version: 66.04
glider: 166
mission: 2
dive: 157
start: 6 16 109 15 36 22
data:
$ID,166
$MISSION,2
$DIVE,157
$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,-8233.2021
$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,70
$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
$GPS1,153106,2419.494,12322.044,34,1.2,44,-3.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.9
$GPS2,153602,2419.583,12322.093,16,1.5,16,-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,231.0,41864,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,93,0.00,0.00,-76.68,0.000,2,0.000,0.000,156,1487,2341
$GC,95,-0.97,-243.4,3.1,-5.3,12,153,8.98,1.90,-41.53,0.000,4,0.239,0.055,2421,199,3858
$GC,300,-0.21,-243.4,63.2,-35.5,47,307,0.77,1.88,0.00,0.000,6,0.149,0.029,2671,1483,3860
$GC,645,-0.67,-243.4,95.1,-6.9,108,652,0.38,2.08,0.00,0.000,4,0.041,0.037,2491,2914,3860
$GC,826,-0.48,-243.4,125.9,-16.3,140,833,0.30,2.03,0.00,0.000,6,0.132,0.031,2583,1504,3861
$GC,1172,-0.62,-243.4,162.0,-10.4,201,1180,0.15,2.05,0.00,0.000,4,0.058,0.038,2508,2901,3861
$GC,1232,-0.54,-243.4,170.2,-15.6,211,1239,0.15,2.00,0.00,0.000,6,0.125,0.031,2561,1530,3861
$GC,1577,-0.65,-243.4,209.2,-10.0,272,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1529,3862
$GC,1921,-0.83,-243.4,243.3,-8.6,333,1929,0.22,2.03,0.00,0.000,4,0.048,0.038,2445,2911,3861
$GC,1984,-0.62,-243.4,252.7,-16.3,344,1992,0.30,2.00,0.00,0.000,6,0.133,0.031,2539,1544,3861
$GC,2330,-0.73,-243.4,289.8,-9.5,405,2337,0.12,0.00,0.00,0.000,6,0.066,0.000,2469,1544,3860
$STATE,2647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2647,begin apogee
$GC,2652,-0.20,0.0,338.5,15.5,441,2843,0.62,0.00,186.75,0.899,6,0.123,0.000,2673,1771,2863
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin climb
$GC,2845,0.97,243.4,350.7,0.0,460,3042,1.00,2.33,187.30,0.894,4,0.053,0.046,3063,342,1869
$GC,3065,0.56,243.4,335.3,17.4,479,3070,0.47,2.10,0.00,0.000,6,0.146,0.029,2923,1749,1867
$GC,3391,0.83,361.8,309.0,8.1,509,3492,0.20,2.28,94.62,0.865,4,0.055,0.044,3033,341,1388
$GC,3523,0.65,361.8,289.2,17.5,525,3530,0.30,2.08,0.00,0.000,6,0.134,0.030,2945,1739,1386
$GC,3867,0.89,389.6,249.2,11.1,586,3899,0.20,2.12,23.77,0.811,4,0.050,0.045,3061,349,1274
$GC,3991,0.71,389.6,226.7,18.9,607,3998,0.30,2.00,0.00,0.000,6,0.133,0.029,2970,1728,1272
$GC,4336,0.97,448.2,187.9,10.1,668,4394,0.20,2.17,48.97,0.803,4,0.051,0.045,3084,355,1034
$GC,4569,0.79,448.2,145.5,20.0,708,4577,0.22,1.95,0.00,0.000,6,0.127,0.028,2995,1693,1031
$GC,4916,1.12,517.2,109.8,9.7,769,4980,0.25,2.08,57.03,0.749,4,0.044,0.042,3134,348,753
$GC,5075,0.91,517.2,77.5,21.2,796,5084,0.30,1.92,0.00,0.000,6,0.126,0.028,3033,1667,751
$GC,5422,1.42,638.5,44.2,8.0,857,5492,0.38,2.05,60.00,0.693,4,0.038,0.042,3222,356,453
$GC,5579,1.00,638.5,7.1,28.1,883,5586,0.47,1.90,0.00,0.000,6,0.136,0.027,3059,1657,451
$STATE,5592,end climb,SURFACE_DEPTH_REACHED
$STATE,5592,begin surface coast
$FINISH,1.2,1.021655
$STATE,5603,end surface coast,CONTROL_FINISHED_OK
$STATE,5603,begin surface
$SM_CCo,5679,0.00,0.000,0,0,449,592.15
$SM_GC,1.45,7.70,0.00,0.00,0.047,0.000,0.000,152,1496,449,-8.01,-0.11,592.15
$IRIDIUM_FIX,2408.65,12323.04,100998,141432
$TT8_MAMPS,0.026078
$HUMID,1529
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.20
$XPDR_PINGS,15
$24V_AH,24.7,36.376
$10V_AH,10.9,22.354
$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,24.000,41.450,658.450,0.000,0.000,25.027,35.694,140.257,5.250,0.000,0.000,16.551,1397.494,1951.733,653.197,1653.721,323.763,0.000,1440.286,0.000,1644.992,0.000,11.033,0.000
$DEVICE_MAMPS,239.304,55.224,898.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.604,705.438,1186.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47495,887
$CAP_FILE_SIZE,75756,0
$CFSIZE,260165632,222531584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.388, 80.4,1
$GPS,160609,171204,2419.379,12322.495,11,2.3,30,-3.5