version: 66.04
glider: 166
mission: 2
dive: 96
start: 6 6 109 3 24 40
data:
$ID,166
$MISSION,2
$DIVE,96
$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,-7067.4263
$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,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
$GPS1,031506,2532.749,12328.627,12,1.2,28,-3.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.9
$GPS2,032420,2532.840,12328.719,9,1.9,9,-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,200.4,39681,-17.1,-11.000
$D_GRID,712
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,103,0.00,0.00,-85.45,0.000,2,0.000,0.000,169,1485,2440
$GC,106,-0.94,-194.7,3.2,-5.9,13,158,9.02,1.95,-34.20,0.000,4,0.237,0.057,2433,211,3658
$GC,299,-0.09,-194.7,61.7,-36.9,46,307,0.88,1.88,0.00,0.000,6,0.170,0.029,2700,1487,3658
$GC,647,-0.98,-194.7,93.3,-9.8,107,654,0.77,0.00,0.00,0.000,6,0.080,0.000,2418,1490,3658
$GC,991,-0.40,-194.7,187.0,-23.9,168,998,0.57,1.90,0.00,0.000,4,0.146,0.041,2599,204,3659
$GC,1077,-0.57,-194.7,197.0,-8.4,183,1085,0.10,1.88,0.00,0.000,6,0.054,0.027,2539,1521,3661
$GC,1422,-0.57,-194.7,238.9,-13.6,244,1429,0.00,2.00,0.00,0.000,4,0.000,0.040,2533,2873,3661
$GC,1474,-0.66,-194.7,245.1,-11.2,253,1480,0.00,1.98,0.00,0.000,6,0.000,0.031,2538,1503,3661
$GC,1816,-0.66,-194.7,286.6,-10.5,314,1822,0.00,2.03,0.00,0.000,4,0.000,0.041,2517,2882,3661
$GC,1852,-0.80,-194.7,289.9,-9.2,320,1859,0.12,2.00,0.00,0.000,6,0.065,0.032,2456,1516,3661
$GC,2181,-0.60,-194.7,341.2,-15.4,357,2186,0.25,2.03,0.00,0.000,4,0.139,0.042,2531,2877,3661
$GC,2215,-0.76,-194.7,345.1,-10.3,360,2220,0.12,1.98,0.00,0.000,6,0.064,0.034,2465,1512,3661
$GC,2547,-0.67,-194.7,386.2,-12.9,391,2551,0.17,1.95,0.00,0.000,4,0.137,0.047,2525,198,3660
$GC,2603,-0.80,-194.7,392.6,-9.9,396,2608,0.12,1.85,0.00,0.000,6,0.070,0.030,2461,1490,3659
$GC,2935,-0.73,-194.7,435.3,-11.6,427,2939,0.15,2.08,0.00,0.000,4,0.141,0.044,2503,2892,3658
$GC,3002,-0.96,-194.7,441.4,-7.8,433,3007,0.20,2.00,0.00,0.000,6,0.053,0.035,2410,1516,3657
$GC,3327,-0.71,-194.7,489.3,-15.9,463,3331,0.28,2.08,0.00,0.000,4,0.144,0.046,2494,2893,3655
$GC,3372,-0.88,-194.7,494.5,-10.3,467,3376,0.12,2.00,0.00,0.000,6,0.066,0.036,2429,1524,3655
$GC,3694,-0.74,-194.7,534.5,-12.5,485,3698,0.20,1.98,0.00,0.000,4,0.182,0.049,2493,207,3652
$GC,3864,-0.80,-194.7,550.3,-8.7,492,3867,0.00,1.88,0.00,0.000,6,0.000,0.034,2493,1505,3651
$GC,4185,-0.93,-194.7,573.5,-6.9,508,4189,0.15,2.08,0.00,0.000,4,0.065,0.048,2420,2889,3648
$GC,4239,-0.86,-194.7,579.0,-10.8,510,4243,0.15,2.05,0.00,0.000,6,0.134,0.037,2465,1500,3647
$GC,4560,-0.86,-194.7,596.5,-6.2,526,4563,0.00,1.95,0.00,0.000,4,0.000,0.054,2465,204,3644
$GC,4621,-0.81,-194.7,601.0,-8.2,528,4627,0.00,1.92,0.00,0.000,6,0.000,0.036,2464,1500,3644
$GC,4937,-0.81,-194.7,638.3,-12.0,544,4940,0.00,1.98,0.00,0.000,4,0.000,0.054,2464,204,3641
$GC,4959,-0.81,-194.7,640.9,-11.7,545,4963,0.00,1.90,0.00,0.000,6,0.000,0.037,2464,1495,3641
$STATE,5144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5144,begin apogee
$GC,5149,-0.20,0.0,667.3,13.3,554,5309,0.62,0.00,156.77,1.220,6,0.126,0.000,2667,1762,2862
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5311,0.94,194.7,675.6,0.0,562,5484,1.00,2.28,162.05,1.194,4,0.049,0.061,3045,3141,2067
$GC,5590,0.43,194.7,629.7,29.5,574,5597,0.57,2.17,0.00,0.000,6,0.180,0.041,2882,1757,2063
$GC,5905,0.43,194.7,590.0,11.4,590,5908,0.00,2.20,0.00,0.000,4,0.000,0.055,2884,342,2060
$GC,5965,0.46,212.9,583.4,10.3,592,5986,0.00,2.12,15.12,1.082,6,0.000,0.038,2883,1736,1995
$GC,6304,0.52,263.9,548.9,9.1,609,6353,0.00,2.30,42.83,1.134,4,0.000,0.053,2884,3148,1787
$GC,6428,0.62,265.3,535.2,10.9,614,6435,0.12,2.15,0.00,0.000,6,0.067,0.041,2952,1742,1781
$GC,6745,0.48,265.3,488.2,14.9,633,6750,0.17,2.15,0.00,0.000,4,0.152,0.053,2907,342,1779
$GC,6841,0.48,265.3,475.6,12.1,641,6844,0.00,2.10,0.00,0.000,6,0.000,0.039,2907,1739,1778
$GC,7171,0.48,265.3,439.5,12.0,672,7174,0.00,2.15,0.00,0.000,4,0.000,0.054,2917,340,1776
$GC,7215,0.48,265.3,434.0,12.2,676,7219,0.00,2.05,0.00,0.000,6,0.000,0.039,2917,1717,1776
$GC,7545,0.48,265.3,397.0,11.4,707,7549,0.00,2.17,0.00,0.000,4,0.000,0.051,2917,3155,1775
$GC,7583,0.48,265.3,392.3,11.8,710,7591,0.10,2.20,0.00,0.000,6,0.145,0.041,2895,1708,1774
$GC,7909,0.65,306.6,361.1,9.4,741,7954,0.15,2.17,34.85,1.027,4,0.061,0.053,2979,346,1611
$GC,8015,0.49,306.6,345.2,17.1,750,8023,0.25,2.08,0.00,0.000,6,0.140,0.038,2901,1703,1609
$GC,8341,0.63,309.2,310.9,10.9,781,8346,0.12,2.20,0.00,0.000,4,0.067,0.048,2960,3151,1607
$GC,8384,0.57,309.2,304.3,16.2,784,8393,0.15,2.22,0.00,0.000,6,0.148,0.039,2924,1692,1606
$GC,8726,0.65,309.2,260.6,13.1,842,8732,0.00,2.05,0.00,0.000,4,0.000,0.058,2932,337,1606
$GC,8777,0.72,309.2,254.0,12.8,851,8784,0.12,2.03,0.00,0.000,6,0.073,0.038,2995,1713,1606
$GC,9121,0.55,309.2,194.9,16.8,912,9129,0.22,2.08,0.00,0.000,4,0.146,0.048,2933,343,1606
$GC,9146,0.55,309.2,191.5,13.8,916,9154,0.00,2.00,0.00,0.000,6,0.000,0.035,2933,1695,1606
$GC,9491,0.83,395.4,160.0,7.7,977,9574,0.17,2.17,72.97,0.844,4,0.055,0.051,3043,346,1249
$GC,9610,0.63,395.4,143.2,17.5,996,9618,0.35,2.03,0.00,0.000,6,0.136,0.033,2939,1704,1248
$GC,9956,1.07,456.6,112.9,8.7,1057,10015,0.35,2.15,51.55,0.777,4,0.038,0.044,3116,331,999
$GC,10127,0.79,456.6,77.0,21.1,1086,10134,0.40,2.03,0.00,0.000,6,0.140,0.031,2995,1676,997
$GC,10473,1.18,530.4,43.3,8.2,1147,10545,0.30,2.12,61.50,0.704,4,0.041,0.044,3155,340,698
$STATE,10651,end climb,SURFACE_DEPTH_REACHED
$STATE,10651,begin surface coast
$FINISH,0.9,1.012268
$STATE,10664,end surface coast,CONTROL_FINISHED_OK
$STATE,10664,begin surface
$SM_CCo,10741,0.00,0.000,0,0,694,532.06
$SM_GC,1.60,8.05,0.00,0.00,0.047,0.000,0.000,146,1520,694,-8.03,0.59,532.06
$IRIDIUM_FIX,2524.66,12328.16,310898,000027
$TT8_MAMPS,0.026845
$HUMID,1476
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.80
$XPDR_PINGS,103
$ALTIM_BOTTOM_PING,653.4,38.3
$24V_AH,24.1,22.892
$10V_AH,10.7,13.988
$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,26.650,102.775,597.650,0.000,0.000,50.276,130.847,213.344,30.750,0.000,0.000,9.709,2037.191,5663.291,672.539,2360.438,557.228,0.000,1773.785,0.000,2342.538,0.000,37.438,0.000
$DEVICE_MAMPS,237.003,61.360,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.776,838.840,1410.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69422,1179
$CAP_FILE_SIZE,126477,0
$CFSIZE,260165632,227512320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.395, 87.5,1
$GPS,060609,062455,2531.245,12330.622,41,1.0,41,-3.8