version: 66.04
glider: 166
mission: 2
dive: 197
start: 6 18 109 21 27 3
data:
$ID,166
$MISSION,2
$DIVE,197
$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,-9058.4551
$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,60
$R_STBD_OVSHOOT,62
$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
$GPS1,211844,2413.243,12323.237,13,1.5,13,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.8
$GPS2,212643,2413.222,12323.267,10,1.6,15,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12326.000
$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,214.6,19307,-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,13,begin dive
$GC,15,-0.97,-243.4,0.0,0.0,0,99,0.00,0.00,-81.53,0.000,2,0.000,0.000,141,1463,2481
$GC,101,-0.97,-243.4,3.3,-6.2,13,154,9.02,2.15,-34.45,0.000,4,0.237,0.049,2415,2894,3858
$GC,160,-0.13,-243.4,16.6,-28.1,22,168,0.93,2.03,0.00,0.000,6,0.151,0.031,2696,1493,3858
$GC,508,-1.04,-243.4,49.4,-10.5,83,515,0.75,2.05,0.00,0.000,4,0.051,0.035,2390,2900,3859
$GC,674,-0.38,-243.4,92.6,-28.4,112,681,0.75,2.03,0.00,0.000,6,0.153,0.031,2615,1519,3859
$GC,1019,-0.61,-243.4,130.9,-9.3,173,1027,0.17,2.05,0.00,0.000,4,0.056,0.036,2520,2898,3859
$GC,1202,-0.61,-243.4,158.5,-15.0,205,1209,0.00,1.95,0.00,0.000,6,0.000,0.031,2520,1559,3860
$GC,1548,-0.61,-243.4,201.8,-11.4,266,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1559,3860
$STATE,1822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1822,begin apogee
$GC,1828,-0.20,0.0,232.5,12.1,315,2015,0.43,0.00,181.98,0.799,6,0.114,0.000,2666,1767,2862
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2019,0.97,243.4,246.7,0.0,346,2213,1.05,2.22,183.15,0.791,4,0.075,0.046,3058,359,1869
$GC,2467,0.72,243.4,206.2,14.5,422,2474,0.30,2.03,0.00,0.000,6,0.135,0.028,2969,1771,1864
$GC,2812,1.06,369.3,182.7,7.8,483,2919,0.28,2.12,98.32,0.770,4,0.044,0.038,3102,3138,1356
$GC,3022,0.84,369.3,155.8,14.0,518,3029,0.35,2.08,0.00,0.000,6,0.139,0.031,3008,1721,1353
$GC,3366,1.14,436.2,125.3,9.8,579,3430,0.25,2.15,54.22,0.733,4,0.044,0.044,3147,352,1084
$GC,3501,0.95,436.2,103.6,18.5,601,3509,0.28,1.98,0.00,0.000,6,0.118,0.027,3044,1712,1082
$GC,3848,1.32,497.6,71.5,10.0,662,3906,0.30,2.10,50.25,0.695,4,0.040,0.042,3198,345,833
$GC,4013,1.09,497.6,39.5,19.7,690,4020,0.30,1.90,0.00,0.000,6,0.129,0.026,3088,1666,831
$GC,4359,1.45,583.6,3.4,9.2,751,4367,0.28,0.00,5.40,0.482,2,0.042,0.000,3229,1668,812
$STATE,4368,end climb,SURFACE_DEPTH_REACHED
$STATE,4368,begin surface coast
$FINISH,0.6,1.003611
$STATE,4403,end surface coast,CONTROL_FINISHED_OK
$STATE,4403,begin surface
$SM_CCo,4480,0.00,0.000,0,0,810,503.60
$SM_GC,1.31,8.00,0.00,0.00,0.040,0.000,0.000,149,1495,810,-8.02,-0.14,503.60
$IRIDIUM_FIX,2403.92,12323.71,120998,212146
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.4,56.8
$24V_AH,24.9,42.233
$10V_AH,10.9,25.482
$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,23.425,29.300,573.325,0.000,0.000,46.434,150.832,126.919,0.500,0.000,0.000,15.666,1145.244,1391.458,553.623,1428.442,447.359,0.000,1228.870,0.000,1428.680,0.000,5.591,0.000
$DEVICE_MAMPS,237.003,49.088,799.214,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.147,690.526,1160.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41331,758
$CAP_FILE_SIZE,61119,0
$CFSIZE,260165632,220913664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185, 53.1,1
$GPS,180609,224246,2413.291,12323.039,11,99.0,30,-3.5