version: 66.04
glider: 166
mission: 2
dive: 151
start: 6 16 109 4 58 3
data:
$ID,166
$MISSION,2
$DIVE,151
$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,-8122.2764
$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,56
$R_STBD_OVSHOOT,45
$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
$GPS1,045206,2421.212,12319.328,14,1.3,25,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.7
$GPS2,045743,2421.294,12319.391,11,1.2,11,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2357.000,12321.000
$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,225.0,45074,-16.4,-12.000
$D_GRID,445
$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,-243.4,0.0,0.0,0,101,0.00,0.00,-83.95,0.000,2,0.000,0.000,160,1477,2330
$GC,103,-0.97,-243.4,3.2,-6.6,13,161,9.05,1.88,-41.22,0.000,4,0.235,0.056,2421,210,3858
$GC,332,-0.13,-243.4,80.4,-40.2,52,339,0.88,1.90,0.00,0.000,6,0.153,0.028,2692,1517,3860
$GC,676,-1.00,-243.4,119.4,-8.6,113,683,0.73,1.98,0.00,0.000,4,0.056,0.032,2406,2898,3861
$GC,746,-0.50,-243.4,129.6,-18.6,125,753,0.55,2.03,0.00,0.000,6,0.153,0.030,2570,1515,3861
$GC,1091,-0.60,-243.4,171.0,-12.9,186,1097,0.00,2.05,0.00,0.000,4,0.000,0.037,2569,2891,3862
$GC,1121,-0.76,-243.4,174.5,-12.0,191,1129,0.17,2.00,0.00,0.000,6,0.039,0.029,2470,1515,3862
$GC,1467,-0.49,-243.4,240.8,-18.0,252,1474,0.32,2.03,0.00,0.000,4,0.135,0.037,2575,2898,3862
$GC,1533,-0.81,-243.4,247.4,-8.2,263,1541,0.28,2.00,0.00,0.000,6,0.043,0.030,2443,1506,3863
$GC,1881,-0.47,-243.4,312.2,-20.6,320,1886,0.43,2.05,0.00,0.000,4,0.142,0.038,2579,2895,3862
$GC,1958,-0.83,-243.4,320.4,-7.9,326,1966,0.22,2.00,0.00,0.000,6,0.038,0.031,2441,1533,3862
$GC,2283,-0.50,-243.4,380.8,-18.9,357,2286,0.43,0.00,0.00,0.000,6,0.136,0.000,2574,1533,3861
$GC,2606,-0.81,-243.4,400.5,-4.4,387,2613,0.25,0.00,0.00,0.000,6,0.048,0.000,2454,1533,3859
$GC,2931,-0.62,-243.4,444.5,-14.5,418,2936,0.25,2.00,0.00,0.000,3,0.133,0.043,2526,2876,3858
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2936,begin apogee
$GC,2943,-0.20,0.0,445.4,14.7,418,3140,0.40,0.00,190.95,0.992,6,0.110,0.000,2664,1743,2862
$STATE,3141,end apogee,CONTROL_FINISHED_OK
$STATE,3141,begin climb
$GC,3143,0.97,243.4,457.3,0.0,438,3344,1.05,2.28,192.27,0.973,4,0.052,0.046,3055,3131,1869
$GC,3446,0.53,243.4,422.3,19.1,465,3451,0.52,2.08,0.00,0.000,6,0.155,0.036,2913,1757,1863
$GC,3771,0.81,393.2,393.0,7.0,495,3905,0.22,2.30,122.88,0.948,4,0.054,0.049,3030,345,1258
$GC,4074,0.62,393.2,341.4,17.9,522,4079,0.30,2.00,0.00,0.000,6,0.138,0.032,2942,1704,1254
$GC,4398,0.80,423.3,307.8,11.0,552,4431,0.15,0.00,25.80,0.883,6,0.058,0.000,3018,1707,1136
$GC,4764,0.65,423.3,238.7,19.6,613,4770,0.22,2.08,0.00,0.000,4,0.136,0.045,2955,339,1133
$GC,4800,0.72,423.3,232.8,14.9,619,4806,0.00,2.00,0.00,0.000,6,0.000,0.030,2955,1719,1132
$GC,5143,1.12,555.5,196.0,7.6,680,5264,0.35,2.22,110.15,0.828,4,0.040,0.045,3133,339,598
$GC,5301,0.71,555.5,157.0,32.2,705,5308,0.55,2.05,0.00,0.000,6,0.140,0.031,2969,1713,596
$GC,5645,1.29,677.2,124.3,8.0,766,5681,0.45,2.17,30.02,0.758,4,0.034,0.044,3186,345,454
$GC,5822,0.91,677.2,77.9,27.6,796,5829,0.43,1.98,0.00,0.000,6,0.133,0.030,3036,1681,450
$GC,6168,1.41,775.9,40.0,8.7,857,6175,0.38,2.03,0.00,0.000,4,0.038,0.044,3217,337,451
$GC,6311,1.03,775.9,5.2,26.8,882,6319,0.40,1.92,0.00,0.000,6,0.145,0.029,3071,1662,451
$STATE,6323,end climb,SURFACE_DEPTH_REACHED
$STATE,6323,begin surface coast
$FINISH,0.8,1.009534
$STATE,6336,end surface coast,CONTROL_FINISHED_OK
$STATE,6336,begin surface
$SM_CCo,6411,0.00,0.000,0,0,449,591.91
$SM_GC,1.48,7.62,0.00,0.00,0.041,0.000,0.000,146,1490,449,-8.03,-0.28,591.91
$IRIDIUM_FIX,2413.38,12319.09,100998,020221
$TT8_MAMPS,0.026845
$HUMID,1525
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.70
$XPDR_PINGS,115
$24V_AH,24.4,35.330
$10V_AH,10.8,21.824
$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,26.600,48.925,672.075,0.000,0.000,26.193,47.832,161.070,31.250,0.000,0.000,11.114,1431.484,2557.251,686.610,1702.357,366.984,0.000,1499.078,0.000,1694.116,0.000,18.876,0.000
$DEVICE_MAMPS,235.469,56.758,992.498,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.406,671.630,1129.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50579,886
$CAP_FILE_SIZE,82260,0
$CFSIZE,260165632,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.483, 81.2,1
$GPS,160609,064606,2420.999,12320.135,39,0.9,40,-3.5