version: 66.04
glider: 166
mission: 2
dive: 194
start: 6 18 109 18 1 53
data:
$ID,166
$MISSION,2
$DIVE,194
$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,-8992.3896
$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,61
$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
$GPS1,175702,2412.069,12323.133,12,1.1,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.0
$GPS2,180132,2412.092,12323.139,12,1.3,12,-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,206.1,17342,-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,-243.4,0.0,0.0,0,104,0.00,0.00,-86.57,0.000,2,0.000,0.000,139,1475,2400
$GC,106,-0.97,-243.4,3.3,-6.5,14,158,8.68,1.85,-36.75,0.000,4,0.224,0.054,2422,217,3856
$GC,333,-0.23,-243.4,71.6,-31.4,53,340,0.73,1.85,0.00,0.000,6,0.143,0.028,2661,1495,3857
$GC,680,-0.53,-243.4,99.3,-8.4,114,686,0.22,2.05,0.00,0.000,4,0.046,0.038,2544,2906,3858
$GC,879,-0.46,-243.4,130.6,-16.8,149,886,0.10,2.00,0.00,0.000,6,0.109,0.031,2592,1538,3858
$GC,1223,-0.59,-243.4,174.3,-9.9,210,1230,0.12,2.03,0.00,0.000,4,0.064,0.037,2523,2897,3859
$GC,1321,-0.64,-243.4,187.5,-12.2,227,1329,0.00,1.95,0.00,0.000,6,0.000,0.031,2523,1557,3859
$STATE,1439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1439,begin apogee
$GC,1444,-0.20,0.0,200.1,11.3,247,1634,0.43,0.00,181.57,0.765,6,0.110,0.000,2668,1762,2862
$STATE,1636,end apogee,CONTROL_FINISHED_OK
$STATE,1636,begin climb
$GC,1638,0.97,243.4,210.6,0.0,278,1833,1.05,2.15,182.95,0.766,4,0.076,0.041,3057,3135,1868
$GC,2088,0.86,302.1,169.5,10.1,355,2141,0.17,2.03,46.05,0.732,6,0.144,0.031,3016,1737,1631
$GC,2481,1.05,302.1,128.2,15.6,423,2488,0.17,0.00,0.00,0.000,6,0.052,0.000,3110,1737,1628
$GC,2827,0.87,302.1,63.6,13.6,484,2834,0.28,2.08,0.00,0.000,4,0.137,0.035,3020,3156,1625
$GC,2865,1.04,320.7,58.9,11.4,490,2886,0.12,2.03,15.20,0.644,6,0.064,0.030,3097,1741,1554
$GC,3225,1.05,385.9,30.1,9.8,553,3283,0.00,2.17,51.75,0.659,4,0.000,0.043,3097,350,1289
$GC,3336,1.22,472.7,19.8,9.1,571,3413,0.10,2.08,70.22,0.640,6,0.071,0.026,3158,1801,935
$STATE,3441,end climb,SURFACE_DEPTH_REACHED
$STATE,3441,begin surface coast
$FINISH,0.6,1.009181
$STATE,3468,end surface coast,CONTROL_FINISHED_OK
$STATE,3468,begin surface
$SM_CCo,3544,0.00,0.000,0,0,929,474.41
$SM_GC,1.50,7.93,0.00,0.00,0.043,0.000,0.000,151,1480,929,-8.03,-0.54,474.41
$IRIDIUM_FIX,2401.56,12323.71,120998,161638
$TT8_MAMPS,0.026845
$HUMID,1515
$INTERNAL_PRESSURE,10.0929
$TCM_TEMP,25.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,200.1,18.5
$24V_AH,24.9,41.805
$10V_AH,10.9,25.259
$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,20.100,24.950,547.750,0.000,0.000,24.975,37.135,118.682,0.750,0.000,0.000,13.035,888.446,1007.492,529.907,1115.530,281.469,0.000,1092.116,0.000,1117.457,0.000,5.488,0.000
$DEVICE_MAMPS,223.964,54.457,766.233,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.662,573.880,965.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,592
$CAP_FILE_SIZE,49623,0
$CFSIZE,260165632,221052928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.447, 30.3,1
$GPS,180609,190143,2412.481,12323.425,8,2.0,13,-3.5