version: 66.04
glider: 166
mission: 2
dive: 65
start: 6 1 109 8 25 18
data:
$ID,166
$MISSION,2
$DIVE,65
$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,-6447.2515
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,081837,2528.335,12307.094,30,0.8,30,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.5
$GPS2,082456,2528.277,12307.157,13,1.0,13,-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,164.6,29979,-17.1,-11.000
$D_GRID,963
$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,13,-0.94,-194.7,0.0,0.0,0,92,0.00,0.00,-76.05,0.000,2,0.000,0.000,165,1488,2348
$GC,94,-0.94,-194.7,3.1,-5.7,12,146,9.10,0.00,-36.80,0.000,6,0.239,0.000,2430,1485,3658
$GC,485,-0.24,-194.7,129.6,-29.1,80,492,0.73,2.10,0.00,0.000,4,0.156,0.039,2648,2894,3659
$GC,571,-0.71,-194.7,138.9,-5.6,95,578,0.38,2.05,0.00,0.000,6,0.041,0.031,2478,1481,3660
$GC,914,-0.36,-194.7,209.4,-18.4,156,921,0.43,1.88,0.00,0.000,4,0.143,0.043,2613,213,3661
$GC,1017,-0.64,-194.7,219.9,-8.3,174,1024,0.17,1.88,0.00,0.000,6,0.041,0.028,2503,1520,3661
$GC,1361,-0.49,-194.7,274.4,-13.9,235,1368,0.22,0.00,0.00,0.000,6,0.140,0.000,2574,1522,3661
$GC,1708,-0.74,-194.7,304.2,-7.3,292,1712,0.17,2.00,0.00,0.000,4,0.058,0.039,2468,2886,3661
$GC,1764,-0.74,-194.7,310.0,-11.6,297,1768,0.00,2.00,0.00,0.000,6,0.000,0.032,2481,1507,3661
$GC,2096,-0.66,-194.7,350.7,-11.7,328,2100,0.15,1.92,0.00,0.000,4,0.143,0.046,2525,207,3661
$GC,2175,-0.71,-194.7,359.3,-10.1,335,2179,0.00,1.83,0.00,0.000,6,0.000,0.031,2515,1482,3661
$GC,2505,-0.82,-194.7,389.9,-9.8,366,2509,0.00,1.90,0.00,0.000,4,0.000,0.048,2512,211,3660
$GC,2565,-0.87,-194.7,396.6,-11.4,371,2573,0.10,1.88,0.00,0.000,6,0.057,0.031,2446,1496,3659
$GC,2891,-0.74,-194.7,438.4,-12.8,402,2895,0.17,2.05,0.00,0.000,4,0.150,0.041,2495,2888,3656
$GC,2911,-0.74,-194.7,440.5,-9.6,403,2918,0.00,2.08,0.00,0.000,6,0.000,0.035,2497,1494,3657
$GC,3237,-0.85,-194.7,467.4,-8.0,434,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1494,3654
$GC,3556,-0.96,-194.7,493.5,-7.8,464,3560,0.17,1.95,0.00,0.000,4,0.061,0.051,2408,198,3651
$GC,3612,-0.71,-194.7,501.2,-15.2,469,3617,0.32,1.88,0.00,0.000,6,0.150,0.035,2506,1483,3651
$GC,3934,-0.88,-194.7,525.6,-7.7,485,3939,0.15,2.12,0.00,0.000,4,0.064,0.048,2434,2904,3648
$GC,4022,-0.88,-194.7,535.2,-11.3,489,4027,0.00,2.10,0.00,0.000,6,0.000,0.038,2433,1501,3647
$GC,4350,-0.78,-194.7,579.7,-14.5,505,4354,0.17,1.98,0.00,0.000,4,0.146,0.053,2491,192,3644
$GC,4466,-0.87,-194.7,593.4,-10.5,510,4470,0.00,1.92,0.00,0.000,6,0.000,0.038,2491,1479,3643
$GC,4794,-0.99,-194.7,622.4,-8.4,526,4798,0.20,2.12,0.00,0.000,4,0.058,0.050,2396,2898,3641
$GC,4870,-0.86,-194.7,632.3,-13.5,529,4879,0.17,2.12,0.00,0.000,6,0.146,0.041,2455,1485,3640
$GC,5187,-0.86,-194.7,668.6,-11.5,545,5191,0.00,2.15,0.00,0.000,4,0.000,0.053,2456,2902,3638
$GC,5243,-0.94,-194.7,675.1,-10.8,547,5247,0.00,2.10,0.00,0.000,6,0.000,0.041,2458,1487,3638
$GC,5564,-0.94,-194.7,712.2,-11.2,563,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1487,3635
$GC,5873,-0.94,-194.7,744.2,-10.1,578,5877,0.00,1.98,0.00,0.000,4,0.000,0.058,2461,189,3633
$GC,5913,-0.89,-194.7,748.5,-11.5,579,5919,0.00,1.92,0.00,0.000,6,0.000,0.040,2472,1494,3633
$GC,6227,-0.89,-194.7,784.2,-11.3,595,6231,0.00,2.12,0.00,0.000,4,0.000,0.055,2476,2899,3631
$GC,6277,-0.99,-194.7,789.3,-9.1,597,6282,0.15,2.10,0.00,0.000,6,0.067,0.043,2410,1493,3630
$GC,6604,-0.74,-194.7,836.1,-14.9,613,6606,0.30,0.00,0.00,0.000,6,0.154,0.000,2498,1492,3628
$GC,6913,-0.83,-194.7,866.0,-9.1,628,6917,0.00,1.98,0.00,0.000,4,0.000,0.060,2498,198,3627
$GC,6985,-0.89,-194.7,873.5,-10.9,631,6990,0.10,1.92,0.00,0.000,6,0.061,0.041,2444,1481,3627
$GC,7313,-0.79,-194.7,914.1,-11.9,647,7317,0.15,1.98,0.00,0.000,4,0.155,0.058,2486,197,3625
$GC,7368,-0.79,-194.7,920.4,-10.8,649,7372,0.00,1.92,0.00,0.000,6,0.000,0.041,2479,1473,3625
$GC,7691,-0.79,-194.7,949.2,-8.4,665,7695,0.00,2.17,0.00,0.000,4,0.000,0.057,2469,2902,3624
$GC,7746,-0.90,-194.7,953.8,-7.9,667,7750,0.00,2.15,0.00,0.000,6,0.000,0.044,2476,1470,3624
$STATE,7859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7859,begin apogee
$GC,7863,-0.20,0.0,964.1,9.2,673,8028,0.62,0.00,161.40,1.459,6,0.125,0.000,2663,1757,2863
$STATE,8029,end apogee,CONTROL_FINISHED_OK
$STATE,8029,begin climb
$GC,8030,0.94,194.7,968.9,0.0,681,8210,1.02,2.35,171.20,1.411,4,0.046,0.058,3042,3143,2068
$GC,8266,0.37,194.7,934.9,23.6,692,8272,0.73,2.22,0.00,0.000,6,0.176,0.044,2858,1753,2064
$GC,8593,0.47,209.0,898.0,10.5,708,8615,0.10,2.30,12.90,1.265,4,0.082,0.059,2916,346,2009
$GC,8687,0.38,209.0,884.9,14.4,712,8692,0.15,2.17,0.00,0.000,6,0.149,0.042,2870,1731,2008
$GC,9013,0.45,209.0,848.6,11.1,728,9017,0.00,2.17,0.00,0.000,4,0.000,0.058,2877,344,2006
$GC,9058,0.45,209.0,843.6,11.1,730,9062,0.00,2.12,0.00,0.000,6,0.000,0.042,2877,1736,2006
$GC,9390,0.48,238.4,809.2,9.9,746,9420,0.00,2.28,25.92,1.329,4,0.000,0.058,2877,3161,1890
$GC,9460,0.49,240.7,801.8,10.9,749,9464,0.00,2.22,0.00,0.000,6,0.000,0.043,2887,1731,1887
$GC,9787,0.49,240.7,764.0,11.6,765,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1731,1885
$GC,10095,0.49,240.7,727.8,11.8,780,10099,0.00,2.15,0.00,0.000,4,0.000,0.058,2898,344,1884
$GC,10155,0.49,240.7,719.8,13.6,782,10163,0.00,2.15,0.00,0.000,6,0.000,0.043,2898,1739,1883
$GC,10471,0.49,240.7,677.5,13.3,798,10475,0.00,2.17,0.00,0.000,4,0.000,0.057,2898,3160,1883
$GC,10526,0.49,240.7,670.0,13.7,800,10531,0.00,2.17,0.00,0.000,6,0.000,0.044,2908,1739,1882
$GC,10847,0.49,240.7,627.0,13.3,816,10851,0.00,2.15,0.00,0.000,4,0.000,0.058,2919,343,1883
$GC,10896,0.43,240.7,620.1,13.8,818,10901,0.12,2.12,0.00,0.000,6,0.146,0.043,2879,1736,1883
$GC,11223,0.58,291.3,587.5,9.1,834,11274,0.15,2.25,45.28,1.227,4,0.067,0.056,2955,347,1675
$GC,11318,0.46,291.3,574.0,14.9,838,11323,0.20,2.17,0.00,0.000,6,0.140,0.043,2893,1717,1671
$GC,11639,0.55,291.3,536.2,11.3,854,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1718,1668
$GC,11949,0.66,301.1,501.5,10.6,869,11961,0.17,0.00,9.05,1.058,6,0.061,0.000,2967,1719,1635
$GC,12266,0.48,301.1,450.5,16.6,898,12268,0.25,0.00,0.00,0.000,6,0.155,0.000,2898,1719,1632
$GC,12585,0.62,319.3,416.8,10.3,928,12609,0.12,2.30,16.88,1.074,4,0.070,0.054,2955,3153,1560
$GC,12625,0.52,319.3,411.2,14.8,931,12632,0.17,2.22,0.00,0.000,6,0.150,0.042,2914,1724,1558
$GC,12950,0.61,319.3,369.3,12.8,962,12954,0.00,2.20,0.00,0.000,4,0.000,0.052,2914,3152,1556
$GC,12995,0.72,319.3,363.6,12.0,966,13000,0.12,2.17,0.00,0.000,6,0.067,0.041,2991,1719,1555
$GC,13319,0.55,319.3,310.0,16.8,996,13324,0.22,2.20,0.00,0.000,4,0.154,0.050,2924,3154,1555
$GC,13358,0.65,319.3,304.7,11.6,999,13362,0.00,2.15,0.00,0.000,6,0.000,0.041,2936,1721,1554
$GC,13699,0.78,343.8,269.1,10.1,1056,13724,0.15,0.00,21.40,0.955,6,0.062,0.000,3016,1720,1461
$GC,14062,0.63,343.8,207.0,17.7,1120,14069,0.22,2.10,0.00,0.000,4,0.180,0.050,2957,343,1457
$GC,14131,0.76,343.8,197.4,12.6,1132,14138,0.00,2.08,0.00,0.000,6,0.000,0.038,2957,1746,1456
$GC,14477,0.96,395.4,160.9,9.0,1193,14529,0.22,2.22,44.12,0.848,4,0.047,0.049,3081,333,1249
$GC,14586,0.72,395.4,141.0,20.9,1211,14593,0.38,2.05,0.00,0.000,6,0.143,0.035,2967,1705,1246
$GC,14932,1.02,431.0,101.0,9.7,1272,14972,0.28,2.15,30.52,0.770,4,0.044,0.048,3101,354,1105
$GC,15052,0.74,431.0,78.2,20.9,1292,15059,0.35,2.00,0.00,0.000,6,0.143,0.033,2980,1680,1102
$GC,15397,1.07,497.2,43.7,8.5,1353,15462,0.25,2.15,55.70,0.710,4,0.045,0.048,3114,341,835
$GC,15508,0.83,497.2,22.4,22.7,1371,15515,0.35,2.03,0.00,0.000,6,0.139,0.031,3010,1707,833
$STATE,15654,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,0.9,1.018081
$STATE,15685,end surface coast,CONTROL_FINISHED_OK
$STATE,15685,begin surface
$SM_CCo,15760,0.00,0.000,0,0,829,498.94
$SM_GC,1.71,7.75,0.00,0.00,0.048,0.000,0.000,165,1488,829,-8.01,-0.34,498.94
$IRIDIUM_FIX,2519.89,12304.33,260898,030320
$TT8_MAMPS,0.026845
$HUMID,1464
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.60
$XPDR_PINGS,96
$24V_AH,23.5,16.498
$10V_AH,10.7,10.019
$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,27.650,130.225,594.375,0.000,0.000,24.410,33.617,212.949,31.750,0.000,0.000,13.501,2512.406,9642.814,677.527,2847.289,447.651,0.000,1991.979,0.000,2814.564,0.000,52.739,0.000
$DEVICE_MAMPS,238.537,59.826,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,954.575,932.606,1569.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82218,1402
$CAP_FILE_SIZE,162405,0
$CFSIZE,260165632,229892096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.187, 55.0,1
$GPS,010609,124907,2526.718,12309.454,37,1.0,37,-3.7