version: 66.04
glider: 166
mission: 2
dive: 202
start: 6 19 109 3 38 58
data:
$ID,166
$MISSION,2
$DIVE,202
$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,-9185.3008
$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,46
$R_STBD_OVSHOOT,84
$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
$GPS1,033338,2413.160,12322.625,11,1.8,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.3
$GPS2,033838,2413.203,12322.699,13,1.9,13,-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,177.9,22417,-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,-243.4,0.0,0.0,0,101,0.00,0.00,-83.93,0.000,2,0.000,0.000,136,1528,2465
$GC,104,-0.97,-243.4,3.2,-5.6,13,156,8.98,1.98,-34.95,0.000,4,0.233,0.049,2419,2880,3857
$GC,293,-0.35,-243.4,53.3,-27.8,45,300,0.68,2.03,0.00,0.000,6,0.146,0.031,2620,1475,3858
$GC,639,-0.49,-243.4,95.5,-11.5,106,646,0.12,2.08,0.00,0.000,4,0.068,0.036,2557,2871,3859
$GC,781,-0.49,-243.4,116.5,-14.7,131,787,0.00,1.95,0.00,0.000,6,0.000,0.031,2556,1536,3859
$GC,1123,-0.49,-243.4,157.7,-12.6,192,1131,0.00,1.98,0.00,0.000,4,0.000,0.038,2557,2867,3860
$GC,1162,-0.59,-243.4,160.8,-8.2,198,1168,0.00,1.92,0.00,0.000,6,0.000,0.031,2557,1548,3860
$GC,1506,-0.69,-243.4,193.3,-8.6,259,1513,0.12,2.03,0.00,0.000,4,0.064,0.044,2493,202,3860
$GC,1554,-0.48,-243.4,199.0,-13.3,267,1561,0.25,1.92,0.00,0.000,6,0.125,0.025,2579,1548,3860
$STATE,1759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1759,begin apogee
$GC,1764,-0.20,0.0,217.2,7.5,303,1952,0.22,0.00,182.23,0.791,6,0.107,0.000,2664,1762,2863
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1956,0.97,243.4,225.2,0.0,334,2151,1.08,2.10,183.50,0.784,4,0.082,0.039,3051,3135,1869
$GC,2332,0.77,243.4,194.0,12.2,397,2339,0.20,2.05,0.00,0.000,6,0.138,0.031,2995,1752,1864
$GC,2677,1.00,375.6,164.0,7.6,458,2787,0.17,2.25,103.60,0.752,4,0.058,0.046,3089,346,1331
$GC,2794,0.87,375.6,151.7,12.0,476,2802,0.25,2.03,0.00,0.000,6,0.123,0.028,3014,1726,1329
$GC,3142,1.25,485.6,122.1,8.4,537,3237,0.30,2.20,89.05,0.729,4,0.043,0.038,3164,3136,883
$GC,3296,1.04,485.6,98.1,17.5,562,3303,0.32,2.12,0.00,0.000,6,0.141,0.032,3078,1699,881
$GC,3643,1.38,572.6,64.7,9.1,623,3720,0.25,2.12,71.30,0.686,4,0.044,0.044,3209,355,528
$GC,3850,1.21,572.6,25.6,19.9,658,3857,0.25,1.92,0.00,0.000,6,0.131,0.026,3129,1689,525
$STATE,4041,end climb,SURFACE_DEPTH_REACHED
$STATE,4041,begin surface coast
$FINISH,0.6,1.020930
$STATE,4073,end surface coast,CONTROL_FINISHED_OK
$STATE,4073,begin surface
$SM_CCo,4149,0.00,0.000,0,0,522,574.25
$SM_GC,1.42,7.72,0.00,0.00,0.042,0.000,0.000,142,1480,522,-8.03,-0.57,574.25
$IRIDIUM_FIX,2406.29,12335.51,130998,020215
$TT8_MAMPS,0.026845
$HUMID,1552
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.9,58.8
$24V_AH,24.9,42.958
$10V_AH,10.9,25.856
$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,20.925,33.200,629.675,0.000,0.000,25.534,31.630,152.845,0.500,0.000,0.000,14.111,1036.259,1191.602,589.281,1314.136,324.934,0.000,1241.878,0.000,1317.162,0.000,5.596,0.000
$DEVICE_MAMPS,233.168,49.088,790.777,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.914,651.836,1095.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38030,697
$CAP_FILE_SIZE,58077,0
$CFSIZE,260165632,220725248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.306, 25.1,1
$GPS,190609,044906,2413.398,12322.930,11,1.2,27,-3.5