version: 66.04
glider: 166
mission: 2
dive: 544
start: 8 25 109 6 43 32
data:
$ID,166
$MISSION,2
$DIVE,544
$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,-18083.268
$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,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,37
$R_STBD_OVSHOOT,61
$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
$GPS1,063634,2516.646,12223.387,8,3.4,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.8
$GPS2,064308,2516.692,12223.205,15,1.7,15,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,9.9,15676,-13.9,-10.000
$D_GRID,478
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-243.4,0.0,0.0,0,102,0.00,0.00,-84.68,0.000,2,0.000,0.000,151,2096,2284
$GC,107,-0.93,-243.4,3.1,-5.0,13,172,9.48,2.10,-48.65,0.000,4,0.225,0.060,2505,3451,3939
$GC,349,-0.69,-243.4,54.8,-20.5,54,356,0.30,2.08,0.00,0.000,6,0.127,0.031,2596,2029,3941
$GC,696,-0.69,-243.4,100.0,-13.1,115,702,0.00,2.05,0.00,0.000,4,0.000,0.040,2595,661,3943
$GC,870,-0.73,-243.4,122.6,-10.1,145,877,0.00,2.05,0.00,0.000,6,0.000,0.034,2594,2048,3943
$GC,1219,-0.78,-243.4,160.3,-9.6,206,1225,0.00,2.17,0.00,0.000,4,0.000,0.049,2594,3468,3943
$GC,1307,-0.91,-243.4,167.6,-7.4,221,1313,0.20,2.05,0.00,0.000,6,0.049,0.029,2497,2059,3943
$GC,1655,-0.70,-243.4,230.1,-17.8,282,1661,0.28,0.00,0.00,0.000,6,0.130,0.000,2586,2056,3943
$GC,2000,-0.78,-243.4,257.3,-7.1,343,2006,0.00,2.20,0.00,0.000,4,0.000,0.051,2585,3457,3942
$GC,2031,-0.88,-243.4,259.7,-7.7,348,2039,0.15,2.05,0.00,0.000,6,0.055,0.030,2507,2052,3942
$GC,2383,-0.72,-243.4,309.0,-15.6,405,2387,0.22,2.12,0.00,0.000,4,0.127,0.042,2580,660,3941
$GC,2521,-0.79,-243.4,324.0,-10.3,417,2525,0.00,2.10,0.00,0.000,6,0.000,0.037,2580,2048,3940
$GC,2854,-0.87,-243.4,349.1,-6.3,448,2862,0.12,0.00,0.00,0.000,6,0.061,0.000,2512,2048,3938
$GC,3181,-0.76,-243.4,385.5,-10.4,479,3185,0.17,2.15,0.00,0.000,4,0.127,0.043,2571,661,3937
$GC,3233,-0.82,-243.4,390.4,-8.4,483,3237,0.00,2.12,0.00,0.000,6,0.000,0.040,2570,2048,3937
$GC,3565,-0.90,-243.4,413.0,-6.8,514,3569,0.12,2.22,0.00,0.000,4,0.063,0.054,2503,3462,3935
$GC,3598,-0.85,-243.4,416.8,-11.6,516,3607,0.12,2.12,0.00,0.000,6,0.119,0.032,2545,2053,3935
$GC,3924,-0.85,-243.4,447.3,-9.0,547,3928,0.00,2.15,0.00,0.000,4,0.000,0.046,2546,656,3934
$GC,4020,-0.85,-243.4,457.3,-11.0,555,4026,0.00,2.15,0.00,0.000,6,0.000,0.041,2546,2059,3933
$STATE,4247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4256,-0.23,0.0,478.6,9.0,577,4455,0.57,0.00,195.20,1.058,6,0.099,0.000,2743,1691,2945
$STATE,4456,end apogee,CONTROL_FINISHED_OK
$STATE,4456,begin climb
$GC,4460,0.93,243.4,490.9,0.0,597,4669,0.98,2.30,197.48,1.029,4,0.035,0.050,3139,3102,1950
$GC,4832,0.56,243.4,433.8,23.2,629,4840,0.50,2.15,0.00,0.000,6,0.150,0.038,3003,1688,1944
$GC,5158,0.51,243.4,391.2,10.4,660,5162,0.00,2.22,0.00,0.000,4,0.000,0.049,3003,3106,1942
$GC,5418,0.48,281.0,364.8,9.0,683,5456,0.12,2.10,31.05,0.971,6,0.139,0.038,2977,1719,1799
$GC,5783,0.57,308.0,333.7,9.3,717,5812,0.00,2.25,23.92,0.950,4,0.000,0.050,2977,3106,1689
$GC,5984,0.70,379.1,316.4,8.0,734,6052,0.17,2.08,61.42,0.953,6,0.053,0.037,3069,1737,1399
$GC,6391,0.55,379.1,260.8,17.0,794,6398,0.20,2.15,0.00,0.000,4,0.138,0.048,3000,3111,1394
$GC,6653,0.59,379.1,225.2,11.2,840,6660,0.00,2.08,0.00,0.000,6,0.000,0.037,3008,1762,1394
$GC,7000,0.74,457.4,190.6,7.8,901,7074,0.15,2.22,67.20,0.874,4,0.057,0.047,3086,3108,1080
$GC,7148,0.60,457.4,168.0,19.1,924,7155,0.28,2.03,0.00,0.000,6,0.134,0.036,3015,1770,1078
$GC,7497,0.73,476.1,129.2,9.5,985,7524,0.12,2.12,17.02,0.794,4,0.063,0.046,3087,3103,1004
$GC,7589,0.63,476.1,114.8,17.6,1000,7596,0.22,2.00,0.00,0.000,6,0.125,0.036,3021,1798,1003
$GC,7937,0.85,525.9,84.1,8.6,1061,7988,0.17,0.00,43.25,0.777,6,0.109,0.000,3126,1798,801
$GC,8327,0.79,525.9,23.6,13.7,1129,8335,0.17,2.03,0.00,0.000,4,0.131,0.044,3074,3111,799
$GC,8427,1.01,597.7,13.8,8.0,1146,8497,0.10,2.00,61.38,0.713,6,0.023,0.032,3173,1792,508
$STATE,8501,end climb,SURFACE_DEPTH_REACHED
$STATE,8502,begin surface coast
$FINISH,1.0,1.002018
$STATE,8519,end surface coast,CONTROL_FINISHED_OK
$STATE,8521,begin surface
$SM_CCo,8603,0.00,0.000,0,0,506,598.29
$SM_GC,1.86,7.93,0.00,0.00,0.035,0.000,0.000,146,2097,506,-8.28,1.05,598.29
$IRIDIUM_FIX,2505.59,12226.08,191198,040459
$TT8_MAMPS,0.026845
$HUMID,1765
$INTERNAL_PRESSURE,9.80965
$TCM_TEMP,22.50
$XPDR_PINGS,196
$24V_AH,23.7,123.528
$10V_AH,10.6,79.393
$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,22.875,64.600,697.925,0.000,0.000,23.752,29.301,176.675,52.000,0.000,0.000,15.756,1884.129,3542.848,712.041,2268.597,584.570,0.000,1752.837,0.000,2255.204,0.000,21.031,0.000
$DEVICE_MAMPS,225.498,59.826,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,784.166,865.284,1458.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66442,1161
$CAP_FILE_SIZE,103549,0
$CFSIZE,260165632,190234624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243,140.8,1
$GPS,250809,090807,2517.053,12223.737,33,1.1,34,-3.6