version: 66.04
glider: 166
mission: 2
dive: 356
start: 7 18 109 5 5 54
data:
$ID,166
$MISSION,2
$DIVE,356
$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,-12425.926
$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,45
$R_STBD_OVSHOOT,73
$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
$GPS1,045407,2410.830,12424.521,28,1.6,28,-3.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.8
$GPS2,050532,2410.922,12424.622,13,1.5,13,-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,253.8,76336,-13.7,-7.990
$D_GRID,962
$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,15,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-54.10,0.000,2,0.000,0.000,167,1699,2361
$GC,76,-1.01,-170.3,3.1,-3.6,8,129,9.05,2.25,-33.70,0.000,4,0.218,0.054,2442,265,3641
$GC,192,-1.01,-170.3,22.9,-17.9,27,199,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1658,3642
$GC,538,-1.01,-170.3,79.3,-14.9,88,544,0.00,2.08,0.00,0.000,4,0.000,0.040,2443,3066,3641
$GC,584,-1.01,-170.3,85.9,-14.1,96,591,0.00,2.03,0.00,0.000,6,0.000,0.030,2437,1663,3642
$GC,930,-1.01,-170.3,134.9,-16.0,157,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1663,3642
$GC,1274,-1.01,-170.3,177.1,-13.0,218,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1663,3642
$GC,1622,-1.01,-170.3,222.1,-11.7,279,1628,0.00,2.10,0.00,0.000,4,0.000,0.046,2437,267,3642
$GC,1701,-1.01,-170.3,232.0,-12.0,293,1707,0.00,2.03,0.00,0.000,6,0.000,0.027,2436,1683,3642
$GC,2045,-1.01,-170.3,268.2,-10.6,354,2053,0.00,2.05,0.00,0.000,4,0.000,0.040,2436,3076,3642
$GC,2088,-1.01,-170.3,272.7,-10.5,361,2094,0.00,2.03,0.00,0.000,6,0.000,0.031,2436,1680,3642
$GC,2426,-1.01,-170.3,309.6,-10.9,414,2429,0.00,2.12,0.00,0.000,4,0.000,0.046,2437,266,3642
$GC,2497,-1.01,-170.3,318.5,-12.6,420,2504,0.00,2.05,0.00,0.000,6,0.000,0.026,2436,1675,3642
$GC,2823,-1.01,-170.3,352.1,-9.6,451,2827,0.00,2.12,0.00,0.000,4,0.000,0.046,2436,267,3641
$GC,2873,-1.01,-170.3,357.5,-10.9,455,2879,0.00,2.03,0.00,0.000,6,0.000,0.028,2436,1680,3640
$GC,3197,-1.01,-170.3,391.1,-11.2,486,3201,0.00,2.15,0.00,0.000,4,0.000,0.046,2436,263,3640
$GC,3225,-1.01,-170.3,394.4,-12.2,488,3231,0.00,2.08,0.00,0.000,6,0.000,0.028,2435,1679,3639
$GC,3550,-1.01,-170.3,429.3,-9.7,519,3554,0.00,2.15,0.00,0.000,4,0.000,0.047,2436,263,3637
$GC,3585,-1.01,-170.3,432.8,-10.4,522,3589,0.00,2.05,0.00,0.000,6,0.000,0.028,2436,1683,3637
$GC,3918,-1.01,-170.3,462.7,-9.8,553,3922,0.00,2.08,0.00,0.000,4,0.000,0.043,2456,3070,3635
$GC,3988,-1.01,-170.3,469.5,-9.7,559,3992,0.00,2.05,0.00,0.000,6,0.000,0.033,2454,1669,3635
$GC,4328,-1.01,-170.3,502.2,-9.6,590,4332,0.00,2.12,0.00,0.000,4,0.000,0.049,2454,273,3632
$GC,4355,-1.01,-170.3,505.1,-10.4,591,4359,0.00,2.05,0.00,0.000,6,0.000,0.030,2455,1684,3632
$GC,4684,-1.01,-170.3,536.9,-9.9,607,4688,0.00,2.08,0.00,0.000,4,0.000,0.044,2456,3067,3629
$GC,4739,-1.01,-170.3,542.6,-9.7,609,4743,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,1673,3629
$GC,5063,-1.01,-170.3,569.9,-8.0,625,5067,0.00,2.15,0.00,0.000,4,0.000,0.050,2452,265,3627
$GC,5086,-1.01,-170.3,572.0,-8.5,626,5090,0.00,2.08,0.00,0.000,6,0.000,0.031,2455,1682,3626
$GC,5419,-1.01,-170.3,601.8,-9.5,642,5423,0.00,2.17,0.00,0.000,4,0.000,0.050,2452,271,3624
$GC,5492,-1.01,-170.3,609.4,-10.7,645,5495,0.00,2.08,0.00,0.000,6,0.000,0.032,2455,1684,3623
$GC,5821,-1.01,-170.3,640.3,-9.3,661,5825,0.00,2.10,0.00,0.000,4,0.000,0.048,2456,3068,3620
$GC,5899,-1.01,-170.3,647.9,-9.7,664,5903,0.00,2.10,0.00,0.000,6,0.000,0.037,2455,1678,3619
$GC,6221,-1.01,-170.3,677.1,-9.1,680,6224,0.00,2.12,0.00,0.000,4,0.000,0.048,2459,3068,3617
$GC,6311,-1.01,-170.3,685.6,-9.7,684,6315,0.00,2.08,0.00,0.000,6,0.000,0.038,2458,1672,3617
$GC,6643,-1.01,-170.3,716.4,-9.5,700,6647,0.00,2.17,0.00,0.000,4,0.000,0.056,2450,3076,3614
$GC,6671,-1.01,-170.3,719.2,-10.1,701,6675,0.00,2.12,0.00,0.000,6,0.000,0.041,2456,1668,3614
$GC,7000,-1.01,-170.3,751.2,-9.6,717,7004,0.00,2.17,0.00,0.000,4,0.000,0.055,2455,266,3611
$GC,7023,-1.01,-170.3,753.8,-10.1,718,7027,0.00,2.12,0.00,0.000,6,0.000,0.042,2439,1681,3611
$GC,7356,-1.01,-170.3,785.9,-9.3,734,7359,0.00,2.17,0.00,0.000,4,0.000,0.056,2431,3081,3608
$GC,7383,-1.01,-170.3,788.7,-9.4,735,7387,0.00,2.12,0.00,0.000,6,0.000,0.041,2431,1678,3608
$GC,7711,-1.01,-170.3,817.3,-8.5,751,7715,0.00,2.17,0.00,0.000,4,0.000,0.058,2430,3079,3606
$GC,7766,-1.01,-170.3,822.0,-8.7,753,7770,0.00,2.15,0.00,0.000,6,0.000,0.047,2429,1666,3605
$GC,8088,-1.01,-170.3,849.5,-9.2,769,8093,0.00,2.22,0.00,0.000,4,0.000,0.065,2433,264,3603
$GC,8178,-1.01,-170.3,859.9,-12.1,773,8182,0.00,2.15,0.00,0.000,6,0.000,0.046,2429,1674,3602
$GC,8513,-1.01,-170.3,896.2,-10.2,789,8517,0.00,2.25,0.00,0.000,4,0.000,0.058,2431,264,3601
$GC,8563,-1.01,-170.3,903.7,-15.6,791,8567,0.00,2.17,0.00,0.000,6,0.000,0.046,2428,1682,3600
$GC,8886,-1.01,-170.3,940.1,-9.8,807,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1683,3598
$STATE,9150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9150,begin apogee
$GC,9157,-0.29,0.0,963.2,8.0,820,9313,0.77,0.00,145.35,1.447,6,0.111,0.000,2682,1352,2945
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9316,1.01,170.3,969.3,0.0,828,9476,1.15,2.38,151.18,1.416,4,0.048,0.052,3113,2755,2248
$GC,9552,1.01,170.3,949.6,14.7,838,9559,0.00,2.25,0.00,0.000,6,0.000,0.048,3122,1353,2246
$GC,9867,1.01,170.3,910.4,11.5,854,9871,0.00,2.20,0.00,0.000,4,0.000,0.053,3120,2761,2243
$GC,9928,1.01,170.3,903.2,12.1,856,9935,0.00,2.22,0.00,0.000,6,0.000,0.048,3130,1350,2243
$GC,10244,1.01,170.3,864.4,12.2,872,10248,0.00,1.83,0.00,0.000,4,0.000,0.064,3139,192,2241
$GC,10328,1.01,170.3,853.7,13.1,875,10335,0.12,1.80,0.00,0.000,6,0.202,0.046,3110,1380,2241
$GC,10645,1.01,170.3,818.3,11.3,891,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1380,2240
$GC,10953,1.01,170.3,784.9,10.5,906,10956,0.00,2.12,0.00,0.000,4,0.000,0.053,3110,2756,2239
$GC,11081,1.01,170.3,770.4,10.5,911,11087,0.00,2.20,0.00,0.000,6,0.000,0.054,3118,1340,2238
$GC,11398,1.01,170.3,736.5,10.1,927,11402,0.00,2.17,0.00,0.000,4,0.000,0.053,3118,2746,2237
$GC,11430,1.01,170.3,733.0,10.2,928,11434,0.00,2.15,0.00,0.000,6,0.000,0.048,3128,1350,2237
$GC,11753,1.01,170.3,702.9,9.7,944,11757,0.00,2.17,0.00,0.000,4,0.000,0.053,3128,2750,2236
$GC,11804,1.01,170.3,697.5,9.8,946,11808,0.12,2.17,0.00,0.000,6,0.206,0.047,3110,1336,2236
$GC,12124,1.01,170.3,666.2,9.9,962,12127,0.00,1.80,0.00,0.000,4,0.000,0.065,3117,201,2236
$GC,12162,1.01,170.3,662.0,10.4,963,12168,0.00,1.75,0.00,0.000,6,0.000,0.043,3117,1347,2236
$GC,12480,1.01,170.3,628.8,10.9,979,12483,0.00,2.17,0.00,0.000,4,0.000,0.051,3115,2758,2236
$GC,12597,1.01,170.3,615.4,10.7,984,12601,0.00,2.20,0.00,0.000,6,0.000,0.052,3124,1340,2235
$GC,12925,1.02,171.3,585.7,8.0,1000,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1340,2235
$GC,13235,1.02,172.1,562.9,8.0,1015,13238,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2753,2235
$GC,13418,1.02,172.1,546.1,9.3,1023,13421,0.00,2.17,0.00,0.000,6,0.000,0.046,3132,1337,2235
$GC,13751,1.02,172.1,512.2,9.6,1039,13755,0.00,2.20,0.00,0.000,4,0.000,0.055,3132,2746,2234
$GC,13869,1.02,172.1,501.7,8.1,1044,13873,0.15,2.15,0.00,0.000,6,0.192,0.045,3106,1347,2235
$GC,14193,1.02,172.1,477.8,9.0,1073,14197,0.00,2.17,0.00,0.000,4,0.000,0.049,3105,2752,2235
$GC,14283,1.02,172.1,469.4,9.6,1081,14287,0.00,2.17,0.00,0.000,6,0.000,0.045,3115,1341,2235
$GC,14614,1.11,251.3,442.9,5.5,1112,14692,0.00,1.88,68.00,1.105,4,0.000,0.063,3127,208,1919
$GC,14782,1.11,251.3,428.9,9.2,1127,14786,0.00,1.75,0.00,0.000,6,0.000,0.040,3128,1361,1916
$GC,15115,1.11,251.3,399.2,8.6,1158,15119,0.00,2.15,0.00,0.000,4,0.000,0.047,3129,2752,1913
$GC,15194,1.11,251.3,391.9,9.4,1165,15198,0.00,2.15,0.00,0.000,6,0.000,0.041,3139,1341,1912
$GC,15527,1.11,251.3,358.8,10.3,1196,15531,0.00,2.17,0.00,0.000,4,0.000,0.044,3142,2759,1912
$GC,15584,1.11,251.3,352.4,10.3,1201,15588,0.00,2.15,0.00,0.000,6,0.000,0.040,3147,1340,1912
$GC,15915,1.11,251.3,319.9,9.2,1232,15918,0.00,2.15,0.00,0.000,4,0.000,0.043,3146,2753,1912
$GC,15960,1.11,251.3,315.4,10.3,1236,15964,0.00,2.12,0.00,0.000,6,0.000,0.039,3155,1345,1912
$GC,16296,1.11,251.3,280.6,10.0,1282,16304,0.00,1.77,0.00,0.000,4,0.000,0.052,3162,208,1912
$GC,16383,1.11,251.3,271.9,9.6,1297,16389,0.00,1.70,0.00,0.000,6,0.000,0.035,3162,1372,1912
$GC,16728,1.11,251.3,242.5,9.1,1358,16736,0.00,2.08,0.00,0.000,4,0.000,0.040,3163,2758,1912
$GC,16861,1.11,251.3,229.0,10.3,1381,16868,0.15,2.12,0.00,0.000,6,0.178,0.037,3136,1341,1912
$GC,17206,1.13,267.4,199.6,7.5,1442,17232,0.00,1.80,16.90,0.735,4,0.000,0.048,3143,201,1854
$GC,17279,1.13,267.4,194.0,8.1,1454,17287,0.00,1.70,0.00,0.000,6,0.000,0.033,3144,1350,1854
$GC,17625,1.13,267.4,166.5,9.0,1515,17631,0.00,2.08,0.00,0.000,4,0.000,0.038,3143,2753,1853
$GC,17685,1.13,267.4,161.2,8.8,1525,17691,0.00,2.10,0.00,0.000,6,0.000,0.036,3157,1340,1853
$GC,18029,1.13,267.4,131.7,8.4,1586,18038,0.00,1.75,0.00,0.000,4,0.000,0.048,3166,203,1853
$GC,18068,1.13,267.4,128.7,8.0,1592,18075,0.00,1.67,0.00,0.000,6,0.000,0.031,3166,1353,1853
$GC,18414,1.17,296.2,102.9,7.1,1653,18453,0.00,2.15,28.25,0.699,4,0.000,0.036,3166,2754,1736
$GC,18524,1.20,321.2,95.2,7.2,1671,18551,0.00,2.10,22.30,0.718,6,0.000,0.035,3174,1346,1635
$GC,18890,1.22,333.6,65.3,7.6,1735,18908,0.00,2.10,11.65,0.653,4,0.000,0.035,3173,2754,1585
$GC,19084,1.22,336.6,50.2,7.9,1769,19098,0.00,2.08,4.50,0.475,6,0.000,0.035,3183,1347,1572
$GC,19437,1.22,337.2,26.0,8.0,1831,19443,0.00,2.08,0.00,0.000,4,0.000,0.035,3182,2757,1572
$GC,19608,1.22,337.2,11.6,9.4,1861,19614,0.00,2.08,0.00,0.000,6,0.000,0.034,3193,1346,1572
$STATE,19704,end climb,SURFACE_DEPTH_REACHED
$STATE,19704,begin surface coast
$FINISH,0.9,1.021496
$STATE,19741,end surface coast,CONTROL_FINISHED_OK
$STATE,19741,begin surface
$SM_CCo,19760,93.30,0.650,0,0,1109,450.13
$SM_GC,1.59,0.00,0.00,93.30,0.000,0.000,0.650,168,1690,1109,-8.16,0.42,450.13
$IRIDIUM_FIX,2401.56,12423.33,121098,050537
$TT8_MAMPS,0.026845
$HUMID,1517
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.80
$XPDR_PINGS,159
$24V_AH,23.2,76.392
$10V_AH,10.7,50.193
$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,19.650,184.200,448.125,93.300,0.000,51.747,63.345,331.789,47.500,0.000,0.000,13.514,3318.925,11742.228,702.336,3842.944,912.453,0.000,2387.971,0.000,3802.306,0.000,52.768,0.000
$DEVICE_MAMPS,217.828,65.195,1447.329,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1278.960,1316.728,2214.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110576,1884
$CAP_FILE_SIZE,192333,0
$CFSIZE,260165632,206827520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.034, 35.5,1
$GPS,180709,103806,2410.483,12423.205,39,1.4,39,-3.5