version: 66.04
glider: 166
mission: 2
dive: 200
start: 6 19 109 1 12 5
data:
$ID,166
$MISSION,2
$DIVE,200
$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,-9156.3936
$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,45
$R_STBD_OVSHOOT,93
$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
$GPS1,010620,2413.090,12322.560,14,2.0,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.7
$GPS2,011146,2413.105,12322.597,12,2.6,31,-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,153.8,22363,-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,-243.4,0.0,0.0,0,102,0.00,0.00,-85.47,0.000,2,0.000,0.000,127,1533,2377
$GC,105,-0.97,-243.4,3.3,-6.7,14,158,8.98,2.00,-38.58,0.000,4,0.232,0.050,2417,2866,3858
$GC,268,-0.33,-243.4,44.6,-29.0,41,275,0.70,2.00,0.00,0.000,6,0.151,0.031,2628,1499,3858
$GC,614,-0.47,-243.4,88.4,-11.7,102,621,0.12,2.00,0.00,0.000,4,0.064,0.035,2560,2877,3859
$GC,768,-0.47,-243.4,112.1,-14.6,129,775,0.00,1.98,0.00,0.000,6,0.000,0.031,2558,1526,3859
$GC,1113,-0.47,-243.4,154.6,-11.6,190,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1525,3860
$GC,1456,-0.61,-243.4,193.3,-10.2,251,1463,0.00,1.98,0.00,0.000,4,0.000,0.037,2559,2861,3860
$GC,1562,-0.84,-243.4,203.5,-9.1,269,1569,0.25,1.90,0.00,0.000,6,0.043,0.031,2438,1536,3861
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1657,begin apogee
$GC,1662,-0.20,0.0,217.8,15.2,286,1852,0.70,0.00,182.10,0.785,6,0.134,0.000,2665,1738,2862
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1856,0.97,243.4,228.0,0.0,317,2051,1.08,2.17,183.05,0.775,4,0.084,0.045,3059,351,1870
$GC,2304,0.75,243.4,183.9,12.2,394,2312,0.28,2.03,0.00,0.000,6,0.138,0.028,2978,1768,1865
$GC,2651,1.04,328.0,155.2,9.2,455,2723,0.22,2.25,65.72,0.748,4,0.050,0.043,3100,355,1524
$GC,2978,0.96,333.5,118.2,11.8,511,2993,0.17,2.00,5.40,0.532,6,0.134,0.027,3049,1745,1502
$GC,3333,1.21,445.6,89.3,8.3,573,3427,0.20,0.00,89.90,0.709,6,0.051,0.000,3156,1747,1045
$GC,3768,1.10,445.6,26.8,12.9,648,3776,0.20,2.10,0.00,0.000,4,0.133,0.041,3100,340,1042
$GC,3923,1.34,509.5,11.0,9.9,675,3982,0.20,2.00,51.62,0.645,6,0.051,0.025,3201,1749,785
$STATE,3987,end climb,SURFACE_DEPTH_REACHED
$STATE,3987,begin surface coast
$FINISH,0.5,1.002808
$STATE,4005,end surface coast,CONTROL_FINISHED_OK
$STATE,4005,begin surface
$SM_CCo,4082,0.00,0.000,0,0,782,510.47
$SM_GC,1.43,8.02,0.00,0.00,0.043,0.000,0.000,156,1485,782,-8.02,-0.42,510.47
$IRIDIUM_FIX,2406.29,12326.99,130998,000050
$TT8_MAMPS,0.026845
$HUMID,1555
$INTERNAL_PRESSURE,10.0733
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.2,71.8
$24V_AH,24.9,42.666
$10V_AH,10.9,25.705
$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,21.125,25.025,577.800,0.000,0.000,24.461,34.046,158.528,0.500,0.000,0.000,32.874,1028.948,1197.580,550.693,1311.764,326.255,0.000,1182.492,0.000,1293.574,0.000,5.632,0.000
$DEVICE_MAMPS,232.401,49.855,784.641,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.665,648.138,1090.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37953,688
$CAP_FILE_SIZE,55657,0
$CFSIZE,260165632,220803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,358.6,1
$GPS,190609,022106,2413.074,12322.560,10,1.2,26,-3.5