version: 66.04
glider: 166
mission: 2
dive: 168
start: 6 17 109 9 34 52
data:
$ID,166
$MISSION,2
$DIVE,168
$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,-8463.7637
$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,40
$R_STBD_OVSHOOT,76
$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
$GPS1,092626,2416.042,12323.102,13,1.9,13,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.1
$GPS2,093432,2416.105,12323.178,15,1.9,15,-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,195.7,24090,-16.4,-12.000
$D_GRID,223
$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,-0.97,-243.4,0.0,0.0,0,72,0.00,0.00,-56.28,0.000,2,0.000,0.000,164,1531,2421
$GC,75,-0.97,-243.4,3.4,-7.6,9,127,8.75,1.98,-36.17,0.000,4,0.226,0.053,2407,193,3857
$GC,184,-0.07,-243.4,35.5,-34.9,27,193,0.95,1.88,0.00,0.000,6,0.158,0.028,2706,1482,3857
$GC,532,-0.89,-243.4,72.6,-11.8,88,540,0.65,2.05,0.00,0.000,4,0.075,0.034,2455,2910,3859
$GC,704,-0.39,-243.4,109.8,-26.1,118,712,0.47,2.05,0.00,0.000,6,0.143,0.031,2609,1490,3858
$GC,1052,-0.56,-243.4,149.2,-9.5,179,1059,0.15,2.05,0.00,0.000,4,0.058,0.036,2521,2894,3859
$GC,1177,-0.56,-243.4,164.8,-13.2,201,1184,0.08,2.03,0.00,0.000,6,0.136,0.031,2550,1509,3859
$GC,1522,-0.56,-243.4,206.1,-11.7,262,1529,0.00,2.03,0.00,0.000,4,0.000,0.038,2549,2892,3860
$GC,1554,-0.68,-243.4,209.1,-10.3,267,1560,0.00,1.98,0.00,0.000,6,0.000,0.031,2550,1526,3860
$STATE,1681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1681,begin apogee
$GC,1687,-0.20,0.0,223.5,10.7,290,1874,0.35,0.00,182.30,0.799,6,0.114,0.000,2669,1757,2863
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1878,0.97,243.4,235.5,0.0,321,2068,1.08,0.00,183.75,0.787,6,0.080,0.000,3049,1757,1870
$GC,2409,0.76,243.4,184.9,13.0,411,2416,0.20,2.15,0.00,0.000,4,0.150,0.044,2993,336,1866
$GC,2592,0.94,390.2,170.1,7.1,443,2719,0.15,2.03,115.90,0.760,6,0.063,0.028,3068,1757,1272
$GC,3058,0.96,404.3,106.4,11.5,523,3077,0.00,2.05,12.62,0.664,4,0.000,0.037,3069,3143,1213
$GC,3156,0.96,404.3,93.7,12.2,540,3164,0.08,2.05,0.00,0.000,6,0.151,0.031,3052,1759,1213
$GC,3502,1.11,448.4,58.4,10.5,601,3549,0.12,2.17,36.28,0.684,4,0.064,0.043,3130,354,1035
$GC,3668,1.00,448.4,32.8,15.7,629,3675,0.25,2.03,0.00,0.000,6,0.133,0.027,3055,1776,1033
$STATE,4000,end climb,SURFACE_DEPTH_REACHED
$STATE,4000,begin surface coast
$FINISH,0.7,1.019949
$STATE,4040,end surface coast,CONTROL_FINISHED_OK
$STATE,4040,begin surface
$SM_CCo,4115,0.00,0.000,0,0,1028,449.88
$SM_GC,1.47,7.53,0.00,0.00,0.044,0.000,0.000,156,1488,1028,-8.01,-0.34,449.88
$IRIDIUM_FIX,2406.29,12325.02,110998,090941
$TT8_MAMPS,0.026845
$HUMID,1535
$INTERNAL_PRESSURE,10.0831
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,24.9,38.001
$10V_AH,10.9,23.331
$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,20.800,29.200,530.850,0.000,0.000,47.989,71.990,204.120,0.250,0.000,0.000,16.580,1058.043,1302.846,504.594,1299.565,438.895,0.000,1125.616,0.000,1300.165,0.000,2.679,0.000
$DEVICE_MAMPS,226.265,52.923,799.214,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.615,639.203,1075.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,695
$CAP_FILE_SIZE,57822,0
$CFSIZE,260165632,222035968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,109.9,1
$GPS,170609,104437,2415.547,12322.868,38,1.6,38,-3.5