version: 66.04
glider: 166
mission: 2
dive: 193
start: 6 18 109 16 51 9
data:
$ID,166
$MISSION,2
$DIVE,193
$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,-8978.7236
$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,35
$R_STBD_OVSHOOT,88
$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
$GPS1,164206,2411.725,12322.997,37,0.8,37,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.4
$GPS2,165049,2411.729,12323.009,15,1.2,15,-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,196.7,16762,-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,-243.4,0.0,0.0,0,106,0.00,0.00,-88.90,0.000,2,0.000,0.000,147,1519,2476
$GC,109,-0.97,-243.4,3.5,-6.6,14,161,9.05,2.03,-33.67,0.000,4,0.238,0.055,2418,191,3858
$GC,382,-0.21,-243.4,85.9,-32.8,61,389,0.75,1.85,0.00,0.000,6,0.143,0.028,2665,1469,3858
$GC,727,-0.53,-243.4,123.2,-7.9,122,734,0.22,2.10,0.00,0.000,4,0.045,0.036,2542,2894,3860
$GC,987,-0.53,-243.4,155.3,-12.4,168,994,0.00,2.00,0.00,0.000,6,0.000,0.029,2543,1519,3860
$GC,1334,-0.60,-243.4,195.6,-11.0,229,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1519,3861
$GC,1679,-0.70,-243.4,226.7,-8.4,290,1686,0.00,2.03,0.00,0.000,4,0.000,0.038,2543,2901,3860
$GC,1726,-0.89,-243.4,230.9,-9.5,298,1733,0.25,2.03,0.00,0.000,6,0.047,0.031,2424,1490,3861
$STATE,1766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1766,begin apogee
$GC,1772,-0.20,0.0,236.9,16.7,305,1962,0.75,0.00,182.50,0.808,6,0.134,0.000,2668,1758,2864
$STATE,1964,end apogee,CONTROL_FINISHED_OK
$STATE,1964,begin climb
$GC,1966,0.97,243.4,248.9,0.0,337,2163,1.05,2.15,184.02,0.794,4,0.074,0.041,3052,3127,1868
$GC,2193,0.71,243.4,230.2,16.2,374,2201,0.32,2.05,0.00,0.000,6,0.142,0.033,2971,1760,1866
$GC,2540,0.92,330.4,195.9,9.1,435,2617,0.17,2.10,68.07,0.774,4,0.056,0.040,3060,3133,1514
$GC,2624,0.76,330.4,185.5,12.2,448,2631,0.30,2.17,0.00,0.000,6,0.143,0.032,2981,1682,1513
$GC,2970,1.31,590.1,162.5,3.4,509,3186,0.45,0.00,209.88,0.760,6,0.038,0.000,3183,1682,457
$GC,3525,1.13,590.1,52.2,21.3,603,3532,0.25,2.03,0.00,0.000,4,0.137,0.043,3116,327,453
$GC,3596,1.33,590.1,40.9,12.9,615,3603,0.10,1.92,0.00,0.000,6,0.047,0.027,3183,1670,452
$STATE,3814,end climb,SURFACE_DEPTH_REACHED
$STATE,3814,begin surface coast
$FINISH,0.6,0.997527
$STATE,3833,end surface coast,CONTROL_FINISHED_OK
$STATE,3833,begin surface
$SM_CCo,3909,0.00,0.000,0,0,450,591.91
$SM_GC,1.43,7.82,0.00,0.00,0.041,0.000,0.000,149,1475,450,-8.03,-0.71,591.91
$IRIDIUM_FIX,2401.56,12320.44,120998,161621
$TT8_MAMPS,0.026845
$HUMID,1597
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.5,60.7
$24V_AH,24.9,41.683
$10V_AH,10.9,25.192
$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,21.500,25.050,644.475,0.000,0.000,49.805,72.634,236.400,0.500,0.000,0.000,15.226,960.384,1181.062,599.963,1222.730,472.694,0.000,1229.921,0.000,1222.976,0.000,5.602,0.000
$DEVICE_MAMPS,237.770,55.224,808.418,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.222,575.171,966.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34796,657
$CAP_FILE_SIZE,55852,0
$CFSIZE,260165632,221077504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350, 22.3,1
$GPS,180609,175702,2412.069,12323.133,12,1.1,12,-3.5