version: 66.04
glider: 166
mission: 2
dive: 228
start: 6 20 109 20 47 46
data:
$ID,166
$MISSION,2
$DIVE,228
$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,-9780.4307
$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,40
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,204131,2420.876,12334.751,42,1.1,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.5
$GPS2,204726,2420.906,12334.801,16,1.1,16,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,314.9,39750,-16.4,-12.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.97,-243.4,0.0,0.0,0,110,0.00,0.00,-91.72,0.000,2,0.000,0.000,164,1536,2537
$GC,112,-0.97,-243.4,3.3,-4.2,14,160,8.95,2.08,-33.50,0.000,4,0.228,0.053,2419,186,3941
$GC,269,-0.28,-243.4,47.7,-28.1,40,277,0.73,1.90,0.00,0.000,6,0.147,0.026,2647,1499,3941
$GC,617,-0.60,-243.4,83.9,-8.8,101,624,0.25,2.03,0.00,0.000,4,0.044,0.033,2523,2901,3942
$GC,703,-0.49,-243.4,95.3,-14.4,116,712,0.25,2.00,0.00,0.000,6,0.123,0.030,2583,1532,3942
$GC,1050,-0.59,-243.4,135.2,-11.2,177,1056,0.00,2.03,0.00,0.000,4,0.000,0.037,2591,2915,3944
$GC,1108,-0.78,-243.4,141.5,-10.6,187,1115,0.25,2.00,0.00,0.000,6,0.035,0.029,2462,1541,3944
$GC,1453,-0.48,-243.4,204.0,-18.9,248,1461,0.38,2.00,0.00,0.000,4,0.129,0.037,2585,2901,3944
$GC,1490,-0.76,-243.4,208.0,-8.4,254,1497,0.20,1.95,0.00,0.000,6,0.035,0.031,2458,1562,3945
$GC,1835,-0.56,-243.4,257.9,-14.4,315,1841,0.28,1.95,0.00,0.000,4,0.128,0.038,2557,2888,3945
$GC,1864,-0.67,-243.4,261.4,-10.5,320,1872,0.00,1.90,0.00,0.000,6,0.000,0.031,2556,1584,3945
$GC,2211,-0.85,-243.4,293.2,-7.8,381,2217,0.22,1.92,0.00,0.000,4,0.048,0.038,2446,2891,3945
$GC,2251,-0.67,-243.4,297.9,-12.2,388,2260,0.17,1.90,0.00,0.000,6,0.130,0.033,2518,1590,3945
$GC,2579,-0.67,-243.4,334.4,-12.0,420,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1590,3944
$GC,2900,-0.72,-243.4,369.8,-10.5,450,2903,0.00,1.92,0.00,0.000,4,0.000,0.041,2518,2886,3941
$GC,2951,-0.84,-243.4,375.0,-9.3,454,2957,0.10,1.88,0.00,0.000,6,0.050,0.033,2451,1612,3941
$GC,3276,-0.66,-243.4,417.9,-14.0,485,3280,0.20,1.90,0.00,0.000,4,0.138,0.041,2513,2892,3938
$GC,3333,-0.79,-243.4,424.1,-9.6,490,3336,0.00,1.85,0.00,0.000,6,0.000,0.034,2514,1612,3938
$GC,3664,-0.87,-243.4,456.9,-10.0,521,3668,0.15,1.90,0.00,0.000,4,0.060,0.042,2423,2889,3935
$GC,3756,-0.73,-243.4,469.4,-13.8,529,3760,0.25,1.83,0.00,0.000,6,0.131,0.035,2504,1637,3934
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3808,begin apogee
$GC,3813,-0.20,0.0,475.7,10.8,534,4011,0.50,0.00,190.20,1.018,6,0.106,0.000,2668,1749,2944
$STATE,4011,end apogee,CONTROL_FINISHED_OK
$STATE,4012,begin climb
$GC,4014,0.97,243.4,487.5,0.0,554,4215,1.02,2.20,191.62,0.994,4,0.051,0.043,3053,3143,1951
$GC,4226,0.59,243.4,472.5,15.0,572,4232,0.47,2.12,0.00,0.000,6,0.153,0.035,2931,1757,1949
$GC,4551,0.87,375.0,444.7,7.6,602,4665,0.22,2.30,106.75,0.979,4,0.053,0.048,3054,349,1415
$GC,4772,0.68,375.0,413.8,15.9,621,4779,0.32,2.05,0.00,0.000,6,0.136,0.032,2958,1733,1412
$GC,5098,0.94,411.5,379.5,10.8,652,5135,0.20,2.22,30.98,0.939,4,0.051,0.048,3073,343,1267
$GC,5342,0.76,411.5,338.9,16.8,673,5348,0.30,1.98,0.00,0.000,6,0.135,0.032,2982,1696,1263
$GC,5668,1.03,486.8,307.1,9.5,704,5738,0.20,2.20,63.80,0.917,4,0.051,0.047,3098,336,960
$GC,5874,0.87,486.8,272.9,17.1,735,5881,0.28,1.95,0.00,0.000,6,0.137,0.031,3016,1667,957
$GC,6218,1.14,527.6,234.4,10.6,796,6262,0.22,2.05,35.00,0.859,4,0.048,0.045,3144,345,793
$GC,6409,0.93,527.6,198.3,20.0,829,6416,0.30,1.90,0.00,0.000,6,0.133,0.031,3034,1637,791
$GC,6753,1.32,616.7,162.8,9.0,890,6831,0.32,2.33,70.50,0.805,4,0.040,0.039,3186,3145,455
$GC,6922,1.10,616.7,130.9,19.7,918,6930,0.35,2.35,0.00,0.000,6,0.144,0.033,3095,1573,453
$GC,7271,1.31,620.3,91.0,11.9,979,7278,0.17,1.85,0.03,0.208,4,0.051,0.044,3198,339,452
$GC,7454,1.16,620.3,59.9,17.5,1011,7461,0.22,1.77,0.00,0.000,6,0.131,0.028,3108,1571,452
$GC,7798,1.52,710.3,22.6,9.0,1072,7805,0.28,1.88,0.00,0.000,4,0.042,0.043,3260,343,452
$STATE,7905,end climb,SURFACE_DEPTH_REACHED
$STATE,7905,begin surface coast
$FINISH,0.6,1.020444
$STATE,7924,end surface coast,CONTROL_FINISHED_OK
$STATE,7924,begin surface
$SM_CCo,8002,0.00,0.000,0,0,450,612.02
$SM_GC,1.25,8.18,0.00,0.00,0.043,0.000,0.000,169,1526,450,-8.02,0.74,612.02
$IRIDIUM_FIX,2408.65,12331.57,140998,181812
$TT8_MAMPS,0.026845
$HUMID,1587
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,116
$24V_AH,24.4,47.372
$10V_AH,10.8,28.150
$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,25.950,67.900,688.875,0.000,0.000,33.043,44.505,167.961,32.000,0.000,0.000,16.937,1785.397,3326.148,706.237,2107.278,432.984,0.000,1684.947,0.000,2088.675,0.000,21.049,0.000
$DEVICE_MAMPS,227.799,62.127,1017.809,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,731.367,819.863,1379.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63049,1094
$CAP_FILE_SIZE,101514,0
$CFSIZE,260165632,219488256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 73.1,1
$GPS,200609,230213,2421.879,12334.853,13,1.8,32,-3.5