version: 66.04
glider: 166
mission: 2
dive: 204
start: 6 19 109 6 5 45
data:
$ID,166
$MISSION,2
$DIVE,204
$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,-9215.7002
$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,48
$R_STBD_OVSHOOT,86
$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
$GPS1,060032,2413.742,12323.026,11,1.5,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.6
$GPS2,060525,2413.801,12323.113,10,1.6,15,-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,198.1,22987,-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,-243.4,0.0,0.0,0,112,0.00,0.00,-95.72,0.000,2,0.000,0.000,130,1522,2636
$GC,115,-0.97,-243.4,3.2,-2.9,14,161,8.90,1.98,-28.85,0.000,4,0.230,0.048,2415,2879,3857
$GC,290,-0.39,-243.4,50.7,-25.9,44,299,0.55,2.03,0.00,0.000,6,0.136,0.030,2606,1494,3858
$GC,637,-0.45,-243.4,97.2,-12.1,105,643,0.00,2.03,0.00,0.000,4,0.000,0.036,2607,2890,3858
$GC,731,-0.62,-243.4,107.1,-10.1,121,738,0.12,1.98,0.00,0.000,6,0.029,0.030,2511,1529,3859
$GC,1075,-0.45,-243.4,159.6,-15.9,182,1082,0.25,2.00,0.00,0.000,4,0.129,0.037,2593,2876,3860
$GC,1151,-0.73,-243.4,166.5,-7.0,195,1158,0.22,1.92,0.00,0.000,6,0.036,0.030,2471,1544,3860
$STATE,1445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1450,-0.20,0.0,217.3,17.7,247,1639,0.57,0.00,182.05,0.781,6,0.127,0.000,2661,1743,2863
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1643,0.97,243.4,232.2,0.0,278,1839,1.10,2.17,183.93,0.787,4,0.082,0.044,3070,347,1868
$GC,2044,0.72,243.4,199.8,12.6,345,2051,0.28,2.05,0.00,0.000,6,0.136,0.027,2966,1760,1864
$GC,2389,1.15,416.0,178.3,6.3,406,2534,0.35,2.10,136.02,0.764,4,0.041,0.038,3130,3141,1165
$GC,2654,0.90,416.0,139.5,17.0,450,2661,0.38,2.12,0.00,0.000,6,0.140,0.031,3029,1699,1164
$GC,2999,1.40,553.1,109.6,7.5,511,3120,0.40,2.22,111.35,0.716,4,0.037,0.037,3212,3132,608
$GC,3211,1.08,553.1,67.6,22.4,546,3218,0.47,2.17,0.00,0.000,6,0.144,0.031,3083,1646,606
$GC,3557,1.48,626.7,32.3,9.6,607,3597,0.32,1.95,31.65,0.646,4,0.040,0.042,3251,349,453
$STATE,3699,end climb,SURFACE_DEPTH_REACHED
$STATE,3699,begin surface coast
$FINISH,0.7,1.007782
$STATE,3711,end surface coast,CONTROL_FINISHED_OK
$STATE,3711,begin surface
$SM_CCo,3789,0.00,0.000,0,0,450,591.91
$SM_GC,1.47,8.07,0.00,0.00,0.039,0.000,0.000,149,1523,450,-8.04,0.65,591.91
$IRIDIUM_FIX,2403.92,12326.99,130998,050524
$TT8_MAMPS,0.026845
$HUMID,1548
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,102.5
$24V_AH,24.9,43.256
$10V_AH,10.9,26.000
$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,22.000,28.650,645.000,0.000,0.000,24.483,31.975,144.123,0.500,0.000,0.000,16.132,923.509,1067.344,605.856,1189.955,302.845,0.000,1215.319,0.000,1186.222,0.000,5.714,0.000
$DEVICE_MAMPS,230.100,48.321,786.942,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.237,588.815,990.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34910,633
$CAP_FILE_SIZE,52696,0
$CFSIZE,260165632,220663808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.384, 31.3,1
$GPS,190609,071006,2414.270,12323.377,40,1.1,40,-3.5