version: 66.04
glider: 166
mission: 2
dive: 207
start: 6 19 109 9 51 27
data:
$ID,166
$MISSION,2
$DIVE,207
$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,-9260.1328
$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,65
$R_STBD_OVSHOOT,63
$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
$GPS1,093728,2415.425,12324.411,14,4.2,33,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.1
$GPS2,095108,2415.507,12324.592,12,1.9,12,-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,358.3,111362,-16.4,-12.000
$D_GRID,224
$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,-243.4,0.0,0.0,0,110,0.00,0.00,-93.10,0.000,2,0.000,0.000,119,1470,2636
$GC,113,-0.97,-243.4,3.2,-3.3,15,160,9.15,1.88,-29.48,0.000,4,0.238,0.056,2420,227,3857
$GC,290,-0.33,-243.4,49.0,-25.7,45,297,0.62,1.83,0.00,0.000,6,0.146,0.027,2628,1498,3858
$GC,635,-0.49,-243.4,86.0,-11.4,106,642,0.15,2.03,0.00,0.000,4,0.061,0.036,2550,2901,3858
$GC,712,-0.49,-243.4,96.3,-12.0,119,719,0.05,1.98,0.00,0.000,6,0.107,0.029,2582,1541,3859
$GC,1058,-0.59,-243.4,132.4,-9.4,180,1065,0.00,2.00,0.00,0.000,4,0.000,0.038,2584,2888,3859
$GC,1135,-0.82,-243.4,139.5,-10.2,193,1142,0.22,1.95,0.00,0.000,6,0.036,0.030,2447,1542,3859
$GC,1483,-0.43,-243.4,206.4,-18.8,254,1489,0.45,0.00,0.00,0.000,6,0.137,0.000,2592,1541,3859
$STATE,1702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1702,begin apogee
$GC,1707,-0.20,0.0,224.1,6.2,293,1894,0.20,0.00,181.43,0.785,6,0.100,0.000,2671,1759,2863
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1898,0.97,243.4,233.2,0.0,324,2091,1.05,2.17,183.23,0.785,4,0.076,0.040,3057,3140,1869
$GC,2137,0.73,254.1,218.5,11.6,363,2152,0.30,2.08,9.62,0.644,6,0.143,0.033,2973,1747,1826
$GC,2492,1.18,460.1,189.1,5.2,425,2663,0.35,2.25,163.62,0.759,4,0.041,0.046,3144,344,987
$GC,2879,1.02,460.1,119.7,17.0,490,2886,0.22,2.00,0.00,0.000,6,0.130,0.028,3070,1726,982
$GC,3224,1.38,597.8,89.1,7.4,551,3340,0.28,2.12,106.10,0.700,4,0.044,0.035,3201,3133,453
$GC,3511,1.15,597.8,31.1,24.2,599,3518,0.35,2.17,0.00,0.000,6,0.140,0.031,3108,1649,452
$STATE,3751,end climb,SURFACE_DEPTH_REACHED
$STATE,3752,begin surface coast
$FINISH,0.6,1.009232
$STATE,3787,end surface coast,CONTROL_FINISHED_OK
$STATE,3787,begin surface
$SM_CCo,3863,0.00,0.000,0,0,448,592.40
$SM_GC,1.39,7.60,0.00,0.00,0.038,0.000,0.000,145,1475,448,-8.01,-0.74,592.40
$IRIDIUM_FIX,2406.29,12325.02,130998,090946
$TT8_MAMPS,0.026078
$HUMID,1557
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.0,76.7
$24V_AH,24.9,43.714
$10V_AH,10.9,26.226
$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,21.000,24.925,644.000,0.000,0.000,98.709,130.707,306.167,0.500,0.000,0.000,13.934,941.744,1286.653,590.841,1213.416,656.459,0.000,1209.657,0.000,1213.155,0.000,5.647,0.000
$DEVICE_MAMPS,237.770,55.991,784.641,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.392,585.696,985.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,648
$CAP_FILE_SIZE,58530,0
$CFSIZE,260165632,220545024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 51.8,1
$GPS,190609,105700,2416.077,12325.052,38,2.0,38,-3.5