version: 66.04
glider: 166
mission: 2
dive: 498
start: 8 17 109 5 7 56
data:
$ID,166
$MISSION,2
$DIVE,498
$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,-17255.822
$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,42
$R_STBD_OVSHOOT,63
$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
$GPS1,050115,2422.356,12249.862,12,2.4,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.2
$GPS2,050736,2422.622,12249.973,16,1.3,26,-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,274.3,96404,-13.9,-10.000
$D_GRID,725
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.11,-243.4,0.0,0.0,0,70,0.00,0.00,-50.58,0.000,2,0.000,0.000,166,2088,2153
$GC,74,-1.11,-243.4,3.2,-6.0,8,138,8.85,2.20,-47.03,0.000,4,0.218,0.050,2385,654,3941
$GC,197,-1.11,-243.4,42.4,-46.6,28,203,0.00,2.05,0.00,0.000,6,0.000,0.032,2379,2050,3940
$GC,543,-1.11,-243.4,167.1,-32.8,89,550,0.00,2.08,0.00,0.000,4,0.000,0.034,2379,638,3943
$GC,673,-1.11,-243.4,207.9,-30.7,112,681,0.00,2.05,0.00,0.000,6,0.000,0.029,2370,2048,3944
$GC,1017,-1.11,-243.4,315.9,-28.7,168,1021,0.00,2.08,0.00,0.000,4,0.000,0.036,2370,649,3945
$GC,1107,-1.11,-243.4,342.1,-30.2,176,1111,0.00,2.05,0.00,0.000,6,0.000,0.032,2367,2044,3945
$GC,1438,-1.11,-243.4,440.4,-29.2,207,1442,0.00,2.10,0.00,0.000,4,0.000,0.038,2366,638,3943
$GC,1634,-1.11,-243.4,499.0,-27.8,224,1643,0.10,2.10,0.00,0.000,6,0.166,0.034,2386,2037,3943
$GC,1953,-1.11,-243.4,577.4,-25.4,240,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2037,3941
$GC,2264,-1.11,-243.4,650.5,-23.2,255,2267,0.00,2.10,0.00,0.000,4,0.000,0.044,2368,654,3937
$GC,2388,-1.11,-243.4,681.1,-22.5,260,2393,0.15,2.05,0.00,0.000,6,0.160,0.039,2394,2014,3936
$STATE,2624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2624,begin apogee
$GC,2632,-0.29,0.0,727.6,19.9,272,2838,0.80,0.00,202.60,1.215,6,0.129,0.000,2647,1689,2945
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2843,1.11,243.4,740.2,0.0,282,3058,1.30,2.30,204.02,1.180,4,0.083,0.050,3099,3094,1951
$GC,3094,1.11,243.4,716.7,17.8,294,3098,0.00,2.15,0.00,0.000,6,0.000,0.038,3110,1693,1949
$GC,3416,1.11,243.4,658.2,18.5,310,3420,0.00,2.20,0.00,0.000,4,0.000,0.050,3110,3111,1944
$GC,3636,1.11,243.4,615.0,19.4,319,3642,0.00,2.12,0.00,0.000,6,0.000,0.039,3120,1702,1940
$GC,3954,1.11,243.4,556.8,17.6,335,3957,0.00,2.17,0.00,0.000,4,0.000,0.051,3120,3111,1937
$GC,4180,1.11,243.4,518.3,17.6,345,4183,0.00,2.12,0.00,0.000,6,0.000,0.039,3130,1704,1935
$GC,4511,1.11,243.4,461.4,16.4,371,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1703,1933
$GC,4827,1.11,243.4,401.3,18.2,401,4831,0.00,2.20,0.00,0.000,4,0.000,0.050,3130,3112,1931
$GC,4964,1.11,243.4,376.2,18.0,413,4969,0.15,2.10,0.00,0.000,6,0.169,0.038,3102,1719,1930
$GC,5290,1.11,243.4,325.1,14.4,443,5294,0.00,2.12,0.00,0.000,4,0.000,0.049,3102,3102,1930
$GC,5428,1.11,243.4,305.2,14.0,455,5432,0.00,2.08,0.00,0.000,6,0.000,0.038,3110,1720,1929
$GC,5771,1.11,243.4,255.6,13.0,512,5778,0.00,2.17,0.00,0.000,4,0.000,0.048,3110,3108,1928
$GC,5853,1.11,243.4,243.1,15.4,526,5860,0.00,2.03,0.00,0.000,6,0.000,0.038,3117,1747,1928
$GC,6200,1.11,243.4,199.7,14.5,587,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1747,1928
$GC,6545,1.11,243.4,156.9,10.8,648,6552,0.00,2.12,0.00,0.000,4,0.000,0.045,3118,3101,1928
$GC,6806,1.11,243.4,124.1,13.7,694,6813,0.00,2.00,0.00,0.000,6,0.000,0.034,3127,1784,1928
$GC,7156,1.28,385.0,91.0,6.1,755,7281,0.00,2.12,114.85,0.762,4,0.000,0.041,3129,3103,1375
$GC,7397,1.33,423.1,70.2,8.9,795,7437,0.08,1.98,33.00,0.713,6,0.051,0.032,3195,1796,1220
$GC,7778,1.33,423.1,17.6,11.4,861,7784,0.00,2.30,0.00,0.000,4,0.000,0.044,3213,279,1217
$STATE,7912,end climb,SURFACE_DEPTH_REACHED
$STATE,7912,begin surface coast
$FINISH,0.9,0.998943
$STATE,7938,end surface coast,CONTROL_FINISHED_OK
$STATE,7938,begin surface
$SM_CCo,7961,41.75,0.657,0,0,1007,475.15
$SM_GC,1.97,0.00,0.00,41.75,0.000,0.000,0.657,167,2073,1007,-8.07,0.34,475.15
$IRIDIUM_FIX,2411.01,12248.94,111198,020248
$TT8_MAMPS,0.027612
$HUMID,1794
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,24.60
$XPDR_PINGS,121
$ALTIM_BOTTOM_PING,650.5,146.0
$24V_AH,23.4,111.198
$10V_AH,10.6,72.681
$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,19.550,60.350,554.475,41.750,0.000,23.229,32.791,162.689,35.250,0.000,0.000,26.679,1503.638,3872.208,640.587,1868.250,497.356,0.000,1473.174,0.000,1833.343,0.000,35.898,0.000
$DEVICE_MAMPS,217.828,50.622,1214.928,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.556,664.125,1125.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50661,889
$CAP_FILE_SIZE,83140,0
$CFSIZE,260165632,194084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.644,  6.1,1
$GPS,170809,072234,2425.002,12248.954,14,5.7,34,-3.4