version: 66.04
glider: 166
mission: 2
dive: 334
start: 7 15 109 10 22 29
data:
$ID,166
$MISSION,2
$DIVE,334
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-11883.17
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,101501,2443.718,12425.433,40,1.7,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.9
$GPS2,102207,2443.655,12425.484,10,1.2,15,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2444.200,12407.100
$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,318.9,30941,-13.7,-7.990
$D_GRID,514
$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,-1.01,-170.3,0.0,0.0,0,67,0.00,0.00,-50.10,0.000,2,0.000,0.000,168,1690,2261
$GC,71,-1.01,-170.3,3.0,-3.5,7,124,9.23,2.22,-38.53,0.000,4,0.230,0.053,2449,260,3642
$GC,249,-1.01,-170.3,35.7,-19.5,37,255,0.00,2.03,0.00,0.000,6,0.000,0.028,2445,1673,3642
$GC,595,-1.01,-170.3,93.9,-16.2,98,603,0.00,2.05,0.00,0.000,4,0.000,0.038,2447,3079,3642
$GC,705,-1.01,-170.3,111.1,-15.3,117,712,0.00,2.08,0.00,0.000,6,0.000,0.028,2448,1654,3642
$GC,1051,-1.01,-170.3,159.8,-12.1,178,1059,0.00,2.03,0.00,0.000,4,0.000,0.040,2448,279,3643
$GC,1130,-1.01,-170.3,169.6,-13.6,191,1136,0.00,2.03,0.00,0.000,6,0.000,0.025,2448,1716,3643
$GC,1473,-1.01,-170.3,213.9,-11.9,252,1480,0.00,2.17,0.00,0.000,4,0.000,0.041,2447,277,3644
$GC,1521,-1.01,-170.3,220.1,-13.6,260,1527,0.00,2.00,0.00,0.000,6,0.000,0.025,2447,1672,3644
$GC,1864,-1.01,-170.3,264.2,-13.5,321,1870,0.00,2.03,0.00,0.000,4,0.000,0.038,2446,3057,3644
$GC,1933,-1.01,-170.3,273.3,-13.0,333,1939,0.00,1.98,0.00,0.000,6,0.000,0.029,2443,1680,3644
$GC,2269,-1.01,-170.3,310.9,-9.8,384,2273,0.00,2.10,0.00,0.000,4,0.000,0.042,2437,269,3644
$GC,2308,-1.01,-170.3,315.4,-11.0,387,2314,0.00,2.00,0.00,0.000,6,0.000,0.027,2438,1673,3644
$GC,2634,-1.01,-170.3,351.1,-11.1,418,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1673,3644
$GC,2952,-1.01,-170.3,386.9,-10.4,448,2956,0.00,2.05,0.00,0.000,4,0.000,0.041,2426,3061,3642
$GC,2979,-1.01,-170.3,390.0,-10.5,450,2987,0.00,2.05,0.00,0.000,6,0.000,0.031,2429,1669,3642
$GC,3307,-1.01,-170.3,420.8,-9.1,481,3311,0.00,2.10,0.00,0.000,4,0.000,0.045,2427,274,3640
$GC,3431,-1.01,-170.3,434.2,-11.2,492,3435,0.00,2.03,0.00,0.000,6,0.000,0.030,2428,1676,3639
$GC,3762,-1.01,-170.3,467.6,-11.1,523,3766,0.00,2.12,0.00,0.000,4,0.000,0.047,2426,276,3637
$GC,3789,-1.01,-170.3,471.3,-12.7,525,3795,0.00,2.05,0.00,0.000,6,0.000,0.031,2433,1685,3637
$GC,4114,-1.01,-170.3,510.7,-12.2,552,4118,0.00,2.08,0.00,0.000,4,0.000,0.045,2443,3073,3635
$STATE,4139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4139,begin apogee
$GC,4148,-0.29,0.0,514.1,11.2,553,4289,0.73,0.00,137.60,1.053,6,0.114,0.000,2678,1360,2945
$STATE,4289,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4292,1.01,170.3,524.2,0.0,560,4436,1.15,2.22,136.45,1.031,4,0.058,0.041,3111,2753,2249
$GC,4500,1.01,170.3,514.7,10.7,569,4504,0.00,2.15,0.00,0.000,6,0.000,0.040,3120,1343,2247
$GC,4827,1.01,170.3,479.8,10.4,594,4831,0.00,2.12,0.00,0.000,4,0.000,0.042,3120,2764,2245
$GC,4989,1.01,170.3,463.4,9.4,608,4996,0.00,2.12,0.00,0.000,6,0.000,0.040,3131,1340,2244
$GC,5315,1.01,170.3,434.7,8.2,639,5319,0.00,2.12,0.00,0.000,4,0.000,0.041,3131,2764,2241
$GC,5395,1.03,186.2,428.1,7.5,646,5417,0.00,2.12,13.02,0.942,6,0.000,0.040,3141,1339,2184
$GC,5735,1.03,186.2,398.6,9.3,678,5739,0.00,1.73,0.00,0.000,4,0.000,0.053,3149,201,2181
$GC,5853,1.03,186.2,387.8,8.8,688,5861,0.10,1.70,0.00,0.000,6,0.178,0.033,3120,1364,2180
$GC,6180,1.09,228.3,364.5,6.7,719,6224,0.00,2.15,34.90,0.975,4,0.000,0.041,3119,2740,2013
$GC,6398,1.09,228.3,345.3,9.1,738,6404,0.00,2.12,0.00,0.000,6,0.000,0.039,3127,1350,2009
$GC,6726,1.14,273.7,318.0,6.6,769,6771,0.00,1.80,37.75,0.940,4,0.000,0.051,3136,194,1828
$GC,6886,1.14,273.7,303.4,9.7,783,6890,0.00,1.70,0.00,0.000,6,0.000,0.033,3136,1344,1825
$GC,7230,1.14,273.7,268.6,11.0,841,7236,0.00,2.08,0.00,0.000,4,0.000,0.039,3136,2747,1822
$GC,7323,1.14,273.7,258.4,11.2,857,7329,0.00,2.10,0.00,0.000,6,0.000,0.038,3145,1336,1822
$GC,7665,1.14,273.7,221.6,10.4,918,7672,0.00,2.12,0.00,0.000,4,0.000,0.039,3145,2741,1822
$GC,7756,1.14,273.7,213.0,8.7,934,7763,0.00,2.08,0.00,0.000,6,0.000,0.038,3155,1342,1820
$GC,8101,1.14,273.7,183.0,9.3,995,8108,0.00,1.75,0.00,0.000,4,0.000,0.050,3164,203,1820
$GC,8211,1.14,273.7,170.6,11.6,1014,8217,0.00,1.67,0.00,0.000,6,0.000,0.031,3164,1366,1820
$GC,8556,1.14,273.7,139.6,8.4,1075,8562,0.00,2.03,0.00,0.000,4,0.000,0.037,3164,2752,1820
$GC,8715,1.18,303.0,126.4,7.1,1103,8747,0.00,2.08,24.98,0.775,6,0.000,0.036,3174,1340,1709
$GC,9086,1.18,303.0,99.1,8.7,1168,9094,0.00,2.08,0.00,0.000,4,0.000,0.036,3174,2747,1706
$GC,9135,1.18,303.0,94.4,9.7,1176,9143,0.00,2.08,0.00,0.000,6,0.000,0.035,3183,1339,1705
$GC,9483,1.21,325.4,64.7,7.3,1237,9509,0.00,2.15,20.00,0.700,4,0.000,0.034,3183,2752,1617
$GC,9663,1.25,363.5,51.8,6.8,1268,9702,0.00,2.08,31.77,0.697,6,0.000,0.035,3193,1337,1464
$GC,10040,1.25,363.5,21.8,8.1,1334,10046,0.00,2.05,0.00,0.000,4,0.000,0.032,3192,2752,1462
$GC,10188,1.25,363.5,9.1,8.4,1360,10195,0.00,2.05,0.00,0.000,6,0.000,0.033,3201,1344,1462
$STATE,10261,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.8,1.008150
$STATE,10301,end surface coast,CONTROL_FINISHED_OK
$STATE,10301,begin surface
$SM_CCo,10321,70.93,0.654,0,0,1109,450.13
$SM_GC,1.55,0.00,0.00,70.93,0.000,0.000,0.654,170,1693,1109,-8.16,0.54,450.13
$IRIDIUM_FIX,2437.06,12425.50,091098,060607
$TT8_MAMPS,0.027612
$HUMID,1544
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,26.20
$XPDR_PINGS,168
$24V_AH,23.6,73.131
$10V_AH,10.8,47.242
$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,19.200,94.675,436.475,70.925,0.000,25.663,32.359,210.679,45.250,0.000,0.000,15.389,2320.186,4607.865,609.811,2672.389,597.009,0.000,1759.681,0.000,2673.737,0.000,22.722,0.000
$DEVICE_MAMPS,230.100,52.923,1053.091,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,930.388,1041.128,1745.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79024,1380
$CAP_FILE_SIZE,117261,0
$CFSIZE,260165632,208433152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309,137.7,1
$GPS,150709,131652,2442.699,12426.180,11,99.0,30,-3.7