version: 66.04
glider: 166
mission: 2
dive: 68
start: 6 1 109 21 16 54
data:
$ID,166
$MISSION,2
$DIVE,68
$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,-6515.0068
$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,63
$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
$GPS1,210955,2525.222,12311.853,33,1.7,51,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.8
$GPS2,211634,2525.215,12311.939,14,2.3,33,-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,186.0,20340,-17.1,-11.000
$D_GRID,1097
$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,13,begin dive
$GC,15,-0.94,-194.7,0.0,0.0,0,93,0.00,0.00,-75.50,0.000,2,0.000,0.000,176,1475,2487
$GC,95,-0.94,-194.7,3.4,-6.8,12,142,8.85,1.88,-30.10,0.000,4,0.232,0.058,2429,224,3657
$GC,153,-0.04,-194.7,17.6,-31.5,21,160,0.95,1.90,0.00,0.000,6,0.170,0.031,2716,1497,3657
$GC,497,-0.52,-194.7,50.2,-7.7,82,505,0.38,2.08,0.00,0.000,4,0.041,0.038,2542,2908,3659
$GC,630,-0.27,-194.7,75.4,-20.7,105,638,0.35,2.03,0.00,0.000,6,0.143,0.033,2645,1512,3659
$GC,976,-0.53,-194.7,111.1,-8.3,166,984,0.20,1.98,0.00,0.000,4,0.053,0.044,2545,201,3660
$GC,1047,-0.28,-194.7,123.4,-19.5,178,1056,0.28,1.92,0.00,0.000,6,0.139,0.030,2646,1519,3660
$GC,1394,-0.66,-194.7,154.2,-6.6,239,1401,0.30,2.03,0.00,0.000,4,0.044,0.039,2502,2915,3661
$GC,1435,-0.53,-194.7,159.6,-14.6,246,1443,0.22,2.03,0.00,0.000,6,0.143,0.033,2567,1513,3661
$GC,1781,-0.53,-194.7,199.6,-13.0,307,1789,0.00,1.95,0.00,0.000,4,0.000,0.046,2567,212,3661
$GC,1884,-0.53,-194.7,213.2,-12.3,325,1890,0.00,1.88,0.00,0.000,6,0.000,0.029,2567,1526,3661
$GC,2229,-0.66,-194.7,249.4,-9.6,386,2236,0.12,0.00,0.00,0.000,6,0.071,0.000,2506,1527,3661
$GC,2574,-0.57,-194.7,295.4,-14.6,447,2581,0.17,2.03,0.00,0.000,4,0.146,0.043,2560,2905,3661
$GC,2625,-0.85,-194.7,300.9,-8.4,455,2632,0.28,2.03,0.00,0.000,6,0.046,0.033,2437,1510,3661
$GC,2949,-0.55,-194.7,353.0,-16.8,486,2954,0.38,1.92,0.00,0.000,4,0.149,0.047,2555,208,3661
$GC,2989,-0.65,-194.7,357.7,-10.1,489,2992,0.00,1.88,0.00,0.000,6,0.000,0.030,2555,1522,3661
$GC,3318,-0.86,-194.7,382.3,-8.5,520,3320,0.22,0.00,0.00,0.000,6,0.052,0.000,2438,1523,3660
$GC,3637,-0.65,-194.7,431.0,-14.6,550,3641,0.28,2.03,0.00,0.000,4,0.146,0.046,2517,2889,3656
$GC,3676,-0.85,-194.7,435.1,-8.9,553,3680,0.17,2.00,0.00,0.000,6,0.055,0.036,2436,1521,3656
$GC,4005,-0.69,-194.7,480.5,-12.8,584,4009,0.25,2.08,0.00,0.000,4,0.203,0.047,2508,2896,3654
$GC,4037,-0.87,-194.7,483.8,-8.6,586,4045,0.10,2.05,0.00,0.000,6,0.050,0.041,2444,1522,3654
$GC,4367,-0.78,-194.7,522.6,-11.6,609,4372,0.15,1.98,0.00,0.000,4,0.146,0.051,2486,207,3651
$GC,4417,-0.78,-194.7,527.9,-9.4,611,4421,0.00,1.95,0.00,0.000,6,0.000,0.034,2486,1525,3651
$GC,4745,-0.86,-194.7,554.7,-8.2,627,4748,0.00,2.05,0.00,0.000,4,0.000,0.049,2485,2901,3648
$GC,4850,-1.04,-194.7,563.1,-7.8,631,4857,0.17,2.03,0.00,0.000,6,0.046,0.038,2383,1544,3647
$GC,5166,-0.77,-194.7,608.6,-14.8,647,5171,0.32,2.03,0.00,0.000,4,0.152,0.052,2487,200,3644
$GC,5311,-0.83,-194.7,623.9,-10.2,653,5317,0.00,1.95,0.00,0.000,6,0.000,0.036,2487,1534,3643
$GC,5628,-0.94,-194.7,651.3,-9.0,669,5632,0.15,2.05,0.00,0.000,4,0.068,0.049,2413,2902,3641
$GC,5665,-0.85,-194.7,655.9,-12.4,670,5675,0.12,2.05,0.00,0.000,6,0.144,0.040,2456,1535,3640
$GC,5981,-0.85,-194.7,690.5,-10.6,686,5985,0.00,2.03,0.00,0.000,4,0.000,0.054,2456,195,3637
$GC,6086,-0.85,-194.7,702.9,-11.3,690,6095,0.00,1.98,0.00,0.000,6,0.000,0.038,2454,1516,3637
$GC,6402,-0.85,-194.7,734.8,-9.9,706,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1517,3635
$GC,6712,-0.85,-194.7,764.6,-9.0,721,6715,0.00,2.10,0.00,0.000,4,0.000,0.054,2460,2906,3633
$GC,6758,-0.94,-194.7,768.8,-9.4,723,6762,0.00,2.05,0.00,0.000,6,0.000,0.042,2460,1530,3632
$GC,7090,-0.94,-194.7,802.6,-10.4,739,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1530,3630
$GC,7398,-0.94,-194.7,835.5,-10.7,754,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1530,3628
$GC,7708,-0.94,-194.7,867.9,-10.3,769,7712,0.00,2.03,0.00,0.000,4,0.000,0.059,2464,204,3627
$GC,7790,-0.94,-194.7,877.8,-12.8,772,7798,0.00,2.00,0.00,0.000,6,0.000,0.040,2469,1527,3627
$GC,8106,-0.94,-194.7,910.8,-10.0,788,8110,0.00,2.10,0.00,0.000,4,0.000,0.056,2469,2908,3625
$GC,8156,-1.02,-194.7,915.5,-8.8,790,8161,0.12,2.08,0.00,0.000,6,0.054,0.044,2404,1539,3624
$GC,8483,-0.79,-194.7,958.4,-13.1,806,8488,0.22,2.05,0.00,0.000,4,0.161,0.058,2475,200,3623
$GC,8583,-0.79,-194.7,969.1,-9.9,810,8591,0.00,2.00,0.00,0.000,6,0.000,0.041,2463,1523,3623
$STATE,8814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8814,begin apogee
$GC,8818,-0.20,0.0,991.3,9.4,822,8983,0.65,0.00,161.62,1.483,6,0.128,0.000,2666,1753,2863
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8985,0.94,194.7,997.4,0.0,830,9162,1.05,0.00,172.98,1.432,6,0.048,0.000,3044,1753,2069
$GC,9467,0.39,194.7,917.1,20.6,854,9469,0.62,0.00,0.00,0.000,6,0.171,0.000,2868,1754,2062
$GC,9777,0.49,231.1,884.5,9.6,869,9810,0.00,0.00,31.95,1.364,6,0.000,0.000,2868,1754,1920
$GC,10105,0.64,266.9,852.4,9.6,885,10150,0.20,2.38,32.62,1.354,4,0.058,0.058,2970,324,1773
$GC,10250,0.41,266.9,828.5,16.9,891,10255,0.28,2.25,0.00,0.000,6,0.141,0.044,2876,1753,1770
$GC,10572,0.54,285.5,794.0,10.3,907,10594,0.12,0.00,16.98,1.292,6,0.072,0.000,2931,1753,1699
$GC,10903,0.46,285.5,745.8,14.6,923,10907,0.15,2.17,0.00,0.000,4,0.150,0.056,2889,3150,1694
$GC,10923,0.46,285.5,742.6,13.7,924,10928,0.00,2.15,0.00,0.000,6,0.000,0.043,2898,1760,1693
$GC,11250,0.46,286.8,706.1,10.9,940,11254,0.00,2.20,0.00,0.000,4,0.000,0.057,2909,339,1693
$GC,11327,0.46,286.8,697.2,11.8,943,11332,0.00,2.15,0.00,0.000,6,0.000,0.043,2909,1741,1693
$GC,11649,0.46,286.8,657.8,13.0,959,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1742,1692
$GC,11957,0.46,286.8,618.4,12.7,974,11961,0.00,2.15,0.00,0.000,4,0.000,0.057,2920,339,1692
$GC,11989,0.46,286.8,613.8,13.7,975,11995,0.08,2.15,0.00,0.000,6,0.149,0.042,2895,1750,1692
$GC,12312,0.55,286.8,576.6,11.4,991,12316,0.00,2.17,0.00,0.000,4,0.000,0.057,2903,341,1692
$GC,12373,0.63,286.8,569.2,11.3,993,12380,0.08,2.10,0.00,0.000,6,0.062,0.042,2949,1724,1692
$GC,12688,0.51,286.8,522.0,15.3,1009,12693,0.17,2.17,0.00,0.000,4,0.153,0.054,2895,3150,1691
$GC,12749,0.61,286.8,514.1,11.5,1012,12753,0.00,2.15,0.00,0.000,6,0.000,0.043,2903,1718,1690
$GC,13077,0.68,286.8,474.4,12.1,1037,13082,0.15,2.10,0.00,0.000,4,0.064,0.055,2986,344,1690
$GC,13129,0.48,286.8,465.9,19.0,1041,13134,0.32,2.05,0.00,0.000,6,0.150,0.041,2891,1726,1690
$GC,13454,0.66,319.8,431.5,9.8,1071,13486,0.17,0.00,29.73,1.116,6,0.060,0.000,2969,1728,1558
$GC,13801,0.55,319.8,374.7,16.1,1104,13806,0.20,2.20,0.00,0.000,4,0.150,0.051,2910,3154,1553
$GC,13851,0.68,319.8,368.2,11.8,1108,13855,0.00,2.17,0.00,0.000,6,0.000,0.042,2926,1718,1552
$GC,14182,0.79,319.8,324.8,12.8,1139,14186,0.17,2.10,0.00,0.000,4,0.058,0.053,3032,343,1552
$GC,14220,0.55,319.8,317.6,19.8,1142,14228,0.32,2.10,0.00,0.000,6,0.146,0.039,2917,1726,1552
$GC,14554,0.75,337.6,282.1,10.3,1189,14580,0.17,2.25,15.90,0.958,4,0.057,0.051,3009,3148,1485
$GC,14593,0.59,337.6,276.9,14.6,1195,14600,0.32,2.17,0.00,0.000,6,0.153,0.039,2928,1709,1484
$GC,14938,0.92,413.8,240.5,8.1,1256,15012,0.28,2.20,65.65,0.934,4,0.084,0.057,3064,340,1175
$GC,15106,0.64,413.8,206.5,23.9,1285,15113,0.43,2.12,0.00,0.000,6,0.143,0.038,2942,1735,1170
$GC,15449,0.97,471.3,166.8,8.8,1346,15507,0.28,0.00,49.50,0.846,6,0.044,0.000,3070,1736,940
$GC,15847,0.82,471.3,90.7,18.7,1415,15854,0.20,2.15,0.00,0.000,4,0.143,0.048,3009,343,935
$GC,15912,0.99,471.3,80.3,14.5,1426,15920,0.15,2.05,0.00,0.000,6,0.060,0.034,3087,1729,934
$GC,16259,0.87,471.3,15.7,16.9,1487,16266,0.20,2.12,0.00,0.000,4,0.144,0.041,3023,3146,934
$GC,16300,1.05,471.3,9.7,12.8,1494,16308,0.12,2.10,0.00,0.000,6,0.062,0.035,3101,1724,934
$STATE,16342,end climb,SURFACE_DEPTH_REACHED
$STATE,16342,begin surface coast
$FINISH,0.9,1.018843
$STATE,16359,end surface coast,CONTROL_FINISHED_OK
$STATE,16359,begin surface
$SM_CCo,16435,0.00,0.000,0,0,931,473.43
$SM_GC,1.80,7.88,0.00,0.00,0.048,0.000,0.000,152,1498,931,-8.03,-0.06,473.43
$IRIDIUM_FIX,2517.50,12311.63,260898,161630
$TT8_MAMPS,0.026845
$HUMID,1502
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.10
$XPDR_PINGS,92
$24V_AH,23.5,17.146
$10V_AH,10.6,10.449
$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,29.550,128.875,576.925,0.000,0.000,24.553,32.424,215.387,31.000,0.000,0.000,34.354,2667.032,9963.415,741.218,2999.066,452.327,0.000,2067.790,0.000,2943.112,0.000,54.411,0.000
$DEVICE_MAMPS,232.401,59.059,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.706,1034.565,1741.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88324,1504
$CAP_FILE_SIZE,168757,0
$CFSIZE,260165632,229617664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217, 62.6,1
$GPS,020609,015201,2523.427,12313.678,40,1.4,40,-3.7