version: 66.04
glider: 166
mission: 2
dive: 69
start: 6 2 109 1 58 34
data:
$ID,166
$MISSION,2
$DIVE,69
$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,-6532.7456
$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,41
$R_STBD_OVSHOOT,54
$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
$GPS1,015201,2523.427,12313.678,40,1.4,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.8
$GPS2,015813,2523.433,12313.794,12,1.4,17,-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,186.2,15810,-17.1,-11.000
$D_GRID,1430
$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,-194.7,0.0,0.0,0,81,0.00,0.00,-64.45,0.000,2,0.000,0.000,168,1498,2374
$GC,83,-0.94,-194.7,3.2,-5.3,10,135,8.70,1.95,-36.38,0.000,4,0.224,0.059,2428,202,3657
$GC,154,-0.05,-194.7,17.6,-33.0,21,161,0.98,1.92,0.00,0.000,6,0.180,0.031,2715,1496,3658
$GC,496,-0.50,-194.7,49.3,-5.7,82,503,0.35,2.08,0.00,0.000,4,0.041,0.037,2550,2906,3659
$GC,627,-0.30,-194.7,71.8,-19.1,105,635,0.30,2.05,0.00,0.000,6,0.148,0.033,2635,1499,3659
$GC,973,-0.49,-194.7,113.5,-8.2,166,980,0.17,1.90,0.00,0.000,4,0.059,0.042,2547,208,3661
$GC,1005,-0.36,-194.7,117.3,-13.5,171,1013,0.17,1.90,0.00,0.000,6,0.143,0.028,2616,1518,3661
$GC,1351,-0.57,-194.7,151.4,-9.3,232,1357,0.17,0.00,0.00,0.000,6,0.058,0.000,2529,1520,3662
$GC,1694,-0.42,-194.7,207.5,-17.4,293,1700,0.20,0.00,0.00,0.000,6,0.143,0.000,2592,1519,3663
$GC,2037,-0.62,-194.7,242.7,-9.1,354,2044,0.15,1.95,0.00,0.000,4,0.063,0.044,2520,202,3663
$GC,2134,-0.46,-194.7,258.2,-16.5,371,2142,0.25,1.85,0.00,0.000,6,0.136,0.030,2594,1496,3663
$GC,2482,-0.75,-194.7,283.0,-6.2,432,2489,0.25,2.05,0.00,0.000,4,0.048,0.041,2472,2899,3663
$GC,2574,-0.64,-194.7,294.2,-13.1,448,2580,0.17,2.03,0.00,0.000,6,0.140,0.034,2526,1499,3663
$GC,2903,-0.64,-194.7,331.6,-12.1,483,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1499,3663
$GC,3221,-0.70,-194.7,366.5,-10.9,513,3225,0.00,2.08,0.00,0.000,4,0.000,0.044,2507,2893,3663
$GC,3311,-0.86,-194.7,375.7,-9.5,521,3316,0.15,2.00,0.00,0.000,6,0.061,0.035,2438,1522,3662
$GC,3641,-0.65,-194.7,429.4,-15.1,552,3643,0.30,0.00,0.00,0.000,6,0.143,0.000,2524,1521,3661
$GC,3960,-0.83,-194.7,456.6,-7.8,582,3965,0.15,2.08,0.00,0.000,4,0.064,0.047,2448,2902,3659
$GC,4025,-0.83,-194.7,464.0,-12.2,587,4033,0.00,2.05,0.00,0.000,6,0.000,0.036,2448,1524,3658
$GC,4360,-0.75,-194.7,505.0,-11.7,617,4364,0.17,1.98,0.00,0.000,4,0.140,0.050,2501,204,3656
$GC,4428,-0.84,-194.7,511.5,-9.0,620,4431,0.00,1.88,0.00,0.000,6,0.000,0.034,2495,1497,3655
$GC,4760,-0.95,-194.7,541.8,-9.6,636,4764,0.17,2.10,0.00,0.000,4,0.062,0.048,2407,2905,3654
$GC,4804,-0.81,-194.7,547.6,-14.0,638,4809,0.22,2.08,0.00,0.000,6,0.143,0.038,2475,1490,3653
$GC,5129,-0.81,-194.7,585.3,-11.6,654,5133,0.00,2.12,0.00,0.000,4,0.000,0.050,2475,2904,3651
$GC,5162,-0.93,-194.7,588.8,-10.3,655,5166,0.05,2.08,0.00,0.000,6,0.066,0.038,2421,1512,3650
$GC,5484,-0.78,-194.7,632.7,-13.0,671,5488,0.20,1.98,0.00,0.000,4,0.149,0.052,2485,203,3648
$GC,5551,-0.83,-194.7,639.9,-9.8,674,5555,0.00,1.92,0.00,0.000,6,0.000,0.036,2486,1497,3647
$GC,5883,-0.94,-194.7,666.3,-7.8,690,5887,0.15,2.10,0.00,0.000,4,0.067,0.049,2411,2897,3644
$GC,5931,-0.84,-194.7,671.6,-11.6,692,5936,0.15,2.08,0.00,0.000,6,0.139,0.039,2462,1513,3644
$GC,6252,-0.84,-194.7,702.2,-9.9,708,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1513,3642
$GC,6561,-0.84,-194.7,731.5,-9.3,723,6565,0.00,2.10,0.00,0.000,4,0.000,0.054,2463,2892,3640
$GC,6607,-0.97,-194.7,735.6,-8.7,725,6611,0.12,2.08,0.00,0.000,6,0.069,0.041,2408,1499,3639
$GC,6939,-0.78,-194.7,781.2,-14.1,741,6943,0.22,1.98,0.00,0.000,4,0.153,0.055,2479,199,3637
$GC,7084,-0.85,-194.7,797.9,-10.5,747,7088,0.00,1.92,0.00,0.000,6,0.000,0.039,2490,1504,3636
$GC,7405,-0.95,-194.7,828.0,-9.8,763,7410,0.17,2.10,0.00,0.000,4,0.064,0.051,2401,2898,3634
$GC,7448,-0.75,-194.7,833.5,-14.2,765,7454,0.28,2.12,0.00,0.000,6,0.149,0.043,2490,1497,3633
$GC,7777,-0.85,-194.7,864.1,-8.0,781,7780,0.00,2.12,0.00,0.000,4,0.000,0.054,2487,2898,3633
$GC,7809,-1.01,-194.7,867.0,-8.3,782,7814,0.22,2.10,0.00,0.000,6,0.056,0.042,2393,1507,3632
$GC,8131,-0.74,-194.7,912.2,-14.0,798,8133,0.35,0.00,0.00,0.000,6,0.156,0.000,2501,1507,3631
$GC,8440,-0.85,-194.7,935.5,-7.1,813,8442,0.12,0.00,0.00,0.000,6,0.076,0.000,2443,1507,3629
$GC,8749,-0.75,-194.7,969.9,-12.1,828,8753,0.17,2.15,0.00,0.000,4,0.150,0.056,2494,2904,3627
$GC,8770,-0.82,-194.7,972.0,-10.1,829,8774,0.00,2.10,0.00,0.000,6,0.000,0.044,2496,1503,3627
$STATE,9032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9032,begin apogee
$GC,9036,-0.20,0.0,991.2,7.3,842,9203,0.55,0.00,163.10,1.476,6,0.119,0.000,2672,1753,2863
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$GC,9205,0.94,194.7,996.5,0.0,850,9387,1.05,2.38,172.25,1.424,4,0.048,0.055,3058,346,2068
$GC,9447,0.33,194.7,965.4,21.2,861,9455,0.70,2.28,0.00,0.000,6,0.169,0.042,2851,1749,2064
$GC,9764,0.51,250.0,935.7,8.9,877,9820,0.15,2.35,48.80,1.386,4,0.068,0.057,2917,3156,1842
$GC,9858,0.42,250.0,923.3,14.4,881,9864,0.17,2.22,0.00,0.000,6,0.143,0.042,2875,1752,1838
$GC,10181,0.51,250.0,884.0,12.3,897,10184,0.00,2.20,0.00,0.000,4,0.000,0.057,2883,346,1835
$GC,10280,0.56,250.0,870.0,14.2,901,10285,0.08,2.17,0.00,0.000,6,0.061,0.042,2930,1751,1835
$GC,10602,0.41,250.0,819.1,16.2,917,10607,0.17,2.17,0.00,0.000,4,0.153,0.054,2877,3164,1834
$GC,10651,0.48,250.0,812.6,12.7,919,10655,0.00,2.17,0.00,0.000,6,0.000,0.041,2885,1742,1832
$GC,10972,0.49,263.8,777.1,10.5,935,10996,0.00,2.25,13.80,1.095,4,0.000,0.057,2896,341,1787
$GC,11057,0.49,263.8,766.6,13.0,938,11064,0.00,2.17,0.00,0.000,6,0.000,0.043,2896,1744,1786
$GC,11372,0.49,263.8,726.3,12.9,954,11376,0.00,2.17,0.00,0.000,4,0.000,0.057,2906,349,1785
$GC,11427,0.49,263.8,718.9,13.7,956,11432,0.00,2.12,0.00,0.000,6,0.000,0.043,2906,1733,1785
$GC,11749,0.49,263.8,675.3,14.0,972,11752,0.00,2.17,0.00,0.000,4,0.000,0.055,2906,3152,1784
$GC,11820,0.49,263.8,664.7,14.4,975,11824,0.00,2.17,0.00,0.000,6,0.000,0.044,2917,1730,1783
$GC,12147,0.49,263.8,615.5,14.9,991,12151,0.00,2.20,0.00,0.000,4,0.000,0.055,2917,3160,1783
$GC,12184,0.49,263.8,609.7,15.2,992,12192,0.00,2.15,0.00,0.000,6,0.000,0.041,2927,1748,1783
$GC,12501,0.43,263.8,566.4,13.3,1008,12505,0.17,2.15,0.00,0.000,4,0.151,0.054,2886,345,1782
$GC,12544,0.53,263.8,561.1,11.3,1010,12548,0.00,2.12,0.00,0.000,6,0.000,0.043,2886,1738,1783
$GC,12871,0.63,263.8,525.4,11.3,1026,12875,0.17,2.15,0.00,0.000,4,0.060,0.054,2978,345,1783
$GC,12932,0.42,263.8,515.1,17.9,1029,12937,0.35,2.10,0.00,0.000,6,0.149,0.042,2875,1748,1783
$GC,13254,0.63,294.7,479.8,9.8,1053,13287,0.20,2.25,27.60,1.149,4,0.056,0.054,2964,3151,1660
$GC,13303,0.47,294.7,472.4,15.6,1057,13310,0.28,2.20,0.00,0.000,6,0.146,0.041,2892,1739,1658
$GC,13628,0.62,295.0,435.2,11.0,1088,13633,0.15,2.17,0.00,0.000,4,0.061,0.054,2978,333,1656
$GC,13700,0.48,295.0,423.6,18.7,1094,13705,0.28,2.10,0.00,0.000,6,0.141,0.041,2897,1723,1655
$GC,14025,0.75,372.1,393.9,8.1,1124,14101,0.22,2.33,66.78,1.069,4,0.053,0.052,3000,3144,1343
$GC,14136,0.54,372.1,374.0,22.3,1134,14141,0.35,2.20,0.00,0.000,6,0.150,0.040,2914,1717,1342
$GC,14460,0.73,372.1,333.6,12.4,1164,14465,0.17,2.15,0.00,0.000,4,0.056,0.053,3015,332,1337
$GC,14492,0.61,372.1,327.9,18.4,1166,14499,0.22,2.10,0.00,0.000,6,0.141,0.038,2931,1706,1337
$GC,14825,0.79,384.6,285.6,10.5,1208,14842,0.17,0.00,11.27,0.907,6,0.057,0.000,3027,1707,1293
$GC,15181,0.54,384.6,215.8,20.3,1271,15188,0.35,2.10,0.00,0.000,4,0.143,0.047,2925,330,1290
$GC,15253,0.83,404.3,206.4,10.3,1283,15278,0.22,2.05,18.00,0.872,6,0.051,0.043,3034,1716,1214
$GC,15616,0.71,404.3,138.3,17.3,1347,15624,0.20,2.10,0.00,0.000,4,0.143,0.048,2974,340,1210
$GC,15660,0.80,404.3,131.9,13.0,1354,15666,0.00,2.03,0.00,0.000,6,0.000,0.034,2974,1693,1209
$GC,16004,1.03,431.1,94.5,10.0,1415,16038,0.22,2.12,23.83,0.767,4,0.047,0.048,3094,344,1104
$GC,16146,0.81,431.1,67.3,17.0,1439,16154,0.32,2.00,0.00,0.000,6,0.140,0.033,2996,1687,1102
$GC,16493,1.14,473.3,32.5,9.4,1500,16537,0.25,0.00,36.40,0.703,6,0.045,0.000,3125,1688,932
$STATE,16643,end climb,SURFACE_DEPTH_REACHED
$STATE,16643,begin surface coast
$FINISH,1.0,1.015825
$STATE,16657,end surface coast,CONTROL_FINISHED_OK
$STATE,16657,begin surface
$SM_CCo,16732,0.00,0.000,0,0,926,475.15
$SM_GC,1.76,8.00,0.00,0.00,0.044,0.000,0.000,161,1485,926,-8.02,-0.42,475.15
$IRIDIUM_FIX,2515.12,12312.94,260898,212118
$TT8_MAMPS,0.026845
$HUMID,1485
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.60
$XPDR_PINGS,102
$24V_AH,23.5,17.374
$10V_AH,10.7,10.599
$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,30.475,143.425,581.825,0.000,0.000,24.528,36.052,200.949,33.500,0.000,0.000,17.109,2749.409,10080.070,699.759,3110.607,453.906,0.000,2104.182,0.000,3074.667,0.000,54.985,0.000
$DEVICE_MAMPS,223.964,59.059,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.979,1048.923,1765.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88261,1528
$CAP_FILE_SIZE,176622,0
$CFSIZE,260165632,229519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.216, 62.3,1
$GPS,020609,063837,2521.562,12315.308,39,0.9,39,-3.7