version: 66.04
glider: 166
mission: 2
dive: 166
start: 6 17 109 6 12 58
data:
$ID,166
$MISSION,2
$DIVE,166
$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,330
$T_MISSION,396
$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,175
$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,-8409.8711
$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,51
$R_STBD_OVSHOOT,72
$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
$GPS1,060756,2416.665,12323.486,12,1.7,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.7
$GPS2,061238,2416.700,12323.542,12,1.4,12,-3.5
$SPEED_LIMITS,0.173,0.279
$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,231.0,25211,-16.8,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.90,-170.3,0.0,0.0,0,74,0.00,0.00,-57.10,0.000,2,0.000,0.000,166,1478,2311
$GC,76,-0.90,-170.3,3.1,-6.1,9,129,9.10,1.88,-36.42,0.000,4,0.236,0.054,2444,204,3558
$GC,371,-0.02,-170.3,93.4,-32.7,60,378,0.90,1.85,0.00,0.000,6,0.155,0.027,2726,1485,3558
$GC,717,-0.87,-170.3,122.2,-11.9,121,724,0.73,2.05,0.00,0.000,4,0.077,0.036,2460,2907,3559
$GC,759,-0.52,-170.3,128.3,-15.4,128,767,0.35,2.05,0.00,0.000,6,0.150,0.029,2574,1491,3559
$GC,1104,-0.52,-170.3,166.3,-11.7,189,1110,0.00,1.90,0.00,0.000,4,0.000,0.043,2569,216,3560
$GC,1133,-0.47,-170.3,169.9,-12.1,194,1140,0.00,1.85,0.00,0.000,6,0.000,0.027,2565,1505,3560
$GC,1476,-0.47,-170.3,204.6,-6.7,255,1483,0.00,2.03,0.00,0.000,4,0.000,0.039,2565,2899,3560
$GC,1529,-0.60,-170.3,208.0,-6.4,264,1536,0.00,2.03,0.00,0.000,6,0.000,0.031,2564,1488,3560
$GC,1874,-0.68,-170.3,238.1,-9.5,325,1880,0.15,2.08,0.00,0.000,4,0.057,0.038,2487,2897,3560
$GC,1931,-0.51,-170.3,245.0,-12.8,335,1939,0.28,1.98,0.00,0.000,6,0.133,0.031,2571,1524,3560
$GC,2280,-0.64,-170.3,272.7,-9.0,396,2287,0.12,2.03,0.00,0.000,4,0.063,0.039,2505,2903,3560
$GC,2349,-0.59,-170.3,281.1,-12.2,408,2356,0.15,2.00,0.00,0.000,6,0.140,0.031,2550,1532,3560
$STATE,2382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2382,begin apogee
$GC,2387,-0.20,0.0,285.0,10.6,414,2525,0.35,0.00,129.73,0.857,6,0.122,0.000,2668,1765,2863
$STATE,2525,end apogee,CONTROL_FINISHED_OK
$STATE,2525,begin climb
$GC,2527,0.90,170.3,290.4,0.0,436,2667,1.00,2.15,130.43,0.838,4,0.084,0.042,3031,3148,2167
$GC,2707,0.65,170.3,279.3,10.2,466,2714,0.30,2.10,0.00,0.000,6,0.150,0.034,2949,1751,2165
$GC,3052,0.89,288.3,257.3,5.4,527,3150,0.17,2.28,91.72,0.827,4,0.058,0.048,3047,339,1686
$GC,3167,0.76,288.3,246.2,10.8,546,3174,0.22,2.08,0.00,0.000,6,0.138,0.028,2983,1744,1685
$GC,3513,0.93,330.4,215.4,8.3,607,3553,0.15,2.22,33.97,0.794,4,0.058,0.045,3065,343,1514
$GC,3650,0.79,330.4,198.1,12.8,630,3658,0.20,2.05,0.00,0.000,6,0.133,0.029,2997,1735,1511
$GC,3996,0.95,339.8,163.4,9.6,691,4011,0.15,2.10,8.35,0.670,4,0.057,0.044,3081,337,1477
$GC,4057,0.81,339.8,154.8,15.3,701,4064,0.25,2.03,0.00,0.000,6,0.132,0.029,2998,1728,1475
$GC,4403,1.02,341.3,128.2,9.9,762,4409,0.17,2.10,0.00,0.000,4,0.051,0.043,3100,329,1473
$GC,4664,0.92,341.3,90.9,12.4,808,4671,0.15,1.98,0.00,0.000,6,0.124,0.028,3036,1710,1473
$GC,5009,1.13,356.1,61.9,9.4,869,5031,0.17,2.12,14.18,0.670,4,0.053,0.042,3141,333,1411
$GC,5071,0.91,356.1,53.3,15.1,879,5079,0.28,1.95,0.00,0.000,6,0.132,0.027,3034,1697,1409
$GC,5419,1.33,458.9,26.7,5.9,940,5508,0.32,2.15,83.32,0.676,4,0.039,0.041,3201,337,991
$STATE,5565,end climb,SURFACE_DEPTH_REACHED
$STATE,5565,begin surface coast
$FINISH,0.7,1.008458
$STATE,5581,end surface coast,CONTROL_FINISHED_OK
$STATE,5581,begin surface
$SM_CCo,5658,0.00,0.000,0,0,984,460.92
$SM_GC,1.54,8.05,0.00,0.00,0.043,0.000,0.000,145,1514,984,-8.03,0.42,460.92
$IRIDIUM_FIX,2408.65,12518.51,110998,040459
$TT8_MAMPS,0.026845
$HUMID,1523
$INTERNAL_PRESSURE,10.0636
$TCM_TEMP,25.70
$XPDR_PINGS,5
$24V_AH,24.8,37.753
$10V_AH,10.9,23.158
$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,23.725,53.000,491.700,0.000,0.000,25.116,36.469,126.849,2.250,0.000,0.000,13.114,1532.389,1818.841,510.113,1758.404,324.588,0.000,1312.219,0.000,1764.174,0.000,7.690,0.000
$DEVICE_MAMPS,236.236,53.690,856.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.351,792.606,1332.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53768,967
$CAP_FILE_SIZE,80716,0
$CFSIZE,260165632,222097408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209, 90.1,1
$GPS,170609,074822,2416.470,12323.476,14,99.0,33,-3.5