version: 66.04
glider: 166
mission: 2
dive: 156
start: 6 16 109 14 2 22
data:
$ID,166
$MISSION,2
$DIVE,156
$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,-8216.0225
$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,34
$R_STBD_OVSHOOT,81
$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
$GPS1,135720,2419.608,12321.570,12,1.8,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.6
$GPS2,140202,2419.674,12321.614,14,1.9,14,-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,229.9,42004,-16.4,-12.000
$D_GRID,337
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-57.50,0.000,2,0.000,0.000,151,1521,2307
$GC,76,-0.97,-243.4,3.1,-6.6,9,134,9.02,2.03,-40.30,0.000,4,0.237,0.059,2417,199,3858
$GC,264,-0.31,-243.4,58.5,-32.1,41,271,0.65,1.88,0.00,0.000,6,0.143,0.031,2635,1478,3860
$GC,610,-0.57,-243.4,99.1,-9.2,102,618,0.20,2.08,0.00,0.000,4,0.049,0.038,2533,2904,3860
$GC,681,-0.49,-243.4,109.0,-14.7,114,689,0.17,2.05,0.00,0.000,6,0.130,0.031,2580,1480,3860
$GC,1028,-0.57,-243.4,148.3,-12.4,175,1034,0.00,2.10,0.00,0.000,4,0.000,0.040,2583,2907,3861
$GC,1097,-0.79,-243.4,156.0,-10.9,187,1104,0.30,2.00,0.00,0.000,6,0.041,0.032,2454,1541,3861
$GC,1440,-0.33,-243.4,233.8,-24.6,248,1447,0.55,1.98,0.00,0.000,4,0.141,0.044,2626,200,3861
$GC,1483,-0.57,-243.4,239.5,-11.1,255,1490,0.20,1.90,0.00,0.000,6,0.049,0.027,2523,1546,3862
$GC,1827,-0.57,-243.4,281.0,-12.0,316,1833,0.12,1.95,0.00,0.000,4,0.135,0.039,2555,2888,3862
$GC,1864,-0.80,-243.4,284.2,-7.9,322,1872,0.20,2.00,0.00,0.000,6,0.048,0.033,2453,1521,3862
$STATE,2184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2184,begin apogee
$GC,2189,-0.20,0.0,337.2,16.9,361,2380,0.65,0.00,187.45,0.893,6,0.127,0.000,2666,1748,2863
$STATE,2381,end apogee,CONTROL_FINISHED_OK
$STATE,2381,begin climb
$GC,2383,0.97,243.4,348.5,0.0,380,2580,1.08,0.00,188.55,0.894,6,0.072,0.000,3044,1748,1869
$GC,2903,0.65,243.4,286.5,15.6,435,2909,0.30,0.00,0.00,0.000,6,0.150,0.000,2952,1748,1863
$GC,3244,0.77,341.5,254.1,8.8,496,3330,0.12,2.25,77.88,0.845,4,0.071,0.049,3020,354,1469
$GC,3494,0.68,341.5,221.0,13.8,539,3501,0.22,2.03,0.00,0.000,6,0.131,0.030,2954,1742,1467
$GC,3839,0.99,424.9,186.1,9.2,600,3917,0.25,2.22,68.00,0.805,4,0.047,0.046,3088,352,1129
$GC,4037,0.85,424.9,152.9,18.3,633,4044,0.25,2.03,0.00,0.000,6,0.134,0.030,3013,1744,1127
$GC,4383,1.01,431.9,110.9,11.8,694,4396,0.15,2.12,6.15,0.589,4,0.057,0.046,3089,346,1102
$GC,4436,0.87,431.9,102.5,16.2,703,4443,0.17,1.98,0.00,0.000,6,0.121,0.029,3016,1711,1103
$GC,4783,1.27,547.0,69.7,8.2,764,4885,0.30,2.17,94.43,0.716,4,0.042,0.038,3161,3142,632
$GC,5015,1.16,547.0,25.6,20.3,803,5022,0.15,2.20,0.00,0.000,6,0.150,0.031,3109,1672,630
$STATE,5155,end climb,SURFACE_DEPTH_REACHED
$STATE,5155,begin surface coast
$FINISH,0.9,1.005995
$STATE,5172,end surface coast,CONTROL_FINISHED_OK
$STATE,5173,begin surface
$SM_CCo,5248,0.00,0.000,0,0,627,548.49
$SM_GC,1.53,7.70,0.00,0.00,0.043,0.000,0.000,159,1488,627,-8.01,-0.34,548.49
$IRIDIUM_FIX,2411.01,12317.79,100998,121233
$TT8_MAMPS,0.026845
$HUMID,1514
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.40
$XPDR_PINGS,14
$24V_AH,24.7,36.208
$10V_AH,10.9,22.264
$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,22.775,37.500,622.450,0.000,0.000,24.076,34.130,128.270,5.000,0.000,0.000,14.539,1307.581,1775.453,617.757,1528.743,305.370,0.000,1341.048,0.000,1526.771,0.000,11.033,0.000
$DEVICE_MAMPS,237.003,59.059,893.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,550.744,670.110,1126.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44229,831
$CAP_FILE_SIZE,69752,0
$CFSIZE,260165632,222584832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.383, 77.7,1
$GPS,160609,153106,2419.494,12322.044,34,1.2,44,-3.5