version: 66.04
glider: 166
mission: 2
dive: 188
start: 6 18 109 10 27 58
data:
$ID,166
$MISSION,2
$DIVE,188
$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,-8886.2148
$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,46
$R_STBD_OVSHOOT,68
$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
$GPS1,102236,2413.119,12322.961,14,1.9,24,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.4
$GPS2,102738,2413.088,12323.017,14,1.4,14,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12326.000
$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,189.9,19174,-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,-243.4,0.0,0.0,0,98,0.00,0.00,-81.70,0.000,2,0.000,0.000,142,1488,2279
$GC,101,-0.97,-243.4,3.0,-6.5,13,159,9.02,1.90,-41.88,0.000,4,0.238,0.056,2418,204,3855
$GC,346,-0.14,-243.4,77.7,-32.9,55,355,0.88,1.85,0.00,0.000,6,0.158,0.026,2690,1492,3856
$GC,693,-0.96,-243.4,117.7,-11.1,116,700,0.65,2.03,0.00,0.000,4,0.060,0.036,2429,2898,3857
$GC,769,-0.60,-243.4,129.4,-17.1,129,776,0.35,2.03,0.00,0.000,6,0.134,0.031,2541,1482,3857
$GC,1115,-0.55,-243.4,179.2,-13.9,190,1122,0.00,2.08,0.00,0.000,4,0.000,0.039,2538,2897,3858
$GC,1185,-0.61,-243.4,187.1,-10.4,202,1193,0.00,2.00,0.00,0.000,6,0.000,0.031,2540,1526,3858
$GC,1533,-0.66,-243.4,225.2,-10.8,263,1539,0.00,2.03,0.00,0.000,4,0.000,0.040,2538,2900,3858
$GC,1607,-0.81,-243.4,232.6,-10.5,276,1614,0.17,2.00,0.00,0.000,6,0.054,0.031,2451,1530,3858
$STATE,1625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1630,-0.20,0.0,234.7,10.7,279,1819,0.65,0.00,182.30,0.798,6,0.127,0.000,2665,1767,2862
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1823,0.97,243.4,246.6,0.0,310,2016,1.08,2.28,183.80,0.784,4,0.082,0.046,3059,355,1869
$GC,2056,0.69,243.4,231.9,13.7,348,2063,0.32,2.03,0.00,0.000,6,0.140,0.028,2962,1751,1866
$GC,2401,1.03,395.6,202.7,7.0,409,2528,0.28,2.25,119.97,0.769,4,0.048,0.044,3094,349,1249
$GC,2597,0.85,395.6,175.7,15.6,441,2605,0.28,2.05,0.00,0.000,6,0.134,0.028,3011,1763,1247
$GC,2942,1.11,472.7,142.6,9.4,502,3014,0.20,2.22,62.78,0.737,4,0.053,0.044,3125,351,936
$GC,3155,1.03,472.7,106.5,17.0,538,3163,0.20,2.03,0.00,0.000,6,0.130,0.028,3065,1772,933
$GC,3502,1.25,502.6,69.6,11.0,599,3535,0.17,2.15,25.30,0.675,4,0.054,0.042,3176,352,814
$GC,3699,1.07,502.6,33.1,15.3,633,3706,0.28,1.95,0.00,0.000,6,0.127,0.026,3085,1716,811
$GC,4044,1.55,632.8,4.3,7.7,694,4060,0.38,0.00,13.12,0.601,2,0.038,0.000,3262,1719,754
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4061,begin surface coast
$FINISH,0.6,1.009858
$STATE,4095,end surface coast,CONTROL_FINISHED_OK
$STATE,4095,begin surface
$SM_CCo,4172,0.00,0.000,0,0,751,518.07
$SM_GC,1.57,8.02,0.00,0.00,0.039,0.000,0.000,147,1471,751,-8.03,-0.82,518.07
$IRIDIUM_FIX,2403.92,12323.71,120998,090915
$TT8_MAMPS,0.026845
$HUMID,1553
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.7,58.7
$24V_AH,24.9,40.921
$10V_AH,10.9,24.815
$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,22.925,33.475,587.275,0.000,0.000,26.238,31.910,153.187,0.500,0.000,0.000,14.821,1063.764,1221.691,570.088,1306.310,320.295,0.000,1218.528,0.000,1304.707,0.000,5.595,0.000
$DEVICE_MAMPS,237.770,55.991,798.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.306,618.540,1040.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38013,702
$CAP_FILE_SIZE,60001,0
$CFSIZE,260165632,221270016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 95.7,1
$GPS,180609,113836,2412.545,12322.913,32,1.3,32,-3.5