version: 66.04
glider: 166
mission: 2
dive: 190
start: 6 18 109 12 50 47
data:
$ID,166
$MISSION,2
$DIVE,190
$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,-8932.0078
$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,84
$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
$GPS1,124516,2412.105,12322.973,16,2.6,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,125028,2412.054,12323.005,8,3.4,27,-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,179.5,17339,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,104,0.00,0.00,-87.85,0.000,2,0.000,0.000,143,1525,2444
$GC,107,-0.97,-243.4,3.3,-5.9,14,159,8.85,1.95,-35.50,0.000,4,0.231,0.054,2420,202,3859
$GC,372,-0.21,-243.4,85.1,-30.3,60,381,0.77,1.85,0.00,0.000,6,0.152,0.028,2672,1486,3859
$GC,718,-0.80,-243.4,116.5,-9.7,121,725,0.47,2.03,0.00,0.000,4,0.048,0.035,2469,2896,3860
$GC,922,-0.57,-243.4,155.5,-17.3,157,929,0.22,1.98,0.00,0.000,6,0.120,0.031,2549,1539,3860
$GC,1266,-0.61,-243.4,191.3,-9.6,218,1272,0.00,2.00,0.00,0.000,4,0.000,0.038,2548,2886,3861
$GC,1313,-0.74,-243.4,195.9,-8.8,226,1320,0.08,1.95,0.00,0.000,6,0.053,0.031,2476,1549,3861
$STATE,1556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1556,begin apogee
$GC,1562,-0.20,0.0,232.0,12.6,269,1751,0.60,0.00,182.40,0.795,6,0.140,0.000,2665,1762,2863
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1755,0.97,243.4,250.0,0.0,300,1951,1.10,2.15,184.20,0.787,4,0.089,0.041,3056,3134,1869
$GC,2063,0.75,243.4,227.0,13.3,351,2070,0.30,2.05,0.00,0.000,6,0.137,0.033,2980,1745,1865
$GC,2407,1.03,377.0,199.7,7.6,412,2523,0.22,2.20,105.32,0.767,4,0.051,0.044,3101,357,1324
$GC,2778,0.88,377.0,142.0,13.0,475,2785,0.28,2.00,0.00,0.000,6,0.133,0.028,3017,1736,1320
$GC,3123,1.38,539.3,115.3,6.6,536,3263,0.40,2.12,131.12,0.714,4,0.038,0.037,3202,3136,663
$GC,3358,1.09,539.3,65.6,22.4,575,3365,0.43,2.12,0.00,0.000,6,0.144,0.031,3087,1692,661
$GC,3705,1.46,603.2,28.9,9.9,636,3757,0.30,2.08,42.20,0.649,4,0.041,0.042,3242,346,454
$STATE,3830,end climb,SURFACE_DEPTH_REACHED
$STATE,3830,begin surface coast
$FINISH,0.6,1.008279
$STATE,3843,end surface coast,CONTROL_FINISHED_OK
$STATE,3843,begin surface
$SM_CCo,3921,0.00,0.000,0,0,451,591.66
$SM_GC,1.45,8.02,0.00,0.00,0.039,0.000,0.000,146,1520,451,-8.03,0.57,591.66
$IRIDIUM_FIX,2403.92,12321.74,120998,111141
$TT8_MAMPS,0.026845
$HUMID,1545
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,200.2,56.4
$24V_AH,24.9,41.215
$10V_AH,10.9,24.956
$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,22.050,28.450,645.250,0.000,0.000,24.621,31.520,151.687,1.000,0.000,0.000,30.358,963.440,1126.746,603.637,1240.029,306.653,0.000,1229.765,0.000,1221.098,0.000,5.590,0.000
$DEVICE_MAMPS,230.867,54.457,795.379,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.926,581.604,978.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34869,659
$CAP_FILE_SIZE,53905,0
$CFSIZE,260165632,221204480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,116.5,1
$GPS,180609,135706,2411.798,12322.833,10,1.0,26,-3.4