version: 66.04
glider: 166
mission: 2
dive: 67
start: 6 1 109 16 50 11
data:
$ID,166
$MISSION,2
$DIVE,67
$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,-6480.0234
$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,68
$R_STBD_OVSHOOT,56
$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
$GPS1,164106,2525.726,12311.048,31,1.2,31,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.4
$GPS2,164950,2525.741,12311.243,14,1.6,14,-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,186.5,21843,-17.1,-11.000
$D_GRID,871
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-59.15,0.000,2,0.000,0.000,165,1460,2408
$GC,78,-0.94,-194.7,3.1,-5.6,9,130,9.07,1.85,-35.92,0.000,4,0.239,0.058,2431,219,3658
$GC,152,-0.06,-194.7,19.3,-36.0,21,160,0.95,1.90,0.00,0.000,6,0.173,0.031,2715,1491,3659
$GC,498,-0.52,-194.7,48.0,-7.9,82,505,0.38,2.08,0.00,0.000,4,0.041,0.036,2542,2911,3659
$GC,602,-0.28,-194.7,66.8,-21.2,100,609,0.35,2.03,0.00,0.000,6,0.150,0.031,2642,1509,3659
$GC,948,-0.46,-194.7,110.7,-10.1,161,954,0.17,2.08,0.00,0.000,4,0.058,0.038,2555,2916,3660
$GC,1029,-0.40,-194.7,122.2,-15.1,175,1037,0.17,2.03,0.00,0.000,6,0.139,0.031,2604,1510,3660
$GC,1375,-0.52,-194.7,162.4,-11.4,236,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1510,3660
$GC,1719,-0.73,-194.7,193.9,-8.0,297,1725,0.25,0.00,0.00,0.000,6,0.049,0.000,2483,1509,3661
$GC,2062,-0.44,-194.7,258.2,-16.0,358,2069,0.35,1.92,0.00,0.000,4,0.148,0.044,2592,199,3661
$GC,2238,-0.66,-194.7,272.3,-6.4,389,2245,0.20,1.90,0.00,0.000,6,0.054,0.028,2500,1549,3661
$GC,2581,-0.56,-194.7,315.2,-13.1,440,2585,0.17,2.00,0.00,0.000,4,0.140,0.044,2556,204,3661
$GC,2728,-0.67,-194.7,330.5,-9.9,453,2731,0.00,1.83,0.00,0.000,6,0.000,0.028,2553,1490,3661
$GC,3058,-0.85,-194.7,358.0,-7.9,484,3060,0.22,0.00,0.00,0.000,6,0.052,0.000,2434,1491,3661
$GC,3375,-0.64,-194.7,406.4,-14.2,514,3380,0.30,2.08,0.00,0.000,4,0.143,0.044,2524,2897,3658
$GC,3419,-0.88,-194.7,410.7,-8.0,517,3426,0.17,2.05,0.00,0.000,6,0.042,0.034,2429,1510,3658
$GC,3744,-0.69,-194.7,457.2,-13.6,548,3748,0.25,1.95,0.00,0.000,4,0.143,0.048,2511,204,3657
$GC,3793,-0.82,-194.7,463.0,-10.2,552,3800,0.00,1.88,0.00,0.000,6,0.000,0.031,2506,1491,3656
$GC,4118,-0.97,-194.7,492.6,-9.3,583,4123,0.20,2.08,0.00,0.000,4,0.056,0.045,2408,2892,3654
$GC,4206,-0.84,-194.7,504.2,-13.6,589,4210,0.15,2.05,0.00,0.000,6,0.140,0.037,2470,1509,3653
$GC,4533,-0.84,-194.7,537.7,-10.0,605,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1510,3650
$GC,4842,-0.84,-194.7,568.2,-9.5,620,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1510,3648
$GC,5151,-0.84,-194.7,596.5,-9.3,635,5155,0.00,1.98,0.00,0.000,4,0.000,0.053,2470,201,3645
$GC,5183,-0.84,-194.7,599.9,-10.4,636,5189,0.00,1.92,0.00,0.000,6,0.000,0.035,2468,1500,3644
$GC,5505,-0.84,-194.7,631.8,-10.1,652,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1501,3642
$GC,5814,-0.84,-194.7,664.2,-10.4,667,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1501,3639
$GC,6123,-0.89,-194.7,695.7,-10.0,682,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1502,3637
$GC,6434,-0.94,-194.7,725.5,-9.4,697,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1502,3634
$GC,6742,-0.99,-194.7,755.0,-9.4,712,6746,0.15,2.00,0.00,0.000,4,0.071,0.056,2401,201,3632
$GC,6786,-0.72,-194.7,760.8,-14.6,714,6791,0.35,1.92,0.00,0.000,6,0.153,0.038,2504,1503,3631
$GC,7112,-0.91,-194.7,784.2,-6.3,730,7117,0.17,2.10,0.00,0.000,4,0.061,0.051,2425,2896,3629
$GC,7173,-0.91,-194.7,790.0,-9.6,733,7178,0.00,2.05,0.00,0.000,6,0.000,0.043,2424,1519,3628
$GC,7506,-0.81,-194.7,824.1,-10.0,749,7508,0.17,0.00,0.00,0.000,6,0.149,0.000,2475,1519,3627
$GC,7815,-0.90,-194.7,846.3,-7.1,764,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1519,3626
$GC,8124,-1.00,-194.7,869.7,-7.9,779,8126,0.17,0.00,0.00,0.000,6,0.064,0.000,2401,1519,3624
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8147,-0.20,0.0,871.9,8.3,780,8310,0.85,0.00,159.05,1.392,6,0.145,0.000,2672,1754,2863
$STATE,8311,end apogee,CONTROL_FINISHED_OK
$STATE,8311,begin climb
$GC,8312,0.94,194.7,877.7,0.0,788,8488,1.00,2.30,167.80,1.343,4,0.047,0.056,3045,3142,2068
$GC,8690,0.42,194.7,817.3,21.5,805,8695,0.65,2.15,0.00,0.000,6,0.174,0.042,2872,1751,2061
$GC,9005,0.51,217.4,784.2,10.1,820,9030,0.00,2.30,19.58,1.255,4,0.000,0.058,2879,346,1976
$GC,9068,0.57,217.4,777.5,11.1,822,9076,0.10,2.17,0.00,0.000,6,0.056,0.040,2935,1739,1974
$GC,9384,0.44,217.4,735.5,13.3,838,9388,0.20,2.17,0.00,0.000,4,0.150,0.054,2874,3150,1971
$GC,9494,0.51,226.2,723.8,10.7,843,9510,0.00,2.10,8.52,1.132,6,0.000,0.043,2883,1767,1938
$GC,9820,0.58,233.8,689.8,10.7,859,9834,0.12,2.25,7.80,1.105,4,0.070,0.057,2954,352,1909
$GC,9923,0.40,233.8,674.6,15.1,863,9930,0.25,2.17,0.00,0.000,6,0.146,0.041,2866,1763,1907
$GC,10239,0.56,247.2,642.0,10.5,879,10259,0.15,0.00,13.05,1.188,6,0.064,0.000,2934,1765,1854
$GC,10568,0.46,247.2,593.7,14.9,895,10572,0.17,2.22,0.00,0.000,4,0.153,0.056,2895,336,1851
$GC,10651,0.52,247.2,582.4,13.5,899,10655,0.00,2.15,0.00,0.000,6,0.000,0.041,2895,1756,1851
$GC,10983,0.52,247.2,541.1,12.2,915,10987,0.00,2.15,0.00,0.000,4,0.000,0.055,2895,3160,1850
$GC,11015,0.52,247.2,536.7,12.8,916,11020,0.00,2.12,0.00,0.000,6,0.000,0.042,2905,1766,1848
$GC,11338,0.52,247.2,495.6,12.1,933,11341,0.00,2.12,0.00,0.000,4,0.000,0.053,2905,3158,1848
$GC,11375,0.52,247.2,490.8,12.5,936,11384,0.00,2.12,0.00,0.000,6,0.000,0.041,2916,1759,1848
$GC,11701,0.52,247.2,451.2,11.6,967,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1759,1848
$GC,12019,0.52,247.2,414.8,11.2,997,12023,0.00,2.15,0.00,0.000,4,0.000,0.055,2933,345,1847
$GC,12075,0.52,247.2,407.4,13.4,1002,12079,0.00,2.15,0.00,0.000,6,0.000,0.040,2932,1786,1847
$GC,12406,0.52,247.2,366.6,11.6,1033,12409,0.00,2.05,0.00,0.000,4,0.000,0.051,2933,3151,1847
$GC,12461,0.52,247.2,359.7,11.3,1038,12465,0.15,2.03,0.00,0.000,6,0.153,0.041,2909,1789,1847
$GC,12792,0.72,299.1,328.7,9.0,1069,12841,0.17,2.28,43.40,1.022,4,0.058,0.053,3003,349,1642
$GC,12885,0.54,299.1,314.6,16.9,1077,12892,0.25,2.22,0.00,0.000,6,0.144,0.038,2916,1788,1639
$GC,13221,0.78,352.1,280.3,9.0,1126,13272,0.17,2.38,45.03,0.966,4,0.058,0.051,3014,339,1426
$GC,13385,0.64,352.1,253.3,16.6,1154,13392,0.25,2.17,0.00,0.000,6,0.144,0.043,2944,1772,1421
$GC,13731,0.80,363.9,217.8,10.6,1215,13751,0.17,2.28,10.57,0.836,4,0.057,0.050,3038,345,1378
$GC,13780,0.56,363.9,209.5,19.7,1223,13787,0.40,2.12,0.00,0.000,6,0.145,0.035,2920,1767,1377
$GC,14125,0.86,404.7,173.2,9.5,1284,14166,0.22,2.30,35.62,0.853,4,0.049,0.048,3048,339,1212
$GC,14253,0.66,404.7,149.6,20.4,1305,14261,0.32,2.10,0.00,0.000,6,0.139,0.035,2953,1748,1210
$GC,14599,0.95,471.6,113.2,8.5,1366,14663,0.22,2.20,57.28,0.788,4,0.048,0.046,3075,346,938
$GC,14733,0.78,471.6,89.0,18.4,1388,14741,0.30,2.08,0.00,0.000,6,0.137,0.033,2986,1736,935
$GC,15079,1.08,505.1,50.0,9.7,1449,15118,0.25,2.22,28.55,0.712,4,0.047,0.046,3122,340,802
$GC,15188,0.89,505.1,29.6,21.2,1467,15195,0.32,2.03,0.00,0.000,6,0.133,0.031,3023,1717,800
$STATE,15403,end climb,SURFACE_DEPTH_REACHED
$STATE,15403,begin surface coast
$FINISH,1.0,1.021967
$STATE,15427,end surface coast,CONTROL_FINISHED_OK
$STATE,15427,begin surface
$SM_CCo,15501,0.00,0.000,0,0,798,506.54
$SM_GC,1.66,7.62,0.00,0.00,0.045,0.000,0.000,148,1474,798,-8.03,-0.71,506.54
$IRIDIUM_FIX,2519.89,12307.64,260898,161624
$TT8_MAMPS,0.026845
$HUMID,1470
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.70
$XPDR_PINGS,99
$24V_AH,23.8,16.916
$10V_AH,10.7,10.302
$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,28.750,109.600,596.250,0.000,0.000,48.549,132.891,177.902,31.500,0.000,0.000,14.871,2640.583,9182.067,675.106,2982.371,538.090,0.000,2003.553,0.000,2959.289,0.000,46.082,0.000
$DEVICE_MAMPS,239.304,58.292,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.545,1067.949,1794.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85521,1509
$CAP_FILE_SIZE,160099,0
$CFSIZE,260165632,229720064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236, 22.2,1
$GPS,010609,210955,2525.222,12311.853,33,1.7,51,-3.7