version: 66.04
glider: 166
mission: 2
dive: 196
start: 6 18 109 20 8 56
data:
$ID,166
$MISSION,2
$DIVE,196
$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,-9042.1631
$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,43
$R_STBD_OVSHOOT,92
$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
$GPS1,200355,2412.906,12323.198,43,1.6,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.8
$GPS2,200836,2412.912,12323.195,16,1.6,32,-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,210.5,18781,-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,-243.4,0.0,0.0,0,107,0.00,0.00,-90.15,0.000,2,0.000,0.000,147,1515,2500
$GC,110,-0.97,-243.4,3.1,-4.8,13,162,8.68,2.00,-34.33,0.000,4,0.225,0.054,2423,196,3858
$GC,287,-0.19,-243.4,57.1,-33.3,43,295,0.77,1.85,0.00,0.000,6,0.153,0.028,2672,1477,3858
$GC,634,-0.52,-243.4,94.4,-6.3,104,640,0.25,2.05,0.00,0.000,4,0.044,0.035,2540,2897,3859
$GC,826,-0.45,-243.4,117.5,-13.4,138,833,0.15,2.00,0.00,0.000,6,0.125,0.031,2592,1521,3859
$GC,1171,-0.61,-243.4,159.0,-12.7,199,1179,0.15,2.00,0.00,0.000,4,0.058,0.036,2513,2892,3859
$GC,1327,-0.54,-243.4,179.2,-12.1,226,1334,0.12,1.95,0.00,0.000,6,0.117,0.033,2559,1559,3859
$GC,1675,-0.62,-243.4,215.6,-7.5,287,1682,0.00,1.95,0.00,0.000,4,0.000,0.038,2559,2897,3859
$GC,1712,-0.76,-243.4,219.6,-11.4,293,1719,0.20,1.92,0.00,0.000,6,0.049,0.029,2457,1548,3859
$STATE,1813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1813,begin apogee
$GC,1819,-0.20,0.0,235.1,16.9,311,2008,0.62,0.00,182.30,0.798,6,0.130,0.000,2663,1764,2862
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2009,begin climb
$GC,2011,0.97,243.4,248.7,0.0,342,2205,1.10,2.28,183.60,0.795,4,0.084,0.044,3070,352,1870
$GC,2458,0.69,243.4,206.0,12.5,418,2465,0.35,2.03,0.00,0.000,6,0.138,0.028,2966,1767,1866
$GC,2802,1.16,467.7,184.1,4.6,479,2987,0.38,2.15,177.32,0.763,4,0.040,0.038,3143,3139,955
$GC,3051,0.92,467.7,143.2,19.5,519,3059,0.32,2.15,0.00,0.000,6,0.133,0.031,3034,1722,954
$GC,3398,1.35,541.5,103.7,9.6,580,3467,0.35,2.17,60.35,0.707,4,0.036,0.044,3211,330,654
$GC,3676,1.08,541.5,41.8,22.8,628,3683,0.35,1.92,0.00,0.000,6,0.132,0.027,3085,1672,651
$GC,4022,1.52,629.1,3.2,9.1,689,4030,0.35,0.00,5.32,0.477,2,0.038,0.000,3257,1674,632
$STATE,4031,end climb,SURFACE_DEPTH_REACHED
$STATE,4031,begin surface coast
$FINISH,0.7,1.008854
$STATE,4066,end surface coast,CONTROL_FINISHED_OK
$STATE,4066,begin surface
$SM_CCo,4143,0.00,0.000,0,0,631,547.51
$SM_GC,1.33,8.00,0.00,0.00,0.041,0.000,0.000,149,1463,631,-8.03,-1.07,547.51
$IRIDIUM_FIX,2403.92,12323.71,120998,191947
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,10.0636
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.2,59.0
$24V_AH,24.9,42.092
$10V_AH,10.9,25.399
$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,22.150,28.975,608.900,0.000,0.000,23.767,34.971,111.913,0.500,0.000,0.000,32.874,1040.161,1211.410,581.816,1313.521,286.098,0.000,1225.506,0.000,1296.248,0.000,6.962,0.000
$DEVICE_MAMPS,224.731,54.457,798.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.643,621.475,1045.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38019,696
$CAP_FILE_SIZE,56569,0
$CFSIZE,260165632,220962816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.304, 43.1,1
$GPS,180609,211844,2413.243,12323.237,13,1.5,13,-3.5