version: 66.04
glider: 166
mission: 2
dive: 211
start: 6 19 109 15 23 15
data:
$ID,166
$MISSION,2
$DIVE,211
$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,590.68237
$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,-9376.707
$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,36
$R_STBD_OVSHOOT,70
$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
$GPS1,150837,2417.313,12326.141,26,1.4,26,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.7
$GPS2,152255,2417.375,12326.174,17,1.8,35,-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,18.9,107397,-16.4,-12.000
$D_GRID,290
$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,14,-0.97,-243.4,0.0,0.0,0,100,0.00,0.00,-83.47,0.000,2,0.000,0.000,149,1508,2356
$GC,103,-0.97,-243.4,3.2,-5.6,13,156,8.73,2.10,-38.88,0.000,4,0.220,0.048,2421,2897,3858
$GC,354,-0.40,-243.4,67.0,-26.9,56,361,0.55,2.08,0.00,0.000,6,0.146,0.029,2603,1474,3859
$GC,700,-0.50,-243.4,111.6,-11.3,117,706,0.00,2.08,0.00,0.000,4,0.000,0.036,2609,2898,3860
$GC,764,-0.69,-243.4,118.0,-9.1,128,771,0.25,2.03,0.00,0.000,6,0.044,0.029,2486,1509,3860
$GC,1110,-0.41,-243.4,180.5,-16.1,189,1117,0.38,2.03,0.00,0.000,4,0.133,0.037,2609,2885,3860
$GC,1185,-0.69,-243.4,187.6,-7.5,202,1192,0.22,2.00,0.00,0.000,6,0.034,0.031,2488,1512,3860
$GC,1530,-0.54,-243.4,236.2,-14.4,263,1538,0.22,2.03,0.00,0.000,4,0.129,0.038,2567,2885,3860
$GC,1579,-0.78,-243.4,241.6,-9.7,271,1587,0.22,1.95,0.00,0.000,6,0.046,0.031,2459,1529,3860
$STATE,1890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1890,begin apogee
$GC,1896,-0.20,0.0,290.4,14.0,326,2087,0.65,0.00,184.15,0.850,6,0.128,0.000,2669,1757,2862
$STATE,2089,end apogee,CONTROL_FINISHED_OK
$STATE,2089,begin climb
$GC,2091,0.97,243.4,299.3,0.0,358,2287,1.08,2.28,185.68,0.845,4,0.084,0.046,3042,357,1869
$GC,2462,0.75,243.4,263.4,13.6,421,2468,0.20,2.03,0.00,0.000,6,0.146,0.029,2982,1753,1864
$GC,2805,0.91,373.6,233.1,7.7,482,2917,0.15,2.20,102.45,0.818,4,0.064,0.044,3063,344,1339
$GC,3108,0.84,373.6,190.6,13.6,534,3115,0.15,2.00,0.00,0.000,6,0.127,0.028,3011,1720,1334
$GC,3453,1.16,495.6,161.3,8.0,595,3562,0.22,2.15,99.53,0.779,4,0.049,0.044,3143,349,841
$GC,3669,0.97,495.6,124.6,18.6,631,3677,0.25,1.95,0.00,0.000,6,0.125,0.028,3048,1689,838
$GC,4017,1.36,601.1,90.4,8.5,692,4105,0.30,2.15,78.05,0.719,4,0.041,0.044,3205,340,454
$GC,4280,1.19,601.1,40.0,19.0,737,4287,0.22,1.88,0.00,0.000,6,0.127,0.027,3118,1643,452
$STATE,4624,end climb,SURFACE_DEPTH_REACHED
$STATE,4624,begin surface coast
$FINISH,0.7,1.013248
$STATE,4659,end surface coast,CONTROL_FINISHED_OK
$STATE,4659,begin surface
$SM_CCo,4736,0.00,0.000,0,0,449,592.15
$SM_GC,1.40,7.75,0.00,0.00,0.040,0.000,0.000,164,1493,449,-8.02,-0.20,592.15
$IRIDIUM_FIX,2408.65,12325.02,130998,151551
$TT8_MAMPS,0.026845
$HUMID,1581
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,25.70
$XPDR_PINGS,2
$24V_AH,24.8,44.349
$10V_AH,10.9,26.554
$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,21.550,33.400,649.850,0.000,0.000,120.311,375.772,0.000,1.500,0.000,0.000,35.239,1188.915,1679.017,612.137,1487.598,629.342,0.000,1332.569,0.000,1470.171,0.000,7.695,0.000
$DEVICE_MAMPS,220.129,52.923,849.836,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.640,667.759,1121.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44341,804
$CAP_FILE_SIZE,62542,0
$CFSIZE,260165632,220352512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 10.7,1
$GPS,190609,164315,2417.949,12326.803,12,99.0,31,-3.5