version: 66.04
glider: 166
mission: 2
dive: 187
start: 6 18 109 9 17 40
data:
$ID,166
$MISSION,2
$DIVE,187
$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,-8870.7646
$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,62
$R_STBD_OVSHOOT,80
$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
$GPS1,091207,2413.331,12322.880,34,0.9,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.4
$GPS2,091720,2413.332,12322.932,15,1.1,15,-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,195.6,19647,-16.4,-12.000
$D_GRID,217
$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,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,98,0.00,0.00,-81.97,0.000,2,0.000,0.000,163,1478,2309
$GC,101,-0.97,-243.4,3.0,-6.3,13,159,9.15,1.88,-42.88,0.000,4,0.242,0.055,2422,207,3855
$GC,257,-0.25,-243.4,44.7,-30.2,39,266,0.70,1.85,0.00,0.000,6,0.149,0.029,2653,1481,3856
$GC,604,-0.48,-243.4,80.9,-8.3,100,610,0.17,2.05,0.00,0.000,4,0.054,0.037,2555,2895,3857
$GC,775,-0.48,-243.4,101.1,-12.8,130,781,0.00,1.98,0.00,0.000,6,0.000,0.031,2556,1543,3857
$GC,1118,-0.48,-243.4,146.8,-12.6,191,1126,0.10,2.00,0.00,0.000,4,0.144,0.038,2584,2909,3858
$GC,1179,-0.67,-243.4,152.6,-8.0,201,1186,0.17,2.00,0.00,0.000,6,0.051,0.031,2494,1536,3858
$GC,1527,-0.43,-243.4,209.2,-16.3,262,1533,0.30,0.00,0.00,0.000,6,0.133,0.000,2594,1536,3858
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1600,-0.20,0.0,217.2,10.5,274,1788,0.22,0.00,181.48,0.777,6,0.107,0.000,2672,1771,2862
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1792,0.97,243.4,229.6,0.0,305,1985,1.05,2.25,183.07,0.766,4,0.081,0.045,3050,339,1869
$GC,2201,0.84,283.0,193.9,10.7,374,2240,0.15,2.03,31.77,0.732,6,0.146,0.027,3012,1754,1709
$GC,2580,1.05,392.0,156.2,8.4,440,2676,0.17,2.22,86.10,0.734,4,0.058,0.044,3114,353,1265
$GC,2735,0.85,392.0,135.1,15.1,465,2742,0.35,2.03,0.00,0.000,6,0.132,0.027,3009,1760,1261
$GC,3080,1.36,532.3,107.4,7.4,526,3201,0.43,2.15,113.72,0.704,4,0.037,0.036,3204,3142,691
$GC,3304,1.04,532.3,56.9,22.7,563,3312,0.47,2.10,0.00,0.000,6,0.150,0.031,3073,1706,689
$GC,3649,1.53,660.8,25.4,7.7,624,3708,0.40,2.17,47.58,0.645,4,0.037,0.035,3258,3132,455
$STATE,3746,end climb,SURFACE_DEPTH_REACHED
$STATE,3746,begin surface coast
$FINISH,0.5,0.997619
$STATE,3761,end surface coast,CONTROL_FINISHED_OK
$STATE,3761,begin surface
$SM_CCo,3840,0.00,0.000,0,0,451,591.66
$SM_GC,1.37,8.18,0.00,0.00,0.042,0.000,0.000,144,1490,451,-8.02,-0.28,591.66
$IRIDIUM_FIX,2403.92,12321.74,120998,080835
$TT8_MAMPS,0.026845
$HUMID,1542
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,200.1,56.5
$24V_AH,24.9,40.783
$10V_AH,10.9,24.740
$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,22.025,29.475,643.725,0.000,0.000,24.316,35.577,164.016,0.750,0.000,0.000,15.371,941.515,1068.028,605.197,1213.998,331.778,0.000,1224.255,0.000,1214.346,0.000,5.589,0.000
$DEVICE_MAMPS,242.372,55.224,776.971,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.209,599.465,1008.070,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34913,642
$CAP_FILE_SIZE,53909,0
$CFSIZE,260165632,221315072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 58.8,1
$GPS,180609,102236,2413.119,12322.961,14,1.9,24,-3.5