version: 66.04
glider: 166
mission: 2
dive: 368
start: 7 21 109 3 59 12
data:
$ID,166
$MISSION,2
$DIVE,368
$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,-12680.268
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,48
$R_STBD_OVSHOOT,74
$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
$GPS1,034925,2402.845,12413.758,41,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.7
$GPS2,035850,2402.805,12414.157,14,1.4,14,-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,288.3,54046,-13.7,-7.990
$D_GRID,1381
$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,-0.95,-170.3,0.0,0.0,0,72,0.00,0.00,-51.67,0.000,2,0.000,0.000,169,1686,2298
$GC,75,-0.95,-170.3,3.1,-3.8,8,127,9.20,0.00,-39.17,0.000,6,0.223,0.000,2455,1687,3641
$GC,466,-0.95,-170.3,64.9,-15.2,76,472,0.00,2.12,0.00,0.000,4,0.000,0.040,2448,256,3642
$GC,485,-0.95,-170.3,67.8,-15.1,79,491,0.00,2.03,0.00,0.000,6,0.000,0.027,2444,1680,3642
$GC,830,-0.95,-170.3,116.3,-14.6,140,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1680,3641
$GC,1174,-0.95,-170.3,163.6,-13.0,201,1181,0.00,2.12,0.00,0.000,4,0.000,0.041,2438,274,3642
$GC,1204,-0.95,-170.3,168.0,-14.0,206,1212,0.00,2.03,0.00,0.000,6,0.000,0.025,2437,1680,3642
$GC,1552,-0.95,-170.3,211.6,-12.8,267,1558,0.00,2.03,0.00,0.000,4,0.000,0.037,2431,3067,3642
$GC,1587,-0.95,-170.3,216.1,-12.3,273,1594,0.00,2.00,0.00,0.000,6,0.000,0.027,2435,1662,3642
$GC,1933,-0.95,-170.3,258.4,-11.3,334,1941,0.00,2.05,0.00,0.000,4,0.000,0.041,2430,274,3642
$GC,1965,-0.95,-170.3,262.3,-11.9,339,1971,0.00,2.00,0.00,0.000,6,0.000,0.026,2430,1687,3642
$GC,2308,-0.95,-170.3,301.3,-11.7,399,2312,0.12,2.03,0.00,0.000,4,0.144,0.035,2457,3062,3642
$GC,2355,-0.95,-170.3,306.3,-10.5,403,2359,0.00,1.98,0.00,0.000,6,0.000,0.028,2457,1676,3642
$GC,2686,-0.95,-170.3,340.7,-9.7,434,2689,0.00,2.05,0.00,0.000,4,0.000,0.038,2461,3064,3641
$GC,2708,-0.95,-170.3,343.0,-10.2,436,2712,0.00,2.00,0.00,0.000,6,0.000,0.029,2459,1670,3641
$GC,3039,-0.95,-170.3,374.6,-10.1,467,3047,0.00,2.08,0.00,0.000,4,0.000,0.038,2464,3069,3640
$GC,3076,-0.95,-170.3,378.7,-11.0,470,3080,0.00,2.00,0.00,0.000,6,0.000,0.030,2459,1674,3640
$GC,3411,-0.95,-170.3,414.8,-11.1,501,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1674,3638
$GC,3735,-0.95,-170.3,446.9,-9.2,532,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1674,3637
$GC,4058,-0.95,-170.3,475.8,-9.5,562,4062,0.00,2.10,0.00,0.000,4,0.000,0.044,2461,280,3635
$GC,4175,-0.95,-170.3,489.0,-11.4,572,4182,0.00,2.03,0.00,0.000,6,0.000,0.030,2465,1665,3634
$GC,4505,-0.95,-170.3,523.6,-10.0,593,4509,0.00,2.10,0.00,0.000,4,0.000,0.044,2476,3069,3632
$GC,4596,-0.95,-170.3,532.5,-9.7,597,4600,0.00,2.03,0.00,0.000,6,0.000,0.033,2475,1680,3631
$GC,4928,-0.95,-170.3,561.2,-8.7,613,4932,0.00,2.10,0.00,0.000,4,0.000,0.044,2473,3072,3629
$GC,4985,-0.95,-170.3,566.4,-9.8,615,4989,0.00,2.05,0.00,0.000,6,0.000,0.034,2475,1674,3628
$GC,5307,-0.95,-170.3,596.0,-9.3,631,5310,0.00,2.12,0.00,0.000,4,0.000,0.049,2474,274,3626
$GC,5340,-0.95,-170.3,599.1,-9.0,632,5344,0.00,2.05,0.00,0.000,6,0.000,0.031,2471,1679,3626
$GC,5662,-0.95,-170.3,627.7,-8.8,648,5666,0.00,2.10,0.00,0.000,4,0.000,0.047,2467,3071,3624
$GC,5785,-0.95,-170.3,638.7,-9.2,653,5789,0.00,2.08,0.00,0.000,6,0.000,0.037,2469,1668,3623
$GC,6107,-0.95,-170.3,667.1,-8.9,669,6111,0.00,2.15,0.00,0.000,4,0.000,0.052,2469,265,3620
$GC,6207,-0.95,-170.3,677.1,-9.8,673,6212,0.00,2.12,0.00,0.000,6,0.000,0.035,2474,1691,3619
$GC,6529,-0.95,-170.3,706.0,-8.8,689,6533,0.00,2.22,0.00,0.000,4,0.000,0.055,2474,268,3616
$GC,6630,-0.95,-170.3,716.1,-10.0,693,6634,0.00,2.12,0.00,0.000,6,0.000,0.035,2473,1688,3616
$GC,6952,-0.95,-170.3,746.8,-9.4,709,6956,0.00,2.20,0.00,0.000,4,0.000,0.054,2472,273,3613
$GC,7041,-0.95,-170.3,755.6,-9.6,713,7045,0.00,2.12,0.00,0.000,6,0.000,0.038,2465,1683,3612
$GC,7375,-0.95,-170.3,783.7,-8.2,729,7379,0.00,2.15,0.00,0.000,4,0.000,0.056,2462,3070,3610
$GC,7493,-0.95,-170.3,793.8,-9.0,734,7497,0.00,2.12,0.00,0.000,6,0.000,0.043,2462,1661,3609
$GC,7820,-0.95,-170.3,820.9,-8.4,750,7824,0.00,2.15,0.00,0.000,4,0.000,0.055,2462,276,3606
$GC,7844,-0.95,-170.3,822.8,-8.9,751,7848,0.00,2.12,0.00,0.000,6,0.000,0.041,2460,1676,3606
$GC,8180,-0.95,-170.3,851.7,-8.5,767,8183,0.00,2.20,0.00,0.000,4,0.000,0.057,2460,277,3604
$GC,8264,-0.95,-170.3,859.8,-9.5,770,8272,0.00,2.10,0.00,0.000,6,0.000,0.040,2460,1676,3603
$GC,8579,-0.95,-170.3,886.4,-8.5,786,8583,0.00,2.20,0.00,0.000,4,0.000,0.061,2445,3075,3602
$GC,8652,-0.95,-170.3,892.8,-8.4,789,8656,0.00,2.15,0.00,0.000,6,0.000,0.044,2448,1672,3601
$GC,8980,-0.95,-170.3,921.8,-8.9,805,8984,0.00,2.22,0.00,0.000,4,0.000,0.058,2439,3081,3599
$GC,9058,-0.95,-170.3,929.3,-9.0,808,9062,0.00,2.17,0.00,0.000,6,0.000,0.046,2443,1669,3598
$GC,9379,-0.95,-170.3,959.6,-9.8,824,9382,0.00,2.20,0.00,0.000,4,0.000,0.057,2439,3072,3596
$GC,9407,-0.95,-170.3,962.3,-9.7,825,9411,0.00,2.12,0.00,0.000,6,0.000,0.043,2440,1676,3597
$STATE,9710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9710,begin apogee
$GC,9717,-0.27,0.0,990.2,8.8,840,9874,0.70,0.00,146.55,1.467,6,0.103,0.000,2674,1351,2945
$STATE,9875,end apogee,CONTROL_FINISHED_OK
$STATE,9875,begin climb
$GC,9878,0.95,170.3,999.7,0.0,848,10042,1.08,1.98,152.82,1.439,4,0.050,0.067,3081,208,2248
$GC,10103,0.95,170.3,986.5,12.0,858,10107,0.00,1.77,0.00,0.000,6,0.000,0.042,3081,1359,2245
$GC,10431,0.95,170.3,949.2,11.4,874,10434,0.00,2.15,0.00,0.000,4,0.000,0.053,3080,2747,2243
$GC,10458,0.95,170.3,945.7,11.0,875,10462,0.00,2.17,0.00,0.000,6,0.000,0.047,3090,1340,2242
$GC,10787,0.95,170.3,907.8,11.7,891,10790,0.00,2.20,0.00,0.000,4,0.000,0.054,3089,2749,2241
$GC,10945,0.95,170.3,889.4,12.0,898,10949,0.00,2.15,0.00,0.000,6,0.000,0.047,3099,1349,2240
$GC,11277,0.95,170.3,851.0,11.2,914,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1349,2239
$GC,11588,0.95,170.3,817.5,11.1,929,11592,0.00,2.17,0.00,0.000,4,0.000,0.054,3099,2749,2238
$GC,11644,0.95,170.3,810.8,11.7,931,11649,0.15,2.17,0.00,0.000,6,0.190,0.048,3073,1337,2237
$GC,11959,0.95,170.3,776.8,10.9,946,11963,0.00,2.20,0.00,0.000,4,0.000,0.052,3069,2750,2236
$GC,12067,0.95,170.3,765.0,11.4,950,12073,0.00,2.15,0.00,0.000,6,0.000,0.047,3078,1350,2236
$GC,12382,0.95,170.3,730.2,11.0,966,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1350,2236
$GC,12692,0.95,170.3,697.4,10.5,981,12696,0.00,2.17,0.00,0.000,4,0.000,0.053,3078,2749,2236
$GC,12748,0.95,170.3,691.3,11.6,983,12752,0.00,2.17,0.00,0.000,6,0.000,0.048,3086,1351,2236
$GC,13070,0.95,170.3,660.4,9.5,999,13074,0.00,2.20,0.00,0.000,4,0.000,0.052,3086,2759,2235
$GC,13206,0.95,170.3,648.2,8.4,1005,13210,0.00,2.17,0.00,0.000,6,0.000,0.048,3096,1349,2235
$GC,13540,0.95,170.3,618.3,9.3,1021,13544,0.00,2.22,0.00,0.000,4,0.000,0.054,3095,2755,2235
$GC,13557,0.95,170.3,616.5,9.2,1021,13563,0.12,2.17,0.00,0.000,6,0.186,0.047,3074,1349,2235
$GC,13873,0.96,179.8,590.8,7.7,1037,13887,0.00,2.25,7.12,1.071,4,0.000,0.051,3069,2749,2211
$GC,13905,1.01,215.6,588.2,6.9,1038,13946,0.00,2.17,33.53,1.226,6,0.000,0.046,3078,1342,2066
$GC,14270,1.01,215.6,552.6,10.6,1056,14273,0.00,2.20,0.00,0.000,4,0.000,0.051,3078,2749,2061
$GC,14406,1.01,215.6,539.3,10.4,1062,14410,0.00,2.17,0.00,0.000,6,0.000,0.045,3089,1340,2059
$GC,14738,1.01,215.6,510.6,8.3,1078,14742,0.00,1.77,0.00,0.000,4,0.000,0.059,3099,204,2059
$GC,14845,1.01,215.6,500.7,9.3,1082,14851,0.00,1.75,0.00,0.000,6,0.000,0.041,3099,1352,2059
$GC,15172,1.01,215.6,472.2,8.8,1112,15175,0.00,2.15,0.00,0.000,4,0.000,0.049,3099,2754,2059
$GC,15296,1.01,215.6,460.9,8.1,1123,15300,0.00,2.17,0.00,0.000,6,0.000,0.046,3112,1349,2059
$GC,15629,1.01,223.1,434.6,7.8,1154,15642,0.00,2.22,7.28,0.942,4,0.000,0.048,3113,2750,2035
$GC,15768,1.03,232.6,423.4,7.7,1166,15783,0.00,2.15,10.38,0.992,6,0.000,0.042,3121,1341,1996
$GC,16109,1.03,232.6,393.4,9.4,1198,16110,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1341,1994
$GC,16430,1.03,236.5,367.5,7.9,1228,16443,0.00,2.17,5.12,0.767,4,0.000,0.044,3122,2756,1980
$GC,16592,1.03,236.5,354.9,8.0,1242,16596,0.15,2.12,0.00,0.000,6,0.166,0.041,3095,1349,1979
$GC,16923,1.11,300.1,331.7,6.0,1273,16988,0.00,2.28,55.92,0.978,4,0.000,0.043,3094,2757,1720
$GC,17050,1.11,300.1,321.1,9.1,1284,17057,0.00,2.17,0.00,0.000,6,0.000,0.039,3099,1344,1718
$GC,17381,1.11,300.1,289.9,8.5,1325,17387,0.00,1.77,0.00,0.000,4,0.000,0.053,3112,194,1717
$GC,17500,1.11,300.1,278.8,9.6,1346,17506,0.00,1.75,0.00,0.000,6,0.000,0.036,3112,1362,1717
$GC,17847,1.11,300.1,246.6,8.6,1407,17853,0.00,2.08,0.00,0.000,4,0.000,0.040,3113,2747,1717
$GC,17966,1.11,300.1,235.3,9.2,1428,17974,0.00,2.10,0.00,0.000,6,0.000,0.038,3123,1346,1717
$GC,18312,1.11,300.1,204.2,8.6,1489,18318,0.00,2.10,0.00,0.000,4,0.000,0.039,3124,2748,1717
$GC,18409,1.11,300.1,195.3,9.1,1506,18415,0.00,2.10,0.00,0.000,6,0.000,0.038,3133,1340,1716
$GC,18755,1.11,300.1,163.3,9.2,1567,18762,0.00,2.10,0.00,0.000,4,0.000,0.038,3133,2750,1717
$GC,18852,1.11,300.1,153.6,10.1,1584,18860,0.00,2.10,0.00,0.000,6,0.000,0.036,3141,1338,1717
$GC,19199,1.11,302.0,122.5,7.9,1645,19206,0.00,2.12,0.00,0.000,4,0.000,0.037,3141,2750,1717
$GC,19405,1.13,317.7,107.1,7.5,1681,19437,0.00,2.08,19.00,0.670,6,0.000,0.035,3154,1346,1648
$GC,19774,1.14,322.4,78.0,7.8,1746,19787,0.00,1.77,5.70,0.558,4,0.000,0.054,3163,206,1630
$GC,19901,1.21,381.0,68.4,6.1,1768,19960,0.00,1.67,50.40,0.719,6,0.000,0.030,3163,1364,1389
$GC,20302,1.24,403.0,39.5,7.3,1837,20328,0.00,1.83,19.75,0.662,4,0.000,0.047,3169,208,1302
$GC,20386,1.25,411.0,32.6,7.7,1851,20401,0.00,1.65,8.52,0.578,6,0.000,0.029,3169,1342,1269
$GC,20740,1.25,411.0,4.2,8.3,1913,20747,0.00,2.05,0.00,0.000,4,0.000,0.034,3169,2747,1269
$STATE,20751,end climb,SURFACE_DEPTH_REACHED
$STATE,20751,begin surface coast
$FINISH,0.7,1.017475
$STATE,20790,end surface coast,CONTROL_FINISHED_OK
$STATE,20790,begin surface
$SM_CCo,20810,32.62,0.640,0,0,1109,450.13
$SM_GC,1.77,0.00,0.00,32.62,0.000,0.000,0.640,167,1666,1109,-8.11,-0.25,450.13
$IRIDIUM_FIX,2354.48,12415.44,141098,212132
$TT8_MAMPS,0.026845
$HUMID,1534
$INTERNAL_PRESSURE,10.005
$TCM_TEMP,25.80
$XPDR_PINGS,186
$24V_AH,23.1,78.871
$10V_AH,10.6,52.462
$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,19.525,183.550,522.100,32.625,0.000,23.307,40.457,322.845,54.500,0.000,0.000,14.159,3393.088,12407.644,691.293,4013.814,880.736,0.000,2460.754,0.000,3974.728,0.000,54.435,0.000
$DEVICE_MAMPS,223.197,67.496,1467.271,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1304.823,1330.152,2234.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110491,1922
$CAP_FILE_SIZE,196482,0
$CFSIZE,260165632,205574144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.192,125.3,1
$GPS,210709,094755,2401.839,12414.520,41,1.3,41,-3.5