version: 66.04
glider: 166
mission: 2
dive: 497
start: 8 17 109 2 37 50
data:
$ID,166
$MISSION,2
$DIVE,497
$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,330
$T_MISSION,390
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17228.514
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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,2
$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
$GPS1,022706,2420.177,12250.481,30,0.9,31,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.8
$GPS2,023726,2420.504,12250.664,13,0.9,13,-3.4
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,275.4,100045,-13.9,-10.000
$D_GRID,729
$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,16,-1.11,-243.4,0.0,0.0,0,72,0.00,0.00,-53.53,0.000,2,0.000,0.000,163,2062,2063
$GC,75,-1.11,-243.4,3.0,-5.2,8,142,8.95,2.15,-51.95,0.000,4,0.224,0.048,2389,644,3941
$GC,200,-1.11,-243.4,40.1,-41.7,28,207,0.00,2.08,0.00,0.000,6,0.000,0.031,2378,2070,3942
$GC,546,-1.11,-243.4,171.1,-33.7,89,553,0.00,2.10,0.00,0.000,4,0.000,0.034,2370,633,3943
$GC,768,-1.11,-243.4,241.1,-30.5,128,775,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2041,3944
$GC,1107,-1.11,-243.4,334.0,-27.7,177,1111,0.12,2.08,0.00,0.000,4,0.176,0.034,2389,643,3945
$GC,1143,-1.11,-243.4,344.0,-27.9,180,1147,0.00,2.03,0.00,0.000,6,0.000,0.031,2391,2028,3945
$GC,1475,-1.11,-243.4,431.2,-27.4,211,1478,0.00,2.05,0.00,0.000,4,0.000,0.037,2392,645,3944
$GC,1659,-1.11,-243.4,475.5,-23.8,227,1662,0.00,2.03,0.00,0.000,6,0.000,0.032,2373,2026,3943
$GC,1997,-1.11,-243.4,556.9,-23.9,248,2000,0.00,2.05,0.00,0.000,4,0.000,0.039,2373,653,3940
$GC,2030,-1.11,-243.4,565.9,-24.1,249,2034,0.00,2.00,0.00,0.000,6,0.000,0.035,2374,2017,3940
$GC,2351,-1.11,-243.4,636.3,-22.0,265,2355,0.00,2.05,0.00,0.000,4,0.000,0.040,2366,647,3936
$GC,2470,-1.11,-243.4,663.7,-22.4,270,2474,0.17,2.03,0.00,0.000,6,0.160,0.038,2393,2008,3935
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2806,-0.29,0.0,730.9,20.3,286,3018,0.82,0.00,201.75,1.220,6,0.126,0.000,2653,1680,2945
$STATE,3019,end apogee,CONTROL_FINISHED_OK
$STATE,3019,begin climb
$GC,3022,1.11,243.4,744.7,0.0,297,3235,1.25,2.22,202.00,1.184,4,0.079,0.052,3108,292,1952
$GC,3443,1.11,243.4,697.0,15.6,316,3447,0.00,2.12,0.00,0.000,6,0.000,0.038,3108,1698,1945
$GC,3776,1.11,243.4,637.4,18.0,332,3779,0.00,2.15,0.00,0.000,4,0.000,0.050,3108,3100,1941
$GC,3988,1.11,243.4,595.3,18.6,341,3992,0.00,2.10,0.00,0.000,6,0.000,0.046,3118,1712,1938
$GC,4310,1.11,243.4,544.4,13.4,357,4314,0.00,2.17,0.00,0.000,4,0.000,0.051,3118,3108,1936
$GC,4417,1.11,243.4,528.1,15.2,361,4424,0.00,2.10,0.00,0.000,6,0.000,0.040,3129,1714,1935
$GC,4737,1.11,243.4,479.0,16.8,383,4741,0.00,2.15,0.00,0.000,4,0.000,0.051,3129,3108,1933
$GC,4997,1.11,243.4,434.3,16.6,406,5001,0.12,2.05,0.00,0.000,6,0.173,0.040,3107,1741,1931
$GC,5329,1.11,243.4,385.2,16.6,437,5332,0.00,2.10,0.00,0.000,4,0.000,0.051,3107,3096,1930
$GC,5543,1.11,243.4,347.6,15.8,456,5547,0.00,2.00,0.00,0.000,6,0.000,0.038,3114,1762,1929
$GC,5874,1.11,243.4,291.2,17.1,490,5880,0.00,2.08,0.00,0.000,4,0.000,0.050,3115,3108,1928
$GC,6134,1.11,243.4,247.3,15.4,536,6140,0.00,2.00,0.00,0.000,6,0.000,0.038,3124,1795,1927
$GC,6480,1.11,243.4,206.1,13.5,597,6487,0.00,2.33,0.00,0.000,4,0.000,0.048,3135,286,1927
$GC,6517,1.11,243.4,200.4,15.7,603,6523,0.00,2.30,0.00,0.000,6,0.000,0.037,3135,1811,1927
$GC,6861,1.11,243.4,154.9,11.1,664,6867,0.12,1.95,0.00,0.000,4,0.158,0.045,3103,3100,1927
$GC,7124,1.11,243.4,127.3,10.9,710,7130,0.00,1.92,0.00,0.000,6,0.000,0.035,3110,1819,1927
$GC,7471,1.17,295.2,95.7,8.6,771,7517,0.00,2.45,40.60,0.767,4,0.000,0.045,3125,284,1741
$GC,7705,1.30,401.1,77.7,7.1,811,7802,0.10,2.22,88.78,0.736,6,0.074,0.032,3190,1789,1308
$GC,8143,1.30,401.1,27.8,11.6,886,8149,0.00,2.00,0.00,0.000,4,0.000,0.041,3195,3104,1305
$GC,8178,1.30,401.1,23.6,12.3,892,8185,0.08,1.98,0.00,0.000,6,0.117,0.032,3164,1789,1305
$STATE,8409,end climb,SURFACE_DEPTH_REACHED
$STATE,8409,begin surface coast
$FINISH,0.9,1.007284
$STATE,8450,end surface coast,CONTROL_FINISHED_OK
$STATE,8450,begin surface
$SM_CCo,8470,60.35,0.653,0,0,1007,475.15
$SM_GC,1.94,0.00,0.00,60.35,0.000,0.000,0.653,166,2088,1007,-8.07,0.76,475.15
$IRIDIUM_FIX,2411.01,12248.94,111198,020238
$TT8_MAMPS,0.027612
$HUMID,1813
$INTERNAL_PRESSURE,10.0245
$TCM_TEMP,25.20
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,726.6,43.7
$24V_AH,21.1,111.006
$10V_AH,10.6,72.587
$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,19.750,67.925,533.125,60.350,0.000,53.299,66.415,258.862,37.500,0.000,0.000,13.891,1618.549,4133.397,624.841,2061.968,715.615,0.000,1531.292,0.000,2032.443,0.000,43.594,0.000
$DEVICE_MAMPS,223.964,52.156,1220.297,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.728,705.075,1245.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53705,940
$CAP_FILE_SIZE,93225,0
$CFSIZE,260165632,194129920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.483,  9.3,1
$GPS,170809,050115,2422.356,12249.862,12,2.4,32,-3.4