version: 66.04
glider: 166
mission: 2
dive: 199
start: 6 19 109 0 4 24
data:
$ID,166
$MISSION,2
$DIVE,199
$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,-9122.8926
$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,40
$R_STBD_OVSHOOT,73
$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
$GPS1,235840,2413.139,12322.806,8,2.3,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.0
$GPS2,000406,2413.130,12322.847,15,2.0,26,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12330.000
$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,162.4,22168,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-243.4,0.0,0.0,0,98,0.00,0.00,-80.72,0.000,2,0.000,0.000,124,1506,2410
$GC,101,-0.97,-243.4,3.4,-7.1,13,153,9.02,2.03,-36.88,0.000,4,0.234,0.049,2422,2898,3857
$GC,408,-0.37,-243.4,89.8,-25.8,66,415,0.65,2.03,0.00,0.000,6,0.146,0.031,2621,1488,3858
$GC,751,-0.55,-243.4,125.5,-10.6,127,759,0.17,2.08,0.00,0.000,4,0.054,0.036,2528,2884,3859
$GC,933,-0.55,-243.4,150.8,-13.3,159,941,0.08,2.00,0.00,0.000,6,0.133,0.031,2554,1514,3859
$GC,1280,-0.66,-243.4,196.2,-13.6,220,1286,0.00,2.03,0.00,0.000,4,0.000,0.038,2554,2900,3859
$GC,1451,-0.86,-243.4,212.0,-8.5,250,1458,0.25,2.00,0.00,0.000,6,0.044,0.031,2436,1529,3859
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1496,-0.20,0.0,217.1,14.9,257,1682,0.70,0.00,181.45,0.785,6,0.130,0.000,2665,1744,2863
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1686,0.97,243.4,226.5,0.0,288,1883,1.08,2.17,183.18,0.777,4,0.076,0.038,3064,3140,1868
$GC,2008,0.69,243.4,197.6,15.2,342,2015,0.38,2.05,0.00,0.000,6,0.146,0.031,2964,1744,1865
$GC,2351,1.18,431.8,172.7,5.8,403,2510,0.38,2.15,148.77,0.752,4,0.039,0.038,3140,3145,1101
$GC,2615,1.00,431.8,127.6,18.1,446,2622,0.30,2.10,0.00,0.000,6,0.140,0.033,3058,1724,1100
$GC,2960,1.34,537.4,93.7,8.5,507,3056,0.28,2.17,85.68,0.702,4,0.044,0.036,3191,3131,672
$GC,3094,1.09,537.4,71.0,20.2,528,3101,0.40,2.17,0.00,0.000,6,0.143,0.031,3085,1658,671
$GC,3438,1.48,601.9,36.2,9.9,589,3490,0.32,2.03,43.80,0.657,4,0.040,0.043,3254,354,454
$STATE,3580,end climb,SURFACE_DEPTH_REACHED
$STATE,3580,begin surface coast
$FINISH,0.6,1.021264
$STATE,3592,end surface coast,CONTROL_FINISHED_OK
$STATE,3592,begin surface
$SM_CCo,3670,0.00,0.000,0,0,451,591.66
$SM_GC,1.38,8.07,0.00,0.00,0.037,0.000,0.000,159,1532,451,-8.01,0.90,591.66
$IRIDIUM_FIX,2403.92,12323.71,120998,222241
$TT8_MAMPS,0.026845
$HUMID,1544
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,69.3
$24V_AH,24.9,42.533
$10V_AH,10.9,25.628
$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,22.075,28.950,642.875,0.000,0.000,24.994,34.073,162.185,0.500,0.000,0.000,26.186,891.846,1007.019,595.538,1182.488,324.312,0.000,1194.927,0.000,1169.408,0.000,5.624,0.000
$DEVICE_MAMPS,233.935,49.088,784.641,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.957,570.516,959.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31688,615
$CAP_FILE_SIZE,51670,0
$CFSIZE,260165632,220852224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,340.7,1
$GPS,190609,010620,2413.090,12322.560,14,2.0,14,-3.5