version: 66.04
glider: 166
mission: 2
dive: 103
start: 6 7 109 10 55 48
data:
$ID,166
$MISSION,2
$DIVE,103
$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,-7197.6147
$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,61
$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
$GPS1,104907,2516.613,12337.912,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.4
$GPS2,105526,2516.704,12337.935,12,1.1,12,-3.7
$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,188.1,6086,-17.1,-11.000
$D_GRID,1937
$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,-194.7,0.0,0.0,0,88,0.00,0.00,-71.78,0.000,2,0.000,0.000,197,1518,2444
$GC,90,-0.94,-194.7,3.2,-6.1,11,143,8.93,2.05,-34.12,0.000,4,0.237,0.058,2422,201,3657
$GC,223,-0.12,-194.7,40.2,-36.3,33,230,0.88,1.92,0.00,0.000,6,0.160,0.032,2695,1488,3658
$GC,567,-0.98,-194.7,74.0,-10.1,94,574,0.70,2.08,0.00,0.000,4,0.071,0.036,2423,2909,3658
$GC,597,-1.06,-194.7,77.8,-12.8,99,604,0.15,2.08,0.00,0.000,6,0.071,0.031,2389,1480,3658
$GC,943,-0.35,-194.7,171.1,-26.9,160,952,0.75,1.90,0.00,0.000,4,0.163,0.043,2616,199,3659
$GC,1003,-0.59,-194.7,179.8,-8.9,170,1010,0.15,1.90,0.00,0.000,6,0.046,0.028,2532,1508,3662
$GC,1347,-0.54,-194.7,223.5,-11.5,231,1354,0.12,2.05,0.00,0.000,4,0.143,0.041,2565,2894,3662
$GC,1466,-0.77,-194.7,232.9,-7.3,252,1475,0.22,2.03,0.00,0.000,6,0.050,0.034,2456,1499,3662
$GC,1812,-0.48,-194.7,292.8,-17.3,313,1818,0.35,1.92,0.00,0.000,4,0.140,0.047,2576,205,3661
$GC,1847,-0.55,-194.7,297.6,-11.9,319,1853,0.00,1.88,0.00,0.000,6,0.000,0.030,2554,1509,3662
$GC,2174,-0.79,-194.7,326.7,-8.9,352,2178,0.20,2.05,0.00,0.000,4,0.054,0.042,2451,2896,3661
$GC,2222,-0.72,-194.7,333.0,-14.0,356,2231,0.12,2.05,0.00,0.000,6,0.130,0.035,2497,1517,3662
$GC,2547,-0.72,-194.7,371.3,-11.4,387,2551,0.00,2.05,0.00,0.000,4,0.000,0.044,2495,2892,3660
$GC,2574,-0.78,-194.7,374.1,-10.4,389,2580,0.00,2.03,0.00,0.000,6,0.000,0.036,2496,1511,3660
$GC,2898,-0.78,-194.7,405.5,-9.8,420,2902,0.00,1.95,0.00,0.000,4,0.000,0.050,2496,204,3660
$GC,2932,-0.78,-194.7,409.0,-10.4,423,2935,0.00,1.90,0.00,0.000,6,0.000,0.031,2494,1519,3659
$GC,3262,-0.78,-194.7,442.8,-10.7,454,3266,0.00,2.05,0.00,0.000,4,0.000,0.047,2494,2899,3657
$GC,3352,-0.92,-194.7,451.8,-10.0,462,3357,0.15,2.00,0.00,0.000,6,0.061,0.036,2422,1525,3657
$GC,3685,-0.70,-194.7,500.9,-14.9,493,3689,0.25,1.98,0.00,0.000,4,0.143,0.050,2505,206,3655
$GC,3739,-0.76,-194.7,507.8,-10.1,495,3743,0.00,1.95,0.00,0.000,6,0.000,0.036,2504,1524,3655
$GC,4063,-0.90,-194.7,536.9,-9.4,511,4067,0.17,2.05,0.00,0.000,4,0.061,0.048,2411,2898,3653
$GC,4179,-0.77,-194.7,553.3,-14.5,516,4184,0.25,2.00,0.00,0.000,6,0.134,0.041,2488,1544,3652
$GC,4501,-0.87,-194.7,587.5,-10.1,532,4505,0.00,2.03,0.00,0.000,4,0.000,0.053,2489,200,3650
$GC,4591,-0.96,-194.7,597.1,-10.2,536,4595,0.17,1.95,0.00,0.000,6,0.064,0.035,2411,1537,3649
$GC,4923,-0.80,-194.7,642.6,-13.7,552,4925,0.22,0.00,0.00,0.000,6,0.143,0.000,2478,1538,3647
$GC,5232,-0.90,-194.7,670.8,-8.7,567,5236,0.00,2.05,0.00,0.000,4,0.000,0.055,2478,199,3645
$GC,5270,-0.90,-194.7,674.6,-10.1,568,5283,0.00,1.98,0.00,0.000,6,0.000,0.037,2478,1523,3645
$GC,5588,-1.00,-194.7,700.5,-8.0,584,5593,0.17,2.08,0.00,0.000,4,0.063,0.050,2383,2902,3642
$GC,5654,-0.83,-194.7,708.5,-12.5,587,5659,0.25,2.05,0.00,0.000,6,0.140,0.041,2466,1539,3642
$GC,5982,-0.90,-194.7,736.3,-8.3,603,5985,0.00,2.03,0.00,0.000,4,0.000,0.056,2466,204,3640
$GC,6053,-0.90,-194.7,743.4,-10.2,606,6057,0.00,1.98,0.00,0.000,6,0.000,0.038,2465,1518,3640
$GC,6382,-0.97,-194.7,772.6,-9.0,622,6384,0.12,0.00,0.00,0.000,6,0.074,0.000,2407,1520,3637
$GC,6690,-0.82,-194.7,810.5,-12.6,637,6694,0.20,2.03,0.00,0.000,4,0.148,0.058,2471,206,3635
$GC,6762,-0.87,-194.7,818.5,-10.4,640,6765,0.00,1.98,0.00,0.000,6,0.000,0.040,2472,1534,3634
$GC,7088,-0.98,-194.7,847.7,-8.9,656,7092,0.15,2.08,0.00,0.000,4,0.068,0.054,2404,2900,3632
$GC,7160,-0.92,-194.7,856.0,-11.7,659,7165,0.10,2.05,0.00,0.000,6,0.144,0.044,2438,1550,3632
$GC,7487,-0.92,-194.7,892.2,-11.1,675,7491,0.00,2.08,0.00,0.000,4,0.000,0.059,2438,197,3630
$GC,7533,-0.86,-194.7,897.5,-12.1,677,7537,0.00,2.00,0.00,0.000,6,0.000,0.041,2437,1535,3630
$GC,7865,-0.86,-194.7,933.3,-10.5,693,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1535,3629
$GC,8173,-0.86,-194.7,965.0,-10.2,708,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1535,3628
$STATE,8419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8419,begin apogee
$GC,8423,-0.20,0.0,990.2,10.1,720,8590,0.73,0.00,163.12,1.483,6,0.127,0.000,2671,1759,2863
$STATE,8591,end apogee,CONTROL_FINISHED_OK
$STATE,8591,begin climb
$GC,8593,0.94,194.7,996.1,0.0,728,8775,1.00,2.38,173.73,1.442,4,0.041,0.058,3056,3145,2068
$GC,8796,0.32,194.7,972.8,22.5,737,8804,0.77,2.30,0.00,0.000,6,0.178,0.044,2848,1750,2065
$GC,9113,0.48,239.3,941.8,9.3,753,9159,0.15,2.35,39.50,1.380,4,0.067,0.058,2925,345,1887
$GC,9192,0.35,239.3,931.2,14.9,756,9201,0.22,2.22,0.00,0.000,6,0.139,0.043,2843,1737,1884
$GC,9508,0.57,272.8,900.2,9.7,772,9553,0.20,2.28,32.30,1.298,4,0.058,0.058,2948,343,1750
$GC,9569,0.39,272.8,890.9,15.7,774,9576,0.25,2.22,0.00,0.000,6,0.144,0.043,2872,1736,1748
$GC,9885,0.49,272.8,852.6,11.8,790,9888,0.00,2.20,0.00,0.000,4,0.000,0.058,2880,342,1744
$GC,9907,0.58,272.8,849.9,11.5,791,9912,0.12,2.12,0.00,0.000,6,0.074,0.043,2939,1729,1744
$GC,10233,0.43,272.8,797.6,16.1,807,10238,0.20,2.20,0.00,0.000,4,0.150,0.056,2877,3151,1742
$GC,10282,0.54,272.8,791.0,11.6,809,10287,0.00,2.20,0.00,0.000,6,0.000,0.044,2885,1724,1741
$GC,10604,0.59,272.8,753.8,11.5,825,10609,0.12,2.15,0.00,0.000,4,0.068,0.056,2958,333,1741
$GC,10693,0.39,272.8,739.2,17.8,829,10697,0.30,2.12,0.00,0.000,6,0.147,0.043,2872,1738,1741
$GC,11020,0.53,272.8,702.0,11.0,845,11024,0.12,2.17,0.00,0.000,4,0.070,0.056,2942,339,1740
$GC,11069,0.38,272.8,694.6,15.8,847,11074,0.22,2.10,0.00,0.000,6,0.140,0.043,2869,1714,1740
$GC,11391,0.57,311.7,661.0,9.5,863,11435,0.15,2.33,33.72,1.266,4,0.064,0.057,2938,3150,1591
$GC,11462,0.47,311.7,650.7,15.9,866,11467,0.15,2.22,0.00,0.000,6,0.147,0.043,2893,1723,1588
$GC,11788,0.56,311.7,613.2,11.1,882,11792,0.00,2.15,0.00,0.000,4,0.000,0.056,2900,341,1586
$GC,11849,0.64,311.7,605.7,12.3,884,11858,0.10,2.10,0.00,0.000,6,0.054,0.041,2956,1707,1585
$GC,12165,0.48,311.7,552.9,17.9,900,12169,0.20,2.22,0.00,0.000,4,0.150,0.054,2894,3150,1585
$GC,12208,0.57,311.7,546.3,12.6,902,12212,0.00,2.22,0.00,0.000,6,0.000,0.043,2902,1704,1583
$GC,12535,0.63,311.7,507.3,12.0,918,12537,0.12,0.00,0.00,0.000,6,0.069,0.000,2966,1704,1584
$GC,12853,0.46,311.7,453.9,16.0,945,12855,0.28,0.00,0.00,0.000,6,0.145,0.000,2885,1705,1583
$GC,13171,0.71,368.6,422.7,8.8,975,13226,0.22,2.25,48.90,1.089,4,0.051,0.054,2999,330,1359
$GC,13253,0.46,368.6,408.6,19.3,982,13261,0.35,2.17,0.00,0.000,6,0.141,0.039,2892,1716,1357
$GC,13579,0.70,394.8,374.6,10.0,1013,13612,0.20,2.25,23.55,1.018,4,0.053,0.053,2998,337,1252
$GC,13692,0.51,394.8,353.5,20.3,1023,13697,0.32,2.08,0.00,0.000,6,0.141,0.039,2904,1698,1250
$GC,14017,0.71,394.8,310.1,12.3,1053,14019,0.17,0.00,0.00,0.000,6,0.055,0.000,2988,1700,1248
$GC,14350,0.59,394.8,245.9,19.1,1107,14356,0.17,2.10,0.00,0.000,4,0.147,0.050,2943,336,1248
$GC,14395,0.69,394.8,238.2,15.6,1115,14402,0.00,2.03,0.00,0.000,6,0.000,0.037,2943,1704,1247
$GC,14739,0.77,394.8,195.7,12.8,1176,14747,0.12,2.10,0.00,0.000,4,0.064,0.049,3025,330,1247
$GC,14803,0.56,394.8,183.7,18.7,1187,14810,0.35,2.03,0.00,0.000,6,0.140,0.035,2920,1713,1247
$GC,15151,0.90,437.7,149.1,9.4,1248,15197,0.28,2.17,37.03,0.827,4,0.045,0.048,3067,338,1076
$GC,15237,0.60,437.7,131.5,24.5,1262,15244,0.45,2.03,0.00,0.000,6,0.142,0.034,2934,1704,1075
$GC,15583,1.02,502.2,96.3,8.6,1323,15650,0.32,2.20,55.10,0.770,4,0.041,0.049,3096,337,813
$GC,15730,0.73,502.2,62.8,25.5,1347,15737,0.38,2.00,0.00,0.000,6,0.139,0.032,2968,1660,811
$GC,16074,1.32,604.5,30.5,7.1,1408,16158,0.47,2.12,73.62,0.703,4,0.035,0.044,3195,332,453
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,1.0,1.016794
$STATE,16194,end surface coast,CONTROL_FINISHED_OK
$STATE,16194,begin surface
$SM_CCo,16271,0.00,0.000,0,0,449,592.15
$SM_GC,1.69,8.25,0.00,0.00,0.048,0.000,0.000,153,1507,449,-8.03,0.20,592.15
$IRIDIUM_FIX,2510.35,12336.11,010998,060659
$TT8_MAMPS,0.026845
$HUMID,1481
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,23.80
$XPDR_PINGS,119
$24V_AH,23.2,24.671
$10V_AH,10.7,15.012
$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,32.300,146.100,680.575,0.000,0.000,26.553,31.281,211.029,37.750,0.000,0.000,12.100,2557.120,9926.150,779.959,2899.179,479.355,0.000,2140.869,0.000,2867.651,0.000,54.410,0.000
$DEVICE_MAMPS,237.003,59.826,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,969.213,963.217,1618.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82178,1427
$CAP_FILE_SIZE,171681,0
$CFSIZE,260165632,226840576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.168, 95.8,1
$GPS,070609,152807,2513.719,12339.111,36,0.9,36,-3.7