version: 66.04
glider: 166
mission: 2
dive: 205
start: 6 19 109 7 15 33
data:
$ID,166
$MISSION,2
$DIVE,205
$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,-9230.2578
$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,51
$R_STBD_OVSHOOT,87
$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
$GPS1,071006,2414.270,12323.377,40,1.1,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.5
$GPS2,071514,2414.323,12323.461,13,1.3,13,-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,200.5,23544,-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,-243.4,0.0,0.0,0,104,0.00,0.00,-87.15,0.000,2,0.000,0.000,124,1523,2418
$GC,107,-0.97,-243.4,3.1,-5.6,13,160,8.85,1.95,-37.28,0.000,4,0.227,0.048,2418,2871,3857
$GC,241,-0.36,-243.4,34.2,-28.4,35,249,0.60,2.00,0.00,0.000,6,0.141,0.031,2622,1505,3857
$GC,588,-0.48,-243.4,75.6,-11.6,96,594,0.12,2.00,0.00,0.000,4,0.067,0.034,2559,2886,3858
$GC,668,-0.48,-243.4,86.9,-13.9,110,674,0.00,1.98,0.00,0.000,6,0.000,0.031,2559,1532,3858
$GC,1012,-0.48,-243.4,134.4,-9.5,171,1020,0.00,1.98,0.00,0.000,4,0.000,0.036,2558,2869,3860
$GC,1089,-0.59,-243.4,142.1,-10.0,184,1095,0.00,1.98,0.00,0.000,6,0.000,0.031,2558,1519,3860
$GC,1433,-0.66,-243.4,178.1,-10.7,245,1439,0.00,2.00,0.00,0.000,4,0.000,0.038,2560,2867,3860
$GC,1537,-0.82,-243.4,188.8,-9.6,263,1545,0.17,1.95,0.00,0.000,6,0.039,0.031,2445,1527,3860
$STATE,1724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1724,begin apogee
$GC,1730,-0.20,0.0,217.4,14.7,296,1921,0.68,0.00,182.00,0.780,6,0.131,0.000,2666,1743,2863
$STATE,1923,end apogee,CONTROL_FINISHED_OK
$STATE,1923,begin climb
$GC,1925,0.97,243.4,226.1,0.0,328,2117,1.08,2.25,183.45,0.780,4,0.081,0.046,3059,345,1869
$GC,2371,0.83,273.0,187.4,11.0,404,2403,0.15,2.05,23.88,0.723,6,0.133,0.028,3009,1757,1750
$GC,2744,1.15,444.1,157.5,6.3,469,2889,0.22,2.10,135.95,0.749,4,0.051,0.037,3124,3139,1051
$GC,2980,1.04,444.1,123.9,15.5,508,2987,0.20,2.10,0.00,0.000,6,0.139,0.031,3071,1710,1050
$GC,3326,1.29,485.2,88.6,10.6,569,3366,0.20,2.20,33.60,0.686,4,0.051,0.035,3176,3147,884
$GC,3458,1.05,485.2,64.0,21.1,591,3466,0.38,2.17,0.00,0.000,6,0.143,0.031,3076,1650,884
$GC,3806,1.42,575.7,26.4,9.0,652,3888,0.28,2.03,73.88,0.653,4,0.043,0.042,3223,349,516
$STATE,3939,end climb,SURFACE_DEPTH_REACHED
$STATE,3941,begin surface coast
$FINISH,0.6,1.005661
$STATE,3958,end surface coast,CONTROL_FINISHED_OK
$STATE,3958,begin surface
$SM_CCo,4036,0.00,0.000,0,0,511,576.95
$SM_GC,1.40,8.10,0.00,0.00,0.044,0.000,0.000,142,1532,511,-8.03,0.90,576.95
$IRIDIUM_FIX,2403.92,12321.74,130998,060639
$TT8_MAMPS,0.026845
$HUMID,1544
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,131.0
$24V_AH,24.9,43.401
$10V_AH,10.9,26.076
$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,21.025,32.700,632.750,0.000,0.000,26.575,33.050,157.357,0.500,0.000,0.000,13.930,998.300,1146.844,598.189,1275.629,331.997,0.000,1239.578,0.000,1278.602,0.000,5.792,0.000
$DEVICE_MAMPS,227.032,47.554,780.039,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.865,635.603,1068.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34815,677
$CAP_FILE_SIZE,56466,0
$CFSIZE,260165632,220622848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.385, 41.3,1
$GPS,190609,082352,2414.727,12323.706,11,2.1,30,-3.5