC,7208,1.04,542.9,453.8,11.6,711,7231,0.20,2.20,11.93,0.979,4,0.052,0.051,3102,249,730
$GC,7334,0.84,542.9,428.9,21.5,722,7339,0.32,2.03,0.00,0.000,6,0.141,0.038,3006,1612,730
$GC,7659,1.12,587.6,390.2,10.5,752,7706,0.22,2.17,40.38,1.017,4,0.047,0.051,3133,243,548
$GC,7864,0.93,587.6,346.9,22.0,770,7868,0.32,1.98,0.00,0.000,6,0.135,0.039,3035,1570,545
$GC,8190,1.13,587.6,304.6,12.9,800,8194,0.20,2.03,0.00,0.000,4,0.050,0.050,3146,253,544
$GC,8308,0.89,587.6,278.1,23.2,818,8315,0.32,1.90,0.00,0.000,6,0.138,0.042,3029,1527,544
$GC,8655,1.14,618.7,236.9,11.0,879,8681,0.17,2.03,20.83,0.887,4,0.053,0.049,3138,250,454
$GC,8851,0.99,618.7,197.9,19.6,913,8857,0.22,1.85,0.00,0.000,6,0.130,0.033,3053,1502,453
$GC,9197,1.31,659.3,156.4,10.7,974,9204,0.25,1.92,0.00,0.000,4,0.044,0.048,3187,240,453
$GC,9278,1.06,659.3,140.9,21.3,988,9286,0.30,1.80,0.00,0.000,6,0.136,0.033,3079,1466,453
$GC,9624,1.34,716.1,100.4,10.1,1049,9631,0.22,1.88,0.00,0.000,4,0.047,0.047,3202,254,453
$GC,9717,1.11,716.1,84.0,19.2,1065,9724,0.30,1.75,0.00,0.000,6,0.133,0.031,3094,1450,453
$GC,10063,1.46,780.6,46.9,9.9,1126,10069,0.28,1.83,0.00,0.000,4,0.042,0.046,3242,238,453
$GC,10087,1.39,780.6,43.1,13.9,1130,10094,0.15,1.73,0.00,0.000,6,0.156,0.030,3194,1435,453
$STATE,10330,end climb,SURFACE_DEPTH_REACHED
$STATE,10330,begin surface coast
$FINISH,0.8,1.013461
$STATE,10353,end surface coast,CONTROL_FINISHED_OK
$STATE,10353,begin surface
$SM_CCo,10430,0.00,0.000,0,0,452,611.53
$SM_GC,1.41,7.88,0.00,0.00,0.039,0.000,0.000,149,1436,452,-8.03,-1.81,611.53
$IRIDIUM_FIX,2411.01,12334.84,140998,232339
$TT8_MAMPS,0.026845
$HUMID,1613
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,24.80
$XPDR_PINGS,116
$24V_AH,24.0,47.846
$10V_AH,10.8,28.388
$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,30.100,83.600,713.600,0.000,0.000,25.286,36.045,184.065,33.750,0.000,0.000,44.866,2036.374,5181.028,792.064,2347.269,461.863,0.000,1848.746,0.000,2298.292,0.000,32.745,0.000
$DEVICE_MAMPS,233.168,57.525,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,794.325,864.411,1453.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66377,1177
$CAP_FILE_SIZE,120580,0
$CFSIZE,260165632,219336704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,145.7,1
$GPS,210609,045946,2423.840,12333.964,11,3.1,30,-3.5