version: 66.04
glider: 166
mission: 2
dive: 158
start: 6 16 109 17 17 21
data:
$ID,166
$MISSION,2
$DIVE,158
$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,-8250.3838
$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,64
$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
$GPS1,171204,2419.379,12322.495,11,2.3,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.1
$GPS2,171701,2419.450,12322.530,11,1.8,16,-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,232.1,41658,-16.4,-12.000
$D_GRID,371
$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,11,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,100,0.00,0.00,-84.22,0.000,2,0.000,0.000,181,1495,2325
$GC,103,-0.97,-243.4,3.2,-6.1,13,161,9.18,1.92,-41.55,0.000,4,0.245,0.054,2417,195,3857
$GC,308,-0.21,-243.4,63.8,-33.1,48,315,0.80,1.90,0.00,0.000,6,0.151,0.029,2670,1490,3858
$GC,654,-0.63,-243.4,94.7,-5.6,109,661,0.32,2.08,0.00,0.000,4,0.041,0.037,2511,2915,3858
$GC,816,-0.51,-243.4,117.7,-15.0,137,823,0.20,2.03,0.00,0.000,6,0.133,0.031,2575,1504,3859
$GC,1159,-0.58,-243.4,158.8,-10.3,198,1166,0.00,2.08,0.00,0.000,4,0.000,0.038,2567,2900,3859
$GC,1207,-0.79,-243.4,163.1,-8.5,206,1214,0.20,2.03,0.00,0.000,6,0.037,0.031,2459,1516,3860
$GC,1551,-0.44,-243.4,230.0,-19.1,267,1559,0.40,1.92,0.00,0.000,4,0.138,0.042,2588,207,3859
$GC,1605,-0.69,-243.4,236.4,-8.5,276,1612,0.15,1.88,0.00,0.000,6,0.040,0.025,2487,1526,3860
$GC,1951,-0.53,-243.4,284.2,-13.0,337,1957,0.22,1.98,0.00,0.000,4,0.133,0.039,2558,2879,3859
$GC,1992,-0.75,-243.4,288.2,-7.8,344,1999,0.17,2.03,0.00,0.000,6,0.052,0.031,2462,1497,3860
$GC,2322,-0.54,-243.4,342.7,-16.7,382,2327,0.30,2.05,0.00,0.000,4,0.132,0.040,2559,2883,3859
$GC,2396,-0.86,-243.4,349.5,-7.5,388,2401,0.28,2.00,0.00,0.000,6,0.043,0.032,2428,1494,3858
$STATE,2528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2528,begin apogee
$GC,2533,-0.20,0.0,372.0,17.9,400,2724,0.73,0.00,187.23,0.925,6,0.138,0.000,2661,1744,2863
$STATE,2725,end apogee,CONTROL_FINISHED_OK
$STATE,2725,begin climb
$GC,2727,0.97,243.4,380.0,0.0,419,2923,1.08,0.00,188.30,0.914,6,0.071,0.000,3052,1743,1870
$GC,3241,0.64,243.4,313.0,16.1,467,3243,0.38,0.00,0.00,0.000,6,0.147,0.000,2942,1744,1864
$GC,3570,0.82,339.8,284.0,8.8,514,3651,0.17,0.00,76.57,0.863,6,0.059,0.000,3031,1744,1477
$GC,3991,0.68,339.8,217.8,15.4,587,3997,0.22,2.12,0.00,0.000,4,0.137,0.044,2972,347,1471
$GC,4049,0.84,351.8,210.2,11.6,597,4065,0.10,2.05,10.48,0.743,6,0.077,0.029,3026,1770,1428
$GC,4402,0.77,351.8,158.5,13.8,659,4410,0.15,2.15,0.00,0.000,4,0.136,0.044,2989,336,1425
$GC,4591,1.04,434.8,140.0,9.3,692,4668,0.22,2.03,68.20,0.779,6,0.049,0.029,3097,1753,1089
$GC,5009,0.95,434.8,75.8,15.7,764,5015,0.17,2.12,0.00,0.000,4,0.138,0.042,3052,342,1085
$GC,5185,1.24,497.3,55.5,9.9,795,5243,0.17,1.95,51.20,0.708,6,0.043,0.028,3151,1699,835
$STATE,5499,end climb,SURFACE_DEPTH_REACHED
$STATE,5499,begin surface coast
$FINISH,0.9,1.019879
$STATE,5518,end surface coast,CONTROL_FINISHED_OK
$STATE,5518,begin surface
$SM_CCo,5594,0.00,0.000,0,0,828,498.94
$SM_GC,1.57,7.85,0.00,0.00,0.045,0.000,0.000,144,1477,828,-8.04,-0.65,498.94
$IRIDIUM_FIX,2411.01,12323.04,100998,151515
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,25.10
$XPDR_PINGS,27
$24V_AH,24.7,36.530
$10V_AH,10.9,22.441
$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,23.475,36.925,581.975,0.000,0.000,22.264,31.347,143.367,8.500,0.000,0.000,16.552,1358.418,2026.545,592.214,1594.956,322.551,0.000,1334.874,0.000,1588.853,0.000,12.705,0.000
$DEVICE_MAMPS,244.673,54.457,925.002,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.367,685.448,1152.135,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47473,853
$CAP_FILE_SIZE,72803,0
$CFSIZE,260165632,222490624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.367, 78.6,1
$GPS,160609,185136,2419.291,12322.883,13,1.1,29,-3.5