version: 66.04
glider: 166
mission: 2
dive: 180
start: 6 18 109 0 19 47
data:
$ID,166
$MISSION,2
$DIVE,180
$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,-8735.4199
$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,41
$R_STBD_OVSHOOT,80
$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
$GPS1,001501,2413.602,12322.743,41,1.3,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.3
$GPS2,001926,2413.585,12322.814,11,1.9,11,-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,188.5,19419,-16.4,-12.000
$D_GRID,281
$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,-243.4,0.0,0.0,0,88,0.00,0.00,-71.38,0.000,2,0.000,0.000,173,1500,2449
$GC,91,-0.97,-243.4,3.4,-6.4,11,143,8.85,1.98,-35.03,0.000,4,0.234,0.055,2413,194,3857
$GC,172,-0.04,-243.4,25.8,-38.7,24,179,0.95,1.88,0.00,0.000,6,0.152,0.029,2721,1477,3858
$GC,516,-0.82,-243.4,60.0,-10.0,85,523,0.62,2.05,0.00,0.000,4,0.072,0.035,2474,2902,3858
$GC,604,-0.49,-243.4,73.8,-19.8,100,611,0.28,2.05,0.00,0.000,6,0.139,0.031,2573,1491,3858
$GC,949,-0.42,-243.4,128.7,-14.7,161,956,0.12,2.08,0.00,0.000,4,0.141,0.037,2611,2908,3859
$GC,1046,-0.68,-243.4,137.2,-6.7,178,1054,0.25,2.03,0.00,0.000,6,0.042,0.031,2485,1493,3859
$GC,1397,-0.42,-243.4,200.8,-17.5,239,1404,0.35,1.90,0.00,0.000,4,0.134,0.041,2596,198,3859
$GC,1434,-0.55,-243.4,206.6,-11.6,245,1440,0.00,1.90,0.00,0.000,6,0.000,0.025,2593,1541,3859
$GC,1777,-0.82,-243.4,237.6,-8.0,306,1784,0.28,1.95,0.00,0.000,4,0.044,0.037,2456,2891,3860
$STATE,1789,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1789,begin apogee
$GC,1795,-0.20,0.0,239.0,8.9,308,1982,0.62,0.00,181.95,0.798,6,0.125,0.000,2663,1746,2863
$STATE,1983,end apogee,CONTROL_FINISHED_OK
$STATE,1984,begin climb
$GC,1985,0.97,243.4,250.2,0.0,339,2180,1.08,2.15,183.45,0.786,4,0.080,0.039,3047,3137,1869
$GC,2373,0.78,265.0,220.1,11.3,404,2399,0.22,2.03,17.92,0.726,6,0.146,0.033,2991,1750,1782
$GC,2738,0.95,365.9,187.9,8.7,468,2827,0.15,2.20,79.65,0.765,4,0.062,0.045,3077,358,1371
$GC,2998,0.82,365.9,151.8,13.2,512,3005,0.25,2.00,0.00,0.000,6,0.134,0.028,3001,1726,1367
$GC,3344,1.14,421.9,119.0,10.1,573,3396,0.25,2.12,45.67,0.723,4,0.044,0.043,3140,343,1142
$GC,3494,0.92,421.9,92.1,17.4,598,3501,0.30,2.00,0.00,0.000,6,0.132,0.027,3025,1726,1140
$GC,3839,1.35,538.4,61.7,8.1,659,3941,0.35,2.12,93.97,0.683,4,0.039,0.041,3200,351,667
$GC,4020,1.08,538.4,23.3,20.4,689,4027,0.35,1.95,0.00,0.000,6,0.134,0.025,3072,1702,664
$STATE,4241,end climb,SURFACE_DEPTH_REACHED
$STATE,4241,begin surface coast
$FINISH,0.6,1.020952
$STATE,4280,end surface coast,CONTROL_FINISHED_OK
$STATE,4280,begin surface
$SM_CCo,4355,0.00,0.000,0,0,662,539.91
$SM_GC,1.36,7.55,0.00,0.00,0.042,0.000,0.000,155,1492,662,-8.01,-0.23,539.91
$IRIDIUM_FIX,2403.92,12321.74,110998,232347
$TT8_MAMPS,0.026845
$HUMID,1559
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.8,62.2
$24V_AH,24.9,39.754
$10V_AH,10.9,24.215
$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,22.825,36.350,602.625,0.000,0.000,26.810,38.935,109.156,0.500,0.000,0.000,13.541,1111.039,1300.285,570.707,1358.681,288.575,0.000,1239.263,0.000,1358.777,0.000,6.901,0.000
$DEVICE_MAMPS,233.935,55.224,798.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.972,648.345,1090.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,735
$CAP_FILE_SIZE,61023,0
$CFSIZE,260165632,221581312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 66.4,1
$GPS,180609,013322,2413.223,12322.524,8,2.1,27,-3.5