version: 66.04
glider: 166
mission: 2
dive: 169
start: 6 17 109 10 49 28
data:
$ID,166
$MISSION,2
$DIVE,169
$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,-8480.1338
$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,57
$R_STBD_OVSHOOT,70
$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
$GPS1,104437,2415.547,12322.868,38,1.6,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.2
$GPS2,104908,2415.568,12322.898,15,1.7,15,-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,195.4,23090,-16.4,-12.000
$D_GRID,279
$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,-243.4,0.0,0.0,0,75,0.00,0.00,-58.17,0.000,2,0.000,0.000,153,1485,2332
$GC,77,-0.97,-243.4,3.1,-6.2,9,135,8.98,1.92,-40.62,0.000,4,0.237,0.056,2419,213,3857
$GC,198,-0.12,-243.4,36.0,-35.8,29,205,0.88,1.85,0.00,0.000,6,0.154,0.028,2698,1490,3858
$GC,542,-0.94,-243.4,73.8,-11.4,90,550,0.70,2.03,0.00,0.000,4,0.076,0.035,2434,2899,3858
$GC,636,-0.41,-243.4,93.1,-26.4,106,643,0.55,2.03,0.00,0.000,6,0.154,0.031,2600,1481,3858
$GC,981,-0.53,-243.4,135.8,-9.7,167,987,0.00,2.10,0.00,0.000,4,0.000,0.038,2600,2893,3859
$GC,1102,-0.77,-243.4,147.2,-9.5,188,1110,0.30,2.00,0.00,0.000,6,0.039,0.031,2458,1522,3858
$GC,1448,-0.42,-243.4,214.1,-19.0,249,1455,0.43,1.95,0.00,0.000,4,0.140,0.042,2595,198,3859
$GC,1485,-0.57,-243.4,218.6,-10.2,255,1491,0.12,1.88,0.00,0.000,6,0.061,0.025,2521,1532,3860
$GC,1829,-0.57,-243.4,259.8,-12.5,316,1837,0.12,1.98,0.00,0.000,4,0.139,0.039,2558,2890,3860
$GC,1861,-0.74,-243.4,262.6,-8.9,321,1867,0.17,1.98,0.00,0.000,6,0.051,0.030,2462,1513,3860
$STATE,1970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1970,begin apogee
$GC,1975,-0.20,0.0,279.6,17.5,340,2164,0.60,0.00,183.65,0.844,6,0.133,0.000,2660,1748,2863
$STATE,2166,end apogee,CONTROL_FINISHED_OK
$STATE,2166,begin climb
$GC,2168,0.97,243.4,290.9,0.0,371,2365,1.10,2.17,185.05,0.830,4,0.085,0.041,3044,3132,1868
$GC,2529,0.72,243.4,254.5,15.6,432,2537,0.28,2.05,0.00,0.000,6,0.153,0.033,2970,1740,1865
$GC,2875,0.84,304.2,220.9,10.0,493,2930,0.12,2.15,48.40,0.804,4,0.071,0.046,3039,352,1621
$GC,3089,0.73,304.2,192.9,12.3,530,3096,0.22,2.00,0.00,0.000,6,0.137,0.029,2973,1717,1618
$GC,3435,1.09,440.3,164.1,7.5,591,3551,0.28,2.20,109.25,0.779,4,0.044,0.044,3117,349,1068
$GC,3608,0.92,440.3,136.0,16.7,619,3615,0.28,2.05,0.00,0.000,6,0.133,0.029,3034,1748,1066
$GC,3955,1.26,525.3,101.0,9.2,680,4032,0.28,2.17,68.88,0.727,4,0.044,0.041,3178,342,722
$GC,4051,0.92,525.3,82.6,24.3,695,4058,0.47,2.05,0.00,0.000,6,0.138,0.028,3035,1742,720
$GC,4395,1.50,656.8,49.4,7.6,756,4455,0.45,2.20,53.20,0.681,4,0.035,0.041,3260,350,455
$STATE,4574,end climb,SURFACE_DEPTH_REACHED
$STATE,4574,begin surface coast
$FINISH,0.8,1.021420
$STATE,4579,end surface coast,CONTROL_FINISHED_OK
$STATE,4579,begin surface
$SM_CCo,4656,0.00,0.000,0,0,450,591.91
$SM_GC,1.45,8.18,0.00,0.00,0.040,0.000,0.000,160,1534,450,-8.01,0.96,591.91
$IRIDIUM_FIX,2406.29,12323.71,110998,090956
$TT8_MAMPS,0.026845
$HUMID,1533
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.4,146.4
$24V_AH,24.8,38.156
$10V_AH,10.9,23.413
$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,24.500,40.750,648.425,0.000,0.000,24.410,40.255,113.642,1.250,0.000,0.000,15.741,1191.434,1382.482,606.517,1459.887,294.515,0.000,1318.394,0.000,1455.183,0.000,10.846,0.000
$DEVICE_MAMPS,237.003,55.991,843.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.885,659.479,1109.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41291,787
$CAP_FILE_SIZE,65966,0
$CFSIZE,260165632,221986816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,113.2,1
$GPS,170609,120804,2415.020,12322.470,8,3.1,27,-3.5