version: 66.04
glider: 166
mission: 2
dive: 182
start: 6 18 109 3 5 21
data:
$ID,166
$MISSION,2
$DIVE,182
$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,-8780.2676
$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,47
$R_STBD_OVSHOOT,93
$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
$GPS1,030036,2413.143,12322.703,35,0.9,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.0
$GPS2,030501,2413.164,12322.739,10,1.2,10,-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,218.0,18640,-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,-243.4,0.0,0.0,0,100,0.00,0.00,-83.18,0.000,2,0.000,0.000,155,1526,2310
$GC,102,-0.97,-243.4,3.1,-6.3,13,160,8.80,2.00,-41.12,0.000,4,0.228,0.055,2417,202,3858
$GC,313,-0.23,-243.4,70.7,-34.3,49,320,0.73,1.83,0.00,0.000,6,0.150,0.028,2657,1469,3859
$GC,656,-0.52,-243.4,103.3,-9.0,110,664,0.20,2.10,0.00,0.000,4,0.049,0.036,2555,2925,3859
$GC,817,-0.52,-243.4,125.2,-14.4,138,825,0.00,2.03,0.00,0.000,6,0.000,0.031,2550,1514,3860
$GC,1164,-0.45,-243.4,172.1,-14.6,199,1171,0.17,1.92,0.00,0.000,4,0.130,0.042,2605,204,3861
$GC,1206,-0.62,-243.4,177.3,-10.8,206,1215,0.17,1.90,0.00,0.000,6,0.039,0.025,2519,1545,3860
$GC,1558,-0.47,-243.4,229.0,-15.1,267,1565,0.20,1.95,0.00,0.000,4,0.134,0.038,2583,2887,3860
$GC,1583,-0.47,-243.4,232.2,-12.4,271,1589,0.00,1.95,0.00,0.000,6,0.000,0.031,2582,1532,3860
$STATE,1628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1628,begin apogee
$GC,1633,-0.20,0.0,236.3,9.1,279,1821,0.22,0.00,181.75,0.793,6,0.117,0.000,2661,1749,2863
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1825,0.97,243.4,245.8,0.0,310,2019,1.12,2.15,183.10,0.782,4,0.095,0.041,3041,3128,1868
$GC,2110,0.77,243.4,221.2,14.2,357,2117,0.22,2.05,0.00,0.000,6,0.149,0.035,2987,1744,1866
$GC,2456,0.97,351.5,192.5,8.4,418,2546,0.17,2.22,84.25,0.760,4,0.057,0.047,3083,348,1429
$GC,2666,0.76,351.5,165.3,15.8,453,2673,0.32,2.03,0.00,0.000,6,0.137,0.028,2983,1756,1427
$GC,3011,1.26,543.5,137.5,5.6,514,3176,0.38,2.15,154.98,0.732,4,0.039,0.038,3162,3139,646
$GC,3319,1.01,543.5,80.4,21.0,565,3326,0.38,2.10,0.00,0.000,6,0.149,0.031,3063,1700,645
$GC,3665,1.41,628.0,44.6,9.2,626,3711,0.30,2.05,39.05,0.657,4,0.041,0.043,3229,345,454
$STATE,3850,end climb,SURFACE_DEPTH_REACHED
$STATE,3850,begin surface coast
$FINISH,0.7,1.013785
$STATE,3864,end surface coast,CONTROL_FINISHED_OK
$STATE,3864,begin surface
$SM_CCo,3942,0.00,0.000,0,0,449,592.15
$SM_GC,1.50,8.10,0.00,0.00,0.043,0.000,0.000,159,1522,449,-8.01,0.62,592.15
$IRIDIUM_FIX,2403.92,12321.74,120998,010127
$TT8_MAMPS,0.026845
$HUMID,1545
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.4,60.6
$24V_AH,24.9,40.068
$10V_AH,10.9,24.369
$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,21.500,32.400,643.125,0.000,0.000,22.866,30.384,125.224,0.500,0.000,0.000,10.190,970.307,1123.311,607.268,1228.557,284.073,0.000,1237.955,0.000,1230.480,0.000,6.946,0.000
$DEVICE_MAMPS,227.799,55.224,793.078,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.653,589.238,990.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34890,660
$CAP_FILE_SIZE,54778,0
$CFSIZE,260165632,221507584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191, 52.7,1
$GPS,180609,041149,2413.131,12322.739,9,1.4,14,-3.5