version: 66.04
glider: 166
mission: 2
dive: 184
start: 6 18 109 5 34 46
data:
$ID,166
$MISSION,2
$DIVE,184
$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,-8810.4902
$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,33
$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
$GPS1,052708,2413.328,12322.951,11,1.6,11,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.1
$GPS2,053426,2413.413,12323.024,12,1.6,12,-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,227.9,19101,-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,-243.4,0.0,0.0,0,107,0.00,0.00,-89.80,0.000,2,0.000,0.000,169,1536,2486
$GC,109,-0.97,-243.4,3.2,-4.4,14,162,8.75,2.05,-34.72,0.000,4,0.226,0.054,2408,184,3858
$GC,302,-0.12,-243.4,63.4,-36.3,47,309,0.93,1.88,0.00,0.000,6,0.156,0.025,2695,1493,3859
$GC,648,-0.85,-243.4,98.9,-10.5,108,655,0.62,2.00,0.00,0.000,4,0.077,0.032,2466,2897,3860
$GC,701,-0.50,-243.4,106.1,-15.7,117,708,0.35,2.05,0.00,0.000,6,0.140,0.029,2572,1461,3860
$GC,1048,-0.54,-243.4,154.4,-11.9,178,1055,0.00,2.08,0.00,0.000,4,0.000,0.035,2570,2891,3860
$GC,1158,-0.71,-243.4,166.7,-11.1,197,1165,0.12,2.00,0.00,0.000,6,0.043,0.030,2489,1515,3860
$GC,1505,-0.47,-243.4,227.8,-17.7,258,1513,0.28,2.03,0.00,0.000,4,0.130,0.039,2585,2892,3861
$STATE,1580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1580,begin apogee
$GC,1586,-0.20,0.0,234.0,5.0,271,1777,0.25,0.00,182.10,0.798,6,0.100,0.000,2671,1749,2862
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1781,0.97,243.4,239.7,0.0,303,1969,1.05,0.00,183.12,0.783,6,0.078,0.000,3045,1749,1869
$GC,2309,0.84,272.2,197.1,11.0,393,2341,0.15,2.12,23.30,0.742,4,0.146,0.039,3006,3134,1751
$GC,2377,0.86,292.4,189.4,11.3,404,2403,0.00,2.03,16.90,0.719,6,0.000,0.033,3008,1754,1671
$GC,2742,1.07,414.9,158.2,7.9,468,2850,0.17,2.25,97.62,0.753,4,0.053,0.044,3109,340,1170
$GC,2963,1.01,414.9,126.7,14.2,505,2970,0.12,2.08,0.00,0.000,6,0.133,0.028,3065,1762,1167
$GC,3308,1.11,434.2,87.6,11.4,566,3329,0.00,2.20,16.25,0.670,4,0.000,0.044,3073,346,1092
$GC,3375,1.27,456.4,80.0,11.3,577,3402,0.17,2.03,19.25,0.667,6,0.042,0.028,3165,1742,1001
$GC,3742,1.07,456.4,16.6,15.7,641,3749,0.25,2.08,0.00,0.000,4,0.142,0.041,3098,347,999
$STATE,3866,end climb,SURFACE_DEPTH_REACHED
$STATE,3866,begin surface coast
$FINISH,0.7,1.021212
$STATE,3899,end surface coast,CONTROL_FINISHED_OK
$STATE,3899,begin surface
$SM_CCo,3976,0.00,0.000,0,0,994,458.22
$SM_GC,1.42,7.70,0.00,0.00,0.044,0.000,0.000,161,1532,994,-8.03,0.90,458.22
$IRIDIUM_FIX,2403.92,12321.74,120998,050515
$TT8_MAMPS,0.026845
$HUMID,1557
$INTERNAL_PRESSURE,10.1026
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.1,58.8
$24V_AH,24.9,40.358
$10V_AH,10.9,24.515
$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,20.925,32.200,538.550,0.000,0.000,51.859,68.577,163.804,0.500,0.000,0.000,13.157,1015.472,1228.400,537.205,1243.376,397.831,0.000,1152.623,0.000,1247.569,0.000,5.597,0.000
$DEVICE_MAMPS,226.265,53.690,797.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.447,603.765,1015.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34810,669
$CAP_FILE_SIZE,56807,0
$CFSIZE,260165632,221429760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.276, 54.9,1
$GPS,180609,064206,2413.500,12322.940,32,0.8,32,-3.5