version: 66.04
glider: 166
mission: 2
dive: 175
start: 6 17 109 18 31 47
data:
$ID,166
$MISSION,2
$DIVE,175
$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,-8621.6709
$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,74
$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
$GPS1,182706,2414.660,12322.688,12,1.0,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.4
$GPS2,183126,2414.741,12322.764,16,1.0,16,-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,210.3,21560,-16.4,-12.000
$D_GRID,217
$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,-243.4,0.0,0.0,0,100,0.00,0.00,-83.38,0.000,2,0.000,0.000,157,1510,2359
$GC,103,-0.97,-243.4,3.1,-6.7,13,156,8.77,2.00,-39.75,0.000,4,0.231,0.054,2416,202,3858
$GC,209,-0.13,-243.4,29.1,-33.5,30,217,0.85,1.88,0.00,0.000,6,0.154,0.029,2693,1487,3859
$GC,554,-0.98,-243.4,70.7,-12.7,91,561,0.70,2.03,0.00,0.000,4,0.077,0.034,2428,2905,3860
$GC,711,-0.45,-243.4,105.3,-25.0,118,718,0.52,2.03,0.00,0.000,6,0.152,0.031,2591,1522,3859
$GC,1056,-0.57,-243.4,148.5,-9.2,179,1064,0.10,2.05,0.00,0.000,4,0.075,0.036,2528,2901,3860
$GC,1114,-0.57,-243.4,155.4,-12.3,189,1122,0.00,2.03,0.00,0.000,6,0.000,0.031,2530,1488,3860
$GC,1459,-0.48,-243.4,203.6,-15.5,250,1466,0.17,2.10,0.00,0.000,4,0.136,0.038,2584,2900,3860
$GC,1545,-0.82,-243.4,213.6,-12.6,265,1553,0.30,1.98,0.00,0.000,6,0.044,0.031,2438,1521,3860
$STATE,1569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1569,begin apogee
$GC,1574,-0.20,0.0,217.7,15.5,269,1760,0.70,0.00,181.73,0.783,6,0.145,0.000,2660,1784,2863
$STATE,1762,end apogee,CONTROL_FINISHED_OK
$STATE,1762,begin climb
$GC,1764,0.97,243.4,233.5,0.0,299,1960,1.10,2.10,183.57,0.777,4,0.083,0.043,3051,3120,1868
$GC,2023,0.69,243.4,214.2,17.2,341,2031,0.35,2.03,0.00,0.000,6,0.152,0.030,2960,1738,1865
$GC,2370,1.02,382.1,186.4,7.4,402,2489,0.25,2.20,108.55,0.755,4,0.046,0.046,3088,359,1304
$GC,2744,0.85,382.1,126.6,16.7,466,2751,0.20,1.95,0.00,0.000,6,0.127,0.028,3007,1716,1301
$GC,3089,1.26,500.6,98.3,8.1,527,3192,0.32,2.17,95.43,0.703,4,0.041,0.043,3177,351,822
$GC,3311,0.95,500.6,52.6,21.9,564,3318,0.35,1.98,0.00,0.000,6,0.127,0.026,3049,1718,819
$GC,3656,1.44,611.3,22.9,8.3,625,3735,0.38,2.15,72.78,0.646,4,0.037,0.041,3241,355,454
$STATE,3752,end climb,SURFACE_DEPTH_REACHED
$STATE,3752,begin surface coast
$FINISH,0.6,1.010499
$STATE,3764,end surface coast,CONTROL_FINISHED_OK
$STATE,3764,begin surface
$SM_CCo,3842,0.00,0.000,0,0,451,591.66
$SM_GC,1.34,8.12,0.00,0.00,0.041,0.000,0.000,157,1510,451,-8.02,0.28,591.66
$IRIDIUM_FIX,2403.92,12323.71,110998,171731
$TT8_MAMPS,0.026845
$HUMID,1508
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.9,39.063
$10V_AH,10.9,23.851
$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,23.200,32.650,642.050,0.000,0.000,24.540,36.478,104.854,0.250,0.000,0.000,16.957,946.724,1072.994,606.465,1213.930,270.364,0.000,1224.291,0.000,1213.698,0.000,2.680,0.000
$DEVICE_MAMPS,230.867,54.457,783.107,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.117,593.087,997.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34841,642
$CAP_FILE_SIZE,53803,0
$CFSIZE,260165632,221773824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215, 73.5,1
$GPS,170609,193632,2414.689,12322.773,11,1.5,11,-3.5