version: 66.04
glider: 166
mission: 2
dive: 214
start: 6 19 109 20 19 20
data:
$ID,166
$MISSION,2
$DIVE,214
$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,-9483.0059
$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,56
$R_STBD_OVSHOOT,85
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,200810,2419.574,12328.469,9,2.5,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.9
$GPS2,201901,2419.675,12328.537,13,1.1,30,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12328.000
$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,207.3,30710,-16.4,-12.000
$D_GRID,242
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.97,-243.4,0.0,0.0,0,100,0.00,0.00,-82.10,0.000,2,0.000,0.000,166,1516,2299
$GC,103,-0.97,-243.4,3.1,-5.6,13,162,8.88,2.05,-44.25,0.000,4,0.226,0.048,2420,2877,3940
$GC,174,-0.15,-243.4,16.5,-28.9,24,182,0.85,2.03,0.00,0.000,6,0.150,0.030,2684,1502,3941
$GC,521,-1.00,-243.4,52.9,-11.3,85,528,0.70,1.90,0.00,0.000,4,0.067,0.040,2428,211,3941
$GC,547,-1.21,-243.4,56.3,-13.6,89,554,0.15,1.80,0.00,0.000,6,0.067,0.025,2351,1488,3941
$GC,892,-0.41,-243.4,166.4,-29.8,150,899,0.85,2.03,0.00,0.000,4,0.169,0.035,2600,2882,3942
$GC,906,0.27,-243.4,170.4,-29.5,152,914,0.60,2.08,0.00,0.000,6,0.099,0.029,2827,1456,3943
$GC,1253,-0.51,-243.4,204.4,-9.6,213,1260,0.70,2.08,0.00,0.000,4,0.064,0.035,2569,2879,3943
$GC,1306,-0.89,-243.4,209.2,-7.7,222,1313,0.25,2.08,0.00,0.000,6,0.035,0.029,2419,1452,3943
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1496,-0.20,0.0,242.8,18.4,255,1688,0.77,0.00,182.73,0.800,6,0.138,0.000,2666,1738,2944
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1692,0.97,243.4,255.8,0.0,287,1887,1.08,2.17,184.38,0.802,4,0.079,0.044,3049,358,1952
$GC,2114,0.87,316.7,223.5,9.6,358,2177,0.00,2.03,57.35,0.771,6,0.000,0.028,3043,1742,1652
$GC,2517,0.93,368.9,180.4,10.3,428,2568,0.00,2.15,41.15,0.753,4,0.000,0.038,3044,3142,1441
$GC,2625,0.97,398.0,168.7,11.0,446,2657,0.00,2.05,24.85,0.726,6,0.000,0.030,3054,1749,1321
$GC,2997,1.14,489.2,131.3,9.0,511,3080,0.15,2.12,74.22,0.731,4,0.059,0.036,3130,3142,949
$GC,3221,1.03,489.2,100.7,14.3,549,3228,0.25,2.10,0.00,0.000,6,0.140,0.031,3067,1706,948
$GC,3568,1.33,571.2,68.7,9.3,610,3641,0.25,2.15,66.68,0.685,4,0.045,0.043,3202,339,616
$GC,3795,1.16,571.2,26.5,18.5,648,3802,0.25,1.98,0.00,0.000,6,0.125,0.026,3107,1713,612
$STATE,4026,end climb,SURFACE_DEPTH_REACHED
$STATE,4026,begin surface coast
$FINISH,0.6,0.999506
$STATE,4060,end surface coast,CONTROL_FINISHED_OK
$STATE,4060,begin surface
$SM_CCo,4136,0.00,0.000,0,0,611,572.53
$SM_GC,1.52,7.70,0.00,0.00,0.041,0.000,0.000,150,1486,611,-8.02,-0.40,572.53
$IRIDIUM_FIX,2411.01,12326.32,130998,181802
$TT8_MAMPS,0.026845
$HUMID,1550
$INTERNAL_PRESSURE,10.0538
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,24.8,44.865
$10V_AH,10.9,26.811
$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,23.425,33.475,631.350,0.000,0.000,21.903,33.596,478.153,1.000,0.000,0.000,30.402,1035.273,1191.415,600.336,1304.080,657.530,0.000,1251.397,0.000,1290.033,0.000,4.351,0.000
$DEVICE_MAMPS,226.265,48.321,801.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.571,613.773,1031.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,695
$CAP_FILE_SIZE,65898,0
$CFSIZE,260165632,220241920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.418, 52.7,1
$GPS,190609,212924,2419.756,12328.745,31,1.6,35,-3.5