version: 66.04
glider: 166
mission: 2
dive: 361
start: 7 19 109 10 28 9
data:
$ID,166
$MISSION,2
$DIVE,361
$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,-12538.121
$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,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
$GPS1,100824,2408.413,12418.078,26,1.0,43,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.3
$GPS2,102744,2408.540,12418.424,15,1.4,15,-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,241.4,64978,-13.7,-7.990
$D_GRID,1201
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-58.15,0.000,2,0.000,0.000,172,1695,2474
$GC,78,-1.01,-170.3,3.2,-4.4,9,125,9.02,2.25,-30.75,0.000,4,0.219,0.054,2450,257,3642
$GC,179,-1.01,-170.3,21.1,-19.4,25,185,0.00,2.03,0.00,0.000,6,0.000,0.028,2449,1662,3642
$GC,524,-1.01,-170.3,78.4,-15.5,86,530,0.00,2.10,0.00,0.000,4,0.000,0.040,2445,3061,3642
$GC,594,-1.01,-170.3,88.0,-12.8,98,601,0.00,2.03,0.00,0.000,6,0.000,0.031,2447,1660,3642
$GC,939,-1.01,-170.3,134.8,-14.0,159,947,0.00,2.10,0.00,0.000,4,0.000,0.044,2443,279,3641
$GC,959,-1.01,-170.3,137.8,-14.0,162,966,0.00,2.03,0.00,0.000,6,0.000,0.028,2441,1691,3642
$GC,1305,-1.01,-170.3,184.7,-12.7,223,1312,0.00,2.03,0.00,0.000,4,0.000,0.040,2436,3070,3642
$GC,1376,-1.01,-170.3,193.6,-12.6,235,1384,0.00,2.05,0.00,0.000,6,0.000,0.031,2438,1679,3642
$GC,1722,-1.01,-170.3,238.4,-12.7,296,1729,0.00,2.08,0.00,0.000,4,0.000,0.040,2426,3079,3642
$GC,1759,-1.01,-170.3,243.3,-13.4,302,1765,0.00,2.05,0.00,0.000,6,0.000,0.031,2432,1662,3642
$GC,2103,-1.01,-170.3,282.9,-10.8,363,2111,0.00,2.10,0.00,0.000,4,0.000,0.046,2429,261,3642
$GC,2151,-1.01,-170.3,288.6,-12.1,371,2159,0.00,2.05,0.00,0.000,6,0.000,0.027,2424,1688,3642
$GC,2484,-1.01,-170.3,328.1,-11.5,410,2488,0.10,2.03,0.00,0.000,4,0.159,0.041,2450,3063,3642
$GC,2517,-1.01,-170.3,331.7,-10.3,413,2521,0.00,2.03,0.00,0.000,6,0.000,0.031,2450,1661,3641
$GC,2850,-1.01,-170.3,367.5,-10.6,444,2854,0.00,2.10,0.00,0.000,4,0.000,0.046,2450,261,3640
$GC,2897,-1.01,-170.3,373.1,-12.1,448,2900,0.00,2.05,0.00,0.000,6,0.000,0.028,2449,1686,3639
$GC,3227,-1.01,-170.3,410.2,-10.4,479,3231,0.00,2.05,0.00,0.000,4,0.000,0.042,2450,3067,3638
$GC,3246,-1.01,-170.3,412.1,-10.8,480,3252,0.00,2.03,0.00,0.000,6,0.000,0.032,2450,1671,3637
$GC,3574,-1.01,-170.3,443.1,-8.7,511,3578,0.00,2.10,0.00,0.000,4,0.000,0.042,2450,3065,3636
$GC,3602,-1.01,-170.3,446.0,-9.0,513,3607,0.00,2.05,0.00,0.000,6,0.000,0.032,2451,1663,3636
$GC,3927,-1.01,-170.3,476.3,-10.0,544,3930,0.00,2.12,0.00,0.000,4,0.000,0.043,2449,3073,3633
$GC,3988,-1.01,-170.3,482.7,-9.6,549,3994,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,1676,3633
$GC,4312,-1.01,-170.3,515.2,-10.0,573,4315,0.00,2.15,0.00,0.000,4,0.000,0.049,2450,262,3631
$GC,4372,-1.01,-170.3,522.0,-11.0,575,4380,0.00,2.05,0.00,0.000,6,0.000,0.030,2449,1673,3630
$GC,4692,-1.01,-170.3,550.2,-8.9,591,4695,0.00,2.10,0.00,0.000,4,0.000,0.045,2453,3074,3628
$GC,4755,-1.01,-170.3,556.3,-9.2,593,4761,0.00,2.08,0.00,0.000,6,0.000,0.035,2453,1662,3627
$GC,5070,-1.01,-170.3,585.0,-9.0,609,5074,0.00,2.12,0.00,0.000,4,0.000,0.046,2454,3062,3625
$GC,5148,-1.01,-170.3,591.7,-8.2,612,5152,0.00,2.05,0.00,0.000,6,0.000,0.036,2455,1673,3624
$GC,5471,-1.01,-170.3,618.2,-8.6,628,5474,0.00,2.12,0.00,0.000,4,0.000,0.047,2456,3071,3621
$GC,5532,-1.01,-170.3,624.0,-9.1,630,5539,0.00,2.10,0.00,0.000,6,0.000,0.037,2458,1676,3621
$GC,5848,-1.01,-170.3,656.1,-10.7,646,5852,0.00,2.12,0.00,0.000,4,0.000,0.048,2456,3069,3619
$GC,5920,-1.01,-170.3,664.3,-10.7,649,5924,0.00,2.08,0.00,0.000,6,0.000,0.038,2458,1676,3618
$GC,6247,-1.01,-170.3,695.8,-8.9,665,6251,0.00,2.15,0.00,0.000,4,0.000,0.053,2456,3067,3615
$GC,6332,-1.01,-170.3,703.1,-8.4,668,6338,0.00,2.10,0.00,0.000,6,0.000,0.038,2460,1681,3615
$GC,6647,-1.01,-170.3,729.5,-8.8,684,6651,0.00,2.15,0.00,0.000,4,0.000,0.052,2453,3070,3612
$GC,6693,-1.01,-170.3,733.6,-9.2,686,6696,0.00,2.12,0.00,0.000,6,0.000,0.047,2455,1665,3611
$GC,7027,-1.01,-170.3,763.5,-9.0,702,7031,0.00,2.17,0.00,0.000,4,0.000,0.057,2446,3063,3609
$GC,7082,-1.01,-170.3,768.8,-9.7,704,7086,0.00,2.12,0.00,0.000,6,0.000,0.042,2450,1667,3608
$GC,7404,-1.01,-170.3,800.0,-10.5,720,7409,0.00,2.17,0.00,0.000,4,0.000,0.054,2450,3060,3606
$GC,7450,-1.01,-170.3,804.8,-10.8,722,7454,0.00,2.12,0.00,0.000,6,0.000,0.048,2452,1665,3605
$GC,7784,-1.01,-170.3,839.7,-10.3,738,7787,0.00,2.15,0.00,0.000,4,0.000,0.054,2442,3063,3603
$GC,7845,-1.01,-170.3,846.0,-9.0,740,7851,0.00,2.15,0.00,0.000,6,0.000,0.048,2449,1676,3603
$GC,8162,-1.01,-170.3,874.4,-8.8,756,8165,0.00,2.15,0.00,0.000,4,0.000,0.054,2440,3058,3601
$GC,8194,-1.01,-170.3,877.5,-9.2,757,8198,0.00,2.10,0.00,0.000,6,0.000,0.042,2443,1670,3600
$GC,8516,-1.01,-170.3,905.0,-8.7,773,8520,0.00,2.20,0.00,0.000,4,0.000,0.061,2438,3066,3599
$GC,8563,-1.01,-170.3,909.2,-8.9,775,8567,0.00,2.15,0.00,0.000,6,0.000,0.049,2441,1665,3599
$GC,8897,-1.01,-170.3,939.4,-9.0,791,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1664,3597
$GC,9206,-1.01,-170.3,967.6,-9.4,806,9209,0.00,2.20,0.00,0.000,4,0.000,0.057,2438,3064,3595
$GC,9307,-1.01,-170.3,976.8,-8.9,810,9310,0.00,2.15,0.00,0.000,6,0.000,0.051,2441,1673,3594
$STATE,9462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9462,begin apogee
$GC,9468,-0.29,0.0,990.7,9.0,818,9615,0.73,0.00,143.70,1.477,6,0.100,0.000,2683,1349,2945
$STATE,9617,end apogee,CONTROL_FINISHED_OK
$STATE,9617,begin climb
$GC,9619,1.01,170.3,999.3,0.0,825,9783,1.15,2.35,152.50,1.435,4,0.046,0.054,3113,2751,2249
$GC,9866,1.01,170.3,983.1,13.1,836,9870,0.00,2.22,0.00,0.000,6,0.000,0.048,3124,1344,2246
$GC,10195,1.01,170.3,942.5,12.8,852,10198,0.00,2.17,0.00,0.000,4,0.000,0.053,3123,2738,2243
$GC,10250,1.01,170.3,934.8,13.9,854,10254,0.00,2.15,0.00,0.000,6,0.000,0.048,3132,1349,2242
$GC,10571,1.01,170.3,893.4,12.3,870,10575,0.00,2.17,0.00,0.000,4,0.000,0.053,3131,2747,2241
$GC,10632,1.01,170.3,885.2,13.1,872,10639,0.15,2.20,0.00,0.000,6,0.199,0.048,3106,1345,2240
$GC,10949,1.01,170.3,849.4,10.5,888,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1344,2240
$GC,11257,1.01,170.3,818.1,10.1,903,11261,0.00,2.17,0.00,0.000,4,0.000,0.052,3102,2744,2238
$GC,11281,1.01,170.3,815.6,10.5,904,11284,0.00,2.15,0.00,0.000,6,0.000,0.048,3111,1347,2238
$GC,11614,1.01,170.3,781.5,10.5,920,11618,0.00,2.17,0.00,0.000,4,0.000,0.052,3110,2744,2238
$GC,11749,1.01,170.3,766.7,11.1,926,11753,0.00,2.17,0.00,0.000,6,0.000,0.054,3120,1346,2237
$GC,12077,1.01,170.3,731.6,10.2,942,12080,0.00,1.83,0.00,0.000,4,0.000,0.068,3129,196,2237
$GC,12154,1.01,170.3,723.0,10.0,945,12158,0.00,1.75,0.00,0.000,6,0.000,0.042,3129,1346,2236
$GC,12476,1.01,170.3,690.6,10.3,961,12480,0.00,2.15,0.00,0.000,4,0.000,0.050,3129,2744,2236
$GC,12545,1.01,170.3,683.3,10.6,964,12549,0.00,2.15,0.00,0.000,6,0.000,0.047,3137,1346,2235
$GC,12878,1.01,170.3,646.2,10.5,980,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1346,2236
$GC,13187,1.01,170.3,614.3,9.6,995,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1345,2235
$GC,13497,1.01,170.3,586.1,8.9,1010,13501,0.00,2.17,0.00,0.000,4,0.000,0.051,3137,2745,2235
$GC,13655,1.02,170.9,573.2,8.0,1017,13660,0.15,2.15,0.00,0.000,6,0.193,0.046,3110,1346,2234
$GC,13982,1.03,180.4,548.1,7.7,1033,13996,0.00,1.88,7.53,1.046,4,0.000,0.058,3117,192,2209
$GC,14064,1.03,180.4,541.1,8.5,1036,14070,0.00,1.75,0.00,0.000,6,0.000,0.042,3115,1338,2208
$GC,14380,1.03,180.4,515.2,8.4,1052,14383,0.00,2.17,0.00,0.000,4,0.000,0.048,3115,2756,2208
$GC,14572,1.03,180.4,498.3,9.1,1061,14576,0.00,2.20,0.00,0.000,6,0.000,0.047,3125,1336,2208
$GC,14898,1.03,180.4,472.0,8.3,1091,14902,0.00,1.80,0.00,0.000,4,0.000,0.064,3133,195,2208
$GC,15113,1.03,180.4,454.1,8.0,1110,15117,0.00,1.75,0.00,0.000,6,0.000,0.041,3133,1358,2208
$GC,15446,1.06,205.4,430.0,7.2,1141,15479,0.00,2.22,23.83,1.061,4,0.000,0.046,3133,2758,2105
$GC,15516,1.06,205.4,424.0,9.2,1147,15519,0.00,2.17,0.00,0.000,6,0.000,0.042,3142,1344,2105
$GC,15850,1.06,205.4,395.0,8.3,1178,15854,0.00,1.77,0.00,0.000,4,0.000,0.055,3151,198,2105
$GC,15978,1.06,205.4,382.9,8.6,1189,15985,0.08,1.75,0.00,0.000,6,0.158,0.038,3119,1355,2104
$GC,16304,1.14,270.2,362.5,5.9,1220,16365,0.00,1.85,56.00,0.999,4,0.000,0.053,3126,202,1843
$GC,16505,1.14,270.2,345.6,9.3,1237,16511,0.00,1.75,0.00,0.000,6,0.000,0.037,3126,1358,1840
$GC,16830,1.14,270.2,315.4,9.1,1268,16834,0.00,2.10,0.00,0.000,4,0.000,0.042,3126,2750,1839
$GC,16911,1.14,270.2,308.0,8.7,1275,16915,0.00,2.12,0.00,0.000,6,0.000,0.039,3134,1343,1838
$GC,17250,1.14,270.2,276.6,8.3,1328,17256,0.00,1.77,0.00,0.000,4,0.000,0.052,3143,203,1838
$GC,17371,1.14,270.2,266.1,9.0,1349,17377,0.00,1.67,0.00,0.000,6,0.000,0.035,3143,1355,1838
$GC,17715,1.14,270.2,237.3,8.0,1410,17721,0.00,1.80,0.00,0.000,4,0.000,0.051,3154,200,1838
$GC,17746,1.14,270.2,234.6,8.7,1415,17753,0.00,1.67,0.00,0.000,6,0.000,0.034,3156,1361,1838
$GC,18093,1.14,270.2,203.1,8.4,1476,18100,0.00,2.05,0.00,0.000,4,0.000,0.038,3158,2749,1838
$GC,18266,1.14,271.0,189.1,8.0,1506,18272,0.00,2.12,0.00,0.000,6,0.000,0.038,3173,1346,1838
$GC,18610,1.14,271.0,157.6,9.2,1567,18617,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1346,1838
$GC,18956,1.14,271.0,128.7,8.9,1628,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1346,1839
$GC,19301,1.16,288.3,101.3,7.4,1689,19332,0.00,2.10,19.55,0.655,4,0.000,0.035,3172,2747,1768
$GC,19473,1.16,288.3,85.1,8.8,1719,19481,0.00,2.08,0.00,0.000,6,0.000,0.034,3181,1346,1769
$GC,19821,1.19,314.4,59.0,7.2,1780,19853,0.00,2.15,23.38,0.689,4,0.000,0.035,3179,2754,1662
$GC,20064,1.27,379.9,43.9,5.9,1822,20130,0.00,2.08,55.08,0.684,6,0.000,0.033,3186,1345,1396
$GC,20472,1.27,379.9,8.1,9.8,1892,20479,0.00,1.75,0.00,0.000,4,0.000,0.046,3194,203,1393
$STATE,20522,end climb,SURFACE_DEPTH_REACHED
$STATE,20522,begin surface coast
$FINISH,0.8,1.021637
$STATE,20557,end surface coast,CONTROL_FINISHED_OK
$STATE,20557,begin surface
$SM_CCo,20578,58.25,0.640,0,0,1109,450.13
$SM_GC,1.58,0.00,0.00,58.25,0.000,0.000,0.640,168,1690,1109,-8.17,0.42,450.13
$IRIDIUM_FIX,2401.56,12420.05,131098,101046
$TT8_MAMPS,0.026845
$HUMID,1536
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.80
$XPDR_PINGS,177
$24V_AH,23.1,77.430
$10V_AH,10.7,51.135
$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,19.425,186.225,481.550,58.250,0.000,98.797,151.378,527.580,52.250,0.000,0.000,15.951,3371.137,12434.213,693.290,3990.197,1292.055,0.000,2432.603,0.000,3946.306,0.000,57.101,0.000
$DEVICE_MAMPS,218.595,68.263,1477.242,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.799,1315.895,2256.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110545,1907
$CAP_FILE_SIZE,202558,0
$CFSIZE,260165632,206303232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073, 55.3,1
$GPS,190709,161325,2407.928,12417.644,40,1.4,40,-3.5