version: 66.04
glider: 166
mission: 2
dive: 178
start: 6 17 109 21 59 36
data:
$ID,166
$MISSION,2
$DIVE,178
$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,-8705.1367
$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,39
$R_STBD_OVSHOOT,85
$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
$GPS1,215437,2414.442,12322.912,32,1.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.2
$GPS2,215916,2414.419,12323.008,12,2.1,31,-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,209.8,20963,-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,-87.38,0.000,2,0.000,0.000,148,1534,2411
$GC,106,-0.97,-243.4,3.2,-5.9,14,159,8.82,1.98,-37.10,0.000,4,0.234,0.054,2417,198,3857
$GC,216,-0.25,-243.4,35.0,-36.1,32,224,0.73,1.88,0.00,0.000,6,0.140,0.030,2657,1477,3858
$GC,564,-0.55,-243.4,71.1,-8.2,93,571,0.22,2.08,0.00,0.000,4,0.048,0.037,2535,2908,3859
$GC,736,-0.42,-243.4,96.8,-14.6,123,743,0.22,2.03,0.00,0.000,6,0.132,0.030,2605,1493,3859
$GC,1081,-0.62,-243.4,132.5,-9.3,184,1089,0.17,2.08,0.00,0.000,4,0.054,0.036,2508,2911,3859
$GC,1226,-0.51,-243.4,155.3,-15.5,209,1233,0.17,2.00,0.00,0.000,6,0.127,0.031,2568,1541,3859
$GC,1572,-0.61,-243.4,198.0,-11.8,270,1578,0.00,2.03,0.00,0.000,4,0.000,0.039,2565,2924,3860
$GC,1645,-0.82,-243.4,205.7,-10.0,282,1652,0.25,2.00,0.00,0.000,6,0.044,0.030,2446,1547,3860
$STATE,1713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1713,begin apogee
$GC,1718,-0.20,0.0,218.2,20.5,294,1909,0.68,0.00,181.75,0.784,6,0.142,0.000,2659,1766,2862
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1913,0.97,243.4,231.9,0.0,325,2108,1.10,2.10,183.40,0.775,4,0.087,0.039,3045,3137,1868
$GC,2261,0.75,243.4,197.3,12.5,384,2269,0.22,2.05,0.00,0.000,6,0.146,0.032,2982,1737,1864
$GC,2608,1.04,427.5,171.4,5.9,445,2760,0.22,2.20,144.82,0.752,4,0.050,0.039,3097,3130,1119
$GC,2958,0.96,427.5,114.1,14.7,504,2967,0.17,2.10,0.00,0.000,6,0.133,0.031,3048,1718,1116
$GC,3305,1.17,472.8,79.6,10.5,565,3350,0.17,2.08,36.95,0.689,4,0.055,0.044,3155,342,936
$GC,3479,0.99,472.8,47.3,18.6,595,3486,0.25,1.95,0.00,0.000,6,0.133,0.027,3056,1699,933
$GC,3825,1.49,599.9,16.6,7.8,656,3896,0.40,0.00,68.03,0.646,2,0.036,0.000,3247,1701,593
$STATE,3897,end climb,SURFACE_DEPTH_REACHED
$STATE,3897,begin surface coast
$FINISH,0.6,1.021456
$STATE,3908,end surface coast,CONTROL_FINISHED_OK
$STATE,3908,begin surface
$SM_CCo,3985,0.00,0.000,0,0,590,557.57
$SM_GC,1.36,8.20,0.00,0.00,0.042,0.000,0.000,145,1492,590,-8.03,-0.23,557.57
$IRIDIUM_FIX,2401.56,12218.85,110998,202033
$TT8_MAMPS,0.026845
$HUMID,1530
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,122.1
$24V_AH,24.9,39.487
$10V_AH,10.9,24.067
$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,22.025,29.100,614.950,0.000,0.000,23.236,36.392,110.620,0.500,0.000,0.000,32.133,991.126,1141.920,583.825,1279.224,276.163,0.000,1215.836,0.000,1262.057,0.000,7.038,0.000
$DEVICE_MAMPS,233.935,54.457,783.874,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.032,629.238,1057.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34811,669
$CAP_FILE_SIZE,55367,0
$CFSIZE,260165632,221663232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,130.5,1
$GPS,170609,230644,2414.012,12322.875,11,1.4,11,-3.5