version: 66.04
glider: 166
mission: 2
dive: 552
start: 8 26 109 6 30 36
data:
$ID,166
$MISSION,2
$DIVE,552
$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,-18248.521
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,062224,2522.885,12222.240,27,1.3,45,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-71.0
$GPS2,063016,2522.830,12222.114,11,2.3,30,-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,140.6,87220,-13.9,-10.000
$D_GRID,487
$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,-243.4,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,169,2096,1947
$GC,88,-0.93,-243.4,3.1,-5.3,10,166,9.20,2.22,-60.38,0.000,4,0.215,0.052,2518,645,3941
$GC,250,-0.56,-243.4,35.5,-22.4,36,257,0.45,2.10,0.00,0.000,6,0.129,0.035,2634,2051,3942
$GC,599,-0.68,-243.4,74.2,-9.4,97,605,0.00,2.20,0.00,0.000,4,0.000,0.046,2629,3468,3944
$GC,647,-0.83,-243.4,78.7,-9.4,105,655,0.17,2.12,0.00,0.000,6,0.035,0.029,2534,2026,3944
$GC,995,-0.70,-243.4,132.4,-15.3,166,1002,0.17,2.03,0.00,0.000,4,0.132,0.037,2591,673,3945
$GC,1180,-0.76,-243.4,151.4,-8.8,198,1186,0.00,2.05,0.00,0.000,6,0.000,0.033,2586,2060,3946
$GC,1528,-0.83,-243.4,183.2,-8.8,259,1535,0.00,2.15,0.00,0.000,4,0.000,0.048,2585,3463,3945
$GC,1589,-0.94,-243.4,188.7,-9.2,269,1596,0.20,2.08,0.00,0.000,6,0.048,0.029,2487,2032,3945
$GC,1936,-0.75,-243.4,244.2,-15.3,330,1943,0.25,2.08,0.00,0.000,4,0.126,0.039,2570,662,3944
$GC,2066,-0.81,-243.4,257.4,-10.2,352,2073,0.00,2.05,0.00,0.000,6,0.000,0.035,2567,2039,3943
$GC,2415,-0.86,-243.4,288.0,-7.5,413,2421,0.00,2.20,0.00,0.000,4,0.000,0.050,2560,3456,3941
$GC,2440,-0.91,-243.4,290.0,-7.7,417,2447,0.10,2.10,0.00,0.000,6,0.069,0.030,2504,2027,3941
$GC,2779,-0.79,-243.4,337.2,-14.8,456,2784,0.17,2.08,0.00,0.000,4,0.128,0.041,2562,670,3939
$GC,2847,-0.85,-243.4,345.3,-10.2,461,2853,0.00,2.05,0.00,0.000,6,0.000,0.036,2560,2027,3938
$GC,3173,-0.89,-243.4,380.0,-9.4,492,3177,0.00,2.08,0.00,0.000,4,0.000,0.043,2561,675,3936
$GC,3277,-0.95,-243.4,389.0,-9.5,501,3281,0.12,2.05,0.00,0.000,6,0.065,0.038,2495,2025,3936
$GC,3608,-0.82,-243.4,432.7,-12.8,532,3610,0.20,0.00,0.00,0.000,6,0.125,0.000,2555,2024,3934
$GC,3928,-0.88,-243.4,464.6,-10.6,562,3932,0.00,2.28,0.00,0.000,4,0.000,0.054,2547,3463,3932
$GC,4003,-0.96,-243.4,473.6,-11.6,568,4010,0.12,2.15,0.00,0.000,6,0.062,0.034,2482,2023,3931
$STATE,4091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4092,begin apogee
$GC,4100,-0.23,0.0,488.1,17.2,577,4299,0.80,0.00,195.80,1.077,6,0.117,0.000,2742,1694,2945
$STATE,4300,end apogee,CONTROL_FINISHED_OK
$STATE,4300,begin climb
$GC,4305,0.93,243.4,505.8,0.0,593,4515,1.00,2.33,198.48,1.049,4,0.045,0.051,3127,3099,1949
$GC,4770,0.56,243.4,450.3,18.3,625,4775,0.47,2.15,0.00,0.000,6,0.156,0.038,3001,1694,1943
$GC,5097,0.52,243.4,412.1,11.6,655,5101,0.00,2.20,0.00,0.000,4,0.000,0.048,3001,3098,1941
$GC,5340,0.45,243.4,382.6,10.0,676,5347,0.15,2.12,0.00,0.000,6,0.142,0.039,2969,1698,1939
$GC,5666,0.56,304.0,356.0,8.3,707,5723,0.00,2.22,50.25,0.999,4,0.000,0.049,2969,3096,1705
$GC,5770,0.63,322.7,346.7,9.5,716,5795,0.12,2.12,17.52,0.934,6,0.063,0.038,3043,1713,1628
$GC,6112,0.54,322.7,299.6,14.3,748,6119,0.17,2.17,0.00,0.000,4,0.137,0.049,2991,3102,1624
$GC,6308,0.58,354.2,280.0,9.1,782,6344,0.00,2.05,27.50,0.940,6,0.000,0.038,2999,1750,1499
$GC,6683,0.71,462.3,252.3,7.0,848,6783,0.15,2.25,93.47,0.924,4,0.058,0.050,3076,3102,1059
$GC,7038,0.55,462.3,195.4,21.9,909,7046,0.30,2.03,0.00,0.000,6,0.133,0.038,2996,1759,1057
$GC,7389,0.77,525.5,160.9,8.3,970,7452,0.17,2.17,54.53,0.852,4,0.051,0.048,3102,3099,801
$GC,7563,0.63,525.5,126.0,21.6,999,7570,0.30,2.03,0.00,0.000,6,0.132,0.037,3022,1787,801
$GC,7910,0.76,525.5,87.8,10.4,1060,7916,0.12,2.03,0.00,0.000,4,0.061,0.044,3101,3103,799
$GC,7986,0.67,525.5,74.5,19.8,1073,7994,0.20,1.98,0.00,0.000,6,0.122,0.035,3042,1817,799
$GC,8336,0.99,617.4,41.2,7.5,1134,8419,0.22,2.08,73.12,0.750,4,0.041,0.044,3166,3105,454
$GC,8470,0.92,617.4,17.8,18.6,1155,8477,0.12,1.98,0.00,0.000,6,0.100,0.035,3116,1825,453
$STATE,8635,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,1.0,1.019425
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8767,0.00,0.000,0,0,450,612.02
$SM_GC,1.76,7.80,0.00,0.00,0.036,0.000,0.000,147,2088,450,-8.28,0.76,612.02
$IRIDIUM_FIX,2512.73,12222.05,201198,030331
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,9.80965
$TCM_TEMP,22.30
$XPDR_PINGS,171
$24V_AH,23.7,125.363
$10V_AH,10.6,80.404
$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,23.300,72.775,710.675,0.000,0.000,23.834,31.074,233.412,45.750,0.000,0.000,31.771,1946.473,3552.834,731.108,2344.406,650.112,0.000,1788.061,0.000,2314.782,0.000,21.032,0.000
$DEVICE_MAMPS,214.760,53.690,1076.868,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.157,900.967,1522.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69542,1193
$CAP_FILE_SIZE,108059,0
$CFSIZE,260165632,189677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,133.3,1
$GPS,260809,085800,2522.125,12223.535,38,1.2,38,-3.6