version: 66.04
glider: 166
mission: 2
dive: 556
start: 8 26 109 16 37 45
data:
$ID,166
$MISSION,2
$DIVE,556
$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,-18336.643
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,162336,2521.544,12226.583,31,0.8,31,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.5
$GPS2,163725,2521.431,12226.264,11,1.2,22,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$TGT_RADIUS,2000.000
$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,127.0,79998,-13.9,-10.000
$D_GRID,613
$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,-243.4,0.0,0.0,0,91,0.00,0.00,-73.07,0.000,2,0.000,0.000,200,2044,2076
$GC,96,-0.93,-243.4,3.2,-5.0,11,160,9.27,2.20,-48.42,0.000,4,0.219,0.054,2501,3468,3938
$GC,199,-0.49,-243.4,24.5,-28.1,27,206,0.50,2.08,0.00,0.000,6,0.138,0.029,2656,2040,3939
$GC,547,-0.63,-243.4,65.0,-6.9,88,553,0.00,2.05,0.00,0.000,4,0.000,0.036,2646,656,3941
$GC,618,-0.82,-243.4,70.9,-8.7,100,625,0.25,2.05,0.00,0.000,6,0.039,0.031,2515,2062,3941
$GC,967,-0.64,-243.4,129.2,-14.2,161,975,0.28,2.12,0.00,0.000,4,0.124,0.037,2608,654,3941
$GC,1027,-0.72,-243.4,134.8,-7.0,171,1034,0.00,2.05,0.00,0.000,6,0.000,0.031,2600,2048,3942
$GC,1375,-0.82,-243.4,161.5,-8.8,232,1383,0.12,2.12,0.00,0.000,4,0.064,0.038,2529,664,3941
$GC,1425,-0.72,-243.4,168.1,-14.9,240,1432,0.17,2.05,0.00,0.000,6,0.117,0.034,2581,2017,3940
$GC,1773,-0.78,-243.4,210.9,-12.8,301,1780,0.00,2.22,0.00,0.000,4,0.000,0.048,2580,3461,3938
$GC,1833,-0.89,-243.4,218.2,-11.0,311,1840,0.15,2.10,0.00,0.000,6,0.055,0.029,2505,2017,3937
$GC,2179,-0.75,-243.4,273.8,-10.3,372,2186,0.20,2.08,0.00,0.000,4,0.125,0.041,2572,673,3936
$GC,2229,-0.80,-243.4,278.2,-8.3,380,2235,0.00,2.03,0.00,0.000,6,0.000,0.035,2571,2032,3936
$GC,2571,-0.87,-243.4,309.1,-10.5,433,2575,0.00,2.10,0.00,0.000,4,0.000,0.042,2572,669,3934
$GC,2640,-0.94,-243.4,316.7,-11.4,439,2645,0.15,2.05,0.00,0.000,6,0.057,0.037,2496,2021,3934
$GC,2972,-0.79,-243.4,367.7,-14.8,470,2977,0.20,2.28,0.00,0.000,4,0.130,0.051,2552,3471,3930
$GC,3016,-0.84,-243.4,372.6,-9.6,473,3020,0.00,2.15,0.00,0.000,6,0.000,0.032,2552,2021,3930
$GC,3348,-0.87,-243.4,402.1,-8.2,504,3352,0.00,2.10,0.00,0.000,4,0.000,0.044,2553,658,3928
$GC,3396,-0.91,-243.4,406.3,-8.8,508,3400,0.00,2.10,0.00,0.000,6,0.000,0.044,2549,2020,3927
$GC,3728,-0.94,-243.4,435.8,-9.9,539,3731,0.00,2.10,0.00,0.000,4,0.000,0.045,2549,665,3925
$GC,3763,-0.98,-243.4,439.6,-10.6,542,3768,0.12,2.10,0.00,0.000,6,0.066,0.039,2484,2036,3924
$STATE,3933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3934,begin apogee
$GC,3942,-0.23,0.0,463.2,15.0,558,4140,0.77,0.00,192.62,1.057,6,0.113,0.000,2738,1698,2945
$STATE,4140,end apogee,CONTROL_FINISHED_OK
$STATE,4140,begin climb
$GC,4144,0.93,243.4,470.6,0.0,578,4352,1.02,2.28,196.82,1.022,4,0.045,0.051,3132,3103,1949
$GC,4538,0.56,243.4,423.4,17.5,613,4545,0.47,2.12,0.00,0.000,6,0.152,0.038,3005,1701,1943
$GC,4864,0.52,243.4,389.9,11.2,644,4867,0.00,2.20,0.00,0.000,4,0.000,0.051,3004,3104,1941
$GC,5048,0.44,243.4,369.2,11.1,660,5053,0.17,2.10,0.00,0.000,6,0.130,0.044,2963,1723,1939
$GC,5383,0.68,392.6,347.4,5.9,691,5517,0.20,2.25,124.18,0.979,4,0.052,0.050,3066,3092,1343
$GC,5647,0.53,392.6,305.4,20.0,714,5655,0.30,2.08,0.00,0.000,6,0.135,0.038,2987,1725,1341
$GC,5990,0.68,431.8,263.5,8.9,772,6035,0.15,2.22,34.28,0.917,4,0.058,0.049,3071,3094,1183
$GC,6229,0.51,431.8,224.5,17.9,813,6235,0.32,2.03,0.00,0.000,6,0.131,0.036,2983,1759,1181
$GC,6576,0.73,489.0,196.2,8.4,874,6635,0.17,2.15,49.42,0.878,4,0.051,0.048,3085,3108,951
$GC,6783,0.58,489.0,156.6,21.4,909,6790,0.30,2.03,0.00,0.000,6,0.129,0.036,3004,1763,950
$GC,7132,0.80,577.6,121.5,7.6,970,7216,0.17,2.12,76.30,0.818,4,0.052,0.046,3112,3106,589
$GC,7400,0.70,577.6,66.7,20.9,1015,7407,0.22,2.00,0.00,0.000,6,0.123,0.035,3047,1809,589
$GC,7747,1.32,577.6,37.1,10.7,1076,7754,0.52,2.00,0.00,0.000,4,0.070,0.044,3246,3106,586
$GC,7779,1.51,577.6,33.2,12.4,1081,7787,0.08,1.95,0.00,0.000,6,0.060,0.035,3317,1826,586
$STATE,7892,end climb,SURFACE_DEPTH_REACHED
$STATE,7892,begin surface coast
$FINISH,1.0,0.999989
$STATE,7910,end surface coast,CONTROL_FINISHED_OK
$STATE,7910,begin surface
$SM_CCo,7992,0.00,0.000,0,0,584,579.15
$SM_GC,1.87,8.38,0.00,0.00,0.038,0.000,0.000,150,2097,584,-8.29,1.02,579.15
$IRIDIUM_FIX,2515.12,12221.32,201198,161600
$TT8_MAMPS,0.026845
$HUMID,1884
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,21.60
$XPDR_PINGS,155
$ALTIM_BOTTOM_PING,425.4,61.9
$24V_AH,23.8,126.208
$10V_AH,10.6,80.873
$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,24.700,72.525,673.625,0.000,0.000,83.506,95.729,348.916,41.750,0.000,0.000,22.833,1811.046,3275.953,692.694,2152.031,876.720,0.000,1681.271,0.000,2131.815,0.000,23.586,0.000
$DEVICE_MAMPS,219.362,53.690,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,745.788,831.860,1404.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63248,1103
$CAP_FILE_SIZE,105095,0
$CFSIZE,260165632,189435904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,260.9,1
$GPS,260809,185206,2521.077,12227.232,14,0.9,31,-3.6