version: 66.04
glider: 166
mission: 2
dive: 170
start: 6 17 109 12 13 28
data:
$ID,166
$MISSION,2
$DIVE,170
$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,-8513.7236
$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,44
$R_STBD_OVSHOOT,83
$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
$GPS1,120804,2415.020,12322.470,8,3.1,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.3
$GPS2,121309,2415.082,12322.530,13,2.5,32,-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,184.3,22199,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-85.00,0.000,2,0.000,0.000,132,1534,2362
$GC,103,-0.97,-243.4,3.2,-5.6,12,156,8.93,0.00,-40.17,0.000,6,0.235,0.000,2411,1536,3857
$GC,494,-0.17,-243.4,129.4,-34.9,80,501,0.82,1.98,0.00,0.000,4,0.157,0.038,2661,2882,3858
$GC,570,-0.59,-243.4,139.7,-7.7,93,577,0.25,2.03,0.00,0.000,6,0.041,0.031,2529,1493,3859
$GC,915,-0.47,-243.4,191.5,-15.0,154,923,0.17,2.03,0.00,0.000,4,0.134,0.038,2586,2871,3860
$GC,969,-0.75,-243.4,197.1,-8.8,163,977,0.20,1.98,0.00,0.000,6,0.035,0.031,2470,1517,3860
$GC,1315,-0.51,-243.4,256.0,-16.0,224,1322,0.30,1.92,0.00,0.000,4,0.135,0.042,2568,206,3860
$GC,1375,-0.67,-243.4,263.1,-10.2,234,1383,0.10,1.83,0.00,0.000,6,0.049,0.026,2497,1489,3860
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1501,-0.20,0.0,279.3,12.5,255,1692,0.50,0.00,183.12,0.840,6,0.121,0.000,2666,1753,2863
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1696,0.97,243.4,289.7,0.0,287,1894,1.08,2.25,184.50,0.824,4,0.083,0.045,3056,355,1870
$GC,1945,0.65,243.4,267.6,17.6,328,1952,0.35,2.03,0.00,0.000,6,0.144,0.028,2954,1741,1867
$GC,2289,0.92,367.5,235.5,7.9,389,2393,0.20,2.25,97.68,0.806,4,0.052,0.044,3064,344,1364
$GC,2579,0.78,367.5,192.2,14.0,439,2586,0.25,2.03,0.00,0.000,6,0.136,0.028,2989,1752,1360
$GC,2924,1.07,430.0,161.2,9.9,500,2982,0.22,2.17,51.00,0.769,4,0.048,0.043,3112,343,1108
$GC,3063,0.91,430.0,136.6,17.6,523,3070,0.22,1.98,0.00,0.000,6,0.132,0.027,3038,1706,1106
$GC,3409,1.22,543.2,105.1,8.3,584,3510,0.22,2.20,92.00,0.726,4,0.048,0.037,3156,3129,647
$GC,3535,0.99,543.2,82.0,22.3,604,3542,0.38,2.15,0.00,0.000,6,0.151,0.031,3060,1688,647
$GC,3881,1.41,638.9,43.7,8.8,665,3928,0.32,2.17,38.97,0.668,4,0.039,0.036,3217,3137,455
$STATE,4056,end climb,SURFACE_DEPTH_REACHED
$STATE,4056,begin surface coast
$FINISH,0.8,1.021354
$STATE,4067,end surface coast,CONTROL_FINISHED_OK
$STATE,4067,begin surface
$SM_CCo,4146,0.00,0.000,0,0,452,591.42
$SM_GC,1.50,7.97,0.00,0.00,0.041,0.000,0.000,155,1486,452,-8.01,-0.40,591.42
$IRIDIUM_FIX,2408.65,12323.04,110998,101049
$TT8_MAMPS,0.026845
$HUMID,1542
$INTERNAL_PRESSURE,10.0147
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,225.9,140.5
$24V_AH,24.8,38.311
$10V_AH,10.9,23.486
$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,22.500,33.750,647.275,0.000,0.000,17.705,43.768,128.070,0.750,0.000,0.000,32.963,1030.861,1205.807,616.459,1305.110,297.083,0.000,1272.474,0.000,1284.268,0.000,7.487,0.000
$DEVICE_MAMPS,234.702,45.253,839.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.918,577.608,971.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37963,697
$CAP_FILE_SIZE,59038,0
$CFSIZE,260165632,221954048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,315.1,1
$GPS,170609,132334,2414.633,12322.277,8,5.7,27,-3.5