version: 66.04
glider: 166
mission: 2
dive: 97
start: 6 6 109 6 36 42
data:
$ID,166
$MISSION,2
$DIVE,97
$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,-7082.6655
$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,36
$R_STBD_OVSHOOT,66
$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
$GPS1,062455,2531.245,12330.622,41,1.0,41,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.7
$GPS2,063620,2531.414,12330.689,14,1.0,14,-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,203.0,35825,-17.1,-11.000
$D_GRID,1082
$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,-194.7,0.0,0.0,0,91,0.00,0.00,-74.85,0.000,2,0.000,0.000,184,1521,2372
$GC,93,-0.94,-194.7,3.1,-5.7,11,146,8.77,2.00,-37.40,0.000,4,0.229,0.057,2431,189,3658
$GC,265,-0.11,-194.7,51.6,-34.3,40,273,0.88,1.90,0.00,0.000,6,0.161,0.029,2698,1481,3659
$GC,610,-0.52,-194.7,80.9,-5.5,101,618,0.32,2.05,0.00,0.000,4,0.041,0.036,2543,2899,3659
$GC,652,-0.38,-194.7,86.4,-15.8,108,659,0.25,2.03,0.00,0.000,6,0.133,0.031,2616,1491,3659
$GC,998,-0.54,-194.7,132.3,-15.5,169,1006,0.15,1.88,0.00,0.000,4,0.060,0.043,2543,211,3660
$GC,1065,-0.34,-194.7,144.4,-20.0,180,1072,0.22,1.85,0.00,0.000,6,0.134,0.028,2629,1493,3660
$GC,1410,-0.66,-194.7,180.2,-7.0,241,1418,0.25,2.08,0.00,0.000,4,0.047,0.038,2506,2894,3662
$GC,1475,-0.58,-194.7,187.6,-12.9,252,1482,0.15,2.03,0.00,0.000,6,0.142,0.031,2549,1486,3661
$GC,1819,-0.58,-194.7,223.7,-10.5,313,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1485,3661
$GC,2164,-0.58,-194.7,262.1,-12.2,374,2170,0.00,2.08,0.00,0.000,4,0.000,0.042,2549,2893,3661
$GC,2210,-0.72,-194.7,266.8,-9.5,382,2217,0.12,2.03,0.00,0.000,6,0.065,0.032,2486,1488,3661
$GC,2547,-0.54,-194.7,316.4,-13.6,432,2549,0.25,0.00,0.00,0.000,6,0.143,0.000,2560,1487,3661
$GC,2868,-0.71,-194.7,346.3,-10.2,462,2872,0.15,2.10,0.00,0.000,4,0.065,0.042,2465,2900,3660
$GC,2962,-0.71,-194.7,358.7,-13.5,470,2967,0.15,2.03,0.00,0.000,6,0.133,0.034,2512,1510,3659
$GC,3293,-0.82,-194.7,396.9,-10.2,501,3295,0.12,0.00,0.00,0.000,6,0.071,0.000,2451,1509,3657
$GC,3611,-0.70,-194.7,440.4,-13.2,531,3615,0.20,2.08,0.00,0.000,4,0.142,0.044,2508,2896,3655
$GC,3671,-0.90,-194.7,446.7,-9.4,536,3679,0.12,2.05,0.00,0.000,6,0.047,0.035,2432,1519,3655
$GC,3996,-0.74,-194.7,497.0,-16.0,567,4000,0.20,1.98,0.00,0.000,4,0.144,0.054,2497,198,3652
$GC,4079,-0.81,-194.7,506.4,-10.4,572,4085,0.00,1.92,0.00,0.000,6,0.000,0.032,2495,1508,3652
$GC,4394,-0.93,-194.7,533.0,-8.3,588,4398,0.15,1.98,0.00,0.000,4,0.065,0.056,2422,203,3650
$GC,4461,-0.72,-194.7,542.4,-14.9,591,4466,0.28,1.92,0.00,0.000,6,0.148,0.039,2504,1519,3649
$GC,4795,-0.88,-194.7,573.0,-9.2,607,4799,0.15,2.05,0.00,0.000,4,0.064,0.047,2425,2896,3645
$GC,4822,-0.88,-194.7,576.6,-13.2,608,4827,0.10,2.03,0.00,0.000,6,0.149,0.038,2451,1519,3645
$GC,5148,-0.88,-194.7,615.3,-11.5,624,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1518,3643
$GC,5458,-0.88,-194.7,646.8,-10.2,639,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1518,3639
$GC,5767,-0.88,-194.7,681.7,-12.1,654,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1517,3637
$GC,6077,-0.88,-194.7,721.2,-12.2,669,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1518,3634
$GC,6385,-0.88,-194.7,756.0,-11.0,684,6389,0.00,2.12,0.00,0.000,4,0.000,0.054,2450,2902,3632
$GC,6424,-0.95,-194.7,759.9,-10.1,685,6431,0.00,2.08,0.00,0.000,6,0.000,0.041,2450,1512,3631
$GC,6739,-0.95,-194.7,795.3,-12.2,701,6742,0.00,2.00,0.00,0.000,4,0.000,0.057,2451,197,3629
$GC,6816,-0.88,-194.7,805.7,-12.3,704,6821,0.00,1.98,0.00,0.000,6,0.000,0.040,2447,1506,3628
$GC,7139,-0.88,-194.7,826.7,-8.1,720,7142,0.00,2.12,0.00,0.000,4,0.000,0.055,2447,2906,3626
$GC,7194,-0.94,-194.7,832.6,-10.8,722,7198,0.00,2.08,0.00,0.000,6,0.000,0.041,2447,1513,3626
$GC,7515,-0.94,-194.7,868.7,-10.7,738,7519,0.00,2.00,0.00,0.000,4,0.000,0.057,2447,198,3625
$GC,7615,-0.89,-194.7,882.2,-12.6,742,7619,0.00,1.98,0.00,0.000,6,0.000,0.041,2447,1506,3624
$GC,7937,-0.89,-194.7,913.9,-9.9,758,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1507,3622
$GC,8246,-0.89,-194.7,947.7,-11.0,773,8249,0.00,2.12,0.00,0.000,4,0.000,0.056,2447,2901,3621
$GC,8318,-0.96,-194.7,955.5,-10.4,776,8322,0.00,2.08,0.00,0.000,6,0.000,0.044,2446,1515,3620
$STATE,8560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8560,begin apogee
$GC,8565,-0.20,0.0,981.7,10.9,788,8729,0.68,0.00,161.05,1.476,6,0.123,0.000,2668,1751,2863
$STATE,8730,end apogee,CONTROL_FINISHED_OK
$STATE,8730,begin climb
$GC,8732,0.94,194.7,990.2,0.0,796,8908,1.00,0.00,172.32,1.434,6,0.044,0.000,3049,1751,2069
$GC,9209,0.35,194.7,913.9,21.1,819,9214,0.65,2.20,0.00,0.000,4,0.175,0.057,2861,3145,2062
$GC,9247,0.35,194.7,907.9,13.6,821,9251,0.00,2.15,0.00,0.000,6,0.000,0.044,2869,1751,2060
$GC,9580,0.48,295.8,878.2,7.2,837,9674,0.00,2.33,88.53,1.384,4,0.000,0.058,2880,345,1656
$GC,9713,0.62,342.2,866.8,9.2,843,9767,0.17,2.20,42.70,1.345,6,0.063,0.043,2952,1747,1467
$GC,10074,0.47,342.2,805.4,17.7,861,10076,0.22,0.00,0.00,0.000,6,0.148,0.000,2890,1750,1459
$GC,10383,0.57,342.2,769.0,11.8,876,10386,0.00,2.20,0.00,0.000,4,0.000,0.056,2898,339,1458
$GC,10443,0.65,342.2,761.5,12.6,878,10451,0.10,2.15,0.00,0.000,6,0.056,0.042,2956,1737,1457
$GC,10759,0.49,342.2,704.7,18.9,894,10764,0.17,2.17,0.00,0.000,4,0.152,0.055,2910,339,1456
$GC,10791,0.49,342.2,699.1,16.4,895,10798,0.00,2.12,0.00,0.000,6,0.000,0.042,2910,1724,1456
$GC,11107,0.49,342.2,652.0,14.9,911,11110,0.00,2.15,0.00,0.000,4,0.000,0.056,2921,342,1455
$GC,11128,0.49,342.2,648.6,15.3,912,11132,0.00,2.08,0.00,0.000,6,0.000,0.042,2920,1719,1455
$GC,11460,0.49,342.2,599.6,15.1,928,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1720,1454
$GC,11769,0.49,342.2,553.1,14.8,943,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1722,1455
$GC,12079,0.49,342.2,506.1,15.7,958,12083,0.00,2.12,0.00,0.000,4,0.000,0.056,2931,343,1454
$GC,12123,0.49,342.2,499.2,14.6,960,12128,0.12,2.08,0.00,0.000,6,0.148,0.042,2898,1726,1454
$GC,12453,0.62,342.2,458.3,12.6,991,12458,0.12,2.15,0.00,0.000,4,0.069,0.055,2970,332,1452
$GC,12492,0.50,342.2,452.3,16.1,994,12497,0.22,2.08,0.00,0.000,6,0.144,0.041,2904,1720,1453
$GC,12816,0.61,342.2,411.0,12.7,1024,12820,0.00,2.12,0.00,0.000,4,0.000,0.054,2912,339,1452
$GC,12843,0.71,342.2,407.3,13.3,1026,12851,0.12,2.08,0.00,0.000,6,0.052,0.041,2983,1710,1453
$GC,13168,0.52,342.2,344.4,18.6,1057,13170,0.28,0.00,0.00,0.000,6,0.147,0.000,2904,1713,1453
$GC,13488,0.68,344.5,306.8,10.9,1087,13492,0.17,2.10,0.00,0.000,4,0.058,0.052,3004,330,1453
$GC,13537,0.46,344.5,298.4,19.4,1092,13545,0.40,2.05,0.00,0.000,6,0.144,0.038,2883,1726,1452
$GC,13885,0.84,394.6,266.0,9.1,1153,13935,0.30,2.25,43.15,0.955,4,0.044,0.051,3044,333,1253
$GC,13986,0.53,394.6,243.7,25.5,1170,13993,0.45,2.08,0.00,0.000,6,0.142,0.036,2911,1711,1251
$GC,14331,0.88,435.0,201.7,9.5,1231,14376,0.28,2.20,35.38,0.881,4,0.045,0.049,3056,338,1088
$GC,14416,0.58,435.0,184.2,23.8,1245,14424,0.43,2.05,0.00,0.000,6,0.140,0.035,2931,1703,1086
$GC,14765,1.07,544.0,148.9,6.9,1306,14866,0.38,2.17,92.80,0.829,4,0.038,0.047,3114,341,644
$GC,14969,0.81,544.0,102.8,22.3,1340,14976,0.38,2.03,0.00,0.000,6,0.138,0.033,3002,1674,641
$GC,15314,1.14,558.4,59.7,10.5,1401,15335,0.25,2.08,13.02,0.689,4,0.044,0.052,3141,329,585
$GC,15422,0.87,558.4,37.3,23.7,1419,15429,0.32,1.98,0.00,0.000,6,0.129,0.031,3022,1657,584
$STATE,15725,end climb,SURFACE_DEPTH_REACHED
$STATE,15725,begin surface coast
$FINISH,0.9,1.003314
$STATE,15760,end surface coast,CONTROL_FINISHED_OK
$STATE,15760,begin surface
$SM_CCo,15835,0.00,0.000,0,0,583,559.28
$SM_GC,1.62,7.65,0.00,0.00,0.046,0.000,0.000,152,1484,583,-8.02,-0.45,559.28
$IRIDIUM_FIX,2519.89,12331.47,310898,060606
$TT8_MAMPS,0.026845
$HUMID,1502
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.80
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,975.0,31.0
$24V_AH,23.5,23.151
$10V_AH,10.7,14.134
$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,27.875,116.525,648.950,0.000,0.000,73.880,99.978,280.153,32.500,0.000,0.000,14.611,2589.806,9633.031,738.782,2900.220,656.178,0.000,2049.121,0.000,2865.912,0.000,60.181,0.000
$DEVICE_MAMPS,228.566,58.292,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.925,1021.542,1717.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85111,1479
$CAP_FILE_SIZE,161818,0
$CFSIZE,260165632,227385344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227, 82.9,1
$GPS,060609,110137,2529.026,12331.620,27,1.1,27,-3.8