version: 66.04
glider: 166
mission: 2
dive: 86
start: 6 4 109 22 21 6
data:
$ID,166
$MISSION,2
$DIVE,86
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-6869.6138
$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,38
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,400
$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
$GPS1,221506,2539.846,12316.911,44,0.8,55,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.3
$GPS2,222044,2539.890,12317.012,11,1.5,11,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,258.8,5226,-17.1,-11.000
$D_GRID,312
$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,-0.94,-194.7,0.0,0.0,0,98,0.00,0.00,-81.47,0.000,2,0.000,0.000,195,1522,2440
$GC,100,-0.94,-194.7,3.2,-6.0,13,152,8.88,2.08,-33.97,0.000,4,0.237,0.058,2431,2876,3658
$GC,288,-0.19,-194.7,56.2,-32.4,45,295,0.82,2.03,0.00,0.000,6,0.159,0.033,2677,1491,3658
$GC,631,-0.53,-194.7,88.1,-7.5,106,639,0.28,0.00,0.00,0.000,6,0.043,0.000,2545,1491,3660
$GC,978,-0.31,-194.7,150.2,-17.7,167,984,0.28,0.00,0.00,0.000,6,0.138,0.000,2632,1491,3661
$GC,1319,-0.67,-194.7,177.7,-7.3,228,1326,0.28,2.05,0.00,0.000,4,0.044,0.039,2496,2886,3663
$GC,1383,-0.53,-194.7,186.5,-15.5,239,1390,0.22,2.03,0.00,0.000,6,0.135,0.033,2563,1484,3663
$GC,1728,-0.63,-194.7,225.7,-9.9,300,1735,0.00,1.92,0.00,0.000,4,0.000,0.047,2563,205,3662
$GC,1773,-0.68,-194.7,230.7,-11.2,308,1780,0.10,1.85,0.00,0.000,6,0.057,0.028,2502,1494,3663
$GC,2118,-0.50,-194.7,282.9,-16.7,369,2124,0.22,2.05,0.00,0.000,4,0.143,0.041,2563,2892,3662
$GC,2199,-0.80,-194.7,292.0,-9.4,383,2205,0.22,2.03,0.00,0.000,6,0.048,0.034,2452,1493,3662
$STATE,2328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2333,-0.20,0.0,313.0,16.6,400,2486,0.70,0.00,149.73,0.873,6,0.137,0.000,2662,1752,2863
$STATE,2487,end apogee,CONTROL_FINISHED_OK
$STATE,2487,begin climb
$GC,2489,0.94,194.7,320.3,0.0,415,2648,1.05,2.22,150.48,0.855,4,0.072,0.044,3035,3133,2068
$GC,2901,0.53,194.7,266.5,14.3,470,2910,0.45,2.03,0.00,0.000,6,0.159,0.033,2915,1754,2063
$GC,3247,0.75,300.3,238.5,7.0,531,3332,0.17,0.00,82.18,0.825,6,0.059,0.000,3004,1753,1638
$GC,3671,0.61,300.3,172.1,13.5,605,3678,0.20,2.12,0.00,0.000,4,0.145,0.044,2950,342,1630
$GC,3753,0.78,340.3,163.6,9.5,619,3791,0.12,2.03,31.92,0.773,6,0.069,0.030,3018,1739,1474
$GC,4131,0.71,340.3,112.3,14.4,685,4138,0.17,2.12,0.00,0.000,4,0.139,0.044,2971,339,1468
$GC,4200,0.86,346.2,103.4,10.8,697,4215,0.12,2.03,5.43,0.562,6,0.067,0.029,3039,1748,1450
$GC,4555,0.80,346.2,61.3,11.2,759,4562,0.15,2.10,0.00,0.000,4,0.140,0.043,3006,339,1449
$GC,4630,1.08,451.9,55.3,7.0,772,4725,0.15,1.98,86.25,0.697,6,0.029,0.028,3112,1709,1019
$STATE,4937,end climb,SURFACE_DEPTH_REACHED
$STATE,4938,begin surface coast
$FINISH,0.7,1.009532
$STATE,4956,end surface coast,CONTROL_FINISHED_OK
$STATE,4956,begin surface
$SM_CCo,5031,0.00,0.000,0,0,1011,454.05
$SM_GC,1.65,7.93,0.00,0.00,0.046,0.000,0.000,164,1477,1011,-8.02,-0.62,454.05
$IRIDIUM_FIX,2527.05,12315.56,290898,191913
$TT8_MAMPS,0.026078
$HUMID,1437
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,24.90
$XPDR_PINGS,46
$24V_AH,24.5,20.962
$10V_AH,10.8,12.800
$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,22.525,33.300,505.975,0.000,0.000,23.970,32.608,187.022,12.750,0.000,0.000,11.901,1322.459,1624.587,526.963,1550.977,343.955,0.000,1239.554,0.000,1551.752,0.000,9.362,0.000
$DEVICE_MAMPS,237.003,57.525,872.846,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.585,685.162,1152.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44293,828
$CAP_FILE_SIZE,69903,0
$CFSIZE,260165632,228274176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.500, 70.4,1
$GPS,040609,234543,2540.187,12317.614,10,1.5,15,-3.8