version: 66.04
glider: 166
mission: 2
dive: 74
start: 6 3 109 1 51 11
data:
$ID,166
$MISSION,2
$DIVE,74
$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,-6631.8687
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,014407,2521.312,12318.976,29,1.4,29,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.0
$GPS2,015049,2521.314,12319.034,16,1.9,16,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,308.8,37848,-17.1,-11.000
$D_GRID,1315
$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,14,-0.94,-194.7,0.0,0.0,0,87,0.00,0.00,-70.45,0.000,2,0.000,0.000,168,1489,2452
$GC,89,-0.94,-194.7,3.2,-4.9,11,141,8.93,2.00,-33.65,0.000,4,0.232,0.058,2429,198,3658
$GC,367,-0.22,-194.7,97.0,-30.9,59,374,0.75,1.92,0.00,0.000,6,0.154,0.031,2667,1498,3659
$GC,713,-0.64,-194.7,123.7,-6.0,120,722,0.35,2.05,0.00,0.000,4,0.040,0.037,2505,2901,3661
$GC,830,-0.44,-194.7,143.2,-18.9,140,839,0.30,2.03,0.00,0.000,6,0.140,0.031,2593,1527,3662
$GC,1176,-0.57,-194.7,181.6,-10.6,201,1183,0.12,0.00,0.00,0.000,6,0.069,0.000,2533,1527,3662
$GC,1522,-0.46,-194.7,233.0,-14.3,262,1528,0.17,1.95,0.00,0.000,4,0.143,0.044,2587,205,3661
$GC,1579,-0.60,-194.7,240.1,-11.2,272,1587,0.10,1.92,0.00,0.000,6,0.054,0.028,2512,1541,3662
$GC,1926,-0.46,-194.7,291.5,-14.9,333,1932,0.22,0.00,0.00,0.000,6,0.141,0.000,2583,1542,3662
$GC,2261,-0.70,-194.7,317.0,-6.6,372,2265,0.17,1.98,0.00,0.000,4,0.058,0.041,2470,2888,3662
$GC,2287,-0.75,-194.7,319.5,-10.7,374,2294,0.00,2.00,0.00,0.000,6,0.000,0.033,2481,1531,3661
$GC,2613,-0.61,-194.7,366.2,-13.8,405,2617,0.17,1.98,0.00,0.000,4,0.142,0.046,2539,204,3662
$GC,2730,-0.71,-194.7,379.6,-10.8,415,2736,0.00,1.88,0.00,0.000,6,0.000,0.031,2529,1511,3661
$GC,3054,-0.84,-194.7,408.2,-9.3,446,3056,0.17,0.00,0.00,0.000,6,0.058,0.000,2445,1512,3660
$GC,3372,-0.67,-194.7,456.1,-15.3,476,3376,0.22,1.98,0.00,0.000,4,0.141,0.048,2520,202,3658
$GC,3460,-0.79,-194.7,467.1,-11.3,484,3464,0.00,1.92,0.00,0.000,6,0.000,0.032,2518,1510,3657
$GC,3790,-0.97,-194.7,494.4,-7.3,515,3794,0.22,2.05,0.00,0.000,4,0.081,0.046,2411,2893,3655
$GC,3858,-0.81,-194.7,502.0,-12.6,521,3862,0.22,2.03,0.00,0.000,6,0.137,0.037,2479,1513,3654
$GC,4184,-0.81,-194.7,534.6,-10.1,537,4188,0.00,1.95,0.00,0.000,4,0.000,0.051,2479,207,3653
$GC,4283,-0.81,-194.7,546.2,-11.3,541,4289,0.00,1.92,0.00,0.000,6,0.000,0.034,2479,1507,3652
$GC,4606,-0.86,-194.7,579.5,-10.0,557,4610,0.00,1.98,0.00,0.000,4,0.000,0.053,2479,204,3650
$GC,4651,-0.86,-194.7,584.7,-11.5,559,4655,0.00,1.90,0.00,0.000,6,0.000,0.035,2478,1509,3649
$GC,4983,-0.93,-194.7,617.1,-9.8,575,4987,0.12,2.08,0.00,0.000,4,0.072,0.048,2411,2895,3647
$GC,5033,-0.82,-194.7,623.2,-12.8,577,5037,0.17,2.08,0.00,0.000,6,0.135,0.038,2470,1511,3646
$GC,5361,-0.87,-194.7,655.7,-9.8,593,5365,0.00,1.98,0.00,0.000,4,0.000,0.054,2471,201,3643
$GC,5428,-0.87,-194.7,663.1,-11.2,596,5432,0.00,1.92,0.00,0.000,6,0.000,0.037,2468,1494,3643
$GC,5760,-0.87,-194.7,696.7,-10.0,612,5763,0.00,2.12,0.00,0.000,4,0.000,0.052,2467,2906,3640
$GC,5809,-0.99,-194.7,701.3,-9.2,614,5814,0.10,2.12,0.00,0.000,6,0.054,0.041,2406,1498,3640
$GC,6135,-0.80,-194.7,745.8,-13.8,630,6139,0.20,1.98,0.00,0.000,4,0.153,0.054,2471,198,3638
$GC,6263,-0.80,-194.7,760.5,-11.2,635,6270,0.00,1.92,0.00,0.000,6,0.000,0.038,2469,1479,3636
$GC,6579,-0.80,-194.7,790.7,-9.5,651,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1481,3635
$GC,6890,-0.85,-194.7,820.0,-9.1,666,6893,0.00,2.15,0.00,0.000,4,0.000,0.055,2469,2900,3632
$GC,6939,-0.98,-194.7,824.9,-9.9,668,6945,0.12,2.12,0.00,0.000,6,0.069,0.043,2410,1473,3632
$GC,7266,-0.81,-194.7,869.4,-13.8,684,7270,0.20,1.92,0.00,0.000,4,0.150,0.057,2473,207,3630
$GC,7333,-0.81,-194.7,877.6,-11.3,687,7337,0.00,1.90,0.00,0.000,6,0.000,0.041,2470,1489,3630
$GC,7666,-0.88,-194.7,909.6,-9.3,703,7669,0.00,2.15,0.00,0.000,4,0.000,0.056,2471,2903,3628
$GC,7737,-1.03,-194.7,915.9,-8.3,706,7742,0.17,2.15,0.00,0.000,6,0.061,0.044,2394,1468,3627
$GC,8064,-0.81,-194.7,960.7,-13.9,722,8068,0.22,1.92,0.00,0.000,4,0.154,0.058,2467,207,3627
$GC,8182,-0.81,-194.7,974.0,-10.3,727,8186,0.00,1.88,0.00,0.000,6,0.000,0.041,2458,1477,3626
$STATE,8362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8362,begin apogee
$GC,8366,-0.20,0.0,991.3,9.3,736,8532,0.65,0.00,162.73,1.479,6,0.127,0.000,2667,1754,2862
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8534,0.94,194.7,997.2,0.0,744,8714,1.02,2.40,172.40,1.427,4,0.046,0.057,3059,358,2069
$GC,8736,0.32,194.7,974.4,22.5,753,8743,0.73,2.28,0.00,0.000,6,0.170,0.041,2850,1744,2066
$GC,9053,0.48,236.8,942.3,9.4,769,9097,0.12,2.33,37.42,1.373,4,0.074,0.058,2917,358,1896
$GC,9114,0.37,236.8,934.6,13.5,772,9118,0.22,2.20,0.00,0.000,6,0.146,0.042,2857,1748,1895
$GC,9440,0.54,275.6,902.3,9.5,788,9484,0.17,2.33,35.05,1.364,4,0.061,0.057,2949,352,1738
$GC,9529,0.37,275.6,888.8,17.0,792,9534,0.32,2.17,0.00,0.000,6,0.146,0.042,2858,1744,1736
$GC,9860,0.55,301.2,854.4,10.0,808,9898,0.17,2.28,25.62,1.252,4,0.061,0.057,2940,3147,1634
$GC,9914,0.39,301.2,846.3,17.5,810,9919,0.25,2.20,0.00,0.000,6,0.146,0.043,2874,1741,1633
$GC,10235,0.51,301.2,808.2,11.4,826,10239,0.00,2.17,0.00,0.000,4,0.000,0.058,2882,345,1630
$GC,10318,0.61,301.2,797.9,12.5,829,10325,0.12,2.12,0.00,0.000,6,0.051,0.042,2949,1725,1630
$GC,10634,0.42,301.2,742.5,18.0,845,10639,0.22,2.20,0.00,0.000,4,0.153,0.055,2879,3148,1629
$GC,10673,0.49,301.2,736.7,13.4,847,10677,0.00,2.17,0.00,0.000,6,0.000,0.044,2887,1717,1628
$GC,11006,0.56,301.2,695.0,12.1,863,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1717,1628
$GC,11314,0.62,301.2,658.8,11.5,878,11318,0.15,2.12,0.00,0.000,4,0.062,0.055,2969,335,1627
$GC,11376,0.43,301.2,649.3,17.2,881,11381,0.30,2.10,0.00,0.000,6,0.152,0.042,2882,1730,1627
$GC,11703,0.58,333.8,614.6,9.8,897,11734,0.12,0.00,29.30,1.236,6,0.071,0.000,2939,1732,1502
$GC,12032,0.47,333.8,559.9,17.7,913,12036,0.17,2.20,0.00,0.000,4,0.150,0.054,2886,3151,1496
$GC,12093,0.63,333.8,551.3,12.5,916,12097,0.15,2.20,0.00,0.000,6,0.061,0.043,2966,1708,1495
$GC,12410,0.44,333.8,493.6,19.4,933,12412,0.30,0.00,0.00,0.000,6,0.146,0.000,2879,1708,1494
$GC,12728,0.73,389.3,461.7,8.9,963,12785,0.22,2.20,49.12,1.130,4,0.052,0.054,3000,339,1274
$GC,12812,0.46,389.3,445.9,22.6,970,12820,0.35,2.17,0.00,0.000,6,0.143,0.041,2893,1712,1272
$GC,13138,0.70,418.4,409.0,9.9,1001,13183,0.17,2.25,28.12,1.003,4,0.058,0.053,2990,338,1155
$GC,13221,0.52,418.4,393.7,21.1,1008,13230,0.25,2.12,0.00,0.000,6,0.143,0.040,2913,1701,1154
$GC,13546,0.66,418.4,349.3,13.4,1039,13551,0.12,2.12,0.00,0.000,4,0.068,0.052,2986,337,1151
$GC,13584,0.58,418.4,342.5,18.0,1042,13591,0.17,2.08,0.00,0.000,6,0.140,0.039,2931,1698,1151
$GC,13910,0.67,418.4,296.0,13.9,1075,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1699,1151
$GC,14251,0.83,418.4,251.8,12.4,1136,14259,0.17,2.08,0.00,0.000,4,0.139,0.051,3034,332,1151
$GC,14298,0.60,418.4,243.1,20.8,1144,14307,0.35,2.03,0.00,0.000,6,0.144,0.037,2931,1711,1151
$GC,14645,0.97,494.7,207.2,8.1,1205,14726,0.30,2.22,67.40,0.860,4,0.044,0.054,3082,340,846
$GC,14755,0.63,494.7,182.1,27.1,1223,14762,0.43,2.05,0.00,0.000,6,0.141,0.035,2941,1673,844
$GC,15100,1.12,560.4,147.7,8.5,1284,15165,0.40,2.15,55.80,0.806,4,0.038,0.046,3130,342,577
$GC,15205,0.80,560.4,119.9,32.0,1301,15212,0.45,2.00,0.00,0.000,6,0.139,0.034,2995,1642,574
$GC,15551,1.14,592.7,75.7,9.8,1362,15584,0.28,2.30,25.85,0.728,4,0.044,0.041,3129,3156,453
$GC,15624,0.96,592.7,61.1,20.3,1374,15631,0.32,2.30,0.00,0.000,6,0.151,0.035,3045,1626,451
$GC,15970,1.12,592.7,12.6,13.3,1435,15976,0.15,1.95,0.00,0.000,4,0.058,0.045,3132,332,450
$STATE,16020,end climb,SURFACE_DEPTH_REACHED
$STATE,16020,begin surface coast
$FINISH,0.9,1.021826
$STATE,16034,end surface coast,CONTROL_FINISHED_OK
$STATE,16034,begin surface
$SM_CCo,16111,0.00,0.000,0,0,448,592.40
$SM_GC,1.67,8.00,0.00,0.00,0.048,0.000,0.000,165,1523,448,-8.01,0.65,592.40
$IRIDIUM_FIX,2510.35,12318.92,270898,212125
$TT8_MAMPS,0.026845
$HUMID,1466
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,24.70
$XPDR_PINGS,109
$24V_AH,23.5,18.522
$10V_AH,10.7,11.320
$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,30.850,137.475,688.825,0.000,0.000,25.852,32.724,232.008,35.250,0.000,0.000,16.200,2577.947,9695.967,806.075,2947.656,474.727,0.000,2162.849,0.000,2909.211,0.000,54.422,0.000
$DEVICE_MAMPS,232.401,58.292,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,981.651,972.462,1635.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85334,1446
$CAP_FILE_SIZE,169585,0
$CFSIZE,260165632,229081088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$CURRENT,0.234, 71.8,1
$GPS,030609,062055,2523.533,12318.804,41,1.4,41,-3.7