version: 66.04
glider: 166
mission: 2
dive: 174
start: 6 17 109 17 21 11
data:
$ID,166
$MISSION,2
$DIVE,174
$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,-8604.0869
$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,78
$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
$GPS1,171326,2414.425,12322.751,10,1.8,10,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.6
$GPS2,172050,2414.555,12322.835,15,1.8,15,-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,211.5,21214,-16.4,-12.000
$D_GRID,217
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-85.93,0.000,2,0.000,0.000,136,1515,2373
$GC,105,-0.97,-243.4,3.1,-5.9,13,158,8.85,2.03,-39.08,0.000,4,0.229,0.054,2415,194,3857
$GC,239,-0.14,-243.4,39.8,-35.9,35,247,0.88,1.88,0.00,0.000,6,0.152,0.029,2690,1478,3859
$GC,585,-1.09,-243.4,73.3,-12.8,96,592,0.77,2.05,0.00,0.000,4,0.058,0.033,2380,2908,3859
$GC,740,-0.41,-243.4,115.7,-28.4,123,748,0.68,2.05,0.00,0.000,6,0.161,0.031,2602,1510,3858
$GC,1086,-0.62,-243.4,158.0,-10.3,184,1093,0.17,2.05,0.00,0.000,4,0.054,0.036,2506,2911,3860
$GC,1184,-0.52,-243.4,171.9,-14.3,201,1191,0.22,2.03,0.00,0.000,6,0.130,0.031,2575,1502,3860
$GC,1529,-0.68,-243.4,202.3,-8.2,262,1536,0.17,2.08,0.00,0.000,4,0.054,0.035,2480,2900,3860
$GC,1616,-0.57,-243.4,215.3,-15.6,277,1622,0.25,1.98,0.00,0.000,6,0.134,0.031,2557,1526,3860
$STATE,1627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1627,begin apogee
$GC,1632,-0.20,0.0,217.4,14.8,279,1820,0.32,0.00,181.45,0.782,6,0.117,0.000,2667,1779,2863
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1824,0.97,243.4,225.5,0.0,310,2019,1.08,2.30,182.95,0.767,4,0.090,0.045,3045,343,1869
$GC,2065,0.74,244.2,209.8,12.0,350,2072,0.22,2.05,0.00,0.000,6,0.143,0.026,2981,1762,1867
$GC,2409,1.00,400.5,186.9,6.8,411,2542,0.20,2.25,123.25,0.753,4,0.053,0.045,3090,355,1229
$GC,2798,0.94,417.9,128.4,11.4,477,2820,0.10,1.98,15.40,0.672,6,0.123,0.027,3042,1725,1159
$GC,3161,1.14,459.9,91.0,10.6,540,3205,0.17,2.15,34.62,0.691,4,0.053,0.042,3151,340,988
$GC,3342,0.93,459.9,56.7,19.7,571,3350,0.30,1.95,0.00,0.000,6,0.129,0.025,3039,1704,987
$GC,3689,1.43,581.9,26.0,8.0,632,3797,0.38,2.12,98.57,0.650,4,0.037,0.040,3230,349,489
$STATE,3802,end climb,SURFACE_DEPTH_REACHED
$STATE,3802,begin surface coast
$FINISH,0.6,1.010001
$STATE,3817,end surface coast,CONTROL_FINISHED_OK
$STATE,3818,begin surface
$SM_CCo,3895,0.00,0.000,0,0,486,583.08
$SM_GC,1.45,8.10,0.00,0.00,0.039,0.000,0.000,149,1509,486,-8.04,0.25,583.08
$IRIDIUM_FIX,2406.29,12325.02,110998,171729
$TT8_MAMPS,0.027612
$HUMID,1513
$INTERNAL_PRESSURE,10.0343
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,24.9,38.919
$10V_AH,10.9,23.780
$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,22.875,32.950,636.250,0.000,0.000,48.516,69.446,169.627,0.500,0.000,0.000,15.616,961.757,1139.623,603.639,1242.311,399.934,0.000,1230.085,0.000,1241.431,0.000,5.679,0.000
$DEVICE_MAMPS,229.333,54.457,782.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.668,606.664,1019.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34853,652
$CAP_FILE_SIZE,56754,0
$CFSIZE,260165632,221810688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208, 49.7,1
$GPS,170609,182706,2414.660,12322.688,12,1.0,28,-3.5