version: 66.04
glider: 166
mission: 2
dive: 201
start: 6 19 109 2 26 34
data:
$ID,166
$MISSION,2
$DIVE,201
$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,-9170.5605
$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,54
$R_STBD_OVSHOOT,83
$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
$GPS1,022106,2413.074,12322.560,10,1.2,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.1
$GPS2,022614,2413.105,12322.623,13,1.2,13,-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,166.0,22338,-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,14,-0.97,-243.4,0.0,0.0,0,88,0.00,0.00,-70.65,0.000,2,0.000,0.000,142,1485,2385
$GC,90,-0.97,-243.4,3.1,-5.7,11,148,8.95,2.10,-39.53,0.000,4,0.235,0.050,2416,2877,3857
$GC,289,-0.33,-243.4,54.2,-29.0,45,298,0.70,2.00,0.00,0.000,6,0.148,0.031,2628,1513,3858
$GC,637,-0.50,-243.4,95.5,-10.3,106,644,0.15,1.98,0.00,0.000,4,0.061,0.035,2553,2873,3859
$GC,757,-0.50,-243.4,112.7,-14.8,127,763,0.00,1.98,0.00,0.000,6,0.000,0.031,2552,1521,3859
$GC,1100,-0.50,-243.4,156.9,-9.0,188,1107,0.00,2.00,0.00,0.000,4,0.000,0.038,2552,2868,3860
$GC,1192,-0.59,-243.4,166.1,-11.1,204,1198,0.00,1.92,0.00,0.000,6,0.000,0.031,2552,1547,3860
$GC,1539,-0.68,-243.4,200.7,-9.2,265,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1547,3861
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1713,-0.20,0.0,217.1,6.8,295,1904,0.32,0.00,182.02,0.789,6,0.106,0.000,2667,1748,2862
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1908,0.97,243.4,225.5,0.0,327,2105,1.08,2.15,183.73,0.785,4,0.081,0.040,3061,3129,1868
$GC,2140,0.70,243.4,210.4,14.2,365,2147,0.38,2.05,0.00,0.000,6,0.145,0.032,2964,1749,1866
$GC,2485,1.01,353.0,187.1,8.4,426,2581,0.25,2.20,85.90,0.761,4,0.046,0.047,3088,360,1424
$GC,2795,0.89,353.0,140.2,14.6,479,2802,0.17,2.00,0.00,0.000,6,0.129,0.028,3029,1732,1420
$GC,3140,1.30,497.9,112.9,7.2,540,3266,0.30,2.17,116.88,0.728,4,0.042,0.038,3177,3135,833
$GC,3353,1.06,497.9,77.2,18.3,575,3360,0.35,2.10,0.00,0.000,6,0.144,0.031,3083,1703,830
$GC,3698,1.40,566.5,40.6,9.7,636,3761,0.25,2.08,56.15,0.666,4,0.044,0.043,3217,339,552
$STATE,3890,end climb,SURFACE_DEPTH_REACHED
$STATE,3890,begin surface coast
$FINISH,0.6,1.008903
$STATE,3903,end surface coast,CONTROL_FINISHED_OK
$STATE,3903,begin surface
$SM_CCo,3981,0.00,0.000,0,0,547,568.11
$SM_GC,1.45,8.00,0.00,0.00,0.042,0.000,0.000,145,1526,547,-8.02,0.76,568.11
$IRIDIUM_FIX,2403.92,12323.71,130998,010125
$TT8_MAMPS,0.026845
$HUMID,1545
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.2,72.1
$24V_AH,24.9,42.812
$10V_AH,10.9,25.779
$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,20.900,28.675,624.675,0.000,0.000,25.913,32.360,159.557,0.500,0.000,0.000,13.540,984.831,1141.128,585.164,1262.560,322.252,0.000,1215.571,0.000,1261.830,0.000,5.632,0.000
$DEVICE_MAMPS,234.702,49.855,789.243,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.332,619.384,1042.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34804,671
$CAP_FILE_SIZE,54587,0
$CFSIZE,260165632,220770304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230, 11.5,1
$GPS,190609,033338,2413.160,12322.625,11,1.8,11,-3.5