version: 66.04
glider: 166
mission: 2
dive: 176
start: 6 17 109 19 41 21
data:
$ID,166
$MISSION,2
$DIVE,176
$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,-8638.7559
$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,50
$R_STBD_OVSHOOT,82
$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
$GPS1,193632,2414.689,12322.773,11,1.5,11,-3.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.6
$GPS2,194101,2414.738,12322.863,15,1.5,15,-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,219.8,21553,-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,-243.4,0.0,0.0,0,104,0.00,0.00,-86.95,0.000,2,0.000,0.000,168,1511,2403
$GC,106,-0.97,-243.4,3.1,-6.2,14,159,8.68,2.00,-38.45,0.000,4,0.228,0.055,2419,204,3858
$GC,200,-0.14,-243.4,25.9,-34.7,29,207,0.82,1.85,0.00,0.000,6,0.151,0.028,2689,1481,3859
$GC,547,-0.90,-243.4,61.2,-12.7,90,554,0.62,2.05,0.00,0.000,4,0.079,0.035,2453,2910,3859
$GC,650,-0.48,-243.4,81.6,-22.5,108,658,0.40,2.03,0.00,0.000,6,0.145,0.031,2578,1495,3859
$GC,999,-0.53,-243.4,129.7,-11.3,169,1005,0.00,2.05,0.00,0.000,4,0.000,0.038,2573,2903,3860
$GC,1056,-0.72,-243.4,136.1,-9.8,179,1064,0.15,2.00,0.00,0.000,6,0.039,0.030,2483,1527,3860
$GC,1402,-0.44,-243.4,196.9,-16.1,240,1411,0.32,2.03,0.00,0.000,4,0.138,0.038,2588,2905,3860
$GC,1442,-0.62,-243.4,201.4,-8.7,246,1449,0.15,2.00,0.00,0.000,6,0.054,0.031,2505,1536,3860
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1565,begin apogee
$GC,1571,-0.20,0.0,217.6,15.8,268,1758,0.47,0.00,181.82,0.781,6,0.124,0.000,2663,1777,2863
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1762,0.97,243.4,229.0,0.0,298,1957,1.08,2.25,183.20,0.772,4,0.081,0.044,3052,339,1869
$GC,2058,0.72,243.4,207.9,14.0,347,2065,0.28,2.03,0.00,0.000,6,0.142,0.027,2974,1747,1866
$GC,2403,1.02,395.9,180.2,7.0,408,2530,0.22,2.20,119.60,0.752,4,0.048,0.044,3093,340,1248
$GC,2705,0.85,395.9,132.1,17.0,459,2711,0.25,2.03,0.00,0.000,6,0.136,0.027,3015,1756,1245
$GC,3051,1.23,506.1,104.3,8.4,520,3147,0.28,2.15,89.28,0.708,4,0.042,0.037,3158,3140,798
$GC,3284,1.05,506.1,59.1,19.5,559,3291,0.32,2.15,0.00,0.000,6,0.148,0.031,3074,1672,797
$GC,3629,1.38,560.7,24.4,10.2,620,3681,0.25,2.00,44.45,0.648,4,0.044,0.041,3210,342,576
$STATE,3740,end climb,SURFACE_DEPTH_REACHED
$STATE,3740,begin surface coast
$FINISH,0.8,1.009135
$STATE,3753,end surface coast,CONTROL_FINISHED_OK
$STATE,3753,begin surface
$SM_CCo,3830,0.00,0.000,0,0,573,561.49
$SM_GC,1.49,7.93,0.00,0.00,0.036,0.000,0.000,145,1535,573,-8.03,0.99,561.49
$IRIDIUM_FIX,2403.92,12321.74,110998,181819
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.9,39.203
$10V_AH,10.9,23.922
$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,22.225,32.800,618.350,0.000,0.000,22.608,35.971,122.109,0.500,0.000,0.000,16.458,948.092,1084.054,588.221,1208.036,278.788,0.000,1201.351,0.000,1204.057,0.000,5.687,0.000
$DEVICE_MAMPS,227.799,55.224,780.806,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.010,594.845,1000.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34938,641
$CAP_FILE_SIZE,54324,0
$CFSIZE,260165632,221736960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198, 97.3,1
$GPS,170609,204613,2414.607,12322.884,13,1.5,30,-3.5