version: 66.04
glider: 166
mission: 2
dive: 366
start: 7 20 109 16 5 16
data:
$ID,166
$MISSION,2
$DIVE,366
$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,-12652.968
$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,72
$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
$GPS1,155630,2406.082,12414.401,39,1.2,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.0
$GPS2,160455,2406.045,12414.519,15,1.1,32,-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,254.2,56994,-13.7,-7.990
$D_GRID,1126
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.01,-170.3,0.0,0.0,0,72,0.00,0.00,-52.22,0.000,2,0.000,0.000,173,1689,2300
$GC,76,-1.01,-170.3,3.0,-3.5,8,129,9.38,2.22,-37.67,0.000,4,0.232,0.054,2446,263,3641
$GC,158,-1.01,-170.3,15.5,-19.5,21,165,0.00,2.05,0.00,0.000,6,0.000,0.028,2445,1661,3641
$GC,503,-1.01,-170.3,73.9,-16.8,82,511,0.00,2.05,0.00,0.000,4,0.000,0.038,2443,3064,3641
$GC,585,-1.01,-170.3,87.2,-15.8,96,591,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1646,3641
$GC,930,-1.01,-170.3,135.9,-12.9,157,936,0.00,2.10,0.00,0.000,4,0.000,0.036,2427,3075,3642
$GC,966,-1.01,-170.3,140.8,-13.7,163,972,0.00,2.03,0.00,0.000,6,0.000,0.028,2432,1654,3642
$GC,1312,-1.01,-170.3,184.9,-13.5,224,1318,0.00,2.10,0.00,0.000,4,0.000,0.037,2424,3076,3642
$GC,1343,-1.01,-170.3,188.8,-12.8,229,1350,0.00,2.03,0.00,0.000,6,0.000,0.028,2427,1658,3642
$GC,1687,-1.01,-170.3,232.4,-12.0,290,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1657,3642
$GC,2033,-1.01,-170.3,272.3,-11.8,351,2039,0.00,2.10,0.00,0.000,4,0.000,0.037,2422,3073,3642
$GC,2058,-1.01,-170.3,275.1,-11.3,355,2064,0.00,2.03,0.00,0.000,6,0.000,0.028,2424,1665,3643
$GC,2402,-1.01,-170.3,315.5,-12.0,405,2406,0.10,2.08,0.00,0.000,4,0.141,0.042,2451,267,3643
$GC,2448,-1.01,-170.3,321.1,-12.0,409,2452,0.00,2.03,0.00,0.000,6,0.000,0.027,2449,1689,3642
$GC,2778,-1.01,-170.3,355.6,-9.6,440,2782,0.00,2.03,0.00,0.000,4,0.000,0.039,2451,3058,3642
$GC,2835,-1.01,-170.3,361.1,-10.0,445,2839,0.00,2.00,0.00,0.000,6,0.000,0.029,2451,1666,3642
$GC,3168,-1.01,-170.3,393.9,-9.9,476,3171,0.00,2.08,0.00,0.000,4,0.000,0.043,2452,275,3640
$GC,3258,-1.01,-170.3,403.9,-11.1,484,3262,0.00,2.00,0.00,0.000,6,0.000,0.028,2459,1678,3640
$GC,3592,-1.01,-170.3,436.4,-10.0,515,3595,0.00,2.05,0.00,0.000,4,0.000,0.041,2468,3066,3638
$GC,3630,-1.01,-170.3,441.0,-10.4,518,3639,0.00,2.05,0.00,0.000,6,0.000,0.031,2464,1677,3638
$GC,3955,-1.01,-170.3,469.6,-8.7,549,3959,0.00,2.12,0.00,0.000,4,0.000,0.045,2465,269,3637
$GC,3979,-1.01,-170.3,471.8,-9.2,551,3983,0.00,2.03,0.00,0.000,6,0.000,0.028,2468,1674,3637
$GC,4308,-1.01,-170.3,506.9,-10.8,579,4312,0.00,2.08,0.00,0.000,4,0.000,0.043,2466,3064,3635
$GC,4366,-1.01,-170.3,512.5,-10.1,581,4370,0.00,2.03,0.00,0.000,6,0.000,0.032,2466,1675,3635
$GC,4688,-1.01,-170.3,543.5,-9.8,597,4691,0.00,2.12,0.00,0.000,4,0.000,0.044,2455,3073,3632
$GC,4710,-1.01,-170.3,545.7,-9.3,598,4714,0.00,2.05,0.00,0.000,6,0.000,0.033,2460,1673,3632
$GC,5045,-1.01,-170.3,572.7,-7.1,614,5049,0.00,2.12,0.00,0.000,4,0.000,0.048,2462,279,3630
$GC,5061,-1.01,-170.3,574.7,-8.3,614,5071,0.00,2.05,0.00,0.000,6,0.000,0.031,2457,1667,3630
$GC,5377,-1.01,-170.3,608.1,-10.1,630,5380,0.00,2.12,0.00,0.000,4,0.000,0.046,2466,3076,3627
$GC,5450,-1.01,-170.3,615.0,-8.8,633,5454,0.00,2.08,0.00,0.000,6,0.000,0.035,2463,1671,3627
$GC,5777,-1.01,-170.3,641.4,-7.5,649,5781,0.00,2.12,0.00,0.000,4,0.000,0.048,2469,3066,3625
$GC,5849,-1.01,-170.3,647.6,-8.8,652,5853,0.00,2.08,0.00,0.000,6,0.000,0.037,2464,1669,3624
$GC,6177,-1.01,-170.3,677.1,-9.1,668,6181,0.00,2.12,0.00,0.000,4,0.000,0.048,2470,3060,3622
$GC,6283,-1.01,-170.3,686.8,-8.6,672,6290,0.00,2.10,0.00,0.000,6,0.000,0.038,2467,1669,3621
$GC,6599,-1.01,-170.3,712.8,-8.5,688,6603,0.00,2.15,0.00,0.000,4,0.000,0.050,2472,3065,3618
$GC,6677,-1.01,-170.3,719.7,-8.8,691,6681,0.00,2.08,0.00,0.000,6,0.000,0.038,2465,1677,3617
$GC,6999,-1.01,-170.3,747.1,-8.4,707,7003,0.00,2.15,0.00,0.000,4,0.000,0.052,2472,3069,3614
$GC,7092,-1.01,-170.3,754.9,-8.4,711,7096,0.00,2.10,0.00,0.000,6,0.000,0.041,2472,1678,3614
$GC,7425,-1.01,-170.3,782.4,-8.4,727,7428,0.00,2.22,0.00,0.000,4,0.000,0.061,2472,261,3612
$GC,7537,-1.01,-170.3,793.1,-10.0,732,7541,0.00,2.12,0.00,0.000,6,0.000,0.043,2464,1673,3611
$GC,7870,-1.01,-170.3,824.5,-9.7,748,7878,0.00,2.22,0.00,0.000,4,0.000,0.056,2464,264,3608
$GC,7945,-1.01,-170.3,833.1,-10.4,751,7949,0.00,2.15,0.00,0.000,6,0.000,0.044,2460,1680,3607
$GC,8274,-1.01,-170.3,865.7,-9.8,767,8278,0.00,2.25,0.00,0.000,4,0.000,0.057,2460,260,3606
$GC,8385,-1.01,-170.3,877.6,-11.0,772,8389,0.00,2.17,0.00,0.000,6,0.000,0.043,2459,1686,3605
$GC,8713,-1.01,-170.3,908.2,-9.8,788,8717,0.00,2.22,0.00,0.000,4,0.000,0.057,2459,273,3603
$GC,8814,-1.01,-170.3,918.8,-11.6,792,8818,0.00,2.15,0.00,0.000,6,0.000,0.044,2446,1680,3603
$GC,9137,-1.01,-170.3,948.2,-9.5,808,9141,0.00,2.22,0.00,0.000,4,0.000,0.058,2447,272,3600
$GC,9247,-1.01,-170.3,960.0,-11.3,812,9254,0.00,2.15,0.00,0.000,6,0.000,0.040,2434,1676,3600
$STATE,9540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9541,begin apogee
$GC,9547,-0.29,0.0,991.0,10.0,827,9703,0.77,0.00,146.90,1.466,6,0.115,0.000,2685,1341,2945
$STATE,9704,end apogee,CONTROL_FINISHED_OK
$STATE,9704,begin climb
$GC,9707,1.01,170.3,1002.4,0.0,835,9870,1.17,1.95,152.65,1.439,4,0.049,0.069,3119,207,2249
$GC,9906,1.01,170.3,996.0,12.8,844,9910,0.00,1.83,0.00,0.000,6,0.000,0.041,3119,1378,2246
$GC,10228,1.01,170.3,957.9,13.4,860,10231,0.00,1.85,0.00,0.000,4,0.000,0.060,3127,205,2243
$GC,10297,1.01,170.3,947.8,15.5,863,10301,0.00,1.75,0.00,0.000,6,0.000,0.048,3127,1363,2243
$GC,10631,1.01,170.3,906.3,11.8,879,10635,0.00,2.15,0.00,0.000,4,0.000,0.051,3123,2758,2241
$GC,10664,1.01,170.3,902.1,11.7,880,10668,0.00,2.17,0.00,0.000,6,0.000,0.053,3131,1349,2240
$GC,10987,1.01,170.3,862.7,13.1,896,10990,0.00,2.20,0.00,0.000,4,0.000,0.060,3130,2754,2240
$GC,11059,1.01,170.3,852.6,12.7,899,11063,0.15,2.17,0.00,0.000,6,0.195,0.047,3105,1341,2239
$GC,11385,1.01,170.3,812.6,12.3,915,11389,0.00,1.80,0.00,0.000,4,0.000,0.061,3112,192,2238
$GC,11464,1.01,170.3,801.9,13.7,918,11468,0.00,1.75,0.00,0.000,6,0.000,0.043,3111,1358,2238
$GC,11785,1.01,170.3,762.9,11.2,934,11789,0.00,2.15,0.00,0.000,4,0.000,0.052,3111,2747,2237
$GC,11892,1.01,170.3,750.0,12.7,938,11898,0.00,2.15,0.00,0.000,6,0.000,0.047,3120,1347,2237
$GC,12207,1.01,170.3,711.7,11.6,954,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1347,2236
$GC,12517,1.01,170.3,678.9,9.2,969,12521,0.00,2.20,0.00,0.000,4,0.000,0.051,3120,2758,2236
$GC,12579,1.01,170.3,673.0,9.0,971,12586,0.00,2.17,0.00,0.000,6,0.000,0.047,3129,1346,2235
$GC,12895,1.01,170.3,643.6,9.4,987,12899,0.00,2.20,0.00,0.000,4,0.000,0.052,3124,2755,2235
$GC,13001,1.01,170.3,633.5,9.2,991,13008,0.00,2.17,0.00,0.000,6,0.000,0.046,3132,1341,2235
$GC,13318,1.01,170.3,605.9,9.3,1007,13322,0.00,1.83,0.00,0.000,4,0.000,0.059,3141,199,2235
$GC,13374,1.01,170.3,599.3,11.6,1009,13378,0.15,1.75,0.00,0.000,6,0.191,0.043,3105,1361,2234
$GC,13695,1.01,170.3,571.5,8.5,1025,13698,0.00,2.15,0.00,0.000,4,0.000,0.051,3096,2750,2234
$GC,13947,1.02,172.9,550.6,7.9,1036,13950,0.00,2.15,0.00,0.000,6,0.000,0.045,3105,1350,2234
$GC,14274,1.02,172.9,524.0,8.8,1052,14277,0.00,2.17,0.00,0.000,4,0.000,0.050,3104,2756,2234
$GC,14298,1.02,172.9,522.1,8.2,1053,14302,0.00,2.17,0.00,0.000,6,0.000,0.044,3113,1340,2234
$GC,14622,1.07,213.8,495.3,6.7,1071,14667,0.00,2.28,36.72,1.144,4,0.000,0.048,3115,2750,2071
$GC,14841,1.07,213.8,474.3,9.8,1090,14847,0.00,2.20,0.00,0.000,6,0.000,0.044,3126,1350,2068
$GC,15168,1.07,213.8,445.9,9.1,1121,15172,0.00,1.80,0.00,0.000,4,0.000,0.058,3136,203,2068
$GC,15248,1.07,213.8,437.9,10.0,1128,15252,0.00,1.75,0.00,0.000,6,0.000,0.040,3136,1350,2068
$GC,15580,1.07,213.8,403.3,10.0,1159,15584,0.00,2.15,0.00,0.000,4,0.000,0.046,3137,2761,2068
$GC,15777,1.13,262.8,385.3,6.4,1176,15828,0.00,2.15,42.62,1.031,6,0.000,0.042,3146,1344,1872
$GC,16146,1.13,262.8,352.0,10.6,1211,16150,0.00,2.17,0.00,0.000,4,0.000,0.044,3147,2758,1868
$GC,16208,1.13,262.8,345.4,10.2,1216,16215,0.00,2.15,0.00,0.000,6,0.000,0.041,3156,1346,1867
$GC,16535,1.13,262.8,312.5,10.0,1247,16539,0.00,2.15,0.00,0.000,4,0.000,0.043,3158,2759,1867
$GC,16559,1.13,262.8,310.1,9.6,1249,16563,0.00,2.15,0.00,0.000,6,0.000,0.039,3167,1338,1867
$GC,16896,1.13,262.8,277.1,10.6,1299,16903,0.00,2.15,0.00,0.000,4,0.000,0.041,3169,2758,1867
$GC,16972,1.13,262.8,269.4,9.7,1312,16979,0.15,2.12,0.00,0.000,6,0.175,0.038,3142,1340,1867
$GC,17319,1.13,262.8,238.7,9.7,1373,17325,0.00,2.15,0.00,0.000,4,0.000,0.040,3136,2770,1867
$GC,17410,1.13,262.8,230.3,9.1,1389,17416,0.00,2.12,0.00,0.000,6,0.000,0.038,3144,1351,1866
$GC,17755,1.13,266.3,202.7,7.9,1450,17761,0.00,2.12,0.00,0.000,4,0.000,0.039,3143,2771,1867
$GC,17796,1.13,266.3,199.3,8.1,1457,17803,0.00,2.12,0.00,0.000,6,0.000,0.037,3151,1344,1867
$GC,18143,1.17,293.1,177.2,7.1,1518,18177,0.00,2.17,27.35,0.814,4,0.000,0.041,3151,2771,1748
$GC,18314,1.17,293.1,162.9,8.6,1547,18322,0.00,2.15,0.00,0.000,6,0.000,0.036,3160,1340,1747
$GC,18659,1.17,293.1,132.3,8.1,1608,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1340,1746
$GC,19002,1.20,323.7,105.2,7.0,1669,19034,0.00,2.22,27.15,0.742,4,0.000,0.036,3160,2765,1625
$GC,19188,1.20,323.7,87.4,10.6,1701,19194,0.00,2.12,0.00,0.000,6,0.000,0.035,3170,1345,1624
$GC,19533,1.28,385.7,57.1,6.0,1762,19591,0.00,2.22,52.65,0.706,4,0.000,0.034,3170,2768,1371
$GC,19766,1.28,385.7,40.6,8.2,1802,19772,0.00,2.12,0.00,0.000,6,0.000,0.034,3180,1338,1370
$GC,20113,1.28,385.7,10.2,9.7,1863,20121,0.00,2.10,0.00,0.000,4,0.000,0.032,3180,2769,1369
$STATE,20203,end climb,SURFACE_DEPTH_REACHED
$STATE,20203,begin surface coast
$FINISH,0.9,1.021482
$STATE,20238,end surface coast,CONTROL_FINISHED_OK
$STATE,20240,begin surface
$SM_CCo,20259,53.58,0.647,0,0,1110,450.13
$SM_GC,1.69,0.00,0.00,53.58,0.000,0.000,0.647,174,1658,1110,-8.14,-0.45,450.13
$IRIDIUM_FIX,2359.20,12413.49,141098,101032
$TT8_MAMPS,0.026845
$HUMID,1533
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.70
$XPDR_PINGS,154
$ALTIM_BOTTOM_PING,950.5,143.6
$24V_AH,23.1,78.450
$10V_AH,10.7,52.080
$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,19.650,192.600,486.050,53.575,0.000,25.232,40.104,249.360,46.500,0.000,0.000,32.923,3335.838,11998.410,693.276,3963.860,805.064,0.000,2428.614,0.000,3907.430,0.000,55.925,0.000
$DEVICE_MAMPS,231.634,69.030,1465.737,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.123,1310.907,2199.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110509,1885
$CAP_FILE_SIZE,192403,0
$CFSIZE,260165632,205791232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,154.6,1
$GPS,200709,214506,2404.501,12413.448,38,0.9,38,-3.5