version: 66.04
glider: 166
mission: 2
dive: 160
start: 6 16 109 20 44 20
data:
$ID,166
$MISSION,2
$DIVE,160
$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,-8301.3486
$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,44
$R_STBD_OVSHOOT,57
$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
$GPS1,203806,2418.982,12323.306,10,2.0,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.9
$GPS2,204402,2419.012,12323.374,16,1.6,28,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12322.900
$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,230.1,29479,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,106,0.00,0.00,-89.47,0.000,2,0.000,0.000,149,1497,2454
$GC,109,-0.97,-243.4,3.2,-5.3,14,161,9.00,1.92,-36.70,0.000,4,0.237,0.054,2415,192,3857
$GC,291,-0.23,-243.4,60.9,-34.5,45,299,0.75,1.92,0.00,0.000,6,0.150,0.030,2659,1499,3858
$GC,636,-0.55,-243.4,92.4,-6.4,106,643,0.22,2.05,0.00,0.000,4,0.048,0.037,2542,2905,3859
$GC,713,-0.47,-243.4,101.6,-13.9,119,720,0.15,2.03,0.00,0.000,6,0.133,0.031,2585,1495,3859
$GC,1058,-0.52,-243.4,147.5,-11.4,180,1065,0.00,2.10,0.00,0.000,4,0.000,0.038,2585,2903,3860
$GC,1139,-0.74,-243.4,155.9,-9.7,194,1146,0.20,1.98,0.00,0.000,6,0.038,0.030,2479,1544,3860
$GC,1484,-0.43,-243.4,219.3,-18.0,255,1490,0.35,1.98,0.00,0.000,4,0.136,0.042,2593,207,3860
$GC,1547,-0.67,-243.4,226.3,-7.9,266,1554,0.15,1.90,0.00,0.000,6,0.041,0.026,2490,1540,3861
$GC,1890,-0.49,-243.4,278.1,-15.9,327,1897,0.25,1.98,0.00,0.000,4,0.134,0.039,2573,2892,3861
$GC,1986,-0.78,-243.4,287.5,-8.7,344,1995,0.22,2.03,0.00,0.000,6,0.047,0.032,2460,1516,3860
$GC,2322,-0.48,-243.4,343.3,-17.3,382,2327,0.35,1.92,0.00,0.000,4,0.135,0.044,2574,204,3859
$GC,2367,-0.67,-243.4,348.5,-9.4,385,2373,0.15,1.85,0.00,0.000,6,0.059,0.028,2487,1512,3859
$STATE,2561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2561,begin apogee
$GC,2566,-0.20,0.0,372.0,11.7,404,2758,0.57,0.00,187.50,0.930,6,0.120,0.000,2670,1750,2863
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2760,0.97,243.4,379.8,0.0,423,2956,1.02,0.00,189.07,0.919,6,0.056,0.000,3062,1750,1870
$GC,3274,0.61,243.4,308.6,16.3,472,3276,0.43,0.00,0.00,0.000,6,0.148,0.000,2934,1751,1863
$GC,3607,0.90,382.9,279.6,7.4,524,3728,0.22,2.22,111.60,0.869,4,0.051,0.045,3056,345,1301
$GC,3808,0.67,382.9,250.1,17.1,558,3815,0.35,2.08,0.00,0.000,6,0.135,0.031,2953,1751,1298
$GC,4153,1.07,494.2,216.4,8.3,619,4251,0.32,2.28,91.90,0.829,4,0.041,0.045,3112,345,848
$GC,4325,0.78,494.2,181.3,23.2,648,4332,0.40,2.08,0.00,0.000,6,0.134,0.031,2992,1752,845
$GC,4671,1.26,624.2,145.3,7.7,709,4760,0.38,2.22,80.15,0.774,4,0.038,0.044,3175,356,454
$GC,4846,0.89,624.2,101.4,25.9,738,4853,0.50,2.00,0.00,0.000,6,0.143,0.029,3026,1702,451
$GC,5189,1.40,697.7,63.4,9.6,799,5198,0.40,2.03,0.00,0.000,4,0.037,0.043,3218,351,450
$GC,5279,1.04,697.7,41.5,29.2,814,5286,0.40,1.92,0.00,0.000,6,0.141,0.028,3076,1680,450
$STATE,5615,end climb,SURFACE_DEPTH_REACHED
$STATE,5615,begin surface coast
$FINISH,0.8,1.009865
$STATE,5652,end surface coast,CONTROL_FINISHED_OK
$STATE,5652,begin surface
$SM_CCo,5728,0.00,0.000,0,0,447,592.40
$SM_GC,1.57,7.53,0.00,0.00,0.039,0.000,0.000,148,1483,447,-8.01,-0.45,592.40
$IRIDIUM_FIX,2411.01,12326.32,100998,191956
$TT8_MAMPS,0.026845
$HUMID,1575
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.10
$XPDR_PINGS,47
$24V_AH,24.7,36.892
$10V_AH,10.8,22.620
$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,24.325,41.050,660.225,0.000,0.000,24.258,36.031,184.334,13.500,0.000,0.000,28.872,1377.461,2035.892,668.120,1632.770,371.232,0.000,1432.493,0.000,1612.726,0.000,12.705,0.000
$DEVICE_MAMPS,237.003,54.457,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.292,696.439,1170.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47591,880
$CAP_FILE_SIZE,75713,0
$CFSIZE,260165632,222388224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.302,104.5,1
$GPS,160609,222101,2418.324,12323.457,41,1.2,41,-3.5