version: 66.04
glider: 166
mission: 2
dive: 559
start: 8 27 109 0 58 53
data:
$ID,166
$MISSION,2
$DIVE,559
$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,-18403.297
$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
$GPS1,005137,2519.848,12231.675,34,0.9,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.4
$GPS2,005832,2519.991,12231.871,12,1.5,12,-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,127.1,70815,-13.9,-10.000
$D_GRID,593
$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,-243.4,0.0,0.0,0,81,0.00,0.00,-63.10,0.000,2,0.000,0.000,200,2036,2117
$GC,87,-0.93,-243.4,3.2,-4.5,10,158,9.15,2.25,-53.08,0.000,4,0.216,0.058,2505,3468,3941
$GC,351,-0.59,-243.4,67.6,-28.4,55,358,0.38,2.08,0.00,0.000,6,0.124,0.029,2622,2048,3943
$GC,700,-0.66,-243.4,114.2,-9.5,116,707,0.00,2.08,0.00,0.000,4,0.000,0.038,2614,657,3944
$GC,860,-0.71,-243.4,128.6,-8.4,143,866,0.00,2.10,0.00,0.000,6,0.000,0.033,2605,2045,3945
$GC,1207,-0.80,-243.4,155.2,-6.3,204,1215,0.12,2.17,0.00,0.000,4,0.061,0.045,2530,3465,3945
$GC,1246,-0.75,-243.4,158.7,-9.6,210,1253,0.08,2.12,0.00,0.000,6,0.127,0.028,2566,2039,3944
$GC,1595,-0.71,-243.4,200.3,-13.3,271,1601,0.00,2.08,0.00,0.000,4,0.000,0.041,2565,670,3944
$GC,1682,-0.71,-243.4,211.5,-12.7,286,1689,0.12,2.08,0.00,0.000,6,0.128,0.035,2596,2061,3944
$GC,2032,-0.82,-243.4,244.4,-7.6,347,2040,0.12,2.15,0.00,0.000,4,0.061,0.040,2525,668,3943
$GC,2065,-0.82,-243.4,248.2,-10.9,352,2074,0.10,2.10,0.00,0.000,6,0.125,0.036,2553,2036,3942
$GC,2414,-0.82,-243.4,287.1,-10.8,413,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2036,3941
$GC,2752,-0.82,-243.4,318.7,-7.0,454,2756,0.00,2.12,0.00,0.000,4,0.000,0.043,2553,666,3940
$GC,2789,-0.82,-243.4,321.7,-8.3,457,2792,0.00,2.10,0.00,0.000,6,0.000,0.037,2547,2047,3940
$GC,3120,-0.82,-243.4,347.0,-8.2,488,3123,0.00,2.22,0.00,0.000,4,0.000,0.052,2543,3465,3938
$GC,3179,-0.86,-243.4,351.6,-8.0,493,3183,0.00,2.12,0.00,0.000,6,0.000,0.031,2543,2039,3937
$GC,3510,-0.86,-243.4,380.7,-8.3,524,3514,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,654,3935
$GC,3590,-0.86,-243.4,387.3,-7.9,531,3594,0.00,2.12,0.00,0.000,6,0.000,0.038,2543,2044,3935
$GC,3926,-0.86,-243.4,411.9,-9.1,562,3929,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,653,3933
$GC,3965,-0.86,-243.4,416.5,-9.9,565,3971,0.00,2.10,0.00,0.000,6,0.000,0.038,2543,2027,3933
$GC,4294,-0.86,-243.4,450.0,-10.0,596,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3930
$GC,4625,-0.86,-243.4,480.8,-9.2,627,4628,0.00,2.12,0.00,0.000,4,0.000,0.046,2543,667,3928
$GC,4706,-0.86,-243.4,489.4,-10.8,634,4709,0.00,2.10,0.00,0.000,6,0.000,0.041,2542,2023,3928
$GC,5030,-0.86,-243.4,523.5,-9.4,654,5034,0.00,2.30,0.00,0.000,4,0.000,0.057,2541,3464,3927
$GC,5082,-0.93,-243.4,528.2,-9.1,656,5086,0.00,2.15,0.00,0.000,6,0.000,0.035,2540,2033,3926
$GC,5405,-0.96,-243.4,557.4,-9.1,672,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2033,3924
$GC,5714,-1.00,-243.4,587.6,-10.8,687,5719,0.12,2.33,0.00,0.000,4,0.063,0.058,2473,3463,3923
$STATE,5738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5739,begin apogee
$GC,5750,-0.23,0.0,591.5,14.1,688,5951,0.80,0.00,197.68,1.171,6,0.114,0.000,2738,1690,2945
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5952,begin climb
$GC,5956,0.93,243.4,605.3,0.0,698,6168,1.00,2.30,201.25,1.132,4,0.040,0.057,3142,281,1951
$GC,6199,0.58,243.4,588.6,18.5,709,6204,0.47,2.22,0.00,0.000,6,0.154,0.040,3007,1698,1947
$GC,6527,0.49,243.4,550.5,12.2,725,6531,0.00,2.22,0.00,0.000,4,0.000,0.053,3007,3111,1943
$GC,6787,0.36,243.4,514.8,14.7,736,6792,0.28,2.12,0.00,0.000,6,0.134,0.039,2936,1707,1941
$GC,7118,0.53,291.5,488.1,8.7,759,7165,0.15,2.30,40.60,1.097,4,0.060,0.053,3014,3099,1756
$GC,7418,0.43,291.5,449.7,12.8,785,7425,0.22,2.10,0.00,0.000,6,0.136,0.039,2961,1722,1752
$GC,7744,0.62,382.4,422.3,7.5,816,7834,0.17,2.28,79.40,1.067,4,0.054,0.051,3050,3099,1385
$GC,7952,0.47,382.4,392.2,15.7,834,7961,0.30,2.08,0.00,0.000,6,0.133,0.038,2972,1737,1380
$GC,8279,0.58,389.6,359.9,9.8,865,8292,0.10,2.20,6.75,0.846,4,0.073,0.050,3034,3102,1355
$GC,8432,0.49,389.6,338.0,14.8,878,8437,0.22,2.03,0.00,0.000,6,0.131,0.038,2977,1771,1355
$GC,8758,0.61,404.3,304.2,9.6,908,8781,0.12,2.12,14.62,0.951,4,0.063,0.051,3050,3099,1295
$GC,8881,0.50,404.3,284.1,17.8,926,8889,0.22,2.03,0.00,0.000,6,0.126,0.038,2986,1790,1295
$GC,9230,0.70,481.9,248.1,7.9,987,9305,0.17,2.20,68.50,0.948,4,0.051,0.050,3086,3112,979
$GC,9443,0.56,481.9,210.9,19.1,1023,9449,0.32,2.00,0.00,0.000,6,0.132,0.037,2998,1807,978
$GC,9791,0.77,551.9,177.6,8.1,1084,9861,0.17,2.10,61.03,0.879,4,0.051,0.048,3103,3096,695
$GC,9965,0.64,551.9,144.3,19.5,1113,9972,0.22,1.95,0.00,0.000,6,0.130,0.036,3024,1832,695
$GC,10314,0.82,573.0,109.1,9.4,1174,10340,0.17,2.00,19.35,0.802,4,0.050,0.045,3131,3115,608
$GC,10479,0.71,573.0,72.0,21.5,1202,10487,0.22,1.95,0.00,0.000,6,0.120,0.036,3050,1845,608
$GC,10831,1.00,622.0,40.0,8.6,1263,10870,0.22,2.03,33.12,0.750,4,0.041,0.045,3174,3105,455
$GC,10900,0.92,622.0,29.0,16.9,1274,10909,0.17,1.95,0.00,0.000,6,0.118,0.034,3123,1836,454
$STATE,11179,end climb,SURFACE_DEPTH_REACHED
$STATE,11179,begin surface coast
$FINISH,0.9,1.007699
$STATE,11230,end surface coast,CONTROL_FINISHED_OK
$STATE,11230,begin surface
$SM_CCo,11312,0.00,0.000,0,0,450,611.78
$SM_GC,1.73,7.82,0.00,0.00,0.037,0.000,0.000,152,2098,450,-8.28,1.05,611.78
$IRIDIUM_FIX,2510.35,12227.36,201198,222224
$TT8_MAMPS,0.027612
$HUMID,1811
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,23.00
$XPDR_PINGS,177
$ALTIM_BOTTOM_PING,576.6,39.8
$24V_AH,23.6,126.870
$10V_AH,10.6,81.269
$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,23.800,94.575,722.300,0.000,0.000,24.753,29.814,191.499,48.750,0.000,0.000,15.560,2245.612,5376.336,759.572,2670.693,661.486,0.000,1962.601,0.000,2642.934,0.000,33.476,0.000
$DEVICE_MAMPS,215.527,58.292,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.217,967.963,1634.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75918,1332
$CAP_FILE_SIZE,127700,0
$CFSIZE,260165632,189198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,328.9,1
$GPS,270809,040837,2520.048,12233.396,33,1.0,33,-3.6