version: 66.04
glider: 166
mission: 2
dive: 208
start: 6 19 109 11 2 24
data:
$ID,166
$MISSION,2
$DIVE,208
$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,-9290.8906
$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,67
$R_STBD_OVSHOOT,73
$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
$GPS1,105700,2416.077,12325.052,38,2.0,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.9
$GPS2,110206,2416.085,12325.081,14,1.3,30,-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,358.9,110131,-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,-243.4,0.0,0.0,0,107,0.00,0.00,-89.43,0.000,2,0.000,0.000,121,1475,2482
$GC,110,-0.97,-243.4,3.4,-6.3,14,162,8.95,1.88,-34.58,0.000,4,0.230,0.056,2422,230,3858
$GC,387,-0.35,-243.4,82.5,-26.7,62,394,0.60,1.83,0.00,0.000,6,0.147,0.027,2620,1498,3859
$GC,734,-0.56,-243.4,117.9,-9.8,123,740,0.17,2.03,0.00,0.000,4,0.055,0.035,2529,2901,3859
$GC,849,-0.56,-243.4,134.1,-14.2,143,856,0.05,1.95,0.00,0.000,6,0.136,0.030,2557,1557,3859
$GC,1194,-0.62,-243.4,171.7,-8.5,204,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1557,3860
$GC,1540,-0.74,-243.4,204.2,-8.3,265,1546,0.17,1.98,0.00,0.000,4,0.055,0.038,2479,2904,3860
$GC,1643,-0.60,-243.4,218.1,-14.4,283,1650,0.22,1.90,0.00,0.000,6,0.120,0.031,2544,1577,3860
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1693,-0.20,0.0,224.1,12.2,291,1881,0.35,0.00,181.98,0.795,6,0.119,0.000,2666,1774,2863
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1884,begin climb
$GC,1886,0.97,243.4,235.7,0.0,322,2081,1.10,2.10,183.60,0.794,4,0.087,0.039,3053,3116,1868
$GC,2183,0.74,243.4,208.4,12.3,372,2190,0.28,2.00,0.00,0.000,6,0.144,0.031,2981,1780,1865
$GC,2528,1.18,473.1,186.8,4.4,433,2718,0.32,2.30,181.75,0.767,4,0.042,0.046,3146,345,933
$GC,2899,1.01,473.1,122.2,16.5,495,2907,0.25,1.98,0.00,0.000,6,0.127,0.028,3064,1713,931
$GC,3246,1.40,604.3,91.1,7.7,556,3349,0.30,2.20,95.95,0.706,4,0.041,0.043,3217,330,454
$GC,3523,1.21,604.3,36.7,19.3,603,3531,0.25,1.95,0.00,0.000,6,0.135,0.026,3124,1686,452
$STATE,3822,end climb,SURFACE_DEPTH_REACHED
$STATE,3822,begin surface coast
$FINISH,0.6,0.999362
$STATE,3856,end surface coast,CONTROL_FINISHED_OK
$STATE,3857,begin surface
$SM_CCo,3933,0.00,0.000,0,0,449,592.15
$SM_GC,1.37,7.65,0.00,0.00,0.035,0.000,0.000,153,1479,449,-8.04,-0.59,592.15
$IRIDIUM_FIX,2403.92,12333.54,130998,090923
$TT8_MAMPS,0.026845
$HUMID,1568
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.1,70.3
$24V_AH,24.9,43.864
$10V_AH,10.9,26.300
$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,20.675,24.575,643.275,0.000,0.000,23.038,42.263,133.460,0.500,0.000,0.000,30.131,956.990,1130.542,596.054,1258.640,302.457,0.000,1223.628,0.000,1242.540,0.000,5.626,0.000
$DEVICE_MAMPS,230.100,55.991,794.612,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.049,604.305,1016.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34871,662
$CAP_FILE_SIZE,52669,0
$CFSIZE,260165632,220516352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 50.4,1
$GPS,190609,120843,2416.547,12325.346,9,1.7,14,-3.5