version: 66.04
glider: 166
mission: 2
dive: 181
start: 6 18 109 1 49 36
data:
$ID,166
$MISSION,2
$DIVE,181
$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,-8769.4482
$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,47
$R_STBD_OVSHOOT,80
$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
$GPS1,013322,2413.223,12322.524,8,2.1,27,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.8
$GPS2,014916,2413.195,12322.676,13,3.3,32,-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,202.2,18699,-16.4,-12.000
$D_GRID,281
$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,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,94,0.00,0.00,-78.07,0.000,2,0.000,0.000,169,1490,2430
$GC,97,-0.97,-243.4,3.3,-6.9,12,149,8.68,1.90,-36.25,0.000,4,0.227,0.054,2419,198,3856
$GC,270,-0.11,-243.4,58.4,-37.5,41,278,0.85,1.88,0.00,0.000,6,0.146,0.030,2698,1483,3857
$GC,615,-0.96,-243.4,98.2,-12.1,102,623,0.70,2.05,0.00,0.000,4,0.066,0.035,2426,2910,3856
$GC,773,-0.47,-243.4,132.3,-25.2,129,780,0.52,2.03,0.00,0.000,6,0.140,0.031,2587,1499,3856
$GC,1117,-0.61,-243.4,171.3,-10.5,190,1124,0.12,1.92,0.00,0.000,4,0.066,0.043,2520,210,3857
$GC,1164,-0.44,-243.4,178.4,-16.9,198,1171,0.22,1.90,0.00,0.000,6,0.127,0.026,2595,1539,3857
$GC,1513,-0.70,-243.4,212.0,-9.8,259,1519,0.20,1.98,0.00,0.000,4,0.049,0.038,2493,2899,3856
$GC,1632,-0.60,-243.4,228.1,-12.8,280,1640,0.10,1.98,0.00,0.000,6,0.115,0.031,2542,1544,3856
$STATE,1745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1745,begin apogee
$GC,1750,-0.20,0.0,241.6,9.9,300,1938,0.35,0.00,181.10,0.799,6,0.110,0.000,2666,1762,2862
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1940,begin climb
$GC,1942,0.97,243.4,249.3,0.0,331,2134,1.08,2.28,182.88,0.783,4,0.077,0.045,3064,352,1870
$GC,2187,0.71,243.4,230.1,14.2,371,2194,0.32,2.03,0.00,0.000,6,0.137,0.028,2965,1742,1867
$GC,2530,1.04,403.7,202.4,6.7,432,2663,0.28,2.22,126.18,0.769,4,0.046,0.044,3104,357,1216
$GC,2787,0.84,403.7,159.8,16.9,475,2794,0.32,2.03,0.00,0.000,6,0.131,0.028,3004,1766,1214
$GC,3133,1.23,471.0,126.3,9.8,536,3197,0.30,2.22,55.00,0.726,4,0.041,0.044,3169,352,942
$GC,3216,0.89,471.0,111.2,21.6,549,3223,0.47,2.00,0.00,0.000,6,0.144,0.027,3026,1714,940
$GC,3561,1.34,586.7,77.0,8.2,610,3663,0.35,2.15,93.82,0.691,4,0.038,0.037,3197,3135,471
$GC,3718,1.09,586.7,43.8,22.9,635,3725,0.40,2.15,0.00,0.000,6,0.143,0.031,3089,1672,469
$GC,4062,1.53,666.2,7.2,9.4,696,4076,0.32,2.00,4.20,0.397,4,0.038,0.043,3264,355,454
$STATE,4093,end climb,SURFACE_DEPTH_REACHED
$STATE,4093,begin surface coast
$FINISH,0.6,1.021236
$STATE,4109,end surface coast,CONTROL_FINISHED_OK
$STATE,4109,begin surface
$SM_CCo,4187,0.00,0.000,0,0,452,591.42
$SM_GC,1.40,8.15,0.00,0.00,0.041,0.000,0.000,170,1525,452,-8.02,0.71,591.42
$IRIDIUM_FIX,2403.92,12323.71,120998,010109
$TT8_MAMPS,0.026845
$HUMID,1549
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.0,66.4
$24V_AH,24.9,39.921
$10V_AH,10.9,24.297
$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,23.750,36.625,643.175,0.000,0.000,96.855,138.353,324.501,0.500,0.000,0.000,33.402,1053.818,1373.157,604.067,1339.818,776.662,0.000,1265.843,0.000,1320.940,0.000,5.618,0.000
$DEVICE_MAMPS,227.032,54.457,799.214,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.405,618.373,1040.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37882,704
$CAP_FILE_SIZE,65905,0
$CFSIZE,260165632,221528064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 59.5,1
$GPS,180609,030036,2413.143,12322.703,35,0.9,41,-3.5