version: 66.04
glider: 166
mission: 2
dive: 64
start: 6 1 109 3 44 59
data:
$ID,166
$MISSION,2
$DIVE,64
$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,-6433.1221
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,033907,2528.966,12305.840,27,1.7,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.5
$GPS2,034438,2529.083,12305.848,15,1.6,15,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,163.4,32595,-17.1,-11.000
$D_GRID,879
$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,-194.7,0.0,0.0,0,74,0.00,0.00,-58.12,0.000,2,0.000,0.000,165,1490,2423
$GC,76,-0.94,-194.7,3.2,-5.8,9,129,8.75,1.92,-36.22,0.000,4,0.225,0.058,2429,205,3659
$GC,157,-0.07,-194.7,19.9,-33.2,22,164,0.93,1.90,0.00,0.000,6,0.171,0.029,2705,1497,3659
$GC,503,-0.49,-194.7,52.1,-7.1,83,511,0.30,2.05,0.00,0.000,4,0.041,0.036,2557,2896,3660
$GC,556,-0.36,-194.7,59.8,-16.9,92,563,0.22,2.03,0.00,0.000,6,0.143,0.031,2622,1497,3660
$GC,902,-0.44,-194.7,109.4,-12.4,153,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1497,3660
$GC,1244,-0.61,-194.7,153.0,-10.8,214,1251,0.20,2.05,0.00,0.000,4,0.057,0.037,2518,2893,3661
$GC,1274,-0.55,-194.7,157.1,-14.5,219,1282,0.15,2.03,0.00,0.000,6,0.146,0.031,2563,1479,3661
$GC,1619,-0.55,-194.7,201.6,-11.5,280,1626,0.00,2.08,0.00,0.000,4,0.000,0.038,2559,2898,3662
$GC,1677,-0.64,-194.7,207.5,-9.5,290,1683,0.00,2.03,0.00,0.000,6,0.000,0.031,2560,1484,3662
$GC,2020,-0.64,-194.7,242.8,-9.4,351,2027,0.00,1.88,0.00,0.000,4,0.000,0.044,2558,203,3663
$GC,2100,-0.64,-194.7,251.2,-10.4,365,2106,0.00,1.85,0.00,0.000,6,0.000,0.028,2557,1518,3663
$GC,2443,-0.77,-194.7,281.0,-9.7,426,2450,0.17,2.00,0.00,0.000,4,0.062,0.038,2458,2899,3663
$GC,2546,-0.63,-194.7,295.3,-13.8,444,2553,0.22,2.03,0.00,0.000,6,0.137,0.032,2539,1483,3663
$GC,2874,-0.74,-194.7,328.6,-9.7,478,2878,0.12,1.88,0.00,0.000,4,0.071,0.044,2468,210,3663
$GC,3033,-0.53,-194.7,352.5,-14.8,492,3037,0.35,1.80,0.00,0.000,6,0.140,0.030,2570,1481,3663
$GC,3363,-0.87,-194.7,371.3,-4.2,523,3367,0.28,2.08,0.00,0.000,4,0.047,0.042,2434,2893,3663
$GC,3434,-0.76,-194.7,378.5,-11.1,529,3441,0.12,2.05,0.00,0.000,6,0.139,0.034,2485,1501,3662
$GC,3758,-0.76,-194.7,412.7,-11.8,560,3762,0.00,1.92,0.00,0.000,4,0.000,0.048,2483,202,3662
$GC,3897,-0.76,-194.7,431.4,-13.0,572,3905,0.00,1.88,0.00,0.000,6,0.000,0.031,2477,1490,3661
$GC,4222,-0.76,-194.7,467.0,-11.1,603,4226,0.00,1.92,0.00,0.000,4,0.000,0.053,2478,210,3659
$GC,4316,-0.76,-194.7,478.9,-13.3,611,4324,0.00,1.88,0.00,0.000,6,0.000,0.033,2476,1484,3658
$GC,4638,-0.81,-194.7,514.0,-10.5,636,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1484,3655
$GC,4949,-0.86,-194.7,544.6,-9.9,651,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1484,3654
$GC,5257,-0.93,-194.7,576.1,-10.0,666,5261,0.12,1.92,0.00,0.000,4,0.074,0.051,2418,213,3651
$GC,5328,-0.69,-194.7,586.3,-14.7,669,5333,0.30,1.88,0.00,0.000,6,0.142,0.036,2511,1475,3650
$GC,5656,-0.89,-194.7,612.5,-7.9,685,5660,0.17,1.92,0.00,0.000,4,0.061,0.052,2425,204,3647
$GC,5701,-0.69,-194.7,617.9,-13.4,687,5705,0.30,1.88,0.00,0.000,6,0.143,0.037,2515,1484,3647
$GC,6033,-0.91,-194.7,642.6,-6.9,703,6038,0.20,2.12,0.00,0.000,4,0.058,0.050,2420,2898,3644
$GC,6059,-0.91,-194.7,645.1,-9.7,704,6064,0.00,2.12,0.00,0.000,6,0.000,0.040,2420,1484,3644
$GC,6381,-0.77,-194.7,680.0,-10.0,720,6386,0.20,1.95,0.00,0.000,4,0.148,0.054,2485,197,3642
$GC,6605,-0.83,-194.7,699.3,-8.4,730,6609,0.00,1.88,0.00,0.000,6,0.000,0.039,2487,1470,3640
$GC,6937,-0.93,-194.7,723.4,-7.6,746,6942,0.15,1.95,0.00,0.000,4,0.068,0.055,2418,197,3637
$GC,7033,-0.70,-194.7,735.8,-13.8,750,7037,0.30,1.85,0.00,0.000,6,0.153,0.040,2512,1453,3637
$GC,7359,-0.87,-194.7,762.5,-7.4,766,7364,0.15,1.92,0.00,0.000,4,0.069,0.056,2441,197,3635
$GC,7461,-0.73,-194.7,774.1,-12.1,770,7465,0.20,1.85,0.00,0.000,6,0.150,0.041,2501,1450,3634
$GC,7781,-0.86,-194.7,799.0,-7.2,786,7786,0.12,1.90,0.00,0.000,4,0.077,0.057,2440,208,3633
$GC,7842,-0.71,-194.7,805.7,-11.5,788,7849,0.17,1.85,0.00,0.000,6,0.143,0.040,2506,1438,3632
$GC,8158,-0.83,-194.7,828.7,-7.4,804,8162,0.12,1.90,0.00,0.000,4,0.077,0.056,2447,198,3631
$GC,8271,-0.68,-194.7,842.0,-12.9,809,8275,0.25,1.83,0.00,0.000,6,0.146,0.041,2521,1430,3630
$GC,8605,-0.86,-194.7,865.4,-5.2,825,8609,0.17,1.88,0.00,0.000,4,0.064,0.057,2436,208,3628
$GC,8631,-0.76,-194.7,867.8,-9.2,826,8636,0.15,1.83,0.00,0.000,6,0.147,0.041,2484,1421,3628
$STATE,8771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8771,begin apogee
$GC,8775,-0.20,0.0,880.5,9.2,833,8938,0.60,0.00,159.88,1.404,6,0.123,0.000,2668,1747,2863
$STATE,8939,end apogee,CONTROL_FINISHED_OK
$STATE,8939,begin climb
$GC,8941,0.94,194.7,886.9,0.0,841,9120,1.02,2.40,168.70,1.355,4,0.050,0.058,3041,3145,2068
$GC,9199,0.40,194.7,853.5,20.7,853,9204,0.65,2.17,0.00,0.000,6,0.173,0.044,2873,1755,2063
$GC,9526,0.49,225.4,820.2,9.8,869,9560,0.00,2.35,26.92,1.292,4,0.000,0.059,2880,339,1943
$GC,9634,0.54,228.5,809.0,10.9,874,9643,0.00,2.17,3.80,0.766,6,0.000,0.041,2880,1741,1931
$GC,9964,0.59,228.5,771.8,11.4,890,9969,0.15,2.20,0.00,0.000,4,0.066,0.057,2957,341,1927
$GC,9996,0.39,228.5,767.3,14.6,891,10005,0.28,2.15,0.00,0.000,6,0.150,0.042,2871,1736,1926
$GC,10313,0.50,244.3,734.7,10.4,907,10335,0.00,2.22,14.88,1.243,4,0.000,0.058,2869,3150,1865
$GC,10362,0.60,244.3,729.0,11.6,909,10367,0.12,2.20,0.00,0.000,6,0.052,0.044,2942,1739,1864
$GC,10690,0.45,244.3,680.2,15.1,925,10695,0.17,2.17,0.00,0.000,4,0.156,0.056,2897,339,1862
$GC,10733,0.45,244.3,674.6,11.7,927,10738,0.00,2.15,0.00,0.000,6,0.000,0.042,2897,1737,1862
$GC,11060,0.47,259.3,639.1,10.4,943,11081,0.00,0.00,13.90,1.204,6,0.000,0.000,2897,1738,1804
$GC,11389,0.49,272.9,604.2,10.5,959,11412,0.00,2.25,13.05,1.174,4,0.000,0.056,2897,3147,1749
$GC,11463,0.53,272.9,596.0,12.0,962,11467,0.00,2.17,0.00,0.000,6,0.000,0.044,2908,1728,1747
$GC,11783,0.54,281.1,560.5,10.7,978,11793,0.00,0.00,8.52,1.079,6,0.000,0.000,2907,1729,1717
$GC,12092,0.54,281.1,526.8,11.0,993,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1728,1715
$GC,12404,0.54,281.1,488.6,12.5,1012,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1728,1714
$GC,12722,0.54,281.1,445.4,13.8,1042,12726,0.00,2.12,0.00,0.000,4,0.000,0.057,2921,343,1714
$GC,12827,0.54,281.1,429.4,15.4,1051,12835,0.00,2.15,0.00,0.000,6,0.000,0.043,2920,1751,1714
$GC,13153,0.54,281.1,384.9,12.7,1082,13156,0.00,2.12,0.00,0.000,4,0.000,0.054,2921,3150,1713
$GC,13186,0.54,281.1,380.6,13.4,1085,13190,0.00,2.12,0.00,0.000,6,0.000,0.042,2936,1733,1712
$GC,13516,0.54,281.1,341.8,12.0,1116,13519,0.00,2.12,0.00,0.000,4,0.000,0.055,2951,341,1713
$GC,13594,0.54,281.1,332.4,11.6,1123,13598,0.15,2.10,0.00,0.000,6,0.148,0.040,2911,1752,1712
$GC,13918,0.70,281.1,299.7,11.5,1153,13925,0.15,2.10,0.00,0.000,4,0.064,0.050,2983,3145,1712
$GC,13931,0.80,281.1,298.1,11.6,1155,13938,0.00,2.10,0.00,0.000,6,0.000,0.041,2993,1731,1712
$GC,14276,0.72,286.5,250.9,10.8,1216,14288,0.00,2.17,5.50,0.773,4,0.000,0.050,2993,3154,1695
$GC,14378,0.61,286.5,237.4,13.7,1234,14385,0.25,2.10,0.00,0.000,6,0.153,0.040,2933,1737,1695
$GC,14723,0.86,347.2,201.8,8.7,1295,14782,0.20,2.25,51.72,0.900,4,0.054,0.051,3051,342,1446
$GC,14818,0.58,347.2,188.1,17.1,1310,14825,0.43,2.10,0.00,0.000,6,0.142,0.036,2927,1733,1443
$GC,15163,1.02,450.5,162.7,7.1,1371,15259,0.35,2.28,87.18,0.838,4,0.041,0.048,3088,342,1025
$GC,15321,0.72,450.5,125.8,26.9,1397,15328,0.40,2.08,0.00,0.000,6,0.146,0.035,2970,1710,1021
$GC,15668,1.03,501.1,82.6,9.1,1458,15720,0.25,2.17,42.35,0.749,4,0.046,0.045,3099,352,818
$GC,15790,0.83,501.1,61.4,18.6,1478,15797,0.30,2.03,0.00,0.000,6,0.139,0.032,3011,1717,816
$GC,16136,1.11,540.6,23.7,9.5,1539,16176,0.20,2.12,33.40,0.686,4,0.051,0.044,3123,345,657
$GC,16196,0.93,540.6,13.5,20.4,1548,16203,0.28,2.03,0.00,0.000,6,0.143,0.031,3042,1693,656
$STATE,16259,end climb,SURFACE_DEPTH_REACHED
$STATE,16259,begin surface coast
$FINISH,1.0,1.011849
$STATE,16281,end surface coast,CONTROL_FINISHED_OK
$STATE,16281,begin surface
$SM_CCo,16356,0.00,0.000,0,0,653,542.11
$SM_GC,1.60,7.75,0.00,0.00,0.040,0.000,0.000,165,1487,653,-8.03,-0.37,542.11
$IRIDIUM_FIX,2519.89,12307.64,260898,000054
$TT8_MAMPS,0.026845
$HUMID,1454
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.70
$XPDR_PINGS,107
$24V_AH,23.7,16.273
$10V_AH,10.7,9.882
$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,28.625,139.325,629.800,0.000,0.000,24.733,32.802,175.100,33.750,0.000,0.000,15.365,2767.637,9578.342,730.739,3179.229,427.860,0.000,2172.970,0.000,3151.818,0.000,48.274,0.000
$DEVICE_MAMPS,224.731,59.059,1403.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.840,1078.593,1812.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88619,1563
$CAP_FILE_SIZE,174330,0
$CFSIZE,260165632,229969920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.175,  5.8,1
$GPS,010609,081837,2528.335,12307.094,30,0.8,30,-3.7