version: 66.04
glider: 166
mission: 2
dive: 209
start: 6 19 109 12 13 58
data:
$ID,166
$MISSION,2
$DIVE,209
$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,-9307.0518
$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,58
$R_STBD_OVSHOOT,76
$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
$GPS1,120843,2416.547,12325.346,9,1.7,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.3
$GPS2,121338,2416.518,12325.340,15,1.7,15,-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,7.7,109252,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,106,0.00,0.00,-89.22,0.000,2,0.000,0.000,120,1479,2493
$GC,108,-0.97,-243.4,3.2,-3.0,14,161,8.85,2.12,-33.45,0.000,4,0.225,0.048,2420,2888,3858
$GC,318,-0.48,-243.4,57.9,-24.7,50,325,0.55,2.03,0.00,0.000,6,0.142,0.030,2584,1471,3859
$GC,665,-0.48,-243.4,103.3,-11.5,111,671,0.00,2.05,0.00,0.000,4,0.000,0.035,2588,2881,3859
$GC,734,-0.61,-243.4,109.9,-9.1,123,741,0.12,2.03,0.00,0.000,6,0.060,0.029,2515,1463,3860
$GC,1080,-0.47,-243.4,160.0,-14.3,184,1088,0.20,1.85,0.00,0.000,4,0.131,0.042,2581,205,3861
$GC,1112,-0.54,-243.4,164.0,-11.5,189,1119,0.00,1.80,0.00,0.000,6,0.000,0.025,2584,1473,3861
$GC,1457,-0.73,-243.4,192.1,-7.6,250,1464,0.20,2.08,0.00,0.000,4,0.051,0.037,2491,2881,3861
$STATE,1703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1703,begin apogee
$GC,1710,-0.20,0.0,224.3,13.5,294,1899,0.55,0.00,182.38,0.791,6,0.116,0.000,2668,1735,2862
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1903,0.97,243.4,233.4,0.0,326,2099,1.08,2.20,183.75,0.789,4,0.078,0.041,3058,3132,1868
$GC,2201,0.74,256.0,210.7,11.6,376,2221,0.28,2.03,10.98,0.669,6,0.143,0.033,2980,1761,1818
$GC,2561,1.04,376.7,180.5,8.0,439,2664,0.22,2.20,95.20,0.759,4,0.049,0.045,3092,352,1326
$GC,2889,0.93,376.7,133.3,13.8,495,2896,0.20,2.00,0.00,0.000,6,0.130,0.028,3034,1729,1323
$GC,3236,1.28,488.2,104.5,8.3,556,3332,0.28,2.12,89.72,0.720,4,0.044,0.036,3171,3136,873
$GC,3504,1.09,488.2,58.2,19.0,601,3511,0.30,2.17,0.00,0.000,6,0.137,0.031,3092,1653,871
$GC,3849,1.43,567.2,24.3,9.4,662,3920,0.25,2.30,64.32,0.658,4,0.044,0.035,3220,3138,550
$STATE,3971,end climb,SURFACE_DEPTH_REACHED
$STATE,3971,begin surface coast
$FINISH,0.6,0.998871
$STATE,3989,end surface coast,CONTROL_FINISHED_OK
$STATE,3989,begin surface
$SM_CCo,4068,0.00,0.000,0,0,547,567.87
$SM_GC,1.39,8.07,0.00,0.00,0.041,0.000,0.000,141,1492,547,-8.03,-0.23,567.87
$IRIDIUM_FIX,2408.65,12325.02,130998,111111
$TT8_MAMPS,0.026845
$HUMID,1550
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.9,44.009
$10V_AH,10.9,26.375
$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,21.150,33.150,626.350,0.000,0.000,24.296,39.530,138.912,0.250,0.000,0.000,15.534,1004.890,1178.499,591.311,1283.628,311.976,0.000,1232.016,0.000,1282.517,0.000,2.680,0.000
$DEVICE_MAMPS,225.498,47.554,790.777,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.016,632.688,1064.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37926,685
$CAP_FILE_SIZE,55345,0
$CFSIZE,260165632,220471296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 10.8,1
$GPS,190609,132252,2416.817,12325.595,14,99.0,33,-3.5