version: 66.04
glider: 166
mission: 2
dive: 560
start: 8 27 109 4 16 11
data:
$ID,166
$MISSION,2
$DIVE,560
$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,-18417.916
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,040837,2520.048,12233.396,33,1.0,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.1
$GPS2,041550,2519.920,12233.464,13,1.3,13,-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,136.8,68625,-13.9,-10.000
$D_GRID,607
$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,-243.4,0.0,0.0,0,93,0.00,0.00,-74.55,0.000,2,0.000,0.000,195,2098,2098
$GC,98,-0.93,-243.4,3.2,-5.8,12,165,9.15,2.17,-50.30,0.000,4,0.215,0.058,2512,3448,3940
$GC,422,-0.59,-243.4,77.1,-16.5,67,429,0.40,2.08,0.00,0.000,6,0.133,0.029,2628,2030,3943
$GC,771,-0.66,-243.4,111.0,-9.7,128,777,0.00,2.05,0.00,0.000,4,0.000,0.038,2617,655,3945
$GC,841,-0.74,-243.4,118.4,-10.6,140,848,0.00,2.05,0.00,0.000,6,0.000,0.031,2614,2049,3945
$GC,1191,-0.85,-243.4,151.8,-9.3,201,1199,0.17,2.15,0.00,0.000,4,0.051,0.044,2506,3457,3944
$GC,1264,-0.72,-243.4,162.6,-16.4,213,1272,0.22,2.03,0.00,0.000,6,0.124,0.028,2585,2054,3944
$GC,1613,-0.72,-243.4,206.4,-12.1,274,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2054,3944
$GC,1962,-0.76,-243.4,239.8,-8.3,335,1968,0.00,2.10,0.00,0.000,4,0.000,0.040,2573,663,3942
$GC,2037,-0.80,-243.4,246.7,-8.9,348,2043,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,2075,3942
$GC,2384,-0.85,-243.4,282.1,-10.3,409,2391,0.00,2.15,0.00,0.000,4,0.000,0.048,2561,3460,3940
$GC,2422,-0.93,-243.4,286.2,-11.0,415,2429,0.12,2.05,0.00,0.000,6,0.061,0.030,2493,2068,3940
$GC,2760,-0.78,-243.4,341.5,-17.8,454,2764,0.22,2.15,0.00,0.000,4,0.126,0.040,2567,663,3938
$GC,2917,-0.88,-243.4,358.9,-8.7,467,2920,0.00,2.12,0.00,0.000,6,0.000,0.038,2566,2060,3937
$GC,3249,-0.95,-243.4,389.8,-9.5,498,3254,0.15,2.20,0.00,0.000,4,0.057,0.051,2477,3463,3935
$GC,3295,-0.82,-243.4,395.8,-15.0,501,3303,0.25,2.08,0.00,0.000,6,0.121,0.031,2552,2059,3934
$GC,3621,-0.86,-243.4,427.0,-10.4,532,3625,0.00,2.15,0.00,0.000,4,0.000,0.044,2553,658,3933
$GC,3737,-0.91,-243.4,439.4,-10.9,542,3740,0.00,2.15,0.00,0.000,6,0.000,0.038,2548,2062,3932
$GC,4073,-0.95,-243.4,473.6,-10.1,573,4077,0.10,2.20,0.00,0.000,4,0.072,0.044,2489,672,3928
$GC,4171,-0.85,-243.4,487.1,-14.4,581,4176,0.20,2.12,0.00,0.000,6,0.123,0.041,2546,2047,3928
$GC,4496,-0.91,-243.4,516.4,-8.1,602,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2048,3927
$GC,4801,-0.94,-243.4,545.4,-11.1,617,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2048,3924
$GC,5110,-1.00,-243.4,574.8,-8.5,632,5116,0.15,2.28,0.00,0.000,4,0.058,0.057,2464,3462,3922
$GC,5151,-0.89,-243.4,579.7,-12.8,633,5160,0.22,2.10,0.00,0.000,6,0.127,0.036,2530,2070,3921
$STATE,5423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5423,begin apogee
$GC,5432,-0.23,0.0,607.8,9.6,647,5633,0.65,0.00,197.93,1.191,6,0.099,0.000,2749,1698,2945
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5637,0.93,243.4,617.0,0.0,657,5850,0.98,0.00,202.52,1.144,6,0.041,0.000,3129,1697,1950
$GC,6159,0.60,243.4,532.8,18.7,682,6164,0.38,2.25,0.00,0.000,4,0.163,0.053,3019,3102,1943
$GC,6334,0.45,243.4,508.7,12.9,690,6339,0.22,2.15,0.00,0.000,6,0.139,0.041,2964,1706,1941
$GC,6668,0.58,346.6,482.6,7.1,716,6762,0.12,2.30,88.10,1.094,4,0.068,0.054,3027,3107,1531
$GC,6937,0.48,346.6,447.5,12.8,739,6944,0.22,2.12,0.00,0.000,6,0.136,0.040,2973,1724,1527
$GC,7263,0.65,418.1,420.1,8.0,770,7333,0.17,2.30,62.62,1.055,4,0.055,0.054,3060,3103,1239
$GC,7438,0.52,418.1,392.3,18.0,785,7443,0.28,2.08,0.00,0.000,6,0.136,0.040,2990,1751,1237
$GC,7769,0.59,418.1,354.1,11.8,816,7773,0.00,2.15,0.00,0.000,4,0.000,0.053,2990,3111,1235
$GC,7918,0.67,418.1,335.5,12.5,829,7923,0.10,2.05,0.00,0.000,6,0.069,0.038,3055,1752,1234
$GC,8252,0.59,418.1,282.0,14.3,870,8260,0.15,2.17,0.00,0.000,4,0.137,0.051,3012,3118,1233
$GC,8437,0.59,418.1,259.9,10.6,902,8445,0.00,2.03,0.00,0.000,6,0.000,0.038,3019,1787,1234
$GC,8788,0.67,452.2,228.0,9.1,963,8824,0.00,2.10,29.73,0.923,4,0.000,0.048,3020,3109,1102
$GC,9013,0.72,452.2,207.0,10.3,1002,9020,0.00,1.98,0.00,0.000,6,0.000,0.037,3028,1831,1101
$GC,9360,0.76,452.2,160.4,13.4,1063,9367,0.10,2.00,0.00,0.000,4,0.073,0.046,3088,3114,1100
$GC,9545,0.64,452.2,127.1,17.5,1095,9552,0.17,1.95,0.00,0.000,6,0.127,0.035,3025,1846,1100
$GC,9893,0.74,452.2,87.2,10.8,1156,9900,0.00,2.00,0.00,0.000,4,0.000,0.047,3026,3109,1100
$GC,9925,0.85,452.2,83.7,12.5,1161,9932,0.12,1.92,0.00,0.000,6,0.040,0.035,3117,1847,1100
$GC,10273,0.79,452.2,35.7,12.5,1222,10281,0.15,1.95,0.00,0.000,4,0.130,0.044,3071,3106,1100
$GC,10347,0.94,496.3,28.5,8.8,1234,10393,0.10,1.90,38.60,0.747,6,0.044,0.034,3147,1856,920
$STATE,10589,end climb,SURFACE_DEPTH_REACHED
$STATE,10589,begin surface coast
$FINISH,1.0,1.016586
$STATE,10631,end surface coast,CONTROL_FINISHED_OK
$STATE,10631,begin surface
$SM_CCo,10714,0.00,0.000,0,0,916,497.47
$SM_GC,1.99,7.88,0.00,0.00,0.036,0.000,0.000,151,2086,916,-8.27,0.71,497.47
$IRIDIUM_FIX,2512.73,12230.65,211198,010100
$TT8_MAMPS,0.027612
$HUMID,1820
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,22.60
$XPDR_PINGS,181
$ALTIM_BOTTOM_PING,601.9,51.0
$24V_AH,23.5,127.083
$10V_AH,10.5,81.398
$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,23.175,80.750,619.500,0.000,0.000,22.429,34.704,205.104,49.750,0.000,0.000,13.993,2170.026,5072.351,700.115,2525.701,664.696,0.000,1815.173,0.000,2510.973,0.000,32.280,0.000
$DEVICE_MAMPS,214.760,58.292,1191.151,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,872.724,930.768,1568.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72669,1283
$CAP_FILE_SIZE,120249,0
$CFSIZE,260165632,189140992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,283.3,1
$GPS,270809,071552,2519.288,12234.613,8,2.5,27,-3.6