version: 66.04
glider: 166
mission: 2
dive: 336
start: 7 15 109 16 29 20
data:
$ID,166
$MISSION,2
$DIVE,336
$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,-11944.512
$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,49
$R_STBD_OVSHOOT,75
$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
$GPS1,162237,2442.176,12426.320,39,0.8,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.8
$GPS2,162856,2442.172,12426.316,16,0.8,16,-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,318.7,32542,-13.7,-7.990
$D_GRID,475
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-54.47,0.000,2,0.000,0.000,169,1686,2365
$GC,74,-1.01,-170.3,3.4,-4.5,8,127,8.98,2.17,-33.88,0.000,4,0.222,0.052,2449,264,3641
$GC,280,-1.01,-170.3,44.7,-21.8,43,287,0.00,2.03,0.00,0.000,6,0.000,0.026,2448,1694,3642
$GC,624,-1.01,-170.3,106.3,-15.3,104,631,0.00,2.15,0.00,0.000,4,0.000,0.039,2447,267,3642
$GC,739,-1.01,-170.3,125.3,-15.5,124,745,0.00,2.03,0.00,0.000,6,0.000,0.025,2448,1673,3642
$GC,1083,-1.01,-170.3,173.7,-16.2,185,1090,0.00,2.03,0.00,0.000,4,0.000,0.037,2448,3069,3643
$GC,1109,-1.01,-170.3,177.7,-16.1,189,1117,0.00,2.03,0.00,0.000,6,0.000,0.028,2447,1649,3643
$GC,1455,-1.01,-170.3,222.7,-11.3,250,1461,0.00,2.03,0.00,0.000,4,0.000,0.041,2448,268,3644
$GC,1507,-1.01,-170.3,229.4,-13.4,259,1513,0.00,2.00,0.00,0.000,6,0.000,0.025,2448,1678,3644
$GC,1850,-1.01,-170.3,275.0,-13.8,320,1858,0.00,2.08,0.00,0.000,4,0.000,0.041,2448,279,3644
$GC,1905,-1.01,-170.3,282.8,-14.9,329,1912,0.00,2.00,0.00,0.000,6,0.000,0.027,2447,1682,3643
$GC,2238,-1.01,-170.3,322.7,-10.2,371,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1682,3644
$GC,2559,-1.01,-170.3,355.2,-10.5,401,2563,0.00,2.05,0.00,0.000,4,0.000,0.041,2441,3076,3644
$GC,2598,-1.01,-170.3,359.9,-11.2,404,2604,0.00,2.05,0.00,0.000,6,0.000,0.031,2446,1680,3644
$GC,2924,-1.01,-170.3,395.9,-10.6,435,2928,0.00,2.10,0.00,0.000,4,0.000,0.044,2443,276,3642
$GC,2974,-1.01,-170.3,402.1,-12.2,439,2980,0.00,2.03,0.00,0.000,6,0.000,0.030,2431,1674,3642
$GC,3300,-1.01,-170.3,433.9,-10.3,470,3304,0.00,2.08,0.00,0.000,4,0.000,0.042,2428,3070,3640
$GC,3339,-1.01,-170.3,438.0,-10.6,473,3346,0.00,2.03,0.00,0.000,6,0.000,0.032,2430,1678,3640
$GC,3663,-1.01,-170.3,471.5,-10.7,504,3667,0.00,2.12,0.00,0.000,4,0.000,0.047,2430,264,3638
$STATE,3696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3697,begin apogee
$GC,3705,-0.29,0.0,475.6,12.1,507,3845,0.75,0.00,136.07,1.001,6,0.112,0.000,2679,1379,2945
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3848,1.01,170.3,486.4,0.0,521,3990,1.15,2.10,134.73,0.980,4,0.057,0.040,3122,2744,2249
$GC,4110,1.01,170.3,471.4,10.4,543,4118,0.00,2.10,0.00,0.000,6,0.000,0.038,3133,1350,2247
$GC,4439,1.01,170.3,440.0,8.8,574,4442,0.00,2.08,0.00,0.000,4,0.000,0.040,3132,2744,2245
$GC,4478,1.01,170.3,435.9,9.1,577,4485,0.15,2.10,0.00,0.000,6,0.184,0.038,3106,1334,2245
$GC,4802,1.01,170.3,408.7,8.2,608,4806,0.00,2.10,0.00,0.000,4,0.000,0.040,3106,2751,2243
$GC,4985,1.01,170.3,392.8,8.6,624,4988,0.00,2.10,0.00,0.000,6,0.000,0.038,3114,1334,2241
$GC,5317,1.01,170.3,363.8,8.3,655,5320,0.00,2.10,0.00,0.000,4,0.000,0.040,3114,2747,2240
$GC,5408,1.01,170.3,355.6,8.6,663,5412,0.00,2.08,0.00,0.000,6,0.000,0.038,3124,1349,2239
$GC,5744,1.04,192.5,329.6,7.3,694,5766,0.00,2.10,17.48,0.888,4,0.000,0.044,3124,2749,2159
$GC,5973,1.12,252.7,314.1,6.1,714,6027,0.00,2.12,49.33,0.907,6,0.000,0.038,3134,1325,1914
$GC,6357,1.12,252.7,283.9,9.0,765,6365,0.00,2.12,0.00,0.000,4,0.000,0.038,3134,2745,1908
$GC,6535,1.12,252.7,265.9,10.5,796,6543,0.00,2.08,0.00,0.000,6,0.000,0.038,3144,1346,1907
$GC,6882,1.12,252.7,232.5,8.9,857,6889,0.00,2.08,0.00,0.000,4,0.000,0.038,3144,2738,1906
$GC,6930,1.12,252.7,227.8,9.1,865,6937,0.00,2.08,0.00,0.000,6,0.000,0.036,3154,1338,1906
$GC,7276,1.12,252.7,194.1,10.6,926,7283,0.00,1.73,0.00,0.000,4,0.000,0.049,3162,211,1906
$GC,7392,1.12,252.7,183.7,8.7,946,7398,0.00,1.65,0.00,0.000,6,0.000,0.031,3162,1358,1906
$GC,7736,1.12,252.7,155.3,9.1,1007,7742,0.00,2.03,0.00,0.000,4,0.000,0.037,3162,2747,1905
$GC,7847,1.12,252.7,144.8,9.4,1026,7854,0.12,2.08,0.00,0.000,6,0.175,0.035,3142,1335,1905
$GC,8192,1.17,298.0,122.4,6.6,1087,8238,0.00,2.12,37.17,0.756,4,0.000,0.035,3141,2744,1728
$GC,8300,1.17,298.0,113.9,8.3,1105,8308,0.00,2.12,0.00,0.000,6,0.000,0.035,3148,1345,1727
$GC,8646,1.26,372.3,92.2,5.6,1166,8716,0.10,2.15,61.30,0.726,4,0.078,0.035,3201,2735,1427
$GC,8830,1.26,372.3,74.8,10.1,1197,8837,0.00,2.10,0.00,0.000,6,0.000,0.035,3209,1343,1424
$GC,9176,1.30,398.2,46.7,7.2,1258,9203,0.00,2.12,22.70,0.663,4,0.000,0.033,3210,2742,1321
$GC,9240,1.30,398.2,41.3,9.3,1268,9246,0.00,2.05,0.00,0.000,6,0.000,0.033,3218,1346,1320
$GC,9584,1.30,398.2,10.2,9.9,1329,9591,0.00,2.08,0.00,0.000,4,0.000,0.032,3219,2747,1320
$STATE,9653,end climb,SURFACE_DEPTH_REACHED
$STATE,9653,begin surface coast
$FINISH,0.8,1.021277
$STATE,9682,end surface coast,CONTROL_FINISHED_OK
$STATE,9682,begin surface
$SM_CCo,9701,42.33,0.636,0,0,1110,450.13
$SM_GC,1.57,0.00,0.00,42.33,0.000,0.000,0.636,169,1653,1110,-8.16,-0.62,450.13
$IRIDIUM_FIX,2434.69,12424.16,091098,131345
$TT8_MAMPS,0.026845
$HUMID,1559
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,26.10
$XPDR_PINGS,138
$24V_AH,24.1,73.423
$10V_AH,10.8,47.510
$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,19.300,89.750,458.775,42.325,0.000,24.730,32.900,183.563,37.500,0.000,0.000,16.292,2229.570,4198.997,580.425,2562.853,549.035,0.000,1694.726,0.000,2560.454,0.000,22.661,0.000
$DEVICE_MAMPS,222.430,52.156,1000.935,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.244,1021.395,1713.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75803,1346
$CAP_FILE_SIZE,111210,0
$CFSIZE,260165632,208302080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.301,144.2,1
$GPS,150709,191258,2441.191,12426.530,14,3.9,33,-3.7