version: 66.04
glider: 166
mission: 2
dive: 101
start: 6 7 109 1 35 51
data:
$ID,166
$MISSION,2
$DIVE,101
$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,-4
$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,-7166.9463
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,012600,2521.629,12335.031,39,1.4,44,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-69.5
$GPS2,013514,2521.684,12335.095,13,1.9,13,-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,187.9,16433,-17.1,-11.000
$D_GRID,1853
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,99,0.00,0.00,-82.15,0.000,2,0.000,0.000,214,1491,2461
$GC,101,-0.94,-194.7,3.3,-6.3,13,154,8.98,1.98,-34.35,0.000,4,0.242,0.058,2420,204,3658
$GC,207,-0.10,-194.7,29.3,-35.2,30,214,0.93,1.92,0.00,0.000,6,0.161,0.029,2699,1508,3658
$GC,551,-0.84,-194.7,58.9,-10.2,91,559,0.60,2.03,0.00,0.000,4,0.072,0.034,2465,2911,3659
$GC,632,-0.46,-194.7,71.7,-21.9,105,640,0.32,2.05,0.00,0.000,6,0.146,0.031,2585,1490,3659
$GC,980,-0.46,-194.7,126.3,-16.3,166,986,0.00,1.92,0.00,0.000,4,0.000,0.043,2585,204,3659
$GC,1019,-0.46,-194.7,132.8,-14.9,173,1027,0.00,1.88,0.00,0.000,6,0.000,0.027,2582,1509,3659
$GC,1367,-0.63,-194.7,167.0,-6.2,234,1374,0.12,1.92,0.00,0.000,4,0.068,0.041,2513,210,3661
$GC,1453,-0.41,-194.7,177.4,-13.8,249,1461,0.25,1.85,0.00,0.000,6,0.127,0.028,2605,1494,3660
$GC,1801,-0.78,-194.7,196.5,-7.0,310,1808,0.28,2.05,0.00,0.000,4,0.044,0.038,2461,2898,3660
$GC,1881,-0.68,-194.7,207.0,-15.0,324,1888,0.20,2.03,0.00,0.000,6,0.138,0.031,2523,1491,3660
$GC,2225,-0.68,-194.7,252.4,-13.1,385,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1491,3661
$GC,2569,-0.74,-194.7,295.9,-12.2,446,2576,0.00,2.10,0.00,0.000,4,0.000,0.042,2520,2883,3660
$GC,2631,-0.95,-194.7,302.3,-8.9,455,2638,0.25,2.00,0.00,0.000,6,0.048,0.033,2409,1525,3660
$GC,2956,-0.57,-194.7,356.7,-17.3,486,2958,0.45,0.00,0.00,0.000,6,0.146,0.000,2548,1524,3660
$GC,3275,-0.82,-194.7,380.1,-7.4,516,3277,0.20,0.00,0.00,0.000,6,0.055,0.000,2454,1524,3660
$GC,3594,-0.70,-194.7,424.6,-14.0,546,3599,0.20,2.05,0.00,0.000,4,0.138,0.046,2518,2889,3658
$GC,3632,-0.91,-194.7,429.1,-9.7,549,3641,0.20,2.03,0.00,0.000,6,0.053,0.035,2421,1503,3658
$GC,3957,-0.66,-194.7,482.0,-14.7,580,3959,0.32,0.00,0.00,0.000,6,0.142,0.000,2521,1502,3656
$GC,4285,-0.86,-194.7,508.2,-7.5,606,4289,0.17,2.08,0.00,0.000,4,0.061,0.046,2427,2881,3654
$GC,4339,-0.78,-194.7,514.8,-12.9,608,4346,0.15,2.03,0.00,0.000,6,0.129,0.037,2480,1525,3653
$GC,4656,-0.85,-194.7,547.8,-9.8,624,4660,0.00,2.05,0.00,0.000,4,0.000,0.048,2480,2887,3652
$GC,4688,-0.99,-194.7,551.0,-9.0,625,4693,0.17,2.00,0.00,0.000,6,0.057,0.036,2397,1544,3652
$GC,5009,-0.75,-194.7,597.7,-14.7,641,5014,0.30,2.03,0.00,0.000,4,0.145,0.051,2495,201,3649
$GC,5098,-0.86,-194.7,606.4,-8.5,645,5102,0.00,1.92,0.00,0.000,6,0.000,0.035,2493,1524,3649
$GC,5425,-1.00,-194.7,632.9,-8.2,661,5427,0.22,0.00,0.00,0.000,6,0.057,0.000,2392,1525,3646
$GC,5734,-0.77,-194.7,677.4,-15.0,676,5736,0.32,0.00,0.00,0.000,6,0.146,0.000,2491,1525,3643
$GC,6043,-0.93,-194.7,706.9,-9.0,691,6045,0.15,0.00,0.00,0.000,6,0.067,0.000,2422,1525,3641
$GC,6353,-0.83,-194.7,746.2,-12.1,706,6355,0.17,0.00,0.00,0.000,6,0.146,0.000,2473,1525,3638
$GC,6662,-0.93,-194.7,772.8,-8.3,721,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1525,3636
$GC,6971,-1.04,-194.7,797.9,-8.2,736,6975,0.17,2.03,0.00,0.000,4,0.065,0.055,2388,206,3634
$GC,7008,-0.75,-194.7,802.9,-14.6,737,7016,0.30,2.00,0.00,0.000,6,0.148,0.039,2490,1528,3633
$GC,7324,-0.93,-194.7,827.7,-7.5,753,7329,0.15,2.10,0.00,0.000,4,0.067,0.054,2422,2911,3632
$GC,7378,-0.93,-194.7,833.4,-10.2,755,7385,0.00,2.08,0.00,0.000,6,0.000,0.042,2421,1543,3631
$GC,7696,-0.84,-194.7,868.5,-11.2,771,7700,0.15,2.05,0.00,0.000,4,0.146,0.056,2464,202,3629
$GC,7744,-0.84,-194.7,873.7,-10.0,773,7749,0.00,2.03,0.00,0.000,6,0.000,0.039,2464,1544,3629
$GC,8074,-0.92,-194.7,899.6,-8.0,789,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1546,3627
$GC,8383,-1.00,-194.7,925.8,-8.8,804,8385,0.15,0.00,0.00,0.000,6,0.069,0.000,2397,1546,3626
$GC,8690,-0.85,-194.7,964.5,-12.7,819,8695,0.20,2.08,0.00,0.000,4,0.152,0.058,2462,205,3624
$GC,8739,-0.85,-194.7,970.0,-10.5,821,8743,0.00,2.03,0.00,0.000,6,0.000,0.041,2454,1542,3624
$STATE,8955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8955,begin apogee
$GC,8960,-0.20,0.0,990.1,9.2,832,9125,0.68,0.00,162.32,1.484,6,0.120,0.000,2674,1753,2863
$STATE,9126,end apogee,CONTROL_FINISHED_OK
$STATE,9126,begin climb
$GC,9128,0.94,194.7,996.4,0.0,840,9311,0.98,0.00,174.70,1.440,6,0.038,0.000,3055,1753,2068
$GC,9619,0.36,194.7,910.5,22.2,864,9624,0.68,2.25,0.00,0.000,4,0.174,0.055,2872,344,2061
$GC,9646,0.20,194.7,905.7,15.5,865,9651,0.22,2.20,0.00,0.000,6,0.139,0.042,2807,1765,2061
$GC,9969,0.55,269.8,879.4,8.1,881,10043,0.28,2.42,65.72,1.384,4,0.051,0.058,2943,342,1761
$GC,10115,0.40,269.8,856.2,18.0,887,10122,0.22,2.20,0.00,0.000,6,0.142,0.042,2866,1731,1757
$GC,10432,0.52,271.4,819.8,10.9,903,10434,0.12,0.00,0.00,0.000,6,0.071,0.000,2924,1732,1753
$GC,10740,0.43,271.4,775.4,14.3,918,10745,0.17,2.17,0.00,0.000,4,0.150,0.055,2885,340,1752
$GC,10783,0.49,271.4,769.8,12.1,920,10788,0.00,2.12,0.00,0.000,6,0.000,0.041,2885,1722,1752
$GC,11110,0.56,282.9,734.0,10.6,936,11131,0.00,0.00,13.27,1.065,6,0.000,0.000,2885,1722,1709
$GC,11439,0.63,293.5,698.1,10.6,952,11456,0.17,2.17,11.15,1.205,4,0.059,0.057,2982,344,1665
$GC,11489,0.36,293.5,689.9,18.2,953,11493,0.38,2.15,0.00,0.000,6,0.147,0.041,2857,1731,1663
$GC,11812,0.64,348.2,659.1,8.9,969,11870,0.22,2.33,49.53,1.275,4,0.054,0.056,2974,345,1442
$GC,11902,0.43,348.2,644.0,18.1,973,11907,0.25,2.17,0.00,0.000,6,0.141,0.041,2882,1712,1439
$GC,12230,0.61,358.5,608.0,10.6,989,12245,0.15,2.28,9.62,1.114,4,0.063,0.054,2951,3153,1401
$GC,12275,0.50,358.5,601.3,16.4,991,12280,0.22,2.22,0.00,0.000,6,0.152,0.043,2900,1715,1399
$GC,12601,0.60,358.5,558.6,12.9,1007,12605,0.00,2.12,0.00,0.000,4,0.000,0.057,2908,341,1397
$GC,12651,0.69,358.5,551.7,13.6,1009,12655,0.12,2.10,0.00,0.000,6,0.054,0.041,2974,1707,1396
$GC,12968,0.46,358.5,490.6,20.1,1026,12973,0.28,2.22,0.00,0.000,4,0.149,0.053,2889,3152,1395
$GC,13023,0.65,360.5,483.0,10.9,1030,13032,0.08,2.20,0.00,0.000,6,0.032,0.042,2969,1721,1395
$GC,13348,0.48,360.5,425.8,20.0,1061,13352,0.22,2.12,0.00,0.000,4,0.150,0.053,2908,338,1395
$GC,13413,0.59,360.5,415.7,14.7,1066,13422,0.00,2.12,0.00,0.000,6,0.000,0.040,2908,1735,1395
$GC,13740,0.70,360.5,377.2,11.5,1097,13744,0.15,2.15,0.00,0.000,4,0.061,0.053,2995,341,1395
$GC,13778,0.53,360.5,371.0,17.9,1100,13783,0.30,2.05,0.00,0.000,6,0.146,0.039,2907,1724,1395
$GC,14103,0.70,364.3,332.6,10.9,1130,14117,0.17,2.12,5.88,0.825,4,0.058,0.051,3007,342,1376
$GC,14164,0.46,364.3,321.7,20.6,1135,14168,0.40,2.03,0.00,0.000,6,0.142,0.038,2887,1705,1376
$GC,14494,0.84,411.9,289.9,9.2,1174,14544,0.30,2.17,42.40,0.966,4,0.045,0.054,3045,339,1181
$GC,14619,0.52,411.9,263.4,23.7,1195,14625,0.47,2.05,0.00,0.000,6,0.142,0.040,2906,1698,1179
$GC,14961,0.93,485.1,227.7,8.2,1256,15030,0.32,2.22,63.38,0.903,4,0.064,0.048,3070,341,885
$GC,15078,0.60,485.1,200.5,27.2,1275,15084,0.47,2.05,0.00,0.000,6,0.140,0.035,2931,1684,882
$GC,15424,1.11,572.8,166.0,7.7,1336,15507,0.40,2.15,75.20,0.832,4,0.038,0.047,3121,342,526
$GC,15615,0.74,572.8,113.4,29.4,1368,15622,0.47,2.03,0.00,0.000,6,0.144,0.033,2980,1672,522
$GC,15961,1.17,606.8,71.0,9.7,1429,15983,0.32,2.12,15.73,0.713,4,0.039,0.046,3150,331,454
$GC,16023,0.85,606.8,56.4,28.4,1439,16030,0.38,1.98,0.00,0.000,6,0.130,0.032,3015,1649,452
$GC,16370,1.16,607.7,15.6,11.0,1500,16376,0.22,2.00,0.00,0.000,4,0.048,0.046,3141,337,452
$GC,16418,0.96,607.7,6.4,23.2,1508,16425,0.25,1.92,0.00,0.000,6,0.137,0.031,3046,1648,452
$STATE,16430,end climb,SURFACE_DEPTH_REACHED
$STATE,16430,begin surface coast
$FINISH,1.0,1.022182
$STATE,16441,end surface coast,CONTROL_FINISHED_OK
$STATE,16441,begin surface
$SM_CCo,16517,0.00,0.000,0,0,451,591.66
$SM_GC,1.63,7.60,0.00,0.00,0.044,0.000,0.000,153,1492,451,-8.02,-0.23,591.66
$IRIDIUM_FIX,2512.73,12330.82,010998,010137
$TT8_MAMPS,0.026845
$HUMID,1480
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,24.10
$XPDR_PINGS,106
$24V_AH,23.3,24.179
$10V_AH,10.7,14.731
$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,33.800,125.450,688.900,0.000,0.000,52.127,70.985,253.286,34.500,0.000,0.000,13.600,2683.630,10047.033,812.148,2935.780,597.514,0.000,2153.450,0.000,2911.369,0.000,54.408,0.000
$DEVICE_MAMPS,241.605,58.292,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.361,1056.398,1774.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85438,1512
$CAP_FILE_SIZE,173668,0
$CFSIZE,260165632,227012608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218, 87.8,1
$GPS,070609,061207,2518.927,12336.705,27,1.6,27,-3.8