version: 66.04
glider: 166
mission: 2
dive: 355
start: 7 17 109 23 6 51
data:
$ID,166
$MISSION,2
$DIVE,355
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,450
$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,-12411.782
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,225627,2411.472,12426.025,36,2.5,55,-3.5
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.5
$GPS2,230628,2411.452,12426.112,14,2.8,33,-3.5
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,257.2,79032,-13.7,-7.990
$D_GRID,999
$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,15,-1.01,-170.3,0.0,0.0,0,76,0.00,0.00,-59.03,0.000,2,0.000,0.000,139,1680,2491
$GC,79,-1.01,-170.3,3.6,-5.2,9,126,9.25,2.15,-28.77,0.000,4,0.227,0.057,2446,270,3639
$GC,173,-1.01,-170.3,19.9,-15.0,24,180,0.00,2.05,0.00,0.000,6,0.000,0.029,2448,1655,3639
$GC,519,-1.01,-170.3,75.4,-15.1,85,525,0.00,2.10,0.00,0.000,4,0.000,0.041,2445,3076,3639
$GC,583,-1.01,-170.3,84.6,-14.0,96,589,0.00,2.05,0.00,0.000,6,0.000,0.031,2436,1661,3639
$GC,927,-1.01,-170.3,135.0,-15.0,157,934,0.00,2.10,0.00,0.000,4,0.000,0.041,2436,3077,3640
$GC,992,-1.01,-170.3,144.4,-14.6,168,998,0.00,2.03,0.00,0.000,6,0.000,0.031,2436,1677,3640
$GC,1336,-1.01,-170.3,193.3,-13.1,229,1343,0.00,2.15,0.00,0.000,4,0.000,0.046,2436,267,3640
$GC,1391,-1.01,-170.3,200.4,-14.1,238,1399,0.00,2.05,0.00,0.000,6,0.000,0.027,2436,1699,3640
$GC,1737,-1.01,-170.3,242.9,-12.4,299,1744,0.00,2.17,0.00,0.000,4,0.000,0.045,2435,260,3640
$GC,1767,-1.01,-170.3,246.7,-12.8,304,1774,0.00,2.05,0.00,0.000,6,0.000,0.028,2435,1690,3640
$GC,2112,-1.01,-170.3,287.3,-12.4,365,2118,0.00,2.05,0.00,0.000,4,0.000,0.041,2434,3069,3640
$GC,2141,-1.01,-170.3,291.1,-12.8,370,2148,0.00,2.05,0.00,0.000,6,0.000,0.031,2435,1678,3640
$GC,2477,-1.01,-170.3,332.7,-10.4,407,2481,0.00,2.12,0.00,0.000,4,0.000,0.046,2435,268,3640
$GC,2556,-1.01,-170.3,341.9,-11.6,414,2560,0.00,2.03,0.00,0.000,6,0.000,0.027,2428,1683,3640
$GC,2887,-1.01,-170.3,377.5,-11.0,445,2891,0.00,2.15,0.00,0.000,4,0.000,0.045,2428,262,3639
$GC,2910,-1.01,-170.3,380.2,-11.8,447,2914,0.12,2.05,0.00,0.000,6,0.161,0.028,2455,1688,3639
$GC,3240,-1.01,-170.3,415.2,-10.1,478,3243,0.00,2.05,0.00,0.000,4,0.000,0.042,2457,3069,3637
$GC,3312,-1.01,-170.3,422.6,-9.9,484,3318,0.00,2.08,0.00,0.000,6,0.000,0.032,2456,1671,3636
$GC,3637,-1.01,-170.3,451.7,-8.7,515,3641,0.00,2.10,0.00,0.000,4,0.000,0.041,2455,3066,3635
$GC,3694,-1.01,-170.3,456.7,-8.9,520,3697,0.00,2.05,0.00,0.000,6,0.000,0.033,2456,1664,3634
$GC,4027,-1.01,-170.3,489.2,-10.2,551,4031,0.00,2.12,0.00,0.000,4,0.000,0.043,2455,3075,3633
$GC,4084,-1.01,-170.3,495.3,-10.7,556,4088,0.00,2.05,0.00,0.000,6,0.000,0.034,2457,1675,3632
$GC,4407,-1.01,-170.3,526.8,-9.8,574,4411,0.00,2.10,0.00,0.000,4,0.000,0.044,2460,3061,3629
$GC,4469,-1.01,-170.3,533.0,-9.4,576,4475,0.00,2.08,0.00,0.000,6,0.000,0.035,2461,1675,3629
$GC,4785,-1.01,-170.3,562.2,-9.1,592,4788,0.00,2.12,0.00,0.000,4,0.000,0.044,2462,3075,3627
$GC,4830,-1.01,-170.3,566.4,-9.5,594,4834,0.00,2.08,0.00,0.000,6,0.000,0.035,2465,1668,3627
$GC,5164,-1.01,-170.3,596.4,-8.9,610,5168,0.00,2.15,0.00,0.000,4,0.000,0.046,2460,3073,3624
$GC,5219,-1.01,-170.3,601.4,-8.9,612,5223,0.00,2.08,0.00,0.000,6,0.000,0.035,2465,1666,3624
$GC,5541,-1.01,-170.3,622.6,-4.7,628,5545,0.00,2.15,0.00,0.000,4,0.000,0.047,2460,3074,3622
$GC,5610,-1.01,-170.3,626.2,-5.5,631,5614,0.00,2.08,0.00,0.000,6,0.000,0.036,2463,1674,3621
$GC,5942,-1.01,-170.3,654.4,-9.7,647,5946,0.00,2.12,0.00,0.000,4,0.000,0.048,2467,3063,3619
$GC,5992,-1.01,-170.3,659.6,-10.3,649,5996,0.00,2.10,0.00,0.000,6,0.000,0.037,2466,1674,3618
$GC,6320,-1.01,-170.3,692.2,-10.2,665,6323,0.00,2.12,0.00,0.000,4,0.000,0.049,2466,3061,3615
$GC,6404,-1.01,-170.3,700.4,-9.2,668,6411,0.00,2.08,0.00,0.000,6,0.000,0.038,2466,1668,3615
$GC,6722,-1.01,-170.3,725.3,-7.3,684,6726,0.00,2.15,0.00,0.000,4,0.000,0.050,2463,3066,3613
$GC,6777,-1.01,-170.3,729.6,-7.7,686,6781,0.00,2.10,0.00,0.000,6,0.000,0.039,2468,1663,3612
$GC,7098,-1.01,-170.3,756.4,-8.5,702,7102,0.00,2.17,0.00,0.000,4,0.000,0.058,2458,3056,3610
$GC,7189,-1.01,-170.3,764.1,-8.4,706,7193,0.00,2.10,0.00,0.000,6,0.000,0.048,2460,1673,3609
$GC,7521,-1.01,-170.3,791.2,-7.9,722,7524,0.00,2.17,0.00,0.000,4,0.000,0.058,2454,3061,3607
$GC,7628,-1.01,-170.3,799.7,-8.0,726,7635,0.00,2.10,0.00,0.000,6,0.000,0.041,2456,1666,3606
$GC,7945,-1.01,-170.3,825.9,-9.0,742,7948,0.00,2.20,0.00,0.000,4,0.000,0.058,2454,263,3605
$GC,8062,-1.01,-170.3,838.3,-10.5,747,8066,0.00,2.12,0.00,0.000,6,0.000,0.041,2442,1665,3603
$GC,8391,-1.01,-170.3,870.5,-9.7,763,8395,0.00,2.17,0.00,0.000,4,0.000,0.054,2438,3072,3601
$GC,8464,-1.01,-170.3,877.9,-9.3,766,8468,0.00,2.17,0.00,0.000,6,0.000,0.048,2439,1672,3600
$GC,8790,-1.01,-170.3,907.5,-8.8,782,8794,0.00,2.22,0.00,0.000,4,0.000,0.059,2439,260,3599
$GC,8875,-1.01,-170.3,915.3,-9.6,785,8881,0.00,2.15,0.00,0.000,6,0.000,0.040,2438,1683,3598
$GC,9192,-1.01,-170.3,940.7,-7.8,801,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1683,3597
$GC,9500,-1.01,-170.3,964.3,-7.7,816,9504,0.00,2.28,0.00,0.000,4,0.000,0.066,2439,267,3595
$GC,9533,-1.01,-170.3,967.1,-8.7,817,9539,0.00,2.17,0.00,0.000,6,0.000,0.047,2430,1682,3595
$STATE,9805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9806,begin apogee
$GC,9812,-0.29,0.0,991.2,9.0,831,9959,0.77,0.00,143.18,1.484,6,0.115,0.000,2681,1349,2945
$STATE,9960,end apogee,CONTROL_FINISHED_OK
$STATE,9960,begin climb
$GC,9963,1.01,170.3,999.7,0.0,838,10127,1.15,1.98,152.57,1.440,4,0.050,0.070,3117,207,2249
$GC,10206,1.01,170.3,986.9,11.8,849,10210,0.00,1.77,0.00,0.000,6,0.000,0.049,3115,1358,2245
$GC,10540,1.01,170.3,948.0,12.3,865,10544,0.00,2.17,0.00,0.000,4,0.000,0.052,3115,2759,2243
$GC,10680,1.01,170.3,930.1,12.8,871,10684,0.00,2.20,0.00,0.000,6,0.000,0.049,3124,1339,2242
$GC,11007,1.01,170.3,889.1,12.6,887,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1338,2241
$GC,11316,1.01,170.3,849.8,13.0,902,11320,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,2752,2239
$GC,11394,1.01,170.3,839.6,12.0,905,11398,0.00,2.17,0.00,0.000,6,0.000,0.048,3131,1339,2239
$GC,11717,1.01,170.3,803.6,10.9,921,11721,0.00,2.20,0.00,0.000,4,0.000,0.052,3131,2753,2238
$GC,11880,1.01,170.3,784.5,10.5,928,11885,0.15,2.17,0.00,0.000,6,0.201,0.048,3107,1341,2238
$GC,12201,1.01,170.3,751.0,11.0,944,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1342,2237
$GC,12511,1.01,170.3,717.9,10.6,959,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1342,2236
$GC,12819,1.01,170.3,684.0,11.7,974,12823,0.00,2.20,0.00,0.000,4,0.000,0.052,3102,2755,2236
$GC,12869,1.01,170.3,677.9,12.1,976,12873,0.00,2.15,0.00,0.000,6,0.000,0.046,3111,1349,2236
$GC,13197,1.01,170.3,641.2,10.8,992,13200,0.00,2.17,0.00,0.000,4,0.000,0.051,3110,2750,2236
$GC,13325,1.01,170.3,628.2,10.0,997,13331,0.00,2.17,0.00,0.000,6,0.000,0.047,3118,1341,2236
$GC,13642,1.01,170.3,597.4,10.2,1013,13646,0.00,2.20,0.00,0.000,4,0.000,0.051,3119,2756,2235
$GC,13811,1.01,170.3,577.8,11.2,1020,13815,0.00,2.17,0.00,0.000,6,0.000,0.046,3128,1343,2236
$GC,14133,1.01,170.3,546.9,8.6,1036,14136,0.00,2.20,0.00,0.000,4,0.000,0.051,3127,2758,2236
$GC,14195,1.01,170.3,541.7,8.3,1038,14201,0.00,2.17,0.00,0.000,6,0.000,0.047,3135,1343,2235
$GC,14510,1.01,170.3,512.7,9.4,1054,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1343,2236
$GC,14825,1.04,189.0,486.1,7.4,1077,14847,0.00,1.85,14.93,1.113,4,0.000,0.059,3146,198,2174
$GC,14978,1.04,189.0,473.6,8.7,1090,14985,0.00,1.77,0.00,0.000,6,0.000,0.041,3146,1356,2172
$GC,15306,1.04,189.0,445.3,9.7,1121,15310,0.12,1.83,0.00,0.000,4,0.186,0.056,3126,198,2172
$GC,15458,1.04,189.0,431.7,8.4,1134,15464,0.00,1.77,0.00,0.000,6,0.000,0.043,3127,1349,2172
$GC,15787,1.04,189.0,406.3,8.2,1165,15791,0.00,2.12,0.00,0.000,4,0.000,0.045,3130,2750,2172
$GC,16023,1.04,189.0,385.1,8.8,1186,16027,0.00,2.17,0.00,0.000,6,0.000,0.044,3139,1337,2172
$GC,16353,1.05,199.5,357.4,7.7,1217,16376,0.00,2.22,12.27,0.850,4,0.000,0.044,3140,2750,2132
$GC,16546,1.10,242.7,342.7,6.6,1234,16592,0.00,2.15,38.33,0.986,6,0.000,0.041,3148,1336,1955
$GC,16910,1.10,242.7,311.4,8.2,1268,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1336,1949
$GC,17238,1.10,242.7,282.3,11.2,1314,17244,0.00,2.15,0.00,0.000,4,0.000,0.041,3148,2756,1949
$GC,17280,1.10,242.7,277.9,11.3,1321,17286,0.00,2.12,0.00,0.000,6,0.000,0.038,3157,1346,1949
$GC,17625,1.10,242.7,244.8,8.1,1382,17631,0.00,2.12,0.00,0.000,4,0.000,0.041,3158,2758,1949
$GC,17733,1.10,242.7,235.4,8.5,1401,17740,0.12,2.12,0.00,0.000,6,0.180,0.038,3138,1342,1949
$GC,18078,1.11,249.9,207.3,7.8,1462,18092,0.00,1.80,7.32,0.723,4,0.000,0.051,3146,204,1925
$GC,18116,1.13,266.9,204.6,7.5,1468,18141,0.00,1.73,16.40,0.810,6,0.000,0.034,3148,1367,1855
$GC,18480,1.15,280.5,178.2,7.6,1532,18499,0.00,1.80,13.00,0.768,4,0.000,0.048,3158,199,1801
$GC,18579,1.15,280.5,168.9,9.2,1549,18585,0.00,1.70,0.00,0.000,6,0.000,0.033,3158,1347,1800
$GC,18924,1.15,284.0,137.1,7.9,1610,18937,0.00,2.12,4.57,0.542,4,0.000,0.037,3158,2746,1787
$GC,19012,1.15,284.0,130.0,8.1,1625,19019,0.00,2.08,0.00,0.000,6,0.000,0.036,3168,1349,1787
$GC,19357,1.17,298.4,102.5,7.5,1686,19377,0.00,2.10,14.18,0.709,4,0.000,0.035,3168,2750,1729
$GC,19419,1.17,298.4,97.4,8.8,1696,19426,0.00,2.10,0.00,0.000,6,0.000,0.035,3177,1340,1729
$GC,19766,1.20,321.1,69.9,7.3,1757,19792,0.00,1.77,20.50,0.700,4,0.000,0.048,3186,208,1635
$GC,19855,1.20,321.1,61.6,9.9,1772,19861,0.00,1.67,0.00,0.000,6,0.000,0.030,3186,1357,1634
$GC,20199,1.29,391.4,41.0,5.8,1833,20263,0.00,1.85,59.10,0.688,4,0.000,0.047,3192,205,1348
$GC,20394,1.29,391.4,24.8,10.7,1866,20401,0.00,1.67,0.00,0.000,6,0.000,0.029,3189,1347,1345
$STATE,20658,end climb,SURFACE_DEPTH_REACHED
$STATE,20658,begin surface coast
$FINISH,0.9,1.009244
$STATE,20701,end surface coast,CONTROL_FINISHED_OK
$STATE,20701,begin surface
$SM_CCo,20720,48.75,0.644,0,0,1110,450.13
$SM_GC,1.51,0.00,0.00,48.75,0.000,0.000,0.644,171,1698,1110,-8.15,0.65,450.13
$IRIDIUM_FIX,2403.92,12426.62,111098,171727
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,26.00
$XPDR_PINGS,156
$24V_AH,23.1,76.187
$10V_AH,10.7,50.007
$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,19.650,183.475,496.350,48.750,0.000,25.436,34.586,347.078,47.000,0.000,0.000,34.736,3390.413,12375.260,683.805,4016.587,886.860,0.000,2439.828,0.000,3956.810,0.000,57.086,0.000
$DEVICE_MAMPS,227.032,69.797,1484.145,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1302.517,1330.368,2235.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110609,1920
$CAP_FILE_SIZE,198320,0
$CFSIZE,260165632,206921728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,135.3,1
$GPS,180709,045407,2410.830,12424.521,28,1.6,28,-3.5