version: 66.04
glider: 166
mission: 2
dive: 550
start: 8 26 109 0 43 7
data:
$ID,166
$MISSION,2
$DIVE,550
$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,-18202.768
$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,40
$R_STBD_OVSHOOT,66
$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
$GPS1,003604,2520.333,12223.574,8,3.3,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.4
$GPS2,004244,2520.280,12223.567,11,1.4,11,-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,359.2,9065,-13.9,-10.000
$D_GRID,591
$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,-0.93,-243.4,0.0,0.0,0,94,0.00,0.00,-75.72,0.000,2,0.000,0.000,159,2104,2155
$GC,98,-0.93,-243.4,3.3,-4.9,12,164,9.43,2.08,-49.08,0.000,4,0.220,0.055,2494,3441,3939
$GC,228,-0.49,-243.4,34.8,-33.8,33,237,0.47,2.08,0.00,0.000,6,0.131,0.029,2663,2036,3940
$GC,577,-0.58,-243.4,78.5,-13.4,94,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2034,3941
$GC,923,-0.75,-243.4,105.7,-2.0,155,930,0.17,2.05,0.00,0.000,4,0.050,0.035,2551,658,3942
$GC,960,-0.71,-243.4,108.3,-7.9,161,968,0.15,2.05,0.00,0.000,6,0.132,0.031,2591,2051,3941
$GC,1311,-0.71,-243.4,137.6,-11.0,222,1317,0.00,2.12,0.00,0.000,4,0.000,0.045,2589,3456,3942
$GC,1343,-0.77,-243.4,140.9,-9.6,227,1350,0.00,2.03,0.00,0.000,6,0.000,0.028,2589,2047,3942
$GC,1690,-0.81,-243.4,177.5,-9.3,288,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2047,3942
$GC,2037,-0.88,-243.4,209.4,-6.3,349,2045,0.15,2.08,0.00,0.000,4,0.057,0.037,2509,666,3941
$GC,2099,-0.73,-243.4,216.3,-13.1,359,2106,0.28,2.10,0.00,0.000,6,0.126,0.034,2587,2066,3941
$GC,2446,-0.81,-243.4,238.6,-7.4,420,2452,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,675,3939
$GC,2489,-0.89,-243.4,242.1,-8.3,427,2496,0.15,2.08,0.00,0.000,6,0.056,0.034,2507,2061,3939
$GC,2836,-0.74,-243.4,292.3,-12.5,488,2843,0.20,2.20,0.00,0.000,4,0.128,0.048,2565,3484,3938
$GC,2868,-0.71,-243.4,295.4,-9.4,493,2876,0.00,2.08,0.00,0.000,6,0.000,0.030,2565,2072,3938
$GC,3208,-0.75,-243.4,325.8,-11.1,530,3212,0.00,2.12,0.00,0.000,4,0.000,0.041,2565,670,3937
$GC,3247,-0.75,-243.4,331.0,-12.0,533,3254,0.00,2.12,0.00,0.000,6,0.000,0.036,2563,2077,3936
$GC,3575,-0.75,-243.4,362.8,-8.5,564,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2077,3934
$GC,3906,-0.79,-243.4,401.0,-11.9,595,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2078,3933
$GC,4236,-0.84,-243.4,433.8,-9.6,626,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2077,3931
$GC,4565,-0.89,-243.4,468.2,-11.6,657,4569,0.00,2.20,0.00,0.000,4,0.000,0.045,2563,669,3928
$GC,4636,-0.94,-243.4,477.4,-12.6,663,4641,0.15,2.15,0.00,0.000,6,0.058,0.040,2486,2069,3928
$STATE,4683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4683,begin apogee
$GC,4692,-0.23,0.0,485.1,15.8,667,4891,0.77,0.00,194.25,1.057,6,0.114,0.000,2741,1697,2945
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4895,0.93,243.4,497.9,0.0,687,5101,1.00,0.00,197.73,1.027,6,0.039,0.000,3138,1697,1949
$GC,5420,0.59,243.4,415.9,19.8,736,5425,0.40,2.22,0.00,0.000,4,0.156,0.048,3015,3105,1942
$GC,5653,0.49,243.4,385.1,12.4,756,5657,0.17,2.12,0.00,0.000,6,0.137,0.038,2974,1710,1940
$GC,5979,0.77,433.1,363.9,4.8,786,6149,0.22,2.25,159.45,0.965,4,0.049,0.048,3089,3110,1177
$GC,6287,0.58,433.1,311.1,22.0,813,6292,0.32,2.12,0.00,0.000,6,0.140,0.037,3005,1717,1176
$GC,6631,0.64,433.1,258.1,13.9,867,6637,0.00,2.15,0.00,0.000,4,0.000,0.047,3005,3101,1174
$GC,6794,0.69,433.1,238.1,12.0,895,6800,0.00,2.08,0.00,0.000,6,0.000,0.037,3012,1725,1173
$GC,7140,0.82,493.2,199.3,8.3,956,7199,0.17,2.17,51.50,0.869,4,0.054,0.045,3123,3106,933
$GC,7258,0.60,493.2,179.3,19.9,975,7265,0.40,2.05,0.00,0.000,6,0.136,0.036,3013,1751,933
$GC,7607,0.74,521.8,156.3,9.2,1036,7640,0.15,2.12,26.08,0.823,4,0.056,0.047,3100,3111,816
$GC,7807,0.64,521.8,112.9,22.2,1070,7815,0.25,2.05,0.00,0.000,6,0.123,0.035,3028,1778,816
$GC,8156,0.78,521.8,61.6,12.5,1131,8163,0.12,2.05,0.00,0.000,4,0.061,0.044,3107,3108,815
$GC,8276,0.78,521.8,44.9,11.2,1152,8283,0.12,2.00,0.00,0.000,6,0.120,0.034,3073,1799,814
$GC,8623,1.14,632.6,25.2,6.9,1213,8707,0.28,2.05,75.90,0.726,4,0.038,0.042,3222,3110,454
$STATE,8778,end climb,SURFACE_DEPTH_REACHED
$STATE,8779,begin surface coast
$FINISH,1.0,1.005733
$STATE,8795,end surface coast,CONTROL_FINISHED_OK
$STATE,8795,begin surface
$SM_CCo,8877,0.00,0.000,0,0,450,612.02
$SM_GC,1.76,8.12,0.00,0.00,0.040,0.000,0.000,156,2055,450,-8.27,-0.17,612.02
$IRIDIUM_FIX,2512.73,12222.05,191198,222236
$TT8_MAMPS,0.026845
$HUMID,1781
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,22.50
$XPDR_PINGS,157
$ALTIM_BOTTOM_PING,450.2,58.7
$24V_AH,23.8,124.912
$10V_AH,10.6,80.154
$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,23.675,63.250,704.900,0.000,0.000,25.110,36.571,185.919,42.250,0.000,0.000,11.618,2010.734,3582.312,729.277,2348.713,598.642,0.000,1797.358,0.000,2338.255,0.000,22.284,0.000
$DEVICE_MAMPS,220.129,55.224,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,837.330,948.258,1600.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69485,1241
$CAP_FILE_SIZE,105629,0
$CFSIZE,260165632,189820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,286.3,1
$GPS,260809,031206,2521.857,12221.791,12,1.6,24,-3.6