version: 66.04
glider: 166
mission: 2
dive: 142
start: 6 15 109 0 46 23
data:
$ID,166
$MISSION,2
$DIVE,142
$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,425
$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,-7918.9111
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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
$GPS1,003724,2424.764,12317.466,24,1.2,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.8
$GPS2,004602,2424.824,12317.629,13,1.8,13,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,235.8,33860,-16.4,-12.000
$D_GRID,723
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-88.25,0.000,2,0.000,0.000,171,1521,2453
$GC,108,-0.97,-243.4,3.3,-6.1,14,160,8.80,2.03,-36.47,0.000,4,0.225,0.055,2421,182,3857
$GC,265,-0.13,-243.4,50.8,-38.2,40,272,0.88,1.92,0.00,0.000,6,0.154,0.028,2692,1492,3857
$GC,609,-0.97,-243.4,86.1,-11.1,101,617,0.73,2.03,0.00,0.000,4,0.067,0.032,2420,2904,3858
$GC,681,-0.47,-243.4,98.8,-23.2,113,688,0.55,2.08,0.00,0.000,6,0.148,0.030,2584,1468,3858
$GC,1026,-0.54,-243.4,149.0,-12.3,174,1032,0.00,2.12,0.00,0.000,4,0.000,0.037,2584,2895,3859
$GC,1088,-0.76,-243.4,156.2,-11.5,185,1096,0.22,2.03,0.00,0.000,6,0.036,0.029,2468,1511,3859
$GC,1432,-0.45,-243.4,229.1,-18.7,246,1440,0.38,1.95,0.00,0.000,4,0.131,0.041,2588,210,3859
$GC,1474,-0.67,-243.4,234.1,-9.8,253,1481,0.20,1.85,0.00,0.000,6,0.052,0.027,2497,1526,3860
$GC,1818,-0.60,-243.4,282.9,-12.3,314,1825,0.15,2.00,0.00,0.000,4,0.137,0.041,2540,2891,3860
$GC,1916,-0.82,-243.4,291.2,-8.1,331,1924,0.20,2.00,0.00,0.000,6,0.051,0.031,2447,1506,3860
$GC,2247,-0.50,-243.4,352.5,-19.5,367,2251,0.38,1.92,0.00,0.000,4,0.136,0.044,2568,211,3859
$GC,2337,-0.76,-243.4,362.3,-8.6,374,2343,0.17,1.83,0.00,0.000,6,0.041,0.029,2459,1478,3858
$GC,2663,-0.59,-243.4,414.8,-15.9,405,2667,0.25,2.10,0.00,0.000,4,0.131,0.043,2542,2895,3856
$GC,2706,-0.88,-243.4,418.9,-6.0,408,2713,0.20,2.10,0.00,0.000,6,0.038,0.033,2414,1475,3856
$GC,3031,-0.56,-243.4,471.2,-17.5,439,3036,0.40,2.12,0.00,0.000,4,0.140,0.044,2542,2889,3854
$GC,3097,-0.88,-243.4,477.7,-7.4,444,3104,0.20,2.08,0.00,0.000,6,0.036,0.035,2429,1492,3854
$GC,3419,-0.64,-243.4,528.4,-17.0,467,3423,0.30,1.92,0.00,0.000,4,0.137,0.048,2526,212,3850
$GC,3468,-0.81,-243.4,535.0,-9.9,469,3473,0.12,1.88,0.00,0.000,6,0.051,0.031,2458,1493,3850
$GC,3796,-0.69,-243.4,582.3,-14.7,485,3800,0.20,2.10,0.00,0.000,4,0.183,0.046,2500,2895,3847
$GC,3835,-0.89,-243.4,586.7,-9.5,487,3840,0.15,2.08,0.00,0.000,6,0.059,0.037,2431,1487,3847
$GC,4162,-0.71,-243.4,635.7,-15.2,503,4164,0.25,0.00,0.00,0.000,6,0.137,0.000,2507,1487,3844
$GC,4470,-0.87,-243.4,665.3,-8.9,518,4475,0.15,2.12,0.00,0.000,4,0.065,0.049,2423,2885,3840
$GC,4525,-0.87,-243.4,671.7,-11.8,520,4532,0.08,2.08,0.00,0.000,6,0.138,0.039,2452,1509,3840
$GC,4841,-0.87,-243.4,707.4,-11.0,536,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1509,3838
$STATE,5004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5004,begin apogee
$GC,5008,-0.20,0.0,723.4,9.2,544,5210,0.68,0.00,197.70,1.244,6,0.117,0.000,2672,1752,2863
$STATE,5210,end apogee,CONTROL_FINISHED_OK
$STATE,5210,begin climb
$GC,5212,0.97,243.4,728.5,0.0,554,5424,1.05,2.30,203.30,1.202,4,0.044,0.055,3063,3139,1870
$GC,5476,0.42,243.4,690.3,24.6,566,5483,0.70,2.17,0.00,0.000,6,0.164,0.040,2879,1750,1865
$GC,5791,0.51,253.9,653.5,11.7,582,5805,0.00,2.25,8.98,1.006,4,0.000,0.055,2884,345,1828
$GC,5906,0.61,274.2,640.3,11.3,587,5932,0.15,2.08,19.10,1.111,6,0.066,0.038,2954,1721,1745
$GC,6255,0.44,274.2,589.4,13.8,604,6260,0.22,2.15,0.00,0.000,4,0.143,0.053,2895,340,1740
$GC,6310,0.59,338.2,583.1,9.9,606,6373,0.08,2.08,55.38,1.145,6,0.061,0.038,2944,1713,1484
$GC,6690,0.50,338.2,531.4,13.8,625,6695,0.17,2.15,0.00,0.000,4,0.139,0.052,2900,339,1477
$GC,6762,0.71,395.0,523.0,10.1,628,6819,0.20,2.05,49.97,1.108,6,0.056,0.038,2991,1705,1251
$GC,7142,0.50,395.0,451.0,19.7,658,7147,0.28,2.22,0.00,0.000,4,0.141,0.049,2905,3147,1245
$GC,7174,0.55,395.0,445.9,14.5,660,7181,0.00,2.20,0.00,0.000,6,0.000,0.039,2912,1712,1244
$GC,7501,0.68,395.0,408.1,12.3,691,7505,0.12,2.10,0.00,0.000,4,0.066,0.053,2979,346,1243
$GC,7697,0.55,395.0,373.0,18.0,708,7702,0.22,2.00,0.00,0.000,6,0.141,0.041,2914,1689,1241
$GC,8028,0.81,451.6,333.1,10.1,739,8086,0.20,2.15,48.25,0.988,4,0.052,0.052,3029,343,1021
$GC,8166,0.58,451.6,304.9,22.1,751,8171,0.35,2.03,0.00,0.000,6,0.137,0.036,2927,1687,1018
$GC,8510,0.86,482.1,262.9,11.0,809,8547,0.22,2.30,27.08,0.913,4,0.069,0.052,3038,3142,897
$GC,8587,0.65,482.1,248.1,22.5,822,8594,0.35,2.25,0.00,0.000,6,0.135,0.038,2944,1662,895
$GC,8932,0.97,523.6,208.2,10.6,883,8975,0.28,2.08,36.42,0.867,4,0.043,0.048,3086,338,726
$GC,9088,0.67,523.6,170.7,26.0,910,9095,0.45,2.00,0.00,0.000,6,0.137,0.033,2951,1663,724
$GC,9434,1.34,686.0,134.6,6.6,971,9499,0.52,2.10,56.95,0.802,4,0.034,0.046,3197,330,455
$GC,9602,0.94,686.0,86.1,29.2,999,9610,0.55,2.00,0.00,0.000,6,0.150,0.033,3038,1656,451
$GC,9948,1.34,762.3,48.0,9.5,1060,9955,0.30,2.00,0.00,0.000,4,0.043,0.045,3194,340,450
$GC,10001,0.97,762.3,36.8,27.0,1069,10008,0.43,1.90,0.00,0.000,6,0.138,0.030,3047,1639,450
$STATE,10301,end climb,SURFACE_DEPTH_REACHED
$STATE,10301,begin surface coast
$FINISH,0.8,1.009729
$STATE,10335,end surface coast,CONTROL_FINISHED_OK
$STATE,10335,begin surface
$SM_CCo,10411,0.00,0.000,0,0,450,591.91
$SM_GC,1.63,7.65,0.00,0.00,0.044,0.000,0.000,164,1470,450,-8.04,-0.85,591.91
$IRIDIUM_FIX,2415.74,12315.81,090998,000049
$TT8_MAMPS,0.026845
$HUMID,1514
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.00
$XPDR_PINGS,107
$24V_AH,23.9,33.193
$10V_AH,10.7,20.791
$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,30.125,91.450,703.125,0.000,0.000,46.561,65.176,230.495,32.000,0.000,0.000,13.709,1970.791,5383.334,759.787,2277.865,531.734,0.000,1823.186,0.000,2257.675,0.000,36.070,0.000
$DEVICE_MAMPS,225.498,55.224,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,760.012,812.194,1363.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66318,1128
$CAP_FILE_SIZE,124356,0
$CFSIZE,260165632,223383552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.399, 65.6,1
$GPS,150609,034058,2425.093,12317.957,11,99.0,30,-3.5