version: 66.04
glider: 166
mission: 2
dive: 165
start: 6 17 109 4 42 59
data:
$ID,166
$MISSION,2
$DIVE,165
$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,-8396.1279
$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,48
$R_STBD_OVSHOOT,77
$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
$GPS1,043731,2416.760,12323.381,14,1.4,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.8
$GPS2,044238,2416.770,12323.442,11,1.3,11,-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,226.2,25333,-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,-170.3,0.0,0.0,0,73,0.00,0.00,-57.25,0.000,2,0.000,0.000,166,1488,2444
$GC,76,-0.90,-170.3,3.4,-6.8,9,122,9.02,1.90,-29.58,0.000,4,0.233,0.054,2443,200,3559
$GC,377,-0.08,-170.3,98.7,-31.6,61,384,0.82,1.88,0.00,0.000,6,0.153,0.029,2705,1486,3559
$GC,720,-0.81,-170.3,125.6,-6.8,122,728,0.60,2.05,0.00,0.000,4,0.058,0.035,2471,2912,3560
$GC,919,-0.44,-170.3,163.5,-17.2,157,926,0.35,2.00,0.00,0.000,6,0.143,0.030,2598,1533,3560
$GC,1264,-0.51,-170.3,200.8,-10.7,218,1270,0.00,2.03,0.00,0.000,4,0.000,0.038,2598,2917,3561
$GC,1299,-0.68,-170.3,204.4,-10.4,224,1306,0.22,2.03,0.00,0.000,6,0.045,0.031,2487,1502,3561
$GC,1645,-0.32,-170.3,265.8,-18.2,285,1650,0.45,0.00,0.00,0.000,6,0.143,0.000,2629,1502,3561
$STATE,1952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1952,begin apogee
$GC,1958,-0.20,0.0,285.0,4.8,340,2094,0.15,0.00,129.77,0.848,6,0.120,0.000,2678,1771,2863
$STATE,2095,end apogee,CONTROL_FINISHED_OK
$STATE,2095,begin climb
$GC,2097,0.90,170.3,290.9,0.0,362,2231,1.00,0.00,130.30,0.831,6,0.085,0.000,3012,1771,2168
$GC,2570,0.79,238.4,257.2,7.3,444,2631,0.00,2.10,52.92,0.816,4,0.000,0.041,3012,3122,1888
$GC,2660,0.66,238.4,249.4,10.4,459,2668,0.25,2.05,0.00,0.000,6,0.144,0.032,2950,1751,1886
$GC,3006,0.86,270.6,217.4,8.7,520,3038,0.17,2.15,25.77,0.789,4,0.055,0.046,3049,347,1758
$GC,3230,0.70,270.6,187.2,11.8,559,3238,0.28,2.00,0.00,0.000,6,0.136,0.028,2967,1721,1754
$GC,3576,0.98,350.6,160.3,6.8,620,3647,0.20,2.15,63.47,0.779,4,0.051,0.044,3080,340,1431
$GC,3766,0.85,350.6,136.9,15.0,652,3773,0.22,2.03,0.00,0.000,6,0.137,0.028,3013,1738,1428
$GC,4112,1.08,366.9,100.6,9.4,713,4133,0.17,2.17,13.65,0.690,4,0.051,0.043,3115,340,1366
$GC,4180,0.91,366.9,90.5,16.2,724,4187,0.25,2.00,0.00,0.000,6,0.132,0.027,3032,1722,1364
$GC,4525,1.23,450.2,56.7,6.7,785,4602,0.25,2.17,67.85,0.699,4,0.044,0.043,3169,343,1026
$GC,4749,1.02,450.2,20.7,17.1,823,4757,0.28,1.92,0.00,0.000,6,0.133,0.027,3068,1678,1022
$STATE,4935,end climb,SURFACE_DEPTH_REACHED
$STATE,4935,begin surface coast
$FINISH,0.6,1.002929
$STATE,4977,end surface coast,CONTROL_FINISHED_OK
$STATE,4977,begin surface
$SM_CCo,5053,0.00,0.000,0,0,1018,452.58
$SM_GC,1.65,7.70,0.00,0.00,0.044,0.000,0.000,164,1478,1018,-8.01,-0.62,452.58
$IRIDIUM_FIX,2411.01,12319.77,110998,030317
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.8,37.632
$10V_AH,10.9,23.062
$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,22.400,33.250,483.750,0.000,0.000,25.287,48.920,140.837,1.000,0.000,0.000,11.979,1353.682,1618.833,475.197,1581.218,335.222,0.000,1193.620,0.000,1586.167,0.000,7.692,0.000
$DEVICE_MAMPS,233.168,54.457,848.302,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.811,715.955,1203.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47496,863
$CAP_FILE_SIZE,68587,0
$CFSIZE,260165632,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 72.3,1
$GPS,170609,060756,2416.665,12323.486,12,1.7,12,-3.5