version: 66.04
glider: 166
mission: 2
dive: 561
start: 8 27 109 7 23 26
data:
$ID,166
$MISSION,2
$DIVE,561
$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,-18444.385
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,071552,2519.288,12234.613,8,2.5,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.7
$GPS2,072306,2519.216,12234.569,13,1.4,23,-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,125.5,66361,-13.9,-10.000
$D_GRID,647
$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,-243.4,0.0,0.0,0,71,0.00,0.00,-53.30,0.000,2,0.000,0.000,198,2087,2112
$GC,76,-0.93,-243.4,3.3,-4.8,8,143,9.18,2.28,-46.83,0.000,4,0.216,0.051,2510,647,3941
$GC,376,-0.55,-243.4,77.7,-29.5,59,384,0.45,2.12,0.00,0.000,6,0.118,0.035,2643,2064,3943
$GC,724,-0.66,-243.4,111.1,-6.9,120,730,0.00,2.20,0.00,0.000,4,0.000,0.047,2629,3468,3946
$GC,767,-0.83,-243.4,113.8,-6.6,127,774,0.22,2.10,0.00,0.000,6,0.043,0.029,2527,2023,3946
$GC,1115,-0.64,-243.4,169.9,-15.9,188,1122,0.22,2.28,0.00,0.000,4,0.129,0.046,2587,3465,3945
$GC,1181,-0.73,-243.4,176.5,-7.3,199,1188,0.00,2.05,0.00,0.000,6,0.000,0.028,2590,2065,3946
$GC,1529,-0.78,-243.4,207.9,-9.5,260,1535,0.00,2.10,0.00,0.000,4,0.000,0.040,2591,672,3945
$GC,1618,-0.84,-243.4,216.8,-10.1,275,1624,0.12,2.12,0.00,0.000,6,0.064,0.035,2519,2082,3945
$GC,1965,-0.72,-243.4,266.9,-15.4,336,1972,0.20,0.00,0.00,0.000,6,0.126,0.000,2585,2084,3943
$GC,2317,-0.80,-243.4,300.9,-7.8,397,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2083,3942
$GC,2640,-0.90,-243.4,321.6,-5.4,427,2645,0.15,0.00,0.00,0.000,6,0.058,0.000,2504,2083,3940
$GC,2966,-0.78,-243.4,357.2,-12.5,458,2970,0.17,2.22,0.00,0.000,4,0.127,0.044,2562,672,3939
$GC,3118,-0.83,-243.4,370.5,-8.6,471,3122,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,2061,3938
$GC,3451,-0.88,-243.4,401.2,-9.7,502,3455,0.00,2.22,0.00,0.000,4,0.000,0.055,2554,3466,3935
$GC,3510,-0.97,-243.4,406.6,-8.3,507,3515,0.15,2.10,0.00,0.000,6,0.054,0.032,2478,2065,3935
$GC,3837,-0.80,-243.4,453.7,-15.4,537,3842,0.25,2.20,0.00,0.000,4,0.127,0.045,2559,667,3934
$GC,3994,-0.86,-243.4,468.5,-8.2,550,3997,0.00,2.15,0.00,0.000,6,0.000,0.041,2558,2058,3933
$GC,4326,-0.92,-243.4,490.4,-6.4,581,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2059,3929
$GC,4639,-0.99,-243.4,511.1,-6.6,603,4641,0.17,0.00,0.00,0.000,6,0.054,0.000,2470,2058,3928
$GC,4949,-0.84,-243.4,555.0,-15.9,618,4954,0.22,2.22,0.00,0.000,4,0.129,0.048,2544,663,3926
$GC,5039,-0.89,-243.4,565.2,-10.0,622,5043,0.00,2.17,0.00,0.000,6,0.000,0.042,2542,2063,3925
$GC,5370,-0.94,-243.4,600.2,-11.1,638,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2063,3924
$GC,5677,-0.99,-243.4,634.9,-11.3,653,5681,0.12,2.22,0.00,0.000,4,0.065,0.049,2477,664,3922
$GC,5723,-0.88,-243.4,641.6,-15.3,655,5728,0.22,2.17,0.00,0.000,6,0.127,0.045,2539,2045,3921
$STATE,5781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5781,begin apogee
$GC,5789,-0.23,0.0,649.0,11.8,658,5992,0.62,0.00,199.57,1.226,6,0.098,0.000,2750,1699,2945
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5996,0.93,243.4,666.1,0.0,668,6210,0.98,2.40,204.80,1.185,4,0.040,0.054,3132,3109,1950
$GC,6293,0.53,243.4,641.9,20.1,682,6298,0.52,2.17,0.00,0.000,6,0.156,0.040,2993,1701,1944
$GC,6610,0.49,250.1,608.5,9.8,697,6621,0.00,2.25,5.82,0.880,4,0.000,0.054,2993,3110,1924
$GC,6771,0.48,306.6,593.4,8.4,704,6831,0.00,2.15,50.40,1.154,6,0.000,0.040,3002,1705,1694
$GC,7144,0.55,394.8,562.8,7.6,722,7229,0.00,2.33,78.45,1.147,4,0.000,0.054,3002,3114,1335
$GC,7482,0.55,394.8,530.9,10.5,737,7486,0.00,2.12,0.00,0.000,6,0.000,0.039,3013,1726,1332
$GC,7802,0.55,394.8,493.8,12.4,754,7805,0.00,2.20,0.00,0.000,4,0.000,0.054,3013,3111,1330
$GC,8062,0.55,394.8,459.0,12.8,777,8066,0.00,2.05,0.00,0.000,6,0.000,0.040,3023,1774,1329
$GC,8398,0.51,394.8,419.5,11.8,808,8402,0.12,2.15,0.00,0.000,4,0.140,0.052,2986,3112,1329
$GC,8554,0.57,394.8,403.3,10.5,821,8557,0.00,2.00,0.00,0.000,6,0.000,0.039,2995,1804,1328
$GC,8889,0.62,394.8,365.7,11.4,852,8893,0.00,2.08,0.00,0.000,4,0.000,0.051,2994,3112,1327
$GC,9009,0.66,394.8,350.2,13.1,862,9015,0.00,2.00,0.00,0.000,6,0.000,0.038,3003,1826,1327
$GC,9340,0.69,394.8,306.3,12.7,893,9345,0.10,2.05,0.00,0.000,4,0.073,0.051,3059,3114,1327
$GC,9437,0.56,394.8,290.6,16.1,906,9444,0.17,1.98,0.00,0.000,6,0.129,0.038,2999,1848,1327
$GC,9786,0.70,455.7,260.3,8.3,967,9848,0.12,2.08,53.53,0.963,4,0.066,0.051,3067,3106,1087
$GC,10004,0.59,455.7,228.4,16.4,1004,10012,0.15,1.95,0.00,0.000,6,0.133,0.038,3011,1853,1086
$GC,10353,0.67,455.7,191.4,11.2,1065,10359,0.00,2.00,0.00,0.000,4,0.000,0.049,3012,3108,1083
$GC,10502,0.77,464.5,175.8,9.8,1090,10517,0.08,1.92,8.65,0.797,6,0.051,0.036,3095,1856,1050
$GC,10861,0.63,464.5,113.2,18.6,1152,10867,0.22,1.98,0.00,0.000,4,0.132,0.046,3021,3118,1050
$GC,11009,0.74,464.5,95.5,10.4,1177,11015,0.00,1.90,0.00,0.000,6,0.000,0.035,3028,1883,1051
$GC,11357,1.11,600.0,65.0,6.3,1238,11484,0.35,2.03,116.18,0.775,4,0.038,0.044,3203,3117,497
$GC,11661,1.03,600.0,11.0,14.7,1289,11668,0.15,1.90,0.00,0.000,6,0.122,0.035,3147,1876,495
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11745,begin surface coast
$FINISH,1.0,0.999294
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11791,begin surface
$SM_CCo,11872,0.00,0.000,0,0,493,601.48
$SM_GC,1.78,7.97,0.00,0.00,0.038,0.000,0.000,139,2106,493,-8.27,1.27,601.48
$IRIDIUM_FIX,2512.73,12233.94,211198,040458
$TT8_MAMPS,0.026845
$HUMID,1842
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,22.60
$XPDR_PINGS,180
$ALTIM_BOTTOM_PING,625.6,75.1
$24V_AH,23.5,127.324
$10V_AH,10.5,81.530
$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,23.450,85.575,717.400,0.000,0.000,23.952,34.515,192.742,49.750,0.000,0.000,25.841,2251.189,5926.617,746.546,2687.659,680.146,0.000,1940.922,0.000,2655.645,0.000,34.002,0.000
$DEVICE_MAMPS,215.527,55.224,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,892.232,928.390,1568.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75749,1311
$CAP_FILE_SIZE,128585,0
$CFSIZE,260165632,189059072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,146.6,1
$GPS,270809,104237,2518.546,12236.927,40,1.1,40,-3.6