version: 66.04
glider: 166
mission: 2
dive: 161
start: 6 16 109 22 27 21
data:
$ID,166
$MISSION,2
$DIVE,161
$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,-8317.2568
$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,50
$R_STBD_OVSHOOT,58
$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
$GPS1,222101,2418.324,12323.457,41,1.2,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.6
$GPS2,222701,2418.328,12323.523,15,1.2,15,-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,230.6,28221,-16.4,-12.000
$D_GRID,317
$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,-83.93,0.000,2,0.000,0.000,179,1482,2315
$GC,102,-0.97,-243.4,3.1,-5.2,13,161,9.05,1.90,-42.50,0.000,4,0.239,0.056,2422,201,3857
$GC,269,-0.16,-243.4,49.9,-33.5,41,276,0.80,1.90,0.00,0.000,6,0.151,0.031,2681,1493,3857
$GC,616,-0.53,-243.4,79.2,-7.8,102,623,0.28,2.08,0.00,0.000,4,0.043,0.038,2549,2915,3858
$GC,731,-0.45,-243.4,95.2,-14.9,122,738,0.15,2.03,0.00,0.000,6,0.135,0.031,2592,1504,3858
$GC,1076,-0.50,-243.4,136.6,-11.3,183,1083,0.00,2.08,0.00,0.000,4,0.000,0.039,2591,2894,3859
$GC,1169,-0.70,-243.4,144.5,-7.7,199,1176,0.15,1.95,0.00,0.000,6,0.039,0.030,2488,1549,3859
$GC,1514,-0.37,-243.4,205.9,-19.6,260,1521,0.38,1.98,0.00,0.000,4,0.136,0.042,2610,205,3859
$GC,1556,-0.56,-243.4,210.9,-8.9,267,1564,0.15,1.92,0.00,0.000,6,0.058,0.027,2533,1568,3860
$GC,1901,-0.56,-243.4,255.0,-12.7,328,1907,0.00,1.98,0.00,0.000,4,0.000,0.041,2524,2900,3860
$GC,1981,-0.66,-243.4,264.2,-10.8,342,1987,0.00,1.95,0.00,0.000,6,0.000,0.031,2530,1560,3859
$GC,2328,-0.66,-243.4,303.0,-11.9,402,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1560,3859
$STATE,2443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2443,begin apogee
$GC,2449,-0.20,0.0,317.8,13.7,413,2639,0.47,0.00,186.27,0.887,6,0.113,0.000,2671,1756,2863
$STATE,2639,end apogee,CONTROL_FINISHED_OK
$STATE,2639,begin climb
$GC,2641,0.97,243.4,331.2,0.0,432,2835,1.05,0.00,187.20,0.873,6,0.073,0.000,3058,1757,1870
$GC,3159,0.65,243.4,270.3,14.7,497,3165,0.35,2.15,0.00,0.000,4,0.148,0.045,2957,349,1864
$GC,3211,0.80,318.5,264.7,9.5,506,3280,0.12,2.03,59.85,0.831,6,0.070,0.030,3019,1749,1563
$GC,3617,0.72,318.5,204.6,12.6,577,3623,0.17,0.00,0.00,0.000,6,0.137,0.000,2963,1751,1558
$GC,3960,1.05,438.3,175.5,8.0,638,4063,0.28,2.22,96.60,0.795,4,0.045,0.041,3093,3155,1076
$GC,4243,0.87,438.3,127.9,16.4,686,4252,0.22,2.17,0.00,0.000,6,0.139,0.032,3017,1707,1072
$GC,4590,1.28,568.4,93.6,7.7,747,4704,0.32,2.10,106.38,0.732,4,0.040,0.042,3180,351,544
$GC,4794,1.05,568.4,50.1,22.4,781,4801,0.28,1.95,0.00,0.000,6,0.138,0.028,3079,1681,542
$GC,5140,1.40,615.1,11.2,10.5,842,5167,0.28,2.03,19.25,0.635,4,0.041,0.043,3219,345,454
$STATE,5184,end climb,SURFACE_DEPTH_REACHED
$STATE,5184,begin surface coast
$FINISH,0.7,1.010069
$STATE,5195,end surface coast,CONTROL_FINISHED_OK
$STATE,5195,begin surface
$SM_CCo,5273,0.00,0.000,0,0,451,591.91
$SM_GC,1.55,8.12,0.00,0.00,0.045,0.000,0.000,156,1538,451,-8.03,1.07,591.91
$IRIDIUM_FIX,2411.01,12321.07,100998,202021
$TT8_MAMPS,0.027612
$HUMID,1535
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.00
$XPDR_PINGS,18
$24V_AH,24.7,37.059
$10V_AH,10.9,22.709
$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,22.625,36.375,655.550,0.000,0.000,33.172,53.205,176.396,5.750,0.000,0.000,15.280,1320.377,1705.438,645.157,1582.794,382.787,0.000,1396.682,0.000,1576.199,0.000,9.359,0.000
$DEVICE_MAMPS,239.304,55.991,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.176,701.371,1179.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47500,851
$CAP_FILE_SIZE,71062,0
$CFSIZE,260165632,222343168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,109.4,1
$GPS,160609,235556,2417.753,12323.314,10,1.8,10,-3.5