version: 66.04
glider: 166
mission: 2
dive: 102
start: 6 7 109 6 21 53
data:
$ID,166
$MISSION,2
$DIVE,102
$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,-7184.8862
$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,40
$R_STBD_OVSHOOT,49
$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
$GPS1,061207,2518.927,12336.705,27,1.6,27,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.7
$GPS2,062131,2519.025,12336.722,12,1.8,17,-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,192.3,10805,-17.1,-11.000
$D_GRID,1876
$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,-194.7,0.0,0.0,0,105,0.00,0.00,-88.85,0.000,2,0.000,0.000,198,1492,2423
$GC,107,-0.94,-194.7,3.2,-5.7,13,160,8.95,2.00,-35.72,0.000,4,0.239,0.059,2421,197,3659
$GC,264,-0.11,-194.7,46.7,-35.0,39,272,0.90,1.95,0.00,0.000,6,0.162,0.031,2702,1506,3659
$GC,609,-0.92,-194.7,78.9,-9.8,100,617,0.65,2.03,0.00,0.000,4,0.070,0.037,2445,2904,3659
$GC,640,-1.08,-194.7,82.7,-12.1,105,647,0.20,2.05,0.00,0.000,6,0.060,0.031,2380,1484,3659
$GC,985,-0.37,-194.7,185.6,-31.7,166,993,0.73,1.90,0.00,0.000,4,0.162,0.043,2611,201,3660
$GC,1077,-0.63,-194.7,199.6,-10.3,182,1087,0.17,1.88,0.00,0.000,6,0.042,0.028,2511,1500,3662
$GC,1425,-0.50,-194.7,249.8,-13.7,243,1433,0.17,2.05,0.00,0.000,4,0.138,0.042,2565,2892,3662
$GC,1488,-0.75,-194.7,255.4,-7.2,254,1497,0.20,2.03,0.00,0.000,6,0.051,0.034,2462,1492,3662
$GC,1839,-0.51,-194.7,305.5,-14.9,313,1843,0.32,1.90,0.00,0.000,4,0.139,0.046,2568,210,3662
$GC,1900,-0.70,-194.7,311.3,-7.2,318,1904,0.15,1.80,0.00,0.000,6,0.064,0.030,2486,1474,3662
$GC,2229,-0.62,-194.7,349.7,-12.5,349,2235,0.17,2.10,0.00,0.000,4,0.137,0.043,2538,2897,3662
$GC,2263,-0.82,-194.7,353.1,-8.8,352,2268,0.17,2.05,0.00,0.000,6,0.054,0.035,2449,1484,3661
$GC,2587,-0.63,-194.7,403.7,-16.4,382,2589,0.28,0.00,0.00,0.000,6,0.137,0.000,2532,1484,3660
$GC,2907,-0.82,-194.7,433.4,-8.1,412,2909,0.17,0.00,0.00,0.000,6,0.060,0.000,2449,1484,3660
$GC,3225,-0.68,-194.7,474.0,-12.9,442,3230,0.20,2.12,0.00,0.000,4,0.140,0.046,2507,2889,3657
$GC,3275,-0.90,-194.7,478.6,-7.3,446,3280,0.17,2.05,0.00,0.000,6,0.055,0.036,2421,1490,3657
$GC,3607,-0.69,-194.7,525.2,-14.0,469,3609,0.30,0.00,0.00,0.000,6,0.139,0.000,2514,1490,3655
$GC,3916,-0.88,-194.7,550.3,-7.9,484,3920,0.17,2.12,0.00,0.000,4,0.061,0.047,2425,2895,3653
$GC,3981,-0.81,-194.7,557.9,-11.6,487,3986,0.12,2.10,0.00,0.000,6,0.133,0.038,2470,1497,3652
$GC,4309,-0.81,-194.7,592.6,-10.3,503,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1497,3650
$GC,4617,-0.86,-194.7,622.8,-9.8,518,4621,0.00,2.10,0.00,0.000,4,0.000,0.051,2467,2885,3647
$GC,4651,-0.97,-194.7,626.2,-9.4,519,4655,0.12,2.05,0.00,0.000,6,0.069,0.039,2406,1494,3647
$GC,4973,-0.79,-194.7,668.1,-12.7,535,4975,0.25,0.00,0.00,0.000,6,0.144,0.000,2481,1494,3645
$GC,5281,-0.90,-194.7,695.2,-8.6,550,5285,0.00,2.12,0.00,0.000,4,0.000,0.052,2480,2892,3642
$GC,5353,-1.09,-194.7,701.2,-8.1,553,5358,0.25,2.08,0.00,0.000,6,0.051,0.041,2370,1497,3641
$GC,5680,-0.80,-194.7,749.0,-14.5,569,5685,0.32,1.98,0.00,0.000,4,0.154,0.054,2475,197,3638
$GC,5810,-0.86,-194.7,760.8,-8.5,575,5814,0.00,1.88,0.00,0.000,6,0.000,0.039,2473,1467,3637
$GC,6143,-0.95,-194.7,787.1,-8.2,591,6147,0.12,2.17,0.00,0.000,4,0.073,0.053,2410,2903,3635
$GC,6208,-0.89,-194.7,794.1,-11.2,594,6213,0.10,2.15,0.00,0.000,6,0.143,0.042,2444,1481,3634
$GC,6536,-0.89,-194.7,826.7,-10.2,610,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1480,3632
$GC,6844,-0.89,-194.7,857.2,-9.9,625,6847,0.00,1.95,0.00,0.000,4,0.000,0.058,2444,203,3630
$GC,6882,-0.83,-194.7,861.5,-11.2,626,6891,0.08,1.92,0.00,0.000,6,0.152,0.040,2463,1481,3629
$GC,7198,-0.91,-194.7,890.2,-9.2,642,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1481,3628
$GC,7509,-0.99,-194.7,919.6,-9.8,657,7514,0.12,2.17,0.00,0.000,4,0.075,0.055,2406,2906,3626
$GC,7603,-0.90,-194.7,931.0,-12.3,661,7608,0.15,2.12,0.00,0.000,6,0.155,0.044,2448,1493,3626
$GC,7926,-0.90,-194.7,965.1,-10.5,677,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1493,3625
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8174,-0.20,0.0,991.5,11.0,689,8340,0.68,0.00,162.27,1.482,6,0.122,0.000,2669,1761,2863
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8341,begin climb
$GC,8342,0.94,194.7,1000.0,0.0,697,8524,1.00,0.00,174.43,1.440,6,0.039,0.000,3056,1760,2068
$GC,8834,0.34,194.7,919.5,20.7,721,8840,0.70,2.20,0.00,0.000,4,0.172,0.057,2852,3154,2061
$GC,8878,0.48,229.2,913.4,9.7,723,8915,0.00,2.15,30.48,1.352,6,0.000,0.043,2859,1763,1927
$GC,9225,0.64,283.3,882.1,8.9,740,9280,0.22,2.38,48.65,1.371,4,0.054,0.058,2973,342,1706
$GC,9359,0.40,283.3,860.1,18.6,746,9364,0.38,2.20,0.00,0.000,6,0.150,0.042,2868,1744,1702
$GC,9681,0.58,319.9,828.4,9.6,762,9720,0.17,0.00,32.92,1.335,6,0.061,0.000,2944,1745,1558
$GC,10029,0.43,319.9,773.0,16.1,779,10031,0.22,0.00,0.00,0.000,6,0.147,0.000,2881,1745,1553
$GC,10338,0.55,322.1,738.4,10.9,794,10343,0.12,2.20,0.00,0.000,4,0.070,0.057,2951,340,1551
$GC,10409,0.42,322.1,727.2,16.4,797,10414,0.20,2.17,0.00,0.000,6,0.141,0.042,2877,1754,1551
$GC,10731,0.57,327.8,691.6,10.8,813,10741,0.15,0.00,7.43,1.108,6,0.063,0.000,2946,1756,1526
$GC,11039,0.45,327.8,641.9,16.4,828,11044,0.20,2.15,0.00,0.000,4,0.146,0.054,2887,3148,1524
$GC,11078,0.56,327.8,636.9,12.4,830,11082,0.00,2.15,0.00,0.000,6,0.000,0.043,2895,1730,1524
$GC,11410,0.65,327.8,598.2,11.9,846,11414,0.15,2.15,0.00,0.000,4,0.062,0.056,2976,338,1523
$GC,11509,0.48,327.8,581.2,17.7,850,11517,0.22,2.12,0.00,0.000,6,0.143,0.041,2890,1736,1523
$GC,11825,0.60,327.8,543.9,11.5,866,11826,0.12,0.00,0.00,0.000,6,0.070,0.000,2948,1736,1523
$GC,12134,0.49,327.8,493.9,16.8,882,12136,0.17,0.00,0.00,0.000,6,0.148,0.000,2901,1736,1523
$GC,12454,0.60,327.8,456.1,11.0,912,12457,0.00,2.12,0.00,0.000,4,0.000,0.054,2909,340,1523
$GC,12543,0.71,327.8,445.4,12.0,920,12548,0.15,2.10,0.00,0.000,6,0.068,0.040,2979,1748,1523
$GC,12867,0.54,327.8,385.0,19.9,950,12872,0.20,2.12,0.00,0.000,4,0.150,0.050,2916,3155,1523
$GC,12893,0.54,327.8,380.6,15.9,952,12897,0.00,2.12,0.00,0.000,6,0.000,0.040,2925,1727,1521
$GC,13224,0.59,327.8,335.4,12.8,983,13228,0.00,2.10,0.00,0.000,4,0.000,0.052,2937,338,1521
$GC,13330,0.65,327.8,322.2,12.0,992,13337,0.00,2.08,0.00,0.000,6,0.000,0.038,2937,1721,1521
$GC,13662,0.65,327.8,280.3,12.7,1036,13669,0.00,2.12,0.00,0.000,4,0.000,0.059,2951,350,1521
$GC,13697,0.65,327.8,275.8,13.1,1042,13704,0.00,2.03,0.00,0.000,6,0.000,0.038,2949,1709,1521
$GC,14044,0.65,327.8,227.7,15.0,1103,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1711,1522
$GC,14386,0.71,334.0,187.2,10.8,1164,14398,0.00,0.00,6.68,0.736,6,0.000,0.000,2949,1711,1502
$GC,14738,0.84,357.4,149.9,10.1,1226,14765,0.15,2.15,21.48,0.817,4,0.060,0.048,3041,346,1405
$GC,14895,0.63,357.4,122.8,16.6,1253,14902,0.32,2.03,0.00,0.000,6,0.138,0.034,2943,1705,1402
$GC,15242,0.96,404.6,87.5,9.2,1314,15288,0.25,2.17,40.17,0.765,4,0.044,0.045,3077,342,1212
$GC,15418,0.73,404.6,55.1,18.0,1344,15425,0.35,2.00,0.00,0.000,6,0.137,0.032,2972,1686,1209
$GC,15764,1.18,493.8,25.8,7.6,1405,15847,0.35,2.15,74.05,0.706,4,0.040,0.044,3151,345,848
$STATE,15874,end climb,SURFACE_DEPTH_REACHED
$STATE,15875,begin surface coast
$FINISH,0.9,1.010237
$STATE,15885,end surface coast,CONTROL_FINISHED_OK
$STATE,15885,begin surface
$SM_CCo,15962,0.00,0.000,0,0,845,495.26
$SM_GC,1.72,8.05,0.00,0.00,0.043,0.000,0.000,149,1517,845,-8.04,0.48,495.26
$IRIDIUM_FIX,2507.97,12338.10,010998,060633
$TT8_MAMPS,0.026845
$HUMID,1467
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.20
$XPDR_PINGS,113
$24V_AH,23.2,24.417
$10V_AH,10.7,14.871
$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,30.300,108.175,598.550,0.000,0.000,45.729,71.898,260.478,36.250,0.000,0.000,17.311,2527.965,9869.307,725.815,2808.013,584.345,0.000,1981.987,0.000,2775.753,0.000,54.431,0.000
$DEVICE_MAMPS,239.304,59.059,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,969.101,966.197,1624.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82120,1425
$CAP_FILE_SIZE,161380,0
$CFSIZE,260165632,226934784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215, 81.4,1
$GPS,070609,104907,2516.613,12337.912,39,1.1,39,-3.7