version: 66.04
glider: 166
mission: 2
dive: 167
start: 6 17 109 7 53 53
data:
$ID,166
$MISSION,2
$DIVE,167
$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,-8446.5537
$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,84
$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
$GPS1,074822,2416.470,12323.476,14,99.0,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.0
$GPS2,075334,2416.511,12323.495,16,2.2,35,-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,230.8,24858,-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,-170.3,0.0,0.0,0,79,0.00,0.00,-62.83,0.000,2,0.000,0.000,185,1515,2421
$GC,82,-0.90,-170.3,3.2,-6.3,10,128,9.05,2.03,-30.98,0.000,4,0.235,0.054,2439,195,3559
$GC,302,-0.09,-170.3,68.7,-32.3,48,311,0.82,1.88,0.00,0.000,6,0.156,0.029,2702,1482,3560
$GC,650,-0.70,-170.3,98.9,-7.9,109,657,0.47,2.05,0.00,0.000,4,0.053,0.034,2506,2906,3561
$GC,822,-0.45,-170.3,123.9,-17.5,139,829,0.28,2.03,0.00,0.000,6,0.137,0.030,2589,1492,3561
$GC,1168,-0.49,-170.3,162.8,-9.7,200,1176,0.00,1.92,0.00,0.000,4,0.000,0.044,2583,204,3562
$GC,1201,-0.49,-170.3,166.4,-11.2,205,1207,0.00,1.90,0.00,0.000,6,0.000,0.026,2582,1529,3562
$GC,1544,-0.60,-170.3,200.6,-8.8,266,1551,0.12,1.98,0.00,0.000,4,0.063,0.038,2514,2895,3562
$GC,1659,-0.54,-170.3,213.9,-11.9,286,1666,0.10,1.98,0.00,0.000,6,0.116,0.031,2563,1536,3561
$GC,2003,-0.62,-170.3,248.8,-9.5,347,2009,0.00,1.98,0.00,0.000,4,0.000,0.044,2560,200,3562
$GC,2057,-0.67,-170.3,254.8,-11.7,356,2065,0.08,1.92,0.00,0.000,6,0.058,0.027,2492,1546,3562
$STATE,2266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2266,begin apogee
$GC,2271,-0.20,0.0,285.4,14.0,393,2407,0.52,0.00,130.10,0.858,6,0.127,0.000,2665,1753,2862
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2410,0.90,170.3,291.3,0.0,415,2549,1.02,2.22,130.38,0.838,4,0.083,0.044,3037,345,2167
$GC,2635,0.61,170.3,274.1,11.7,453,2642,0.35,2.05,0.00,0.000,6,0.145,0.028,2936,1753,2165
$GC,2980,0.79,233.1,248.6,7.5,514,3035,0.17,0.00,48.70,0.823,6,0.059,0.000,3023,1753,1911
$GC,3373,0.65,233.1,202.7,10.9,583,3380,0.22,2.12,0.00,0.000,4,0.140,0.042,2962,342,1906
$GC,3529,0.84,285.3,189.1,7.9,610,3577,0.12,2.03,41.22,0.797,6,0.069,0.028,3028,1762,1698
$GC,3918,0.84,285.3,144.7,10.4,677,3924,0.00,2.12,0.00,0.000,4,0.000,0.044,3039,345,1693
$GC,4054,0.84,285.3,130.4,10.1,701,4060,0.00,2.03,0.00,0.000,6,0.000,0.028,3039,1764,1692
$GC,4398,0.90,337.3,95.5,8.0,762,4444,0.00,2.12,40.78,0.740,4,0.000,0.038,3039,3149,1488
$GC,4549,1.00,341.5,82.1,9.8,787,4562,0.00,2.05,4.78,0.502,6,0.000,0.031,3050,1751,1469
$GC,4903,1.09,344.9,49.6,9.9,849,4916,0.12,2.12,4.30,0.459,4,0.063,0.043,3129,345,1455
$GC,4986,0.90,344.9,38.4,14.7,863,4993,0.32,2.03,0.00,0.000,6,0.133,0.027,3028,1780,1455
$GC,5331,1.29,423.9,13.8,6.9,924,5402,0.30,2.20,64.35,0.666,4,0.040,0.041,3189,339,1132
$STATE,5412,end climb,SURFACE_DEPTH_REACHED
$STATE,5413,begin surface coast
$FINISH,0.6,1.021582
$STATE,5429,end surface coast,CONTROL_FINISHED_OK
$STATE,5431,begin surface
$SM_CCo,5508,0.00,0.000,0,0,1125,426.09
$SM_GC,1.51,8.10,0.00,0.00,0.047,0.000,0.000,139,1527,1125,-8.04,0.76,426.09
$IRIDIUM_FIX,2408.65,12321.74,110998,060611
$TT8_MAMPS,0.026845
$HUMID,1520
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,25.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,250.1,127.1
$24V_AH,24.8,37.868
$10V_AH,10.9,23.254
$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,22.200,44.725,464.600,0.000,0.000,26.225,34.345,134.084,1.750,0.000,0.000,36.052,1485.821,1786.211,481.012,1743.897,324.169,0.000,1252.876,0.000,1721.579,0.000,9.123,0.000
$DEVICE_MAMPS,235.469,54.457,857.506,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.650,796.780,1340.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50705,940
$CAP_FILE_SIZE,75654,0
$CFSIZE,260165632,222056448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,129.8,1
$GPS,170609,092626,2416.042,12323.102,13,1.9,13,-3.5