version: 66.04
glider: 166
mission: 2
dive: 223
start: 6 20 109 9 20 9
data:
$ID,166
$MISSION,2
$DIVE,223
$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,-9679.4062
$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,45
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,091408,2420.568,12328.875,11,1.8,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.7
$GPS2,091949,2420.625,12328.935,13,1.7,18,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2431.000,12343.000
$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,60.8,30510,-16.4,-12.000
$D_GRID,528
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,102,0.00,0.00,-85.62,0.000,2,0.000,0.000,165,1492,2374
$GC,105,-0.97,-243.4,3.2,-7.3,13,163,8.77,2.12,-39.80,0.000,4,0.222,0.048,2413,2889,3940
$GC,418,-0.39,-243.4,84.8,-25.3,67,426,0.65,2.03,0.00,0.000,6,0.143,0.029,2608,1471,3941
$GC,764,-0.58,-243.4,124.3,-10.0,128,771,0.17,2.10,0.00,0.000,4,0.054,0.035,2514,2883,3942
$GC,952,-0.51,-243.4,151.0,-14.1,161,959,0.17,1.95,0.00,0.000,6,0.116,0.029,2576,1536,3943
$GC,1298,-0.65,-243.4,185.6,-9.4,222,1305,0.15,2.00,0.00,0.000,4,0.058,0.036,2507,2879,3943
$GC,1357,-0.59,-243.4,192.8,-12.8,232,1364,0.10,1.92,0.00,0.000,6,0.126,0.030,2551,1553,3943
$GC,1703,-0.68,-243.4,225.1,-8.0,293,1710,0.12,1.98,0.00,0.000,4,0.066,0.037,2494,2895,3943
$GC,1846,-0.68,-243.4,241.7,-12.0,318,1852,0.00,1.92,0.00,0.000,6,0.000,0.031,2488,1574,3943
$GC,2189,-0.60,-243.4,286.0,-13.4,379,2197,0.17,1.92,0.00,0.000,4,0.127,0.038,2554,2883,3943
$GC,2249,-0.81,-243.4,291.7,-9.5,389,2256,0.20,1.85,0.00,0.000,6,0.049,0.031,2455,1590,3943
$GC,2579,-0.62,-243.4,338.2,-13.8,425,2581,0.28,0.00,0.00,0.000,6,0.132,0.000,2542,1588,3942
$GC,2898,-0.75,-243.4,367.7,-9.1,455,2902,0.15,1.92,0.00,0.000,4,0.063,0.041,2466,2885,3940
$GC,3024,-0.69,-243.4,382.5,-11.3,466,3028,0.17,1.85,0.00,0.000,6,0.129,0.034,2518,1606,3939
$GC,3354,-0.75,-243.4,416.2,-10.2,497,3358,0.00,1.90,0.00,0.000,4,0.000,0.043,2516,2882,3937
$GC,3378,-0.85,-243.4,418.2,-8.6,499,3382,0.15,1.85,0.00,0.000,6,0.058,0.034,2445,1603,3937
$GC,3708,-0.66,-243.4,467.1,-15.4,530,3713,0.22,1.92,0.00,0.000,4,0.138,0.044,2509,2890,3934
$GC,3782,-0.81,-243.4,475.7,-11.1,536,3789,0.08,1.85,0.00,0.000,6,0.055,0.033,2454,1629,3934
$GC,4105,-0.70,-243.4,520.1,-12.7,560,4109,0.17,1.88,0.00,0.000,4,0.136,0.044,2504,2884,3932
$GC,4155,-0.88,-243.4,524.8,-7.7,562,4160,0.10,1.85,0.00,0.000,6,0.048,0.033,2425,1626,3931
$STATE,4191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4191,begin apogee
$GC,4196,-0.20,0.0,528.8,11.0,564,4393,0.77,0.00,191.07,1.066,6,0.124,0.000,2670,1736,2944
$STATE,4394,end apogee,CONTROL_FINISHED_OK
$STATE,4394,begin climb
$GC,4396,0.97,243.4,538.3,0.0,574,4600,1.02,2.25,192.95,1.044,4,0.051,0.045,3061,3137,1952
$GC,4644,0.59,243.4,521.2,14.7,585,4649,0.43,2.12,0.00,0.000,6,0.147,0.035,2932,1757,1948
$GC,4967,0.80,331.9,494.9,9.1,603,5047,0.20,2.22,72.03,1.019,4,0.056,0.048,3037,349,1591
$GC,5284,0.62,331.9,444.5,16.9,631,5288,0.32,2.03,0.00,0.000,6,0.136,0.033,2940,1724,1586
$GC,5609,0.91,404.4,412.0,9.6,661,5676,0.22,2.17,60.08,0.992,4,0.050,0.048,3063,349,1295
$GC,5800,0.72,404.4,380.8,17.0,678,5805,0.30,2.00,0.00,0.000,6,0.134,0.040,2974,1704,1292
$GC,6127,0.97,446.3,348.0,10.6,708,6172,0.20,2.15,35.78,0.948,4,0.050,0.048,3084,354,1125
$GC,6357,0.76,446.3,306.2,19.4,728,6364,0.30,1.95,0.00,0.000,6,0.131,0.032,2987,1670,1122
$GC,6699,1.02,490.0,268.0,10.6,785,6743,0.20,2.12,37.33,0.898,4,0.050,0.048,3099,340,947
$GC,6930,0.88,490.0,228.3,18.0,825,6936,0.25,1.90,0.00,0.000,6,0.133,0.031,3024,1652,944
$GC,7275,1.16,544.2,192.7,10.2,886,7328,0.20,2.10,46.20,0.841,4,0.051,0.045,3145,333,726
$GC,7565,1.00,544.2,138.0,17.8,936,7572,0.22,1.88,0.00,0.000,6,0.127,0.031,3060,1614,723
$GC,7908,1.43,665.0,105.9,8.0,997,7972,0.32,1.98,56.28,0.761,4,0.039,0.044,3228,336,454
$GC,8136,1.11,665.0,58.7,23.3,1036,8143,0.40,1.83,0.00,0.000,6,0.134,0.029,3101,1587,452
$GC,8480,1.50,735.9,24.1,9.7,1097,8487,0.28,1.88,0.00,0.000,4,0.041,0.043,3250,334,451
$STATE,8592,end climb,SURFACE_DEPTH_REACHED
$STATE,8592,begin surface coast
$FINISH,0.8,1.021282
$STATE,8607,end surface coast,CONTROL_FINISHED_OK
$STATE,8608,begin surface
$SM_CCo,8686,0.00,0.000,0,0,449,612.02
$SM_GC,1.46,8.15,0.00,0.00,0.041,0.000,0.000,157,1513,449,-8.04,0.37,612.02
$IRIDIUM_FIX,2411.01,12326.32,140998,070750
$TT8_MAMPS,0.026845
$HUMID,1627
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.20
$XPDR_PINGS,142
$24V_AH,24.4,46.352
$10V_AH,10.8,27.621
$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,25.650,67.250,691.700,0.000,0.000,33.081,41.930,156.975,39.000,0.000,0.000,18.559,1867.703,3806.006,715.928,2217.161,422.877,0.000,1728.923,0.000,2195.870,0.000,24.399,0.000
$DEVICE_MAMPS,221.663,60.593,1066.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.030,821.961,1382.881,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63193,1119
$CAP_FILE_SIZE,105005,0
$CFSIZE,260165632,219770880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 53.3,1
$GPS,200609,114606,2421.020,12330.814,37,0.9,38,-3.5