version: 66.04
glider: 166
mission: 2
dive: 163
start: 6 17 109 1 41 35
data:
$ID,166
$MISSION,2
$DIVE,163
$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,-8367.9932
$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,82
$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
$GPS1,013522,2417.214,12323.088,10,2.1,29,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.9
$GPS2,014116,2417.268,12323.144,14,2.2,33,-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,203.7,26242,-16.4,-12.000
$D_GRID,285
$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,-243.4,0.0,0.0,0,105,0.00,0.00,-89.32,0.000,2,0.000,0.000,172,1538,2461
$GC,108,-0.97,-243.4,3.4,-6.9,14,160,8.98,2.00,-35.65,0.000,4,0.236,0.054,2421,192,3857
$GC,297,-0.12,-243.4,67.2,-39.6,46,304,0.85,1.88,0.00,0.000,6,0.152,0.031,2693,1468,3857
$GC,640,-0.50,-243.4,102.5,-7.7,107,647,0.25,2.08,0.00,0.000,4,0.046,0.037,2557,2901,3858
$GC,762,-0.50,-243.4,118.3,-12.1,128,769,0.00,2.00,0.00,0.000,6,0.000,0.031,2563,1536,3858
$GC,1107,-0.43,-243.4,168.9,-12.1,189,1113,0.12,0.00,0.00,0.000,6,0.141,0.000,2598,1535,3859
$GC,1449,-0.57,-243.4,204.9,-10.7,250,1455,0.12,2.03,0.00,0.000,4,0.067,0.038,2532,2913,3860
$GC,1558,-0.57,-243.4,218.6,-12.2,269,1564,0.00,2.00,0.00,0.000,6,0.000,0.031,2532,1525,3860
$GC,1902,-0.48,-243.4,266.3,-12.8,330,1908,0.17,2.03,0.00,0.000,4,0.134,0.040,2582,2900,3859
$GC,1966,-0.77,-243.4,272.6,-8.8,341,1973,0.25,1.95,0.00,0.000,6,0.044,0.031,2455,1544,3859
$STATE,2038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2038,begin apogee
$GC,2043,-0.20,0.0,285.4,19.3,354,2234,0.65,0.00,184.50,0.846,6,0.137,0.000,2658,1774,2863
$STATE,2235,end apogee,CONTROL_FINISHED_OK
$STATE,2235,begin climb
$GC,2237,0.97,243.4,297.8,0.0,385,2434,1.12,2.10,186.15,0.841,4,0.087,0.041,3044,3135,1869
$GC,2526,0.71,243.4,272.0,14.9,433,2532,0.28,2.08,0.00,0.000,6,0.153,0.034,2970,1743,1866
$GC,2870,0.86,322.2,239.1,9.4,494,2939,0.15,2.22,62.20,0.802,4,0.064,0.041,3051,3148,1548
$GC,2956,0.69,322.2,227.2,16.0,508,2964,0.32,2.10,0.00,0.000,6,0.141,0.034,2964,1748,1547
$GC,3302,1.07,433.2,197.7,8.3,569,3403,0.28,2.20,89.88,0.788,4,0.044,0.041,3097,3140,1096
$GC,3561,0.92,433.2,150.2,18.2,613,3568,0.25,2.10,0.00,0.000,6,0.143,0.031,3033,1720,1095
$GC,3908,1.17,490.0,108.3,10.1,674,3961,0.20,2.17,46.60,0.729,4,0.049,0.043,3150,331,864
$GC,4131,0.98,490.0,66.7,18.2,712,4139,0.30,2.03,0.00,0.000,6,0.128,0.028,3058,1742,862
$GC,4478,1.40,587.4,31.9,8.8,773,4566,0.32,2.20,79.22,0.667,4,0.040,0.042,3218,346,467
$STATE,4610,end climb,SURFACE_DEPTH_REACHED
$STATE,4611,begin surface coast
$FINISH,0.7,1.021642
$STATE,4622,end surface coast,CONTROL_FINISHED_OK
$STATE,4622,begin surface
$SM_CCo,4700,0.00,0.000,0,0,463,588.72
$SM_GC,1.55,8.10,0.00,0.00,0.037,0.000,0.000,160,1519,463,-8.03,0.54,588.72
$IRIDIUM_FIX,2408.65,12321.74,110998,000020
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.8,37.395
$10V_AH,10.9,22.881
$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,22.725,37.175,648.550,0.000,0.000,24.227,33.869,179.543,1.500,0.000,0.000,34.692,1189.515,1405.689,622.335,1486.641,353.125,0.000,1343.480,0.000,1465.977,0.000,7.691,0.000
$DEVICE_MAMPS,236.236,53.690,846.001,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.188,650.260,1093.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44414,797
$CAP_FILE_SIZE,65986,0
$CFSIZE,260165632,222261248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 69.8,1
$GPS,170609,030107,2416.854,12323.170,40,0.9,40,-3.5