version: 66.04
glider: 166
mission: 2
dive: 220
start: 6 20 109 4 52 55
data:
$ID,166
$MISSION,2
$DIVE,220
$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,-9627.1758
$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,66
$R_STBD_OVSHOOT,68
$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
$GPS1,044637,2419.670,12328.534,40,1.0,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.7
$GPS2,045236,2419.695,12328.607,11,1.2,27,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12335.000
$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,183.2,38045,-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,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-84.75,0.000,2,0.000,0.000,167,1476,2354
$GC,104,-0.97,-243.4,3.1,-5.7,13,162,8.95,2.10,-41.55,0.000,4,0.231,0.050,2404,2897,3940
$GC,250,-0.29,-243.4,41.3,-30.5,37,257,0.77,2.03,0.00,0.000,6,0.147,0.031,2643,1496,3941
$GC,595,-0.52,-243.4,81.4,-9.4,98,602,0.17,2.08,0.00,0.000,4,0.053,0.035,2550,2885,3942
$GC,655,-0.46,-243.4,90.1,-16.6,108,662,0.20,2.03,0.00,0.000,6,0.122,0.030,2588,1474,3942
$GC,1001,-0.67,-243.4,128.6,-8.3,169,1008,0.17,2.08,0.00,0.000,4,0.054,0.036,2494,2891,3943
$GC,1100,-0.62,-243.4,141.6,-14.0,186,1107,0.15,2.03,0.00,0.000,6,0.130,0.030,2537,1508,3943
$GC,1446,-0.67,-243.4,184.9,-12.1,247,1453,0.00,2.05,0.00,0.000,4,0.000,0.038,2538,2882,3945
$GC,1569,-0.86,-243.4,199.5,-11.1,268,1577,0.15,1.98,0.00,0.000,6,0.041,0.031,2438,1534,3944
$STATE,1845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1845,begin apogee
$GC,1851,-0.20,0.0,242.8,16.2,317,2043,0.68,0.00,183.50,0.809,6,0.128,0.000,2665,1747,2944
$STATE,2045,end apogee,CONTROL_FINISHED_OK
$STATE,2045,begin climb
$GC,2047,0.97,243.4,255.4,0.0,349,2243,1.08,2.20,184.65,0.806,4,0.075,0.046,3059,358,1952
$GC,2277,0.71,243.4,242.7,15.1,386,2284,0.32,2.05,0.00,0.000,6,0.140,0.028,2966,1758,1950
$GC,2621,1.01,389.1,217.0,7.2,447,2744,0.25,2.20,113.82,0.788,4,0.048,0.045,3088,358,1358
$GC,2969,0.92,389.1,172.7,13.2,507,2976,0.15,2.00,0.00,0.000,6,0.127,0.028,3038,1730,1353
$GC,3314,1.16,484.5,142.0,8.8,568,3399,0.17,2.20,77.40,0.746,4,0.054,0.044,3146,357,969
$GC,3540,1.06,484.5,107.6,13.2,606,3547,0.15,1.95,0.00,0.000,6,0.127,0.027,3083,1704,965
$GC,3888,1.38,586.5,72.3,8.6,667,3978,0.25,2.15,83.30,0.695,4,0.044,0.043,3216,355,553
$GC,4158,1.17,586.5,25.0,19.0,712,4166,0.28,1.85,0.00,0.000,6,0.129,0.027,3114,1643,550
$STATE,4372,end climb,SURFACE_DEPTH_REACHED
$STATE,4373,begin surface coast
$FINISH,0.7,1.021228
$STATE,4405,end surface coast,CONTROL_FINISHED_OK
$STATE,4405,begin surface
$SM_CCo,4481,0.00,0.000,0,0,547,588.23
$SM_GC,1.30,7.72,0.00,0.00,0.038,0.000,0.000,166,1499,547,-8.01,-0.03,588.23
$IRIDIUM_FIX,2408.65,12328.29,140998,030355
$TT8_MAMPS,0.026845
$HUMID,1575
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,26.70
$XPDR_PINGS,1
$24V_AH,24.8,45.810
$10V_AH,10.9,27.338
$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,21.625,33.425,642.675,0.000,0.000,22.637,30.537,187.464,0.750,0.000,0.000,27.389,1121.655,1210.093,611.628,1526.538,370.455,0.000,1302.335,0.000,1516.711,0.000,4.357,0.000
$DEVICE_MAMPS,230.867,55.224,809.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.943,667.638,1228.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41195,754
$CAP_FILE_SIZE,64399,0
$CFSIZE,260165632,219975680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246, 30.6,1
$GPS,200609,060820,2419.735,12328.555,11,1.5,11,-3.5