version: 66.04
glider: 166
mission: 2
dive: 162
start: 6 17 109 0 5 22
data:
$ID,166
$MISSION,2
$DIVE,162
$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,-8332.6719
$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,79
$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
$GPS1,235556,2417.753,12323.314,10,1.8,10,-3.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.7
$GPS2,000502,2417.811,12323.424,14,1.2,14,-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,212.1,27259,-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,-243.4,0.0,0.0,0,107,0.00,0.00,-90.47,0.000,2,0.000,0.000,173,1538,2491
$GC,109,-0.97,-243.4,3.4,-6.8,14,162,8.98,2.03,-34.33,0.000,4,0.235,0.055,2419,204,3857
$GC,266,-0.14,-243.4,51.9,-36.4,40,274,0.85,1.88,0.00,0.000,6,0.149,0.031,2690,1477,3859
$GC,611,-0.50,-243.4,83.8,-6.8,101,619,0.28,2.08,0.00,0.000,4,0.044,0.038,2554,2903,3859
$GC,732,-0.43,-243.4,100.4,-13.7,122,739,0.15,2.03,0.00,0.000,6,0.134,0.030,2597,1489,3858
$GC,1077,-0.43,-243.4,145.6,-11.7,183,1084,0.00,2.10,0.00,0.000,4,0.000,0.038,2597,2900,3859
$GC,1152,-0.61,-243.4,153.4,-10.8,196,1160,0.17,2.00,0.00,0.000,6,0.051,0.030,2510,1526,3859
$GC,1499,-0.32,-243.4,214.2,-19.8,257,1504,0.38,0.00,0.00,0.000,6,0.136,0.000,2630,1526,3859
$GC,1841,-0.96,-243.4,242.6,-8.8,318,1848,0.50,2.03,0.00,0.000,4,0.053,0.037,2424,2914,3860
$GC,1963,-0.59,-243.4,263.6,-21.5,339,1970,0.40,2.03,0.00,0.000,6,0.145,0.031,2548,1513,3859
$GC,2305,-0.59,-243.4,305.1,-11.9,396,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1513,3858
$STATE,2409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2409,begin apogee
$GC,2414,-0.20,0.0,317.4,11.4,406,2603,0.40,0.00,186.10,0.882,6,0.112,0.000,2667,1774,2863
$STATE,2604,end apogee,CONTROL_FINISHED_OK
$STATE,2604,begin climb
$GC,2606,0.97,243.4,328.4,0.0,425,2804,1.08,0.00,187.68,0.873,6,0.083,0.000,3051,1774,1869
$GC,3132,0.71,243.4,269.5,13.8,492,3139,0.28,2.17,0.00,0.000,4,0.147,0.046,2979,350,1864
$GC,3257,0.85,357.0,257.7,8.2,514,3354,0.00,2.03,90.22,0.831,6,0.000,0.030,2979,1753,1407
$GC,3690,1.12,423.0,218.7,9.8,590,3752,0.30,2.20,54.45,0.807,4,0.044,0.045,3127,352,1138
$GC,3817,0.79,423.0,193.7,22.8,611,3824,0.45,2.03,0.00,0.000,6,0.139,0.030,2993,1732,1135
$GC,4162,1.25,551.1,163.3,7.8,672,4275,0.38,2.17,105.57,0.778,4,0.040,0.043,3175,346,615
$GC,4383,0.90,551.1,111.1,25.1,709,4390,0.47,2.03,0.00,0.000,6,0.141,0.029,3033,1736,612
$GC,4729,1.45,672.7,79.3,8.0,770,4770,0.43,2.12,33.22,0.705,4,0.036,0.042,3238,345,454
$GC,4874,1.07,672.7,42.7,28.1,794,4882,0.45,1.95,0.00,0.000,6,0.137,0.028,3080,1680,451
$GC,5221,1.58,781.6,6.6,8.4,855,5228,0.40,2.00,0.00,0.000,4,0.035,0.042,3266,340,451
$STATE,5244,end climb,SURFACE_DEPTH_REACHED
$STATE,5244,begin surface coast
$FINISH,0.7,1.007976
$STATE,5261,end surface coast,CONTROL_FINISHED_OK
$STATE,5261,begin surface
$SM_CCo,5338,0.00,0.000,0,0,449,592.15
$SM_GC,1.39,8.12,0.00,0.00,0.041,0.000,0.000,156,1537,449,-8.02,1.05,592.15
$IRIDIUM_FIX,2408.65,12323.04,110998,000003
$TT8_MAMPS,0.026845
$HUMID,1532
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.40
$XPDR_PINGS,13
$24V_AH,24.7,37.236
$10V_AH,10.9,22.799
$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,24.450,36.900,657.250,0.000,0.000,47.118,69.589,270.915,4.500,0.000,0.000,14.787,1337.614,1774.277,659.718,1600.112,517.167,0.000,1413.167,0.000,1599.678,0.000,9.364,0.000
$DEVICE_MAMPS,235.469,55.224,882.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.380,696.028,1169.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47447,862
$CAP_FILE_SIZE,73568,0
$CFSIZE,260165632,222298112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 88.3,1
$GPS,170609,013522,2417.214,12323.088,10,2.1,29,-3.5