version: 66.04
glider: 166
mission: 2
dive: 225
start: 6 20 109 14 17 45
data:
$ID,166
$MISSION,2
$DIVE,225
$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,-9714.4014
$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,47
$R_STBD_OVSHOOT,68
$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
$GPS1,141131,2420.932,12332.256,40,1.0,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.7
$GPS2,141726,2420.915,12332.347,16,1.2,16,-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,38.2,25905,-16.4,-12.000
$D_GRID,487
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.97,-243.4,0.0,0.0,0,108,0.00,0.00,-89.53,0.000,2,0.000,0.000,200,1524,2478
$GC,111,-0.97,-243.4,3.5,-6.9,14,163,9.00,2.03,-35.00,0.000,4,0.235,0.056,2420,202,3940
$GC,327,-0.26,-243.4,65.5,-30.7,51,334,0.73,1.88,0.00,0.000,6,0.146,0.029,2651,1484,3941
$GC,672,-0.54,-243.4,98.7,-8.7,112,680,0.22,2.08,0.00,0.000,4,0.048,0.038,2540,2903,3942
$GC,935,-0.54,-243.4,134.9,-12.9,158,942,0.10,2.00,0.00,0.000,6,0.139,0.031,2560,1539,3943
$GC,1280,-0.65,-243.4,171.1,-8.9,219,1287,0.00,2.03,0.00,0.000,4,0.000,0.038,2567,2892,3944
$GC,1352,-0.89,-243.4,176.8,-8.7,231,1358,0.25,1.95,0.00,0.000,6,0.035,0.031,2425,1557,3944
$GC,1696,-0.53,-243.4,239.7,-17.8,292,1704,0.43,1.98,0.00,0.000,4,0.137,0.039,2565,2895,3945
$GC,1738,-0.78,-243.4,244.3,-8.5,299,1745,0.22,1.90,0.00,0.000,6,0.048,0.031,2460,1572,3944
$GC,2082,-0.57,-243.4,295.1,-14.6,360,2089,0.28,2.05,0.00,0.000,4,0.133,0.044,2549,198,3944
$GC,2107,-0.57,-243.4,298.3,-12.8,364,2114,0.00,2.00,0.00,0.000,6,0.000,0.027,2548,1580,3944
$GC,2437,-0.71,-243.4,325.8,-8.6,396,2440,0.00,1.92,0.00,0.000,4,0.000,0.041,2534,2897,3942
$GC,2498,-0.93,-243.4,331.2,-8.5,401,2505,0.28,1.90,0.00,0.000,6,0.046,0.031,2409,1577,3942
$GC,2823,-0.64,-243.4,384.6,-16.9,432,2827,0.35,2.08,0.00,0.000,4,0.137,0.045,2527,200,3940
$GC,2850,-0.64,-243.4,388.4,-13.3,434,2853,0.00,2.05,0.00,0.000,6,0.000,0.028,2519,1623,3940
$GC,3183,-0.77,-243.4,418.8,-8.3,465,3186,0.00,1.88,0.00,0.000,4,0.000,0.042,2515,2899,3938
$GC,3278,-0.95,-243.4,427.2,-9.4,473,3284,0.22,1.88,0.00,0.000,6,0.049,0.033,2410,1605,3937
$GC,3603,-0.70,-243.4,476.0,-14.5,504,3608,0.30,1.95,0.00,0.000,4,0.137,0.043,2508,2901,3934
$GC,3647,-0.90,-243.4,480.7,-8.8,507,3653,0.17,1.85,0.00,0.000,6,0.053,0.034,2426,1631,3934
$STATE,3704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3704,begin apogee
$GC,3710,-0.20,0.0,488.2,13.9,513,3907,0.75,0.00,190.52,1.035,6,0.128,0.000,2669,1762,2945
$STATE,3908,end apogee,CONTROL_FINISHED_OK
$STATE,3908,begin climb
$GC,3910,0.97,243.4,499.9,0.0,533,4112,1.02,2.17,193.10,1.012,4,0.051,0.047,3056,3133,1951
$GC,4134,0.59,243.4,486.3,13.8,549,4141,0.52,2.12,0.00,0.000,6,0.152,0.035,2927,1746,1949
$GC,4460,0.93,395.7,464.5,7.0,580,4595,0.30,2.28,124.55,0.999,4,0.048,0.051,3068,351,1332
$GC,4810,0.71,395.7,413.0,15.1,611,4815,0.32,2.03,0.00,0.000,6,0.139,0.031,2972,1725,1328
$GC,5136,0.99,489.3,384.1,8.9,641,5225,0.20,2.25,79.22,0.963,4,0.051,0.048,3084,340,949
$GC,5416,0.82,489.3,338.3,15.8,666,5421,0.28,1.98,0.00,0.000,6,0.137,0.033,3001,1696,946
$GC,5748,1.00,502.5,299.8,11.6,697,5768,0.17,2.17,11.77,0.851,4,0.053,0.043,3090,3150,896
$GC,5865,0.85,502.5,279.5,19.2,717,5872,0.30,2.25,0.00,0.000,6,0.140,0.035,3011,1633,896
$GC,6210,1.12,544.6,239.7,10.6,778,6255,0.20,2.33,37.30,0.877,4,0.050,0.041,3122,3144,723
$GC,6358,0.87,544.6,210.6,21.5,803,6366,0.38,2.30,0.00,0.000,6,0.140,0.034,3021,1602,722
$GC,6706,1.15,591.2,173.2,10.5,864,6751,0.20,2.00,39.88,0.827,4,0.049,0.048,3140,345,534
$GC,6961,1.08,591.2,127.5,16.6,908,6968,0.17,1.83,0.00,0.000,6,0.127,0.031,3067,1586,531
$GC,7307,1.43,622.3,92.2,11.0,969,7334,0.32,1.95,17.45,0.734,4,0.039,0.054,3239,336,455
$GC,7465,1.09,622.3,58.6,22.8,996,7472,0.45,1.80,0.00,0.000,6,0.137,0.030,3095,1568,453
$GC,7810,1.49,697.0,24.6,9.5,1057,7816,0.30,1.85,0.00,0.000,4,0.040,0.044,3255,338,453
$STATE,7927,end climb,SURFACE_DEPTH_REACHED
$STATE,7928,begin surface coast
$FINISH,0.8,1.014113
$STATE,7947,end surface coast,CONTROL_FINISHED_OK
$STATE,7947,begin surface
$SM_CCo,8025,0.00,0.000,0,0,451,611.78
$SM_GC,1.46,8.10,0.00,0.00,0.039,0.000,0.000,151,1509,451,-8.02,0.28,611.78
$IRIDIUM_FIX,2411.01,12334.84,140998,111132
$TT8_MAMPS,0.026845
$HUMID,1605
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.10
$XPDR_PINGS,166
$24V_AH,24.4,46.772
$10V_AH,10.8,27.840
$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,26.550,68.550,693.800,0.000,0.000,24.846,32.155,187.234,44.500,0.000,0.000,16.427,1767.473,3368.606,713.089,2097.610,430.594,0.000,1696.417,0.000,2084.551,0.000,22.249,0.000
$DEVICE_MAMPS,235.469,55.991,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.907,818.889,1375.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60149,1081
$CAP_FILE_SIZE,100252,0
$CFSIZE,260165632,219668480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,151.0,1
$GPS,200609,163234,2420.701,12333.302,10,3.9,30,-3.5