version: 66.04
glider: 166
mission: 2
dive: 335
start: 7 15 109 13 24 22
data:
$ID,166
$MISSION,2
$DIVE,335
$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,-11927.589
$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,47
$R_STBD_OVSHOOT,79
$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
$GPS1,131652,2442.699,12426.180,11,99.0,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-69.9
$GPS2,132400,2442.629,12426.173,33,1.1,43,-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,323.9,32214,-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,-170.3,0.0,0.0,0,68,0.00,0.00,-50.55,0.000,2,0.000,0.000,170,1693,2273
$GC,71,-1.01,-170.3,3.1,-4.0,8,124,9.15,2.20,-37.97,0.000,4,0.230,0.051,2446,267,3642
$GC,244,-1.01,-170.3,35.4,-20.1,37,250,0.00,2.03,0.00,0.000,6,0.000,0.026,2446,1691,3642
$GC,588,-1.01,-170.3,95.9,-16.2,98,596,0.00,2.15,0.00,0.000,4,0.000,0.040,2446,267,3642
$GC,620,-1.01,-170.3,101.4,-17.4,103,626,0.00,2.05,0.00,0.000,6,0.000,0.027,2446,1681,3642
$GC,964,-1.01,-170.3,152.9,-13.0,164,970,0.00,2.10,0.00,0.000,4,0.000,0.040,2446,262,3643
$GC,1023,-1.01,-170.3,161.3,-14.4,174,1031,0.00,2.03,0.00,0.000,6,0.000,0.027,2446,1687,3643
$GC,1371,-1.01,-170.3,207.4,-12.0,235,1377,0.00,2.12,0.00,0.000,4,0.000,0.041,2446,260,3644
$GC,1395,-1.01,-170.3,210.6,-12.5,239,1401,0.00,2.03,0.00,0.000,6,0.000,0.027,2446,1681,3644
$GC,1739,-1.01,-170.3,254.1,-12.0,300,1745,0.00,2.10,0.00,0.000,4,0.000,0.043,2445,271,3644
$GC,1791,-1.01,-170.3,260.4,-12.5,309,1797,0.00,2.03,0.00,0.000,6,0.000,0.027,2446,1689,3644
$GC,2139,-1.01,-170.3,303.4,-12.7,369,2143,0.00,2.12,0.00,0.000,4,0.000,0.043,2444,268,3644
$GC,2185,-1.01,-170.3,309.4,-13.3,373,2189,0.00,2.03,0.00,0.000,6,0.000,0.027,2445,1686,3644
$GC,2516,-1.01,-170.3,347.8,-10.9,404,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1686,3644
$GC,2836,-1.01,-170.3,382.9,-10.8,434,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1686,3643
$GC,3152,-1.01,-170.3,415.6,-10.7,464,3155,0.00,2.15,0.00,0.000,4,0.000,0.047,2441,267,3641
$GC,3179,-1.01,-170.3,419.3,-12.9,466,3187,0.00,2.05,0.00,0.000,6,0.000,0.029,2439,1668,3641
$GC,3504,-1.01,-170.3,458.3,-10.8,497,3508,0.00,2.10,0.00,0.000,4,0.000,0.043,2425,3080,3639
$GC,3542,-1.01,-170.3,462.5,-10.2,500,3550,0.00,2.08,0.00,0.000,6,0.000,0.033,2425,1677,3639
$GC,3868,-1.01,-170.3,494.9,-9.7,531,3872,0.00,2.12,0.00,0.000,4,0.000,0.048,2426,269,3637
$GC,3929,-1.01,-170.3,501.8,-11.8,536,3936,0.00,2.08,0.00,0.000,6,0.000,0.030,2428,1680,3636
$STATE,4058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4058,begin apogee
$GC,4064,-0.29,0.0,515.8,10.7,543,4204,0.77,0.00,137.05,1.042,6,0.107,0.000,2686,1341,2945
$STATE,4205,end apogee,CONTROL_FINISHED_OK
$STATE,4205,begin climb
$GC,4208,1.01,170.3,525.8,0.0,550,4352,1.12,1.85,135.65,1.021,4,0.050,0.053,3136,209,2249
$GC,4398,1.01,170.3,519.4,10.1,558,4405,0.00,1.73,0.00,0.000,6,0.000,0.030,3135,1369,2248
$GC,4718,1.01,170.3,487.9,9.8,579,4722,0.00,1.77,0.00,0.000,4,0.000,0.051,3144,204,2245
$GC,4745,1.01,170.3,485.2,9.4,581,4752,0.10,1.67,0.00,0.000,6,0.179,0.031,3114,1350,2245
$GC,5071,1.01,170.3,461.2,8.1,612,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1350,2242
$GC,5389,1.03,184.3,435.7,7.5,642,5405,0.00,2.08,11.60,0.920,4,0.000,0.040,3111,2739,2192
$GC,5579,1.03,184.3,420.6,8.6,658,5586,0.00,2.10,0.00,0.000,6,0.000,0.039,3119,1356,2190
$GC,5906,1.05,201.2,399.1,7.5,689,5925,0.00,0.00,15.15,0.937,6,0.000,0.000,3119,1356,2124
$GC,6246,1.05,201.2,367.7,9.0,721,6249,0.00,2.08,0.00,0.000,4,0.000,0.040,3119,2745,2120
$GC,6428,1.05,201.2,349.8,9.6,737,6431,0.00,2.10,0.00,0.000,6,0.000,0.038,3129,1334,2119
$GC,6761,1.05,201.2,319.5,8.2,768,6764,0.00,1.70,0.00,0.000,4,0.000,0.050,3138,205,2118
$GC,6828,1.05,201.2,313.7,8.1,774,6832,0.00,1.65,0.00,0.000,6,0.000,0.031,3138,1364,2118
$GC,7161,1.10,237.6,290.0,6.8,817,7198,0.00,1.80,30.30,0.903,4,0.000,0.049,3146,200,1975
$GC,7344,1.10,237.6,275.2,8.6,849,7350,0.00,1.65,0.00,0.000,6,0.000,0.031,3146,1351,1972
$GC,7687,1.10,237.6,245.9,9.1,910,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1352,1971
$GC,8031,1.10,237.6,217.6,8.5,971,8038,0.00,1.75,0.00,0.000,4,0.000,0.048,3155,194,1971
$GC,8139,1.10,237.6,206.1,10.1,990,8145,0.00,1.67,0.00,0.000,6,0.000,0.031,3154,1350,1971
$GC,8485,1.11,250.9,180.1,7.6,1051,8504,0.00,1.77,11.68,0.757,4,0.000,0.048,3163,209,1921
$GC,8592,1.11,250.9,170.7,10.0,1069,8598,0.00,1.65,0.00,0.000,6,0.000,0.030,3163,1353,1920
$GC,8937,1.13,264.7,143.0,7.6,1130,8957,0.00,2.08,13.27,0.738,4,0.000,0.037,3163,2736,1863
$GC,8981,1.18,301.3,139.9,6.8,1137,9019,0.00,2.08,31.05,0.766,6,0.000,0.036,3173,1338,1716
$GC,9358,1.32,416.4,111.1,4.4,1203,9460,0.00,1.75,95.20,0.752,4,0.000,0.046,3181,206,1246
$GC,9540,1.32,416.4,95.8,11.1,1233,9546,0.00,1.65,0.00,0.000,6,0.000,0.029,3181,1344,1245
$GC,9883,1.32,416.4,59.9,9.9,1294,9889,0.00,2.03,0.00,0.000,4,0.000,0.034,3181,2742,1243
$GC,9960,1.32,416.4,53.1,8.8,1307,9968,0.00,2.05,0.00,0.000,6,0.000,0.033,3189,1335,1243
$GC,10306,1.32,416.4,25.4,8.2,1368,10313,0.00,2.05,0.00,0.000,4,0.000,0.033,3189,2755,1243
$GC,10414,1.32,416.4,15.5,9.3,1387,10421,0.00,2.05,0.00,0.000,6,0.000,0.033,3197,1341,1243
$STATE,10540,end climb,SURFACE_DEPTH_REACHED
$STATE,10540,begin surface coast
$FINISH,0.8,1.008940
$STATE,10569,end surface coast,CONTROL_FINISHED_OK
$STATE,10569,begin surface
$SM_CCo,10588,28.00,0.637,0,0,1110,450.13
$SM_GC,1.73,0.00,0.00,28.00,0.000,0.000,0.637,169,1686,1110,-8.16,0.31,450.13
$IRIDIUM_FIX,2434.69,12427.46,091098,101014
$TT8_MAMPS,0.026845
$HUMID,1568
$INTERNAL_PRESSURE,10.0636
$TCM_TEMP,26.10
$XPDR_PINGS,146
$24V_AH,24.1,73.281
$10V_AH,10.8,47.379
$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,19.150,83.250,480.950,28.000,0.000,25.437,37.224,192.917,39.750,0.000,0.000,43.786,2348.617,4823.301,588.700,2697.436,581.714,0.000,1741.726,0.000,2671.151,0.000,22.725,0.000
$DEVICE_MAMPS,230.100,52.923,1042.353,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,951.904,1050.423,1762.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78996,1414
$CAP_FILE_SIZE,116369,0
$CFSIZE,260165632,208363520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,143.4,1
$GPS,150709,162237,2442.176,12426.320,39,0.8,39,-3.7