version: 66.04
glider: 166
mission: 2
dive: 98
start: 6 6 109 11 8 11
data:
$ID,166
$MISSION,2
$DIVE,98
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7099.5464
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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,1
$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
$GPS1,110137,2529.026,12331.620,27,1.1,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.6
$GPS2,110749,2529.101,12331.638,11,1.3,16,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,201.7,31279,-17.1,-11.000
$D_GRID,1515
$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,14,-0.94,-194.7,0.0,0.0,0,94,0.00,0.00,-77.50,0.000,2,0.000,0.000,167,1484,2297
$GC,96,-0.94,-194.7,3.0,-5.3,12,155,8.93,1.95,-39.78,0.000,4,0.232,0.058,2431,210,3658
$GC,329,-0.18,-194.7,72.8,-31.7,52,336,0.80,1.90,0.00,0.000,6,0.159,0.029,2677,1503,3657
$GC,675,-0.60,-194.7,99.7,-5.5,113,682,0.28,2.05,0.00,0.000,4,0.043,0.035,2523,2912,3660
$GC,774,-0.43,-194.7,113.4,-16.6,130,782,0.20,2.03,0.00,0.000,6,0.133,0.031,2596,1502,3659
$GC,1121,-0.50,-194.7,151.7,-12.4,191,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1502,3659
$GC,1464,-0.70,-194.7,184.4,-8.4,252,1471,0.17,1.90,0.00,0.000,4,0.057,0.041,2487,208,3659
$GC,1516,-0.45,-194.7,192.1,-16.5,261,1523,0.30,1.90,0.00,0.000,6,0.137,0.028,2596,1531,3660
$GC,1861,-0.79,-194.7,219.0,-8.0,322,1869,0.28,1.98,0.00,0.000,4,0.044,0.036,2458,2895,3660
$GC,1903,-0.66,-194.7,224.6,-16.2,329,1911,0.22,1.98,0.00,0.000,6,0.137,0.030,2529,1514,3660
$GC,2249,-0.74,-194.7,267.7,-10.8,390,2257,0.00,2.05,0.00,0.000,4,0.000,0.039,2524,2889,3660
$GC,2285,-0.88,-194.7,271.6,-9.9,396,2292,0.12,1.98,0.00,0.000,6,0.031,0.031,2433,1534,3660
$GC,2618,-0.59,-194.7,331.8,-17.4,440,2620,0.38,0.00,0.00,0.000,6,0.145,0.000,2548,1533,3660
$GC,2938,-0.83,-194.7,359.1,-8.1,470,2942,0.20,2.00,0.00,0.000,4,0.054,0.040,2446,2885,3660
$GC,2978,-0.75,-194.7,363.6,-12.6,473,2984,0.17,1.95,0.00,0.000,6,0.136,0.031,2499,1531,3660
$GC,3302,-0.75,-194.7,397.5,-9.5,504,3305,0.00,2.00,0.00,0.000,4,0.000,0.046,2500,188,3659
$GC,3339,-0.75,-194.7,401.3,-10.5,507,3346,0.00,1.95,0.00,0.000,6,0.000,0.030,2499,1525,3659
$GC,3665,-0.81,-194.7,428.4,-8.4,538,3669,0.00,2.03,0.00,0.000,4,0.000,0.044,2499,2902,3656
$GC,3703,-0.98,-194.7,431.7,-8.1,541,3710,0.20,2.00,0.00,0.000,6,0.054,0.034,2408,1523,3656
$GC,4028,-0.71,-194.7,480.0,-15.3,572,4032,0.30,2.05,0.00,0.000,4,0.194,0.045,2503,2889,3655
$GC,4082,-0.93,-194.7,485.9,-9.0,576,4090,0.15,2.00,0.00,0.000,6,0.044,0.035,2419,1541,3654
$GC,4402,-0.75,-194.7,530.3,-13.5,597,4404,0.25,0.00,0.00,0.000,6,0.140,0.000,2495,1541,3652
$GC,4710,-0.88,-194.7,557.7,-8.8,612,4714,0.12,2.03,0.00,0.000,4,0.074,0.051,2433,197,3650
$GC,4782,-0.71,-194.7,568.0,-15.1,615,4787,0.25,1.98,0.00,0.000,6,0.145,0.035,2508,1547,3649
$GC,5110,-0.91,-194.7,595.6,-8.0,631,5114,0.17,2.03,0.00,0.000,4,0.061,0.048,2426,2901,3647
$GC,5160,-0.84,-194.7,601.4,-12.3,633,5164,0.10,2.00,0.00,0.000,6,0.140,0.038,2461,1562,3646
$GC,5487,-0.84,-194.7,635.1,-10.0,649,5490,0.00,2.05,0.00,0.000,4,0.000,0.054,2461,208,3643
$GC,5598,-0.84,-194.7,648.0,-11.5,654,5602,0.00,1.98,0.00,0.000,6,0.000,0.037,2461,1555,3642
$GC,5930,-0.84,-194.7,682.4,-10.0,670,5934,0.00,2.03,0.00,0.000,4,0.000,0.053,2461,2907,3639
$GC,5957,-0.93,-194.7,685.2,-10.3,671,5961,0.00,2.03,0.00,0.000,6,0.000,0.039,2461,1537,3639
$GC,6285,-0.98,-194.7,719.7,-10.7,687,6289,0.12,2.08,0.00,0.000,4,0.071,0.052,2396,2901,3636
$GC,6324,-0.83,-194.7,724.8,-14.2,688,6332,0.25,2.03,0.00,0.000,6,0.143,0.041,2472,1536,3636
$GC,6639,-0.91,-194.7,756.7,-9.4,704,6642,0.00,2.05,0.00,0.000,4,0.000,0.058,2472,194,3634
$GC,6683,-0.91,-194.7,761.4,-11.2,706,6687,0.00,2.03,0.00,0.000,6,0.000,0.039,2472,1557,3633
$GC,7015,-1.00,-194.7,792.2,-9.2,722,7017,0.17,0.00,0.00,0.000,6,0.064,0.000,2394,1559,3631
$GC,7325,-0.80,-194.7,834.3,-13.4,737,7329,0.25,2.10,0.00,0.000,4,0.146,0.056,2476,200,3630
$GC,7409,-0.86,-194.7,842.2,-8.8,741,7413,0.00,2.03,0.00,0.000,6,0.000,0.040,2474,1558,3629
$GC,7741,-0.96,-194.7,868.1,-7.7,757,7743,0.12,0.00,0.00,0.000,6,0.073,0.000,2415,1559,3627
$GC,8051,-0.83,-194.7,901.4,-11.1,772,8056,0.17,2.10,0.00,0.000,4,0.152,0.058,2471,205,3626
$GC,8122,-0.88,-194.7,908.3,-8.4,775,8126,0.00,2.03,0.00,0.000,6,0.000,0.041,2468,1559,3626
$GC,8445,-0.95,-194.7,935.3,-8.9,791,8446,0.10,0.00,0.00,0.000,6,0.083,0.000,2420,1560,3624
$GC,8752,-0.86,-194.7,969.7,-11.3,806,8754,0.15,0.00,0.00,0.000,6,0.156,0.000,2462,1561,3623
$STATE,8999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9000,begin apogee
$GC,9004,-0.20,0.0,991.6,8.8,818,9169,0.65,0.00,161.82,1.484,6,0.120,0.000,2675,1753,2863
$STATE,9170,end apogee,CONTROL_FINISHED_OK
$STATE,9170,begin climb
$GC,9172,0.94,194.7,997.3,0.0,826,9354,1.00,2.38,173.35,1.440,4,0.043,0.057,3054,3145,2068
$GC,9499,0.32,194.7,946.0,22.3,841,9504,0.80,2.20,0.00,0.000,6,0.178,0.050,2847,1745,2062
$GC,9820,0.49,237.9,914.2,9.4,857,9865,0.15,2.35,37.58,1.378,4,0.066,0.058,2926,345,1892
$GC,9957,0.37,237.9,894.4,16.0,863,9962,0.25,2.17,0.00,0.000,6,0.147,0.042,2857,1737,1889
$GC,10289,0.49,239.7,857.0,10.9,879,10291,0.12,0.00,0.00,0.000,6,0.071,0.000,2916,1739,1886
$GC,10598,0.39,239.7,812.8,14.7,894,10602,0.17,2.17,0.00,0.000,4,0.150,0.057,2871,335,1885
$GC,10652,0.48,239.7,805.7,11.9,896,10659,0.00,2.15,0.00,0.000,6,0.000,0.043,2871,1731,1885
$GC,10968,0.55,239.7,768.3,12.1,912,10972,0.12,2.15,0.00,0.000,4,0.068,0.055,2944,342,1883
$GC,11016,0.36,239.7,760.7,16.8,914,11022,0.25,2.10,0.00,0.000,6,0.145,0.043,2865,1714,1883
$GC,11338,0.49,254.9,724.7,10.4,930,11362,0.10,2.28,14.68,1.268,4,0.080,0.057,2914,3147,1823
$GC,11389,0.42,254.9,718.0,13.6,932,11394,0.15,2.22,0.00,0.000,6,0.145,0.043,2877,1715,1821
$GC,11716,0.52,266.3,681.8,10.6,948,11732,0.00,2.22,11.45,1.207,4,0.000,0.058,2886,335,1777
$GC,11756,0.60,269.2,677.5,10.9,949,11765,0.12,2.12,4.22,0.844,6,0.071,0.042,2944,1720,1764
$GC,12087,0.45,269.2,628.3,15.2,965,12092,0.20,2.22,0.00,0.000,4,0.147,0.054,2883,3157,1762
$GC,12113,0.45,269.2,624.2,13.4,966,12118,0.00,2.25,0.00,0.000,6,0.000,0.044,2891,1705,1761
$GC,12435,0.51,269.2,582.8,12.9,982,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1705,1761
$GC,12745,0.58,269.2,546.6,11.7,997,12749,0.10,2.10,0.00,0.000,4,0.075,0.057,2956,333,1761
$GC,12850,0.45,269.2,529.5,15.9,1001,12857,0.20,2.10,0.00,0.000,6,0.138,0.042,2883,1710,1761
$GC,13166,0.64,327.1,497.2,8.8,1018,13225,0.17,2.30,50.47,1.173,4,0.059,0.054,2963,3147,1528
$GC,13276,0.49,327.1,480.1,17.6,1027,13282,0.28,2.28,0.00,0.000,6,0.152,0.042,2898,1685,1523
$GC,13600,0.60,327.1,438.6,13.4,1058,13604,0.10,2.28,0.00,0.000,4,0.076,0.051,2948,3145,1521
$GC,13649,0.51,327.1,430.5,17.2,1062,13654,0.20,2.20,0.00,0.000,6,0.150,0.041,2904,1700,1521
$GC,13974,0.62,327.1,383.1,15.1,1092,13978,0.10,2.08,0.00,0.000,4,0.076,0.054,2966,339,1521
$GC,14090,0.50,327.1,361.5,19.1,1102,14098,0.20,2.05,0.00,0.000,6,0.139,0.040,2902,1690,1520
$GC,14415,0.65,327.1,319.6,11.4,1133,14419,0.15,2.22,0.00,0.000,4,0.062,0.049,2974,3160,1520
$GC,14459,0.52,327.1,313.1,15.6,1137,14464,0.28,2.20,0.00,0.000,6,0.150,0.041,2906,1691,1519
$GC,14797,0.75,373.4,279.8,9.2,1187,14852,0.17,2.15,40.85,0.936,4,0.056,0.052,3011,346,1338
$GC,14916,0.55,373.4,258.7,19.9,1207,14922,0.32,2.05,0.00,0.000,6,0.146,0.038,2919,1705,1336
$GC,15261,0.80,404.2,218.7,9.8,1268,15293,0.17,2.20,26.92,0.894,4,0.055,0.050,3027,342,1214
$GC,15328,0.57,404.2,206.8,21.0,1279,15335,0.35,2.03,0.00,0.000,6,0.140,0.036,2925,1692,1211
$GC,15672,1.02,511.7,171.5,6.9,1340,15774,0.35,2.20,92.07,0.854,4,0.041,0.048,3093,345,775
$GC,15786,0.67,511.7,147.8,25.7,1358,15794,0.40,2.05,0.00,0.000,6,0.146,0.035,2957,1664,774
$GC,16133,1.18,602.2,114.5,7.6,1419,16209,0.40,2.10,66.90,0.777,4,0.037,0.044,3150,339,453
$GC,16300,0.80,602.2,68.7,29.4,1447,16307,0.50,2.00,0.00,0.000,6,0.141,0.032,3000,1654,450
$GC,16645,1.40,693.1,35.8,7.6,1508,16652,0.47,2.00,0.00,0.000,4,0.035,0.047,3221,340,449
$STATE,16759,end climb,SURFACE_DEPTH_REACHED
$STATE,16759,begin surface coast
$FINISH,1.0,1.021935
$STATE,16765,end surface coast,CONTROL_FINISHED_OK
$STATE,16765,begin surface
$SM_CCo,16842,0.00,0.000,0,0,448,592.40
$SM_GC,1.70,8.07,0.00,0.00,0.044,0.000,0.000,156,1523,448,-8.02,0.65,592.40
$IRIDIUM_FIX,2522.28,12331.47,310898,060605
$TT8_MAMPS,0.028379
$HUMID,1507
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,24.40
$XPDR_PINGS,101
$24V_AH,23.3,23.403
$10V_AH,10.6,14.284
$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,32.050,141.800,680.325,0.000,0.000,24.056,32.637,201.922,33.250,0.000,0.000,16.251,2713.878,10146.339,774.107,3103.027,467.664,0.000,2204.260,0.000,3062.751,0.000,54.416,0.000
$DEVICE_MAMPS,231.634,59.826,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.755,1046.720,1761.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88529,1529
$CAP_FILE_SIZE,177563,0
$CFSIZE,260165632,227278848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.204, 90.8,1
$GPS,060609,155007,2526.485,12332.685,42,0.9,42,-3.8