version: 66.04
glider: 166
mission: 2
dive: 217
start: 6 20 109 0 22 4
data:
$ID,166
$MISSION,2
$DIVE,217
$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,450
$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,-9549.7998
$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,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,001701,2419.987,12328.968,8,1.9,8,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.7
$GPS2,002144,2420.014,12329.015,13,1.8,13,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12328.000
$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,231.6,31371,-16.4,-12.000
$D_GRID,242
$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,-243.4,0.0,0.0,0,96,0.00,0.00,-79.57,0.000,2,0.000,0.000,131,1526,2431
$GC,99,-0.97,-243.4,3.4,-6.8,13,152,8.70,2.05,-38.08,0.000,4,0.220,0.056,2422,199,3941
$GC,183,-0.22,-243.4,22.3,-31.8,26,191,0.73,1.88,0.00,0.000,6,0.145,0.027,2662,1492,3941
$GC,532,-0.51,-243.4,58.3,-10.1,87,541,0.22,2.08,0.00,0.000,4,0.047,0.036,2547,2897,3942
$GC,726,-0.51,-243.4,86.8,-15.5,120,735,0.00,1.98,0.00,0.000,6,0.000,0.031,2544,1546,3942
$GC,1078,-0.51,-243.4,135.3,-13.3,181,1085,0.12,1.98,0.00,0.000,4,0.135,0.037,2585,2895,3943
$GC,1144,-0.74,-243.4,141.8,-8.7,192,1151,0.17,1.98,0.00,0.000,6,0.027,0.031,2470,1539,3943
$GC,1488,-0.55,-243.4,194.9,-14.2,253,1495,0.28,2.00,0.00,0.000,4,0.131,0.043,2556,209,3944
$GC,1541,-0.71,-243.4,200.7,-9.7,262,1550,0.15,1.90,0.00,0.000,6,0.043,0.025,2487,1553,3944
$STATE,1829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1834,-0.20,0.0,242.6,14.2,313,2028,0.55,0.00,182.90,0.807,6,0.123,0.000,2669,1761,2944
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2030,begin climb
$GC,2032,0.97,243.4,250.7,0.0,345,2225,1.08,2.12,183.62,0.802,4,0.079,0.039,3047,3141,1952
$GC,2379,0.74,243.4,220.6,13.3,403,2385,0.28,2.05,0.00,0.000,6,0.143,0.031,2978,1743,1949
$GC,2724,0.98,363.6,191.3,8.0,464,2825,0.17,2.17,93.57,0.772,4,0.058,0.046,3075,352,1461
$GC,2979,0.94,373.5,159.8,11.7,507,2995,0.12,2.03,9.05,0.646,6,0.143,0.028,3041,1754,1421
$GC,3334,1.14,460.4,124.5,9.1,569,3412,0.17,2.25,70.35,0.736,4,0.054,0.044,3146,348,1068
$GC,3655,1.03,460.4,74.8,14.2,624,3663,0.20,1.98,0.00,0.000,6,0.119,0.027,3067,1725,1064
$GC,4003,1.41,566.6,43.0,8.5,685,4096,0.30,2.17,86.18,0.675,4,0.041,0.042,3220,352,635
$STATE,4234,end climb,SURFACE_DEPTH_REACHED
$STATE,4234,begin surface coast
$FINISH,0.6,1.020037
$STATE,4253,end surface coast,CONTROL_FINISHED_OK
$STATE,4253,begin surface
$SM_CCo,4331,0.00,0.000,0,0,630,567.87
$SM_GC,1.37,8.12,0.00,0.00,0.043,0.000,0.000,169,1517,630,-8.02,0.48,567.87
$IRIDIUM_FIX,2411.01,12329.59,130998,232339
$TT8_MAMPS,0.026845
$HUMID,1563
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,24.8,45.319
$10V_AH,10.9,27.063
$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,21.375,32.525,625.675,0.000,0.000,25.500,33.418,124.995,0.750,0.000,0.000,13.519,1077.855,1060.701,576.502,1595.347,309.479,0.000,1258.794,0.000,1600.498,0.000,4.350,0.000
$DEVICE_MAMPS,220.129,55.991,806.884,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.765,645.278,1327.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38109,724
$CAP_FILE_SIZE,63056,0
$CFSIZE,260165632,220114944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175, 94.1,1
$GPS,200609,013515,2420.065,12328.952,7,2.4,26,-3.5