version: 66.04
glider: 166
mission: 2
dive: 206
start: 6 19 109 8 29 14
data:
$ID,166
$MISSION,2
$DIVE,206
$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,-9245.5703
$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,43
$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
$GPS1,082352,2414.727,12323.706,11,2.1,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.8
$GPS2,082855,2414.788,12323.776,9,1.6,14,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,346.8,112978,-16.4,-12.000
$D_GRID,223
$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,-243.4,0.0,0.0,0,106,0.00,0.00,-88.72,0.000,2,0.000,0.000,128,1533,2535
$GC,109,-0.97,-243.4,3.2,-4.0,14,156,8.90,2.05,-32.88,0.000,4,0.229,0.054,2421,193,3857
$GC,286,-0.19,-243.4,54.4,-32.9,44,294,0.77,1.85,0.00,0.000,6,0.151,0.028,2672,1475,3858
$GC,633,-0.55,-243.4,85.2,-7.8,105,640,0.28,2.05,0.00,0.000,4,0.042,0.035,2534,2898,3860
$GC,831,-0.48,-243.4,112.8,-12.9,140,839,0.17,2.00,0.00,0.000,6,0.134,0.030,2583,1526,3860
$GC,1179,-0.63,-243.4,152.6,-10.8,201,1186,0.15,2.00,0.00,0.000,4,0.058,0.037,2509,2898,3860
$GC,1396,-0.57,-243.4,181.7,-12.2,239,1403,0.12,1.95,0.00,0.000,6,0.127,0.031,2548,1559,3860
$GC,1744,-0.70,-243.4,221.6,-9.7,300,1751,0.00,1.98,0.00,0.000,4,0.000,0.038,2553,2890,3860
$STATE,1755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1755,begin apogee
$GC,1762,-0.20,0.0,223.3,10.7,302,1949,0.32,0.00,182.00,0.790,6,0.104,0.000,2666,1734,2863
$STATE,1951,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1953,0.97,243.4,235.5,0.0,333,2151,1.05,2.22,183.62,0.792,4,0.075,0.039,3057,3150,1868
$GC,2288,0.74,243.4,204.3,13.4,389,2295,0.28,2.05,0.00,0.000,6,0.143,0.032,2980,1754,1866
$GC,2632,1.13,426.0,180.8,6.0,450,2785,0.30,2.12,143.77,0.763,4,0.044,0.038,3122,3136,1125
$GC,2886,0.95,426.0,140.2,19.2,492,2895,0.30,2.10,0.00,0.000,6,0.140,0.032,3041,1711,1124
$GC,3233,1.33,567.4,110.5,7.3,553,3360,0.30,2.22,114.93,0.717,4,0.041,0.036,3184,3138,549
$GC,3451,1.12,567.4,70.2,20.8,589,3458,0.32,2.20,0.00,0.000,6,0.141,0.031,3101,1638,548
$GC,3797,1.40,578.8,28.5,11.6,650,3817,0.20,2.25,10.15,0.583,4,0.048,0.035,3208,3139,503
$GC,3915,1.26,578.8,6.0,20.4,670,3922,0.20,2.28,0.00,0.000,6,0.137,0.031,3144,1591,502
$STATE,3933,end climb,SURFACE_DEPTH_REACHED
$STATE,3933,begin surface coast
$FINISH,0.6,1.002223
$STATE,3952,end surface coast,CONTROL_FINISHED_OK
$STATE,3952,begin surface
$SM_CCo,4028,0.00,0.000,0,0,501,579.40
$SM_GC,1.44,7.78,0.00,0.00,0.041,0.000,0.000,152,1470,501,-8.02,-0.85,579.40
$IRIDIUM_FIX,2403.92,12325.02,130998,070717
$TT8_MAMPS,0.026845
$HUMID,1557
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.5,97.9
$24V_AH,24.9,43.549
$10V_AH,10.9,26.151
$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,21.450,33.150,634.475,0.000,0.000,25.552,42.408,141.876,0.500,0.000,0.000,14.683,990.612,1153.538,601.800,1268.821,322.221,0.000,1244.236,0.000,1268.153,0.000,5.699,0.000
$DEVICE_MAMPS,229.333,70.564,791.544,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.288,624.925,1051.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34903,676
$CAP_FILE_SIZE,56326,0
$CFSIZE,260165632,220585984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263, 38.3,1
$GPS,190609,093728,2415.425,12324.411,14,4.2,33,-3.5