version: 66.04
glider: 166
mission: 2
dive: 172
start: 6 17 109 14 46 51
data:
$ID,166
$MISSION,2
$DIVE,172
$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,-8546.457
$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,60
$R_STBD_OVSHOOT,75
$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
$GPS1,144202,2414.515,12322.239,10,1.2,10,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.7
$GPS2,144631,2414.603,12322.293,11,1.0,16,-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,176.0,21328,-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,-243.4,0.0,0.0,0,100,0.00,0.00,-83.47,0.000,2,0.000,0.000,123,1479,2525
$GC,103,-0.97,-243.4,3.4,-5.5,13,149,8.75,0.00,-32.90,0.000,6,0.224,0.000,2413,1476,3857
$GC,488,-0.25,-243.4,127.8,-31.1,80,495,0.75,2.08,0.00,0.000,4,0.151,0.037,2644,2892,3859
$GC,591,-0.62,-243.4,141.6,-9.8,98,598,0.28,2.03,0.00,0.000,6,0.047,0.029,2512,1475,3860
$GC,936,-0.44,-243.4,195.9,-15.5,159,944,0.22,2.08,0.00,0.000,4,0.136,0.038,2587,2888,3860
$GC,986,-0.73,-243.4,201.4,-9.0,167,994,0.22,1.98,0.00,0.000,6,0.044,0.030,2469,1515,3860
$GC,1332,-0.48,-243.4,257.9,-15.4,228,1339,0.32,1.92,0.00,0.000,4,0.136,0.042,2574,209,3861
$GC,1408,-0.69,-243.4,266.1,-9.5,241,1415,0.17,1.85,0.00,0.000,6,0.053,0.026,2491,1522,3861
$STATE,1498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1498,begin apogee
$GC,1503,-0.20,0.0,279.1,15.2,257,1696,0.50,0.00,183.68,0.837,6,0.125,0.000,2659,1755,2862
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1699,0.97,243.4,289.6,0.0,289,1894,1.10,2.28,184.82,0.825,4,0.085,0.044,3060,349,1870
$GC,2081,0.67,243.4,253.8,13.5,353,2088,0.35,2.03,0.00,0.000,6,0.144,0.028,2956,1749,1865
$GC,2425,1.00,384.7,226.2,7.3,414,2547,0.25,2.22,111.88,0.808,4,0.047,0.044,3084,359,1293
$GC,2587,0.78,384.7,203.8,15.7,441,2593,0.30,2.05,0.00,0.000,6,0.140,0.028,2994,1756,1291
$GC,2930,1.10,458.5,172.4,9.6,502,2997,0.22,2.25,60.65,0.774,4,0.048,0.043,3120,345,993
$GC,3160,0.95,458.5,130.5,17.8,541,3167,0.22,2.05,0.00,0.000,6,0.130,0.028,3046,1748,989
$GC,3506,1.28,551.3,97.0,8.9,602,3590,0.25,2.17,75.70,0.724,4,0.044,0.043,3186,352,615
$GC,3613,0.97,551.3,75.9,23.5,619,3621,0.45,2.03,0.00,0.000,6,0.143,0.027,3054,1753,614
$GC,3961,1.51,670.2,40.8,8.1,680,4000,0.43,2.10,32.85,0.669,4,0.035,0.036,3253,3128,455
$STATE,4107,end climb,SURFACE_DEPTH_REACHED
$STATE,4107,begin surface coast
$FINISH,0.8,1.021419
$STATE,4119,end surface coast,CONTROL_FINISHED_OK
$STATE,4119,begin surface
$SM_CCo,4197,0.00,0.000,0,0,451,591.66
$SM_GC,1.42,8.00,0.00,0.00,0.036,0.000,0.000,149,1490,451,-8.02,-0.25,591.66
$IRIDIUM_FIX,2406.29,12325.02,110998,131342
$TT8_MAMPS,0.026845
$HUMID,1555
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,200.3,141.6
$24V_AH,24.8,38.617
$10V_AH,10.9,23.633
$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,22.800,33.825,649.575,0.000,0.000,23.967,30.893,119.391,1.000,0.000,0.000,16.495,1046.368,1230.572,612.867,1300.420,282.886,0.000,1269.639,0.000,1299.170,0.000,5.818,0.000
$DEVICE_MAMPS,223.964,44.486,836.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.711,578.813,973.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38070,707
$CAP_FILE_SIZE,59195,0
$CFSIZE,260165632,221876224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204, 20.1,1
$GPS,170609,155749,2414.440,12322.444,12,1.7,29,-3.5