version: 66.04
glider: 166
mission: 2
dive: 70
start: 6 2 109 6 45 27
data:
$ID,166
$MISSION,2
$DIVE,70
$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,-4
$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,-6547.6865
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,063837,2521.562,12315.308,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.1
$GPS2,064450,2521.534,12315.406,14,0.9,14,-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,184.4,11388,-17.1,-11.000
$D_GRID,1258
$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,-64.68,0.000,2,0.000,0.000,167,1485,2375
$GC,83,-0.94,-194.7,3.0,-4.4,10,135,8.98,0.00,-38.00,0.000,6,0.234,0.000,2430,1482,3659
$GC,474,-0.13,-194.7,132.4,-34.5,78,481,0.85,2.12,0.00,0.000,4,0.163,0.038,2679,2908,3660
$GC,487,0.52,-194.7,136.6,-30.4,80,496,0.68,2.08,0.00,0.000,6,0.108,0.031,2903,1482,3661
$GC,833,-0.37,-194.7,162.3,-7.1,141,840,0.77,2.08,0.00,0.000,4,0.069,0.035,2612,2909,3662
$GC,921,-0.87,-194.7,167.3,-5.4,156,928,0.43,2.08,0.00,0.000,6,0.041,0.030,2430,1469,3662
$GC,1265,-0.34,-194.7,242.6,-25.8,217,1270,0.62,0.00,0.00,0.000,6,0.150,0.000,2625,1469,3662
$GC,1607,-0.74,-194.7,267.2,-5.3,278,1614,0.32,0.00,0.00,0.000,6,0.042,0.000,2472,1469,3663
$GC,1944,-0.50,-194.7,319.5,-15.9,328,1946,0.35,0.00,0.00,0.000,6,0.140,0.000,2577,1469,3663
$GC,2264,-0.79,-194.7,342.4,-5.9,358,2268,0.22,2.12,0.00,0.000,4,0.051,0.041,2441,2894,3663
$GC,2372,-0.67,-194.7,354.8,-12.6,367,2377,0.20,2.05,0.00,0.000,6,0.140,0.034,2520,1487,3662
$GC,2697,-0.73,-194.7,387.4,-10.0,397,2701,0.00,2.10,0.00,0.000,4,0.000,0.044,2500,2897,3662
$GC,2769,-0.90,-194.7,394.2,-9.2,403,2776,0.17,2.05,0.00,0.000,6,0.056,0.035,2422,1494,3662
$GC,3093,-0.66,-194.7,444.4,-15.1,434,3095,0.35,0.00,0.00,0.000,6,0.144,0.000,2526,1493,3660
$GC,3412,-0.88,-194.7,467.0,-5.9,464,3414,0.20,0.00,0.00,0.000,6,0.055,0.000,2432,1493,3658
$GC,3730,-0.74,-194.7,505.3,-12.6,492,3732,0.22,0.00,0.00,0.000,6,0.143,0.000,2498,1493,3655
$GC,4040,-0.87,-194.7,529.9,-7.4,507,4044,0.12,2.10,0.00,0.000,4,0.073,0.048,2436,2890,3653
$GC,4071,-0.87,-194.7,533.0,-9.9,508,4076,0.00,2.08,0.00,0.000,6,0.000,0.038,2436,1506,3653
$GC,4392,-0.78,-194.7,569.6,-11.5,524,4394,0.17,0.00,0.00,0.000,6,0.142,0.000,2487,1504,3650
$GC,4703,-0.89,-194.7,596.8,-8.9,539,4707,0.10,1.98,0.00,0.000,4,0.081,0.053,2436,198,3648
$GC,4794,-0.76,-194.7,608.5,-13.2,543,4799,0.20,1.90,0.00,0.000,6,0.146,0.036,2494,1495,3647
$GC,5128,-0.92,-194.7,637.4,-8.2,559,5130,0.15,0.00,0.00,0.000,6,0.067,0.000,2423,1497,3644
$GC,5436,-0.80,-194.7,676.6,-12.8,574,5441,0.17,2.12,0.00,0.000,4,0.144,0.052,2479,2901,3642
$GC,5479,-0.99,-194.7,680.8,-8.7,576,5484,0.17,2.12,0.00,0.000,6,0.058,0.041,2396,1489,3641
$GC,5807,-0.78,-194.7,725.1,-14.0,592,5811,0.25,2.12,0.00,0.000,4,0.147,0.054,2479,2893,3638
$GC,5839,-0.91,-194.7,728.8,-9.7,593,5845,0.00,2.12,0.00,0.000,6,0.000,0.041,2479,1488,3639
$GC,6155,-1.01,-194.7,757.2,-9.2,609,6159,0.20,1.95,0.00,0.000,4,0.058,0.055,2385,203,3636
$GC,6192,-0.71,-194.7,762.7,-15.4,610,6201,0.38,1.92,0.00,0.000,6,0.151,0.039,2503,1484,3636
$GC,6508,-0.90,-194.7,789.4,-8.0,626,6510,0.17,0.00,0.00,0.000,6,0.061,0.000,2423,1486,3635
$GC,6820,-0.81,-194.7,826.0,-11.6,641,6822,0.17,0.00,0.00,0.000,6,0.146,0.000,2474,1486,3632
$GC,7129,-0.91,-194.7,851.6,-8.1,656,7133,0.00,2.15,0.00,0.000,4,0.000,0.056,2478,2897,3631
$GC,7162,-1.09,-194.7,854.4,-7.4,657,7167,0.25,2.10,0.00,0.000,6,0.053,0.044,2371,1493,3631
$GC,7477,-0.80,-194.7,899.8,-15.0,672,7482,0.32,1.98,0.00,0.000,4,0.158,0.058,2479,198,3629
$GC,7515,-0.80,-194.7,904.4,-10.1,673,7521,0.00,1.95,0.00,0.000,6,0.000,0.041,2484,1491,3628
$GC,7831,-0.88,-194.7,930.7,-8.1,689,7835,0.00,2.15,0.00,0.000,4,0.000,0.056,2471,2906,3627
$GC,7877,-1.04,-194.7,934.3,-8.3,691,7881,0.20,2.12,0.00,0.000,6,0.056,0.044,2385,1490,3627
$GC,8204,-0.80,-194.7,980.6,-15.0,707,8209,0.28,1.98,0.00,0.000,4,0.158,0.058,2476,200,3625
$GC,8247,-0.80,-194.7,986.1,-10.7,709,8251,0.00,1.95,0.00,0.000,6,0.000,0.041,2460,1491,3625
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8304,begin apogee
$GC,8308,-0.20,0.0,991.6,9.6,712,8474,0.65,0.00,162.75,1.480,6,0.122,0.000,2669,1757,2863
$STATE,8475,end apogee,CONTROL_FINISHED_OK
$STATE,8475,begin climb
$GC,8476,0.94,194.7,996.8,0.0,720,8654,1.05,0.00,173.50,1.432,6,0.042,0.000,3060,1757,2070
$GC,8956,0.34,194.7,908.5,24.4,744,8961,0.70,2.20,0.00,0.000,4,0.173,0.057,2852,3144,2062
$GC,9033,0.42,194.7,897.5,11.4,747,9039,0.00,2.17,0.00,0.000,6,0.000,0.044,2860,1760,2061
$GC,9349,0.51,210.1,863.5,10.4,763,9371,0.12,2.28,13.50,1.280,4,0.073,0.058,2929,352,2005
$GC,9461,0.36,210.1,847.6,15.1,768,9466,0.25,2.15,0.00,0.000,6,0.148,0.044,2859,1746,2004
$GC,9787,0.55,282.0,817.2,8.3,784,9854,0.17,0.00,64.65,1.358,6,0.064,0.000,2934,1747,1713
$GC,10156,0.44,282.0,763.4,14.8,802,10161,0.20,2.22,0.00,0.000,4,0.149,0.056,2882,340,1705
$GC,10211,0.56,288.7,756.8,10.7,804,10222,0.08,2.17,6.28,1.056,6,0.065,0.043,2928,1736,1686
$GC,10545,0.48,288.7,708.7,14.8,821,10549,0.12,2.20,0.00,0.000,4,0.153,0.056,2895,3150,1684
$GC,10584,0.48,288.7,703.1,13.4,823,10587,0.00,2.17,0.00,0.000,6,0.000,0.044,2903,1727,1683
$GC,10915,0.48,288.7,659.2,12.9,839,10919,0.00,2.15,0.00,0.000,4,0.000,0.057,2914,336,1682
$GC,10953,0.48,288.7,653.7,13.9,840,10960,0.00,2.15,0.00,0.000,6,0.000,0.043,2914,1736,1683
$GC,11268,0.48,288.7,610.3,13.3,856,11272,0.00,2.20,0.00,0.000,4,0.000,0.056,2914,3167,1682
$GC,11312,0.48,288.7,604.3,13.8,858,11317,0.00,2.15,0.00,0.000,6,0.000,0.043,2924,1737,1681
$GC,11644,0.48,288.7,562.1,13.0,874,11648,0.00,2.15,0.00,0.000,4,0.000,0.058,2936,339,1681
$GC,11760,0.48,288.7,546.4,13.1,879,11766,0.10,2.12,0.00,0.000,6,0.146,0.042,2902,1735,1680
$GC,12088,0.56,288.7,508.8,11.6,895,12092,0.00,2.15,0.00,0.000,4,0.000,0.056,2910,339,1680
$GC,12115,0.63,288.7,505.3,12.0,896,12119,0.00,2.08,0.00,0.000,6,0.000,0.042,2910,1707,1680
$GC,12439,0.63,288.7,464.6,12.8,924,12442,0.00,2.20,0.00,0.000,4,0.000,0.054,2911,3152,1680
$GC,12522,0.63,288.7,453.4,12.3,931,12528,0.00,2.17,0.00,0.000,6,0.000,0.043,2921,1721,1679
$GC,12847,0.63,288.7,411.6,12.3,962,12850,0.00,2.10,0.00,0.000,4,0.000,0.055,2932,341,1679
$GC,12913,0.63,288.7,403.1,11.8,968,12917,0.00,2.05,0.00,0.000,6,0.000,0.041,2932,1717,1679
$GC,13244,0.63,288.7,364.0,12.4,999,13248,0.00,2.17,0.00,0.000,4,0.000,0.052,2932,3156,1679
$GC,13293,0.63,288.7,357.5,12.4,1003,13300,0.00,2.20,0.00,0.000,6,0.000,0.041,2943,1708,1679
$GC,13620,0.63,288.7,317.0,11.6,1034,13623,0.00,2.20,0.00,0.000,4,0.000,0.051,2944,3156,1679
$GC,13653,0.63,288.7,312.4,12.6,1037,13657,0.00,2.15,0.00,0.000,6,0.000,0.041,2960,1717,1679
$GC,13989,0.63,288.7,270.2,11.5,1088,13996,0.00,2.10,0.00,0.000,4,0.000,0.052,2978,324,1679
$GC,14080,0.58,288.7,259.2,11.5,1104,14087,0.17,2.08,0.00,0.000,6,0.143,0.039,2930,1736,1679
$GC,14424,0.81,352.4,229.4,8.6,1165,14486,0.17,0.00,53.35,0.913,6,0.060,0.000,3022,1737,1425
$GC,14825,0.67,352.4,167.7,17.8,1235,14831,0.20,2.15,0.00,0.000,4,0.144,0.045,2960,3152,1420
$GC,14872,0.82,352.4,160.9,12.4,1243,14879,0.15,2.12,0.00,0.000,6,0.056,0.037,3036,1725,1418
$GC,15218,0.72,352.4,101.9,13.7,1304,15225,0.20,2.10,0.00,0.000,4,0.139,0.048,2980,341,1418
$GC,15338,0.98,436.9,91.2,7.8,1325,15416,0.20,2.03,70.50,0.772,6,0.052,0.034,3078,1735,1081
$GC,15754,0.89,436.9,25.8,16.5,1397,15761,0.17,2.12,0.00,0.000,4,0.136,0.046,3030,351,1076
$GC,15772,0.89,436.9,22.8,15.3,1400,15779,0.00,2.03,0.00,0.000,6,0.000,0.032,3030,1732,1075
$STATE,15928,end climb,SURFACE_DEPTH_REACHED
$STATE,15928,begin surface coast
$FINISH,0.8,1.021131
$STATE,15953,end surface coast,CONTROL_FINISHED_OK
$STATE,15953,begin surface
$SM_CCo,16028,0.00,0.000,0,0,1072,439.33
$SM_GC,1.88,7.75,0.00,0.00,0.048,0.000,0.000,164,1495,1072,-8.04,-0.14,439.33
$IRIDIUM_FIX,2515.12,12320.23,270898,020229
$TT8_MAMPS,0.026845
$HUMID,1458
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.50
$XPDR_PINGS,98
$24V_AH,23.5,17.590
$10V_AH,10.7,10.736
$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,30.175,122.900,544.525,0.000,0.000,26.427,35.959,202.012,32.500,0.000,0.000,14.311,2565.663,9886.449,692.776,2814.952,445.418,0.000,1942.744,0.000,2782.402,0.000,54.407,0.000
$DEVICE_MAMPS,233.935,58.292,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,974.605,946.802,1593.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82240,1432
$CAP_FILE_SIZE,160945,0
$CFSIZE,260165632,229445632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 69.3,1
$GPS,020609,111337,2519.510,12316.913,30,1.1,30,-3.7