version: 66.04
glider: 166
mission: 2
dive: 153
start: 6 16 109 8 46 40
data:
$ID,166
$MISSION,2
$DIVE,153
$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,-8152.9814
$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,69
$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
$GPS1,084116,2420.676,12320.644,10,99.0,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.8
$GPS2,084620,2420.739,12320.688,15,1.6,15,-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,227.8,43968,-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,11,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,-88.93,0.000,2,0.000,0.000,147,1528,2449
$GC,108,-0.97,-243.4,3.4,-6.5,14,160,8.90,2.00,-36.53,0.000,4,0.231,0.055,2421,191,3856
$GC,398,-0.12,-243.4,93.7,-36.4,64,406,0.85,1.90,0.00,0.000,6,0.146,0.028,2700,1499,3858
$GC,744,-0.94,-243.4,128.4,-10.7,125,751,0.70,2.00,0.00,0.000,4,0.076,0.034,2437,2898,3858
$GC,786,-0.82,-243.4,133.7,-13.5,132,793,0.12,2.03,0.00,0.000,6,0.148,0.030,2472,1481,3858
$GC,1133,-0.55,-243.4,200.6,-18.6,193,1140,0.25,2.08,0.00,0.000,4,0.133,0.038,2555,2889,3860
$GC,1191,-0.80,-243.4,207.9,-9.2,203,1200,0.20,1.98,0.00,0.000,6,0.047,0.031,2452,1512,3860
$GC,1538,-0.49,-243.4,269.9,-19.4,264,1545,0.35,2.05,0.00,0.000,4,0.133,0.039,2567,2898,3861
$GC,1596,-0.86,-243.4,276.6,-8.2,274,1603,0.22,2.00,0.00,0.000,6,0.027,0.031,2427,1533,3861
$GC,1929,-0.56,-243.4,336.2,-16.9,316,1932,0.40,0.00,0.00,0.000,6,0.135,0.000,2553,1532,3860
$GC,2249,-0.84,-243.4,361.3,-6.7,346,2253,0.20,2.03,0.00,0.000,4,0.053,0.041,2444,2888,3859
$GC,2328,-0.78,-243.4,369.7,-11.6,353,2333,0.15,1.95,0.00,0.000,6,0.137,0.034,2490,1552,3858
$GC,2659,-0.78,-243.4,405.7,-10.7,384,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1551,3856
$STATE,2976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2976,begin apogee
$GC,2981,-0.20,0.0,445.0,11.6,414,3179,0.52,0.00,190.20,0.999,6,0.114,0.000,2668,1751,2862
$STATE,3179,end apogee,CONTROL_FINISHED_OK
$STATE,3179,begin climb
$GC,3181,0.97,243.4,456.3,0.0,434,3385,1.02,2.25,191.88,0.987,4,0.049,0.047,3056,3141,1868
$GC,3480,0.55,243.4,417.4,19.7,460,3487,0.45,2.12,0.00,0.000,6,0.150,0.038,2914,1763,1864
$GC,3806,0.81,383.5,386.5,7.4,491,3928,0.20,2.33,114.50,0.955,4,0.055,0.050,3027,342,1298
$GC,4030,0.58,383.5,348.8,21.2,511,4035,0.32,2.10,0.00,0.000,6,0.136,0.033,2931,1744,1295
$GC,4360,0.79,410.5,311.3,11.1,542,4388,0.17,2.20,23.17,0.885,4,0.054,0.049,3036,331,1188
$GC,4457,0.57,410.5,292.7,20.9,553,4464,0.38,2.10,0.00,0.000,6,0.130,0.033,2921,1745,1186
$GC,4800,1.03,533.3,258.9,7.9,614,4911,0.38,2.25,103.72,0.884,4,0.039,0.047,3102,331,687
$GC,5001,0.75,533.3,209.1,24.5,648,5008,0.40,2.05,0.00,0.000,6,0.135,0.032,2982,1711,683
$GC,5345,1.07,575.1,169.1,10.6,709,5387,0.25,2.20,35.03,0.805,4,0.044,0.048,3120,331,517
$GC,5457,0.79,575.1,142.9,26.9,727,5464,0.43,2.03,0.00,0.000,6,0.133,0.031,2989,1708,515
$GC,5801,1.42,722.8,108.6,7.1,788,5823,0.50,2.15,14.18,0.720,4,0.035,0.046,3234,334,455
$GC,5920,0.90,722.8,76.3,30.5,808,5927,0.62,1.98,0.00,0.000,6,0.153,0.031,3029,1671,452
$GC,6265,1.47,830.5,41.8,8.4,869,6272,0.45,2.00,0.00,0.000,4,0.035,0.046,3242,340,452
$STATE,6411,end climb,SURFACE_DEPTH_REACHED
$STATE,6412,begin surface coast
$FINISH,0.9,1.021647
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6424,begin surface
$SM_CCo,6501,0.00,0.000,0,0,451,591.66
$SM_GC,1.46,8.05,0.00,0.00,0.043,0.000,0.000,148,1529,451,-8.02,0.82,591.66
$IRIDIUM_FIX,2411.01,12319.77,100998,060614
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.70
$XPDR_PINGS,112
$24V_AH,24.5,35.715
$10V_AH,10.8,22.006
$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,26.500,49.750,672.675,0.000,0.000,23.466,42.082,140.513,30.500,0.000,0.000,15.992,1445.869,2635.712,671.655,1714.471,339.899,0.000,1489.313,0.000,1706.080,0.000,17.709,0.000
$DEVICE_MAMPS,230.867,55.224,998.634,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.564,680.311,1141.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50755,897
$CAP_FILE_SIZE,81518,0
$CFSIZE,260165632,222711808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.401, 89.5,1
$GPS,160609,103607,2420.115,12320.963,33,1.3,34,-3.5