version: 66.04
glider: 166
mission: 2
dive: 192
start: 6 18 109 15 22 16
data:
$ID,166
$MISSION,2
$DIVE,192
$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,-8962.8691
$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,37
$R_STBD_OVSHOOT,76
$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
$GPS1,151632,2411.557,12322.954,13,1.5,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.8
$GPS2,152156,2411.551,12322.952,15,1.6,15,-3.4
$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,181.0,16477,-16.4,-12.000
$D_GRID,470
$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,-83.78,0.000,2,0.000,0.000,153,1511,2338
$GC,103,-0.97,-243.4,3.2,-6.8,14,161,9.02,2.00,-39.33,0.000,4,0.239,0.056,2417,197,3857
$GC,382,-0.22,-243.4,86.7,-31.8,62,389,0.75,1.88,0.00,0.000,6,0.146,0.029,2665,1486,3858
$GC,726,-0.55,-243.4,117.9,-6.9,123,733,0.25,2.08,0.00,0.000,4,0.044,0.037,2534,2914,3859
$GC,981,-0.55,-243.4,149.8,-11.8,168,989,0.00,2.03,0.00,0.000,6,0.000,0.031,2534,1504,3860
$GC,1327,-0.55,-243.4,192.4,-10.2,229,1334,0.00,2.08,0.00,0.000,4,0.000,0.038,2534,2895,3860
$GC,1402,-0.67,-243.4,199.8,-9.4,242,1415,0.00,1.98,0.00,0.000,6,0.000,0.031,2536,1542,3860
$GC,1753,-0.74,-243.4,233.7,-9.3,303,1759,0.00,2.00,0.00,0.000,4,0.000,0.041,2535,2900,3860
$GC,1789,-0.83,-243.4,236.7,-9.2,309,1796,0.17,1.98,0.00,0.000,6,0.056,0.031,2450,1531,3859
$STATE,1973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1973,begin apogee
$GC,1978,-0.20,0.0,264.5,16.0,342,2167,0.65,0.00,183.48,0.828,6,0.129,0.000,2665,1762,2862
$STATE,2169,end apogee,CONTROL_FINISHED_OK
$STATE,2170,begin climb
$GC,2171,0.97,243.4,272.7,0.0,374,2368,1.08,2.15,184.60,0.811,4,0.084,0.041,3049,3128,1868
$GC,2409,0.73,243.4,254.8,13.5,413,2415,0.28,2.08,0.00,0.000,6,0.146,0.033,2978,1748,1867
$GC,2753,0.86,295.6,222.2,10.3,474,2803,0.12,2.20,41.47,0.786,4,0.068,0.047,3049,345,1657
$GC,3057,0.71,295.6,183.2,14.0,527,3064,0.22,2.00,0.00,0.000,6,0.127,0.029,2973,1722,1652
$GC,3402,1.12,464.2,156.3,6.4,588,3543,0.30,2.22,135.07,0.762,4,0.043,0.044,3129,340,969
$GC,3706,1.02,464.2,107.4,14.6,639,3713,0.17,2.00,0.00,0.000,6,0.125,0.028,3070,1714,966
$GC,4051,1.23,512.8,73.5,10.4,700,4097,0.17,2.10,39.62,0.698,4,0.053,0.043,3178,335,772
$GC,4189,1.01,512.8,50.5,18.5,723,4196,0.30,1.98,0.00,0.000,6,0.125,0.027,3065,1697,770
$GC,4535,1.46,610.8,20.0,8.8,784,4607,0.32,2.08,63.97,0.655,4,0.039,0.043,3241,340,454
$STATE,4628,end climb,SURFACE_DEPTH_REACHED
$STATE,4628,begin surface coast
$FINISH,0.7,1.010470
$STATE,4644,end surface coast,CONTROL_FINISHED_OK
$STATE,4644,begin surface
$SM_CCo,4721,0.00,0.000,0,0,451,591.66
$SM_GC,1.42,8.12,0.00,0.00,0.041,0.000,0.000,149,1519,451,-8.02,0.54,591.66
$IRIDIUM_FIX,2403.92,12321.74,120998,141414
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,25.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,200.3,89.1
$24V_AH,24.8,41.522
$10V_AH,10.9,25.119
$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,21.950,36.800,648.225,0.000,0.000,25.336,31.906,170.253,0.750,0.000,0.000,15.575,1194.652,1415.654,613.698,1480.910,346.003,0.000,1341.128,0.000,1476.014,0.000,5.699,0.000
$DEVICE_MAMPS,239.304,55.991,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.065,684.890,1152.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44390,801
$CAP_FILE_SIZE,65020,0
$CFSIZE,260165632,221106176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250, 27.9,1
$GPS,180609,164206,2411.725,12322.997,37,0.8,37,-3.4