version: 66.04
glider: 166
mission: 2
dive: 203
start: 6 19 109 4 54 46
data:
$ID,166
$MISSION,2
$DIVE,203
$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,-9198.9404
$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,59
$R_STBD_OVSHOOT,64
$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
$GPS1,044906,2413.398,12322.930,11,1.2,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.2
$GPS2,045426,2413.457,12323.019,12,1.3,12,-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,196.9,22523,-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,11,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,109,0.00,0.00,-92.38,0.000,2,0.000,0.000,127,1481,2646
$GC,111,-0.97,-243.4,3.2,-3.1,15,158,9.30,2.10,-28.50,0.000,4,0.245,0.048,2419,2905,3857
$GC,295,-0.37,-243.4,56.7,-29.7,46,302,0.65,2.03,0.00,0.000,6,0.148,0.031,2613,1497,3857
$GC,641,-0.45,-243.4,102.0,-11.5,107,647,0.00,2.08,0.00,0.000,4,0.000,0.037,2615,2892,3859
$GC,729,-0.65,-243.4,111.2,-10.5,122,736,0.17,1.98,0.00,0.000,6,0.028,0.031,2497,1532,3859
$GC,1073,-0.47,-243.4,167.0,-11.9,183,1080,0.25,0.00,0.00,0.000,6,0.131,0.000,2579,1532,3860
$GC,1417,-0.67,-243.4,195.7,-7.4,244,1424,0.17,2.00,0.00,0.000,4,0.056,0.036,2491,2899,3860
$GC,1486,-0.60,-243.4,203.0,-11.5,255,1492,0.20,1.98,0.00,0.000,6,0.129,0.031,2549,1523,3860
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1620,begin apogee
$GC,1626,-0.20,0.0,217.6,11.8,279,1814,0.32,0.00,181.98,0.787,6,0.110,0.000,2666,1760,2863
$STATE,1816,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1818,0.97,243.4,230.8,0.0,310,2013,1.08,2.25,183.88,0.784,4,0.080,0.046,3059,358,1870
$GC,2082,0.76,243.4,214.6,14.2,353,2089,0.28,2.03,0.00,0.000,6,0.137,0.028,2980,1752,1867
$GC,2427,1.08,414.0,181.9,6.4,414,2568,0.25,2.25,134.88,0.762,4,0.048,0.045,3102,356,1175
$GC,2824,0.98,414.0,124.9,14.6,481,2831,0.10,1.98,0.00,0.000,6,0.117,0.028,3054,1728,1171
$GC,3169,1.35,528.9,97.1,8.2,542,3271,0.28,2.17,93.35,0.709,4,0.042,0.044,3200,356,705
$GC,3301,1.04,528.9,73.2,21.4,563,3309,0.38,1.98,0.00,0.000,6,0.133,0.026,3068,1705,704
$GC,3647,1.53,635.8,42.7,8.5,624,3705,0.40,2.08,50.83,0.663,4,0.037,0.041,3269,351,456
$STATE,3811,end climb,SURFACE_DEPTH_REACHED
$STATE,3811,begin surface coast
$FINISH,0.5,1.007195
$STATE,3824,end surface coast,CONTROL_FINISHED_OK
$STATE,3824,begin surface
$SM_CCo,3903,0.00,0.000,0,0,450,591.91
$SM_GC,1.45,8.10,0.00,0.00,0.038,0.000,0.000,145,1521,450,-8.02,0.59,591.91
$IRIDIUM_FIX,2401.56,12323.71,130998,030346
$TT8_MAMPS,0.026845
$HUMID,1567
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.2,59.5
$24V_AH,24.9,43.108
$10V_AH,10.9,25.929
$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,21.925,28.850,644.900,0.000,0.000,23.040,43.229,163.764,0.500,0.000,0.000,13.008,961.797,1089.889,600.012,1239.046,339.288,0.000,1223.850,0.000,1241.149,0.000,5.597,0.000
$DEVICE_MAMPS,244.673,48.321,786.942,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.421,604.316,1016.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34917,654
$CAP_FILE_SIZE,55039,0
$CFSIZE,260165632,220696576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.358, 33.5,1
$GPS,190609,060032,2413.742,12323.026,11,1.5,11,-3.5