version: 66.04
glider: 166
mission: 2
dive: 505
start: 8 17 109 21 7 21
data:
$ID,166
$MISSION,2
$DIVE,505
$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,-17404.473
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$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,47
$R_STBD_OVSHOOT,53
$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
$GPS1,205715,2437.859,12248.609,12,2.1,32,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.3
$GPS2,210658,2438.261,12248.765,11,2.2,30,-3.5
$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,260.2,76515,-13.9,-10.000
$D_GRID,810
$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,15,-1.11,-243.4,0.0,0.0,0,66,0.00,0.00,-48.20,0.000,2,0.000,0.000,165,2078,2095
$GC,70,-1.11,-243.4,3.1,-6.1,8,134,9.32,2.08,-47.00,0.000,4,0.225,0.054,2448,3457,3940
$GC,175,-1.11,-243.4,31.2,-35.5,25,181,0.00,2.05,0.00,0.000,6,0.000,0.028,2447,2038,3940
$GC,521,-1.11,-243.4,146.7,-29.6,86,528,0.00,2.03,0.00,0.000,4,0.000,0.035,2449,653,3941
$GC,615,-1.11,-243.4,173.6,-26.1,102,622,0.00,2.05,0.00,0.000,6,0.000,0.030,2447,2064,3942
$GC,960,-1.11,-243.4,248.7,-19.4,163,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2065,3943
$GC,1298,-1.11,-243.4,328.2,-23.1,213,1302,0.12,2.10,0.00,0.000,4,0.163,0.036,2461,661,3943
$GC,1411,-1.11,-243.4,353.3,-21.6,222,1418,0.00,2.05,0.00,0.000,6,0.000,0.031,2448,2060,3943
$GC,1738,-1.11,-243.4,424.7,-23.0,253,1743,0.00,2.10,0.00,0.000,4,0.000,0.040,2449,665,3941
$GC,1912,-1.11,-243.4,460.8,-20.9,268,1919,0.00,2.05,0.00,0.000,6,0.000,0.035,2447,2046,3941
$GC,2246,-1.11,-243.4,530.4,-19.8,293,2250,0.00,2.10,0.00,0.000,4,0.000,0.042,2447,664,3938
$GC,2339,-1.11,-243.4,552.8,-23.9,297,2343,0.00,2.10,0.00,0.000,6,0.000,0.038,2446,2053,3937
$GC,2672,-1.11,-243.4,615.5,-17.7,313,2676,0.00,2.10,0.00,0.000,4,0.000,0.044,2447,675,3934
$GC,2766,-1.11,-243.4,630.5,-15.7,317,2770,0.00,2.08,0.00,0.000,6,0.000,0.038,2437,2053,3933
$GC,3099,-1.11,-243.4,684.9,-15.4,333,3103,0.00,2.10,0.00,0.000,4,0.000,0.046,2438,676,3929
$GC,3205,-1.11,-243.4,701.8,-14.8,337,3212,0.12,2.08,0.00,0.000,6,0.151,0.040,2468,2047,3928
$GC,3524,-1.11,-243.4,741.5,-12.3,353,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2047,3926
$GC,3830,-1.11,-243.4,780.8,-12.9,368,3834,0.00,2.12,0.00,0.000,4,0.000,0.048,2468,670,3922
$GC,3966,-1.11,-243.4,799.3,-13.7,374,3971,0.00,2.10,0.00,0.000,6,0.000,0.043,2463,2038,3920
$STATE,4048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4048,begin apogee
$GC,4056,-0.29,0.0,811.0,13.7,378,4265,0.80,0.00,205.12,1.309,6,0.111,0.000,2726,1702,2944
$STATE,4265,end apogee,CONTROL_FINISHED_OK
$STATE,4265,begin climb
$GC,4269,1.11,243.4,824.1,0.0,388,4489,1.20,2.30,208.68,1.269,4,0.041,0.054,3201,286,1951
$GC,4495,1.11,243.4,805.9,20.7,398,4501,0.00,2.22,0.00,0.000,6,0.000,0.041,3201,1706,1950
$GC,4812,1.11,243.4,732.7,24.0,414,4816,0.00,2.17,0.00,0.000,4,0.000,0.054,3202,3102,1943
$GC,4975,1.11,243.4,689.1,27.4,421,4980,0.15,2.12,0.00,0.000,6,0.199,0.040,3177,1698,1940
$GC,5296,1.11,243.4,620.2,20.3,437,5300,0.00,2.20,0.00,0.000,4,0.000,0.054,3174,3099,1938
$GC,5548,1.11,243.4,563.8,21.5,448,5552,0.00,2.10,0.00,0.000,6,0.000,0.041,3184,1712,1936
$GC,5868,1.11,243.4,491.4,25.3,465,5872,0.00,2.20,0.00,0.000,4,0.000,0.052,3196,289,1935
$GC,5963,1.11,243.4,465.9,24.8,473,5969,0.00,2.22,0.00,0.000,6,0.000,0.042,3196,1738,1934
$GC,6291,1.11,243.4,392.5,24.6,504,6294,0.00,2.12,0.00,0.000,4,0.000,0.052,3193,3106,1933
$GC,6405,1.11,243.4,368.7,19.9,514,6409,0.00,2.08,0.00,0.000,6,0.000,0.039,3201,1728,1932
$GC,6740,1.11,243.4,307.8,17.5,545,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1728,1932
$GC,7085,1.11,243.4,240.4,20.0,603,7092,0.00,2.15,0.00,0.000,4,0.000,0.051,3201,3108,1931
$GC,7280,1.11,243.4,204.2,19.0,637,7287,0.15,2.08,0.00,0.000,6,0.187,0.038,3175,1725,1930
$GC,7626,1.11,243.4,152.1,10.4,698,7632,0.00,2.12,0.00,0.000,4,0.000,0.047,3168,3106,1930
$GC,7887,1.11,243.4,124.0,10.2,744,7893,0.00,2.05,0.00,0.000,6,0.000,0.036,3173,1752,1930
$GC,8233,1.11,243.4,79.7,11.9,805,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1752,1930
$GC,8578,1.46,532.7,71.3,2.0,866,8826,0.28,2.20,239.18,0.723,4,0.053,0.041,3297,3109,773
$GC,8919,1.46,532.7,12.7,18.8,921,8925,0.00,2.05,0.00,0.000,6,0.000,0.032,3303,1730,773
$STATE,8963,end climb,SURFACE_DEPTH_REACHED
$STATE,8963,begin surface coast
$FINISH,0.8,1.001419
$STATE,8977,end surface coast,CONTROL_FINISHED_OK
$STATE,8977,begin surface
$SM_CCo,9058,0.00,0.000,0,0,769,533.53
$SM_GC,1.69,8.43,0.00,0.00,0.041,0.000,0.000,153,2104,769,-8.31,1.22,533.53
$IRIDIUM_FIX,2429.95,12312.47,111198,212116
$TT8_MAMPS,0.027612
$HUMID,1741
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.60
$XPDR_PINGS,112
$24V_AH,23.3,112.585
$10V_AH,10.6,73.332
$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,20.575,68.700,652.975,0.000,0.000,46.575,73.727,237.757,34.250,0.000,0.000,30.994,1578.814,4724.193,654.789,2020.792,661.188,0.000,1588.761,0.000,1975.368,0.000,42.770,0.000
$DEVICE_MAMPS,224.731,53.690,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.238,686.579,1157.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53941,931
$CAP_FILE_SIZE,94086,0
$CFSIZE,260165632,193708032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.620, 22.9,1
$GPS,170809,233937,2440.277,12248.531,40,1.0,41,-3.5