version: 66.04
glider: 166
mission: 2
dive: 66
start: 6 1 109 12 59 31
data:
$ID,166
$MISSION,2
$DIVE,66
$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,-6464.5229
$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,44
$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
$GPS1,124907,2526.718,12309.454,37,1.0,37,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-65.8
$GPS2,125908,2526.711,12309.510,16,1.9,16,-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,176.5,25142,-17.1,-11.000
$D_GRID,774
$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,-194.7,0.0,0.0,0,86,0.00,0.00,-69.38,0.000,2,0.000,0.000,166,1488,2373
$GC,88,-0.94,-194.7,3.1,-4.9,10,141,8.68,2.12,-37.20,0.000,4,0.222,0.054,2420,2892,3656
$GC,193,-0.21,-194.7,28.1,-34.0,27,200,0.85,2.05,0.00,0.000,6,0.162,0.033,2668,1500,3657
$GC,537,-0.47,-194.7,71.8,-9.8,88,544,0.20,0.00,0.00,0.000,6,0.051,0.000,2567,1500,3657
$GC,883,-0.34,-194.7,137.4,-15.7,149,889,0.17,1.92,0.00,0.000,4,0.149,0.042,2621,197,3659
$GC,969,-0.53,-194.7,147.9,-10.2,164,977,0.10,1.90,0.00,0.000,6,0.051,0.028,2542,1523,3659
$GC,1315,-0.42,-194.7,204.3,-14.7,225,1322,0.17,1.98,0.00,0.000,4,0.146,0.042,2597,195,3659
$GC,1355,-0.50,-194.7,209.7,-11.6,232,1363,0.00,1.88,0.00,0.000,6,0.000,0.028,2597,1497,3659
$GC,1704,-0.74,-194.7,241.4,-8.0,293,1710,0.25,2.03,0.00,0.000,4,0.048,0.039,2476,2886,3659
$GC,1767,-0.57,-194.7,250.0,-15.2,304,1776,0.22,2.03,0.00,0.000,6,0.133,0.032,2551,1504,3659
$GC,2113,-0.64,-194.7,287.6,-9.1,365,2119,0.00,1.90,0.00,0.000,4,0.000,0.045,2551,210,3659
$GC,2141,-0.64,-194.7,290.7,-10.9,370,2148,0.00,1.88,0.00,0.000,6,0.000,0.029,2551,1506,3659
$GC,2478,-0.77,-194.7,324.4,-9.4,409,2483,0.17,2.03,0.00,0.000,4,0.058,0.041,2469,2890,3659
$GC,2533,-0.67,-194.7,331.2,-12.9,414,2537,0.17,2.00,0.00,0.000,6,0.140,0.033,2521,1506,3659
$GC,2863,-0.67,-194.7,367.2,-10.1,445,2866,0.00,1.92,0.00,0.000,4,0.000,0.048,2520,205,3659
$GC,2908,-0.67,-194.7,372.3,-12.0,449,2912,0.00,1.90,0.00,0.000,6,0.000,0.031,2505,1507,3659
$GC,3238,-0.75,-194.7,403.9,-10.0,480,3242,0.00,2.05,0.00,0.000,4,0.000,0.045,2498,2898,3656
$GC,3310,-0.93,-194.7,410.6,-9.0,486,3317,0.12,2.03,0.00,0.000,6,0.048,0.035,2428,1529,3655
$GC,3635,-0.75,-194.7,456.4,-14.0,517,3639,0.20,2.05,0.00,0.000,4,0.146,0.046,2487,2898,3654
$GC,3707,-0.91,-194.7,463.9,-9.3,523,3714,0.12,2.00,0.00,0.000,6,0.067,0.036,2427,1532,3653
$GC,4030,-0.76,-194.7,507.4,-14.3,552,4032,0.22,0.00,0.00,0.000,6,0.144,0.000,2493,1531,3651
$GC,4341,-0.87,-194.7,537.2,-9.1,567,4344,0.00,2.00,0.00,0.000,4,0.000,0.052,2493,198,3648
$GC,4396,-0.95,-194.7,542.7,-9.4,569,4400,0.12,1.95,0.00,0.000,6,0.053,0.035,2422,1523,3648
$GC,4718,-0.80,-194.7,580.9,-12.3,585,4720,0.20,0.00,0.00,0.000,6,0.147,0.000,2480,1524,3645
$GC,5026,-0.87,-194.7,609.3,-9.0,600,5030,0.00,2.00,0.00,0.000,4,0.000,0.054,2481,204,3642
$GC,5120,-0.87,-194.7,619.2,-10.3,604,5124,0.00,1.95,0.00,0.000,6,0.000,0.036,2481,1515,3641
$GC,5450,-0.96,-194.7,650.7,-9.2,620,5454,0.15,2.10,0.00,0.000,4,0.068,0.051,2413,2912,3639
$GC,5492,-0.87,-194.7,656.0,-11.7,622,5498,0.12,2.08,0.00,0.000,6,0.142,0.040,2454,1527,3638
$GC,5821,-0.87,-194.7,688.0,-9.8,638,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1527,3636
$GC,6130,-0.87,-194.7,719.8,-10.3,653,6133,0.00,2.00,0.00,0.000,4,0.000,0.057,2455,207,3634
$GC,6168,-0.80,-194.7,724.3,-11.2,654,6175,0.00,1.98,0.00,0.000,6,0.000,0.040,2457,1518,3633
$GC,6483,-0.80,-194.7,755.2,-9.6,670,6487,0.00,2.03,0.00,0.000,4,0.000,0.057,2457,197,3631
$GC,6532,-0.72,-194.7,760.8,-11.4,672,6537,0.10,1.98,0.00,0.000,6,0.143,0.038,2500,1518,3630
$STATE,6692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6692,begin apogee
$GC,6697,-0.20,0.0,774.1,7.9,680,6857,0.52,0.00,157.48,1.309,6,0.115,0.000,2675,1755,2863
$STATE,6858,end apogee,CONTROL_FINISHED_OK
$STATE,6858,begin climb
$GC,6860,0.94,194.7,781.5,0.0,688,7030,1.00,0.00,164.82,1.262,6,0.047,0.000,3052,1755,2068
$GC,7338,0.44,194.7,706.3,19.7,711,7343,0.55,2.22,0.00,0.000,4,0.160,0.055,2886,347,2062
$GC,7399,0.44,194.7,698.0,11.9,714,7403,0.00,2.12,0.00,0.000,6,0.000,0.040,2885,1741,2061
$GC,7730,0.47,212.6,661.9,10.3,730,7751,0.00,0.00,15.18,1.160,6,0.000,0.000,2884,1742,1995
$GC,8060,0.53,265.1,630.0,9.0,746,8110,0.00,2.30,44.92,1.202,4,0.000,0.058,2886,357,1781
$GC,8145,0.67,280.6,621.6,10.4,750,8167,0.20,2.17,14.93,1.114,6,0.059,0.041,2971,1754,1718
$GC,8475,0.48,280.6,568.9,16.0,766,8477,0.28,0.00,0.00,0.000,6,0.152,0.000,2893,1757,1712
$GC,8784,0.57,280.6,535.5,11.3,781,8788,0.00,2.20,0.00,0.000,4,0.000,0.055,2902,346,1710
$GC,8817,0.65,280.6,531.4,11.7,782,8822,0.10,2.12,0.00,0.000,6,0.057,0.041,2958,1735,1710
$GC,9142,0.51,280.6,476.6,18.5,804,9147,0.17,2.15,0.00,0.000,4,0.153,0.053,2914,341,1709
$GC,9164,0.51,280.6,472.8,17.9,805,9170,0.00,2.10,0.00,0.000,6,0.000,0.040,2914,1744,1709
$GC,9488,0.51,280.6,431.5,11.9,836,9492,0.00,2.15,0.00,0.000,4,0.000,0.053,2913,3161,1709
$GC,9545,0.58,280.6,424.5,12.1,841,9548,0.00,2.15,0.00,0.000,6,0.000,0.041,2928,1723,1708
$GC,9874,0.58,280.6,383.8,13.0,872,9878,0.00,2.17,0.00,0.000,4,0.000,0.051,2929,3150,1707
$GC,9907,0.58,280.6,379.7,12.0,875,9911,0.00,2.12,0.00,0.000,6,0.000,0.041,2946,1728,1706
$GC,10237,0.58,280.6,340.1,12.8,906,10240,0.00,2.10,0.00,0.000,4,0.000,0.054,2957,349,1706
$GC,10285,0.58,280.6,333.8,12.5,910,10294,0.08,2.08,0.00,0.000,6,0.150,0.038,2933,1731,1706
$GC,10612,0.72,308.0,299.9,10.0,941,10643,0.12,2.17,22.42,0.969,4,0.071,0.052,3002,354,1606
$GC,10740,0.59,308.0,279.4,17.6,963,10746,0.25,2.03,0.00,0.000,6,0.144,0.037,2930,1716,1604
$GC,11084,0.82,371.8,240.8,8.6,1024,11147,0.17,2.28,53.83,0.913,4,0.058,0.048,3024,3144,1345
$GC,11153,0.64,371.8,230.5,16.6,1035,11160,0.30,2.20,0.00,0.000,6,0.149,0.038,2948,1715,1345
$GC,11496,0.77,371.8,189.2,11.7,1096,11504,0.15,2.12,0.00,0.000,4,0.061,0.049,3031,345,1340
$GC,11602,0.61,371.8,171.1,17.0,1114,11609,0.32,2.03,0.00,0.000,6,0.136,0.035,2933,1723,1340
$GC,11947,0.87,377.2,137.7,10.8,1175,11962,0.22,2.15,5.20,0.611,4,0.048,0.048,3060,341,1325
$GC,12066,0.71,377.2,116.2,18.4,1195,12073,0.25,1.98,0.00,0.000,6,0.128,0.033,2966,1680,1324
$GC,12409,1.00,424.6,83.8,9.2,1256,12456,0.22,2.12,40.85,0.747,4,0.047,0.045,3090,342,1130
$GC,12469,0.78,424.6,74.5,18.3,1265,12476,0.30,2.00,0.00,0.000,6,0.137,0.031,2994,1675,1129
$GC,12813,1.00,437.3,37.3,10.5,1326,12834,0.17,2.05,12.00,0.652,4,0.051,0.045,3097,336,1079
$GC,12870,0.83,437.3,28.3,18.9,1335,12877,0.25,1.95,0.00,0.000,6,0.131,0.029,3002,1662,1078
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,0.9,1.012453
$STATE,13157,end surface coast,CONTROL_FINISHED_OK
$STATE,13157,begin surface
$SM_CCo,13232,0.00,0.000,0,0,1075,438.60
$SM_GC,1.80,7.65,0.00,0.00,0.048,0.000,0.000,164,1460,1075,-8.04,-1.13,438.60
$IRIDIUM_FIX,2517.50,12308.33,260898,131332
$TT8_MAMPS,0.027612
$HUMID,1429
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,125
$24V_AH,23.9,16.698
$10V_AH,10.7,10.155
$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,25.675,111.525,531.625,0.000,0.000,51.874,84.139,275.180,37.000,0.000,0.000,16.645,2418.729,7478.496,642.601,2679.706,606.661,0.000,1843.024,0.000,2661.765,0.000,39.405,0.000
$DEVICE_MAMPS,221.663,57.525,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,938.474,978.864,1644.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78967,1386
$CAP_FILE_SIZE,146646,0
$CFSIZE,260165632,229822464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228, 43.5,1
$GPS,010609,164106,2525.726,12311.048,31,1.2,31,-3.7