version: 66.04
glider: 166
mission: 2
dive: 363
start: 7 19 109 22 17 44
data:
$ID,166
$MISSION,2
$DIVE,363
$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,-12569.744
$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,64
$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
$GPS1,220637,2407.755,12416.770,34,1.1,34,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.9
$GPS2,221719,2407.838,12416.964,11,1.3,16,-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,240.2,62185,-13.7,-7.990
$D_GRID,1114
$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,-170.3,0.0,0.0,0,71,0.00,0.00,-53.33,0.000,2,0.000,0.000,170,1675,2327
$GC,74,-1.01,-170.3,3.0,-3.8,8,127,9.32,2.20,-37.53,0.000,4,0.229,0.054,2440,264,3641
$GC,167,-1.01,-170.3,17.1,-18.0,23,174,0.00,2.03,0.00,0.000,6,0.000,0.028,2436,1671,3642
$GC,512,-1.01,-170.3,73.1,-14.6,84,518,0.00,2.05,0.00,0.000,4,0.000,0.038,2438,3068,3642
$GC,536,-1.01,-170.3,76.5,-14.3,88,543,0.00,2.08,0.00,0.000,6,0.000,0.030,2440,1658,3642
$GC,881,-1.01,-170.3,123.6,-13.6,149,888,0.00,2.10,0.00,0.000,4,0.000,0.038,2434,3073,3643
$GC,952,-1.01,-170.3,133.3,-13.6,161,960,0.00,2.05,0.00,0.000,6,0.000,0.030,2436,1677,3643
$GC,1299,-1.01,-170.3,180.0,-13.6,222,1305,0.00,2.10,0.00,0.000,4,0.000,0.043,2435,267,3643
$GC,1380,-1.01,-170.3,191.4,-14.1,236,1387,0.00,2.03,0.00,0.000,6,0.000,0.027,2428,1689,3644
$GC,1726,-1.01,-170.3,237.1,-12.7,297,1733,0.00,2.03,0.00,0.000,4,0.000,0.040,2427,3066,3643
$GC,1745,-1.01,-170.3,239.8,-12.8,300,1751,0.00,2.03,0.00,0.000,6,0.000,0.031,2431,1662,3643
$GC,2090,-1.01,-170.3,281.3,-11.0,361,2097,0.00,2.10,0.00,0.000,4,0.000,0.046,2431,261,3643
$GC,2126,-1.01,-170.3,285.9,-12.5,367,2132,0.00,2.03,0.00,0.000,6,0.000,0.028,2424,1677,3643
$GC,2460,-1.01,-170.3,325.5,-12.5,409,2464,0.10,2.05,0.00,0.000,4,0.154,0.040,2449,3066,3643
$GC,2487,-1.01,-170.3,329.3,-11.8,411,2493,0.00,2.03,0.00,0.000,6,0.000,0.031,2450,1674,3643
$GC,2815,-1.01,-170.3,362.0,-9.6,442,2819,0.00,2.12,0.00,0.000,4,0.000,0.047,2449,264,3643
$GC,2861,-1.01,-170.3,367.3,-11.0,446,2865,0.00,2.03,0.00,0.000,6,0.000,0.027,2449,1678,3642
$GC,3193,-1.01,-170.3,399.2,-10.0,477,3197,0.00,2.08,0.00,0.000,4,0.000,0.041,2449,3074,3641
$GC,3218,-1.01,-170.3,401.8,-10.2,479,3221,0.00,2.05,0.00,0.000,6,0.000,0.032,2450,1670,3640
$GC,3550,-1.01,-170.3,438.3,-10.9,510,3554,0.00,2.12,0.00,0.000,4,0.000,0.047,2449,262,3639
$GC,3641,-1.01,-170.3,448.4,-10.7,518,3645,0.00,2.05,0.00,0.000,6,0.000,0.029,2450,1682,3638
$GC,3971,-1.01,-170.3,483.3,-10.4,549,3975,0.00,2.08,0.00,0.000,4,0.000,0.044,2451,3066,3637
$GC,4018,-1.01,-170.3,488.1,-10.3,553,4022,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,1668,3636
$GC,4344,-1.01,-170.3,520.7,-9.3,574,4347,0.00,2.12,0.00,0.000,4,0.000,0.042,2451,3073,3634
$GC,4369,-1.01,-170.3,522.9,-9.3,575,4373,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,1677,3634
$GC,4702,-1.01,-170.3,554.4,-9.7,591,4705,0.00,2.10,0.00,0.000,4,0.000,0.044,2456,3064,3631
$GC,4764,-1.01,-170.3,560.5,-9.6,593,4771,0.00,2.05,0.00,0.000,6,0.000,0.035,2452,1671,3630
$GC,5079,-1.01,-170.3,590.4,-9.5,609,5083,0.00,2.12,0.00,0.000,4,0.000,0.046,2458,3070,3628
$GC,5181,-1.01,-170.3,599.9,-9.4,613,5185,0.00,2.08,0.00,0.000,6,0.000,0.036,2463,1667,3627
$GC,5503,-1.01,-170.3,628.6,-9.0,629,5507,0.00,2.12,0.00,0.000,4,0.000,0.047,2461,3066,3625
$GC,5586,-1.01,-170.3,636.5,-8.9,632,5593,0.00,2.10,0.00,0.000,6,0.000,0.037,2462,1676,3624
$GC,5903,-1.01,-170.3,665.9,-9.3,648,5906,0.00,2.12,0.00,0.000,4,0.000,0.049,2464,3066,3622
$GC,5958,-1.01,-170.3,671.3,-9.7,650,5962,0.00,2.08,0.00,0.000,6,0.000,0.038,2463,1671,3622
$GC,6281,-1.01,-170.3,700.5,-9.1,666,6284,0.00,2.12,0.00,0.000,4,0.000,0.049,2466,3060,3619
$GC,6343,-1.01,-170.3,706.2,-9.1,668,6349,0.00,2.08,0.00,0.000,6,0.000,0.039,2466,1665,3619
$GC,6658,-1.01,-170.3,733.5,-8.5,684,6662,0.00,2.17,0.00,0.000,4,0.000,0.056,2465,3065,3616
$GC,6775,-1.01,-170.3,743.5,-8.4,689,6779,0.00,2.08,0.00,0.000,6,0.000,0.039,2465,1679,3615
$GC,7103,-1.01,-170.3,772.0,-8.7,705,7107,0.00,2.12,0.00,0.000,4,0.000,0.051,2463,3058,3613
$GC,7151,-1.01,-170.3,775.9,-8.5,707,7154,0.00,2.10,0.00,0.000,6,0.000,0.045,2463,1672,3612
$GC,7483,-1.01,-170.3,804.8,-8.9,723,7487,0.00,2.17,0.00,0.000,4,0.000,0.058,2454,3066,3610
$GC,7529,-1.01,-170.3,809.1,-9.7,725,7533,0.00,2.12,0.00,0.000,6,0.000,0.047,2458,1672,3610
$GC,7862,-1.01,-170.3,840.1,-9.4,741,7865,0.00,2.15,0.00,0.000,4,0.000,0.052,2448,3061,3608
$GC,7940,-1.01,-170.3,847.6,-9.6,744,7943,0.00,2.12,0.00,0.000,6,0.000,0.048,2454,1669,3607
$GC,8262,-1.01,-170.3,877.2,-9.5,760,8266,0.00,2.20,0.00,0.000,4,0.000,0.059,2443,3067,3605
$GC,8356,-1.01,-170.3,886.6,-9.8,764,8360,0.00,2.12,0.00,0.000,6,0.000,0.041,2445,1666,3604
$GC,8684,-1.01,-170.3,919.3,-10.3,780,8688,0.00,2.17,0.00,0.000,4,0.000,0.055,2441,3057,3603
$GC,8762,-1.01,-170.3,927.8,-11.2,783,8766,0.00,2.12,0.00,0.000,6,0.000,0.048,2442,1678,3602
$GC,9084,-1.01,-170.3,961.2,-10.3,799,9087,0.00,2.17,0.00,0.000,4,0.000,0.057,2441,3066,3600
$GC,9130,-1.01,-170.3,965.7,-10.3,801,9134,0.00,2.15,0.00,0.000,6,0.000,0.049,2441,1670,3600
$STATE,9399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9399,begin apogee
$GC,9405,-0.29,0.0,990.2,9.2,814,9554,0.73,0.00,144.93,1.472,6,0.102,0.000,2683,1345,2945
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9557,1.01,170.3,999.2,0.0,821,9718,1.15,2.35,153.00,1.430,4,0.043,0.058,3118,2731,2248
$GC,9738,1.01,170.3,992.4,12.1,829,9743,0.00,2.22,0.00,0.000,6,0.000,0.048,3129,1352,2247
$GC,10054,1.01,170.3,954.8,11.6,844,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1352,2243
$GC,10365,1.01,170.3,917.0,12.3,859,10368,0.00,1.83,0.00,0.000,4,0.000,0.070,3136,198,2241
$GC,10388,1.01,170.3,913.8,12.5,860,10391,0.00,1.73,0.00,0.000,6,0.000,0.043,3135,1346,2241
$GC,10720,1.01,170.3,871.8,12.3,876,10723,0.00,2.17,0.00,0.000,4,0.000,0.052,3135,2761,2239
$GC,10879,1.01,170.3,851.9,12.9,883,10884,0.15,2.17,0.00,0.000,6,0.198,0.048,3109,1348,2239
$GC,11206,1.01,170.3,815.8,10.7,899,11210,0.00,1.83,0.00,0.000,4,0.000,0.061,3116,204,2238
$GC,11329,1.01,170.3,801.9,11.6,904,11333,0.00,1.73,0.00,0.000,6,0.000,0.042,3116,1358,2237
$GC,11652,1.01,170.3,770.3,10.0,920,11655,0.00,2.15,0.00,0.000,4,0.000,0.058,3115,2746,2237
$GC,11742,1.01,170.3,760.8,10.3,924,11746,0.00,2.17,0.00,0.000,6,0.000,0.048,3124,1337,2236
$GC,12075,1.01,170.3,727.0,10.0,940,12078,0.00,2.20,0.00,0.000,4,0.000,0.052,3123,2752,2236
$GC,12165,1.01,170.3,716.8,11.8,944,12169,0.00,2.17,0.00,0.000,6,0.000,0.048,3131,1341,2235
$GC,12498,1.01,170.3,679.1,11.4,960,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1342,2235
$GC,12808,1.01,170.3,647.2,10.0,975,12811,0.00,1.80,0.00,0.000,4,0.000,0.060,3139,198,2235
$GC,12830,1.01,170.3,644.7,10.3,976,12835,0.12,1.73,0.00,0.000,6,0.193,0.044,3107,1350,2235
$GC,13163,1.01,170.3,612.7,8.9,992,13166,0.00,2.17,0.00,0.000,4,0.000,0.051,3102,2755,2234
$GC,13353,1.01,170.3,595.5,9.2,1000,13357,0.00,2.17,0.00,0.000,6,0.000,0.046,3111,1343,2234
$GC,13674,1.01,170.3,568.8,8.4,1016,13677,0.00,1.80,0.00,0.000,4,0.000,0.059,3120,205,2234
$GC,13713,1.01,170.3,565.4,8.1,1017,13719,0.00,1.75,0.00,0.000,6,0.000,0.048,3120,1359,2234
$GC,14029,1.01,170.3,537.6,8.8,1033,14033,0.00,2.17,0.00,0.000,4,0.000,0.054,3120,2759,2234
$GC,14213,1.01,170.3,522.0,8.0,1041,14217,0.00,2.17,0.00,0.000,6,0.000,0.045,3129,1344,2234
$GC,14538,1.04,190.1,495.5,7.4,1059,14561,0.00,1.83,15.93,1.107,4,0.000,0.064,3141,195,2169
$GC,14595,1.04,190.1,490.8,8.3,1064,14599,0.00,1.75,0.00,0.000,6,0.000,0.049,3140,1350,2167
$GC,14929,1.04,190.1,462.6,8.3,1095,14933,0.00,2.17,0.00,0.000,4,0.000,0.052,3143,2760,2167
$GC,15187,1.07,213.5,440.3,7.3,1118,15214,0.00,2.20,22.05,1.063,6,0.000,0.047,3150,1337,2074
$GC,15540,1.07,213.5,410.4,9.1,1151,15544,0.00,2.17,0.00,0.000,4,0.000,0.047,3151,2750,2071
$GC,15602,1.07,213.5,404.6,8.7,1156,15610,0.15,2.15,0.00,0.000,6,0.184,0.041,3124,1338,2070
$GC,15928,1.09,229.8,378.7,7.5,1187,15950,0.00,1.77,15.40,0.978,4,0.000,0.054,3131,199,2007
$GC,15975,1.09,229.8,375.1,8.4,1191,15979,0.00,1.73,0.00,0.000,6,0.000,0.038,3129,1361,2006
$GC,16306,1.11,247.5,348.8,7.4,1222,16329,0.00,2.15,16.62,0.951,4,0.000,0.044,3130,2757,1933
$GC,16532,1.11,247.5,328.1,9.1,1242,16536,0.00,2.15,0.00,0.000,6,0.000,0.041,3138,1342,1931
$GC,16857,1.11,247.5,299.3,9.0,1273,16863,0.00,2.12,0.00,0.000,4,0.000,0.042,3142,2747,1931
$GC,16995,1.11,247.5,287.2,8.7,1297,17001,0.00,2.12,0.00,0.000,6,0.000,0.039,3150,1337,1931
$GC,17339,1.11,247.5,257.5,8.6,1358,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1337,1931
$GC,17686,1.11,247.5,227.5,8.5,1419,17691,0.00,2.12,0.00,0.000,4,0.000,0.039,3151,2755,1931
$GC,17699,1.11,247.5,226.2,8.6,1421,17705,0.00,2.10,0.00,0.000,6,0.000,0.037,3158,1348,1931
$GC,18043,1.11,247.5,196.7,8.7,1482,18050,0.00,2.10,0.00,0.000,4,0.000,0.039,3158,2755,1931
$GC,18158,1.11,247.5,186.3,8.7,1502,18166,0.12,2.10,0.00,0.000,6,0.170,0.037,3138,1340,1931
$GC,18506,1.19,314.8,163.6,5.9,1563,18574,0.00,0.00,59.92,0.787,6,0.000,0.000,3139,1340,1661
$GC,18913,1.19,314.8,130.1,8.1,1634,18921,0.00,2.12,0.00,0.000,4,0.000,0.037,3139,2761,1658
$GC,19012,1.19,314.8,121.7,8.3,1651,19019,0.00,2.10,0.00,0.000,6,0.000,0.035,3146,1349,1658
$GC,19357,1.22,338.9,94.0,7.2,1712,19384,0.00,2.17,21.38,0.718,4,0.000,0.036,3146,2758,1563
$GC,19494,1.23,343.8,85.1,7.8,1735,19507,0.00,2.10,5.80,0.557,6,0.000,0.035,3156,1344,1543
$GC,19845,1.25,362.8,57.4,7.4,1797,19871,0.00,1.77,17.90,0.673,4,0.000,0.048,3160,204,1464
$GC,20094,1.26,372.5,39.1,7.7,1840,20108,0.00,1.67,9.62,0.603,6,0.000,0.030,3159,1364,1426
$GC,20447,1.29,396.3,12.4,7.2,1902,20474,0.10,1.83,21.48,0.637,4,0.078,0.045,3220,200,1328
$STATE,20547,end climb,SURFACE_DEPTH_REACHED
$STATE,20547,begin surface coast
$FINISH,0.8,1.018519
$STATE,20577,end surface coast,CONTROL_FINISHED_OK
$STATE,20577,begin surface
$SM_CCo,20597,43.75,0.642,0,0,1109,450.13
$SM_GC,1.53,0.00,0.00,43.75,0.000,0.000,0.642,153,1698,1109,-8.21,0.65,450.13
$IRIDIUM_FIX,2356.84,12416.77,131098,161653
$TT8_MAMPS,0.026845
$HUMID,1520
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.80
$XPDR_PINGS,183
$24V_AH,23.1,77.838
$10V_AH,10.7,51.514
$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,20.025,190.325,504.025,43.750,0.000,53.280,118.017,238.011,53.750,0.000,0.000,16.868,3398.198,12229.346,690.056,4026.640,922.620,0.000,2442.024,0.000,4002.399,0.000,54.434,0.000
$DEVICE_MAMPS,229.333,69.797,1471.873,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1305.448,1344.580,2275.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110486,1924
$CAP_FILE_SIZE,196849,0
$CFSIZE,260165632,206102528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088, 50.0,1
$GPS,200709,040306,2407.519,12416.423,41,1.0,41,-3.5