version: 66.04
glider: 167
mission: 2
dive: 332
start: 7 19 109 0 10 50
data:
$ID,167
$MISSION,2
$DIVE,332
$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,253
$T_MISSION,304
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$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,425
$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,-11882.62
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-14.600696
$PRESSURE_SLOPE,0.0001158971
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,000336,2503.727,12423.030,41,1.3,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.1
$GPS2,001028,2503.780,12423.120,11,3.8,30,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2452.300,12349.600
$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,281.1,60201,-24.8,-13.043
$D_GRID,1993
$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,-1.25,-121.7,0.0,0.0,0,46,0.00,0.00,-29.73,0.000,2,0.000,0.000,139,2427,2372
$GC,49,-1.25,-121.7,3.3,-2.7,5,117,8.15,2.12,-52.65,0.000,4,0.233,0.038,2144,1021,3989
$GC,275,-0.94,-121.7,42.6,-21.3,44,282,0.38,2.12,0.00,0.000,6,0.163,0.029,2240,2443,3991
$GC,620,-0.94,-121.7,93.8,-14.3,105,626,0.00,2.00,0.00,0.000,4,0.000,0.044,2232,3757,3992
$GC,744,-0.94,-121.7,112.9,-14.2,127,751,0.00,1.90,0.00,0.000,6,0.000,0.023,2232,2405,3993
$GC,1093,-1.07,-121.7,155.6,-12.7,188,1099,0.00,2.08,0.00,0.000,4,0.000,0.042,2222,3761,3994
$GC,1241,-1.07,-121.7,175.8,-13.5,214,1247,0.00,1.83,0.00,0.000,6,0.000,0.023,2222,2447,3994
$GC,1587,-1.21,-121.7,215.0,-11.6,275,1595,0.17,2.03,0.00,0.000,4,0.062,0.042,2137,3767,3995
$GC,1770,-0.97,-121.7,245.9,-16.7,307,1777,0.32,1.80,0.00,0.000,6,0.162,0.022,2228,2480,3996
$GC,2118,-1.32,-121.7,282.2,-10.0,368,2125,0.28,1.98,0.00,0.000,4,0.056,0.044,2111,3767,3996
$GC,2234,-1.05,-121.7,298.1,-14.4,388,2240,0.35,1.75,0.00,0.000,6,0.166,0.022,2207,2509,3996
$GC,2567,-1.35,-121.7,332.0,-9.1,420,2572,0.25,1.92,0.00,0.000,4,0.060,0.043,2098,3767,3996
$GC,2595,-1.26,-121.7,335.4,-12.2,422,2601,0.15,1.75,0.00,0.000,6,0.175,0.023,2135,2514,3996
$GC,2921,-1.18,-121.7,378.5,-13.6,453,2925,0.12,1.92,0.00,0.000,4,0.176,0.042,2161,3766,3996
$GC,3038,-1.18,-121.7,394.2,-12.8,463,3045,0.00,1.73,0.00,0.000,6,0.000,0.023,2162,2537,3996
$GC,3363,-1.23,-121.7,431.9,-12.3,494,3367,0.00,1.88,0.00,0.000,4,0.000,0.044,2155,3758,3996
$GC,3424,-1.23,-121.7,439.6,-12.8,499,3431,0.00,1.67,0.00,0.000,6,0.000,0.025,2155,2569,3996
$GC,3752,-1.23,-121.7,474.0,-11.0,530,3755,0.00,1.83,0.00,0.000,4,0.000,0.046,2152,3754,3995
$GC,3842,-1.23,-121.7,484.5,-11.8,538,3846,0.00,1.67,0.00,0.000,6,0.000,0.026,2152,2603,3994
$GC,4180,-1.29,-121.7,522.6,-11.5,561,4184,0.00,2.22,0.00,0.000,4,0.000,0.026,2152,1064,3993
$GC,4236,-1.35,-121.7,529.6,-11.6,563,4241,0.12,2.28,0.00,0.000,6,0.081,0.033,2100,2579,3992
$GC,4553,-1.22,-121.7,571.9,-12.9,578,4557,0.17,1.80,0.00,0.000,4,0.186,0.045,2142,3758,3992
$GC,4615,-1.16,-121.7,579.3,-11.7,580,4621,0.00,1.65,0.00,0.000,6,0.000,0.025,2142,2599,3991
$GC,4931,-1.16,-121.7,612.4,-10.4,596,4934,0.00,1.80,0.00,0.000,4,0.000,0.048,2139,3758,3989
$GC,5027,-1.10,-121.7,623.8,-13.2,600,5031,0.17,1.65,0.00,0.000,6,0.170,0.026,2184,2610,3989
$GC,5356,-1.30,-121.7,654.5,-9.5,616,5358,0.17,0.00,0.00,0.000,6,0.072,0.000,2118,2610,3987
$GC,5664,-1.25,-121.7,690.6,-11.0,631,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2610,3984
$GC,5972,-1.19,-121.7,724.3,-11.3,646,5980,0.15,1.80,0.00,0.000,4,0.175,0.049,2152,3756,3981
$GC,6021,-1.19,-121.7,730.0,-11.0,648,6025,0.00,1.67,0.00,0.000,6,0.000,0.028,2152,2625,3981
$GC,6356,-1.26,-121.7,767.1,-11.5,664,6360,0.00,2.28,0.00,0.000,4,0.000,0.028,2152,1067,3978
$GC,6412,-1.36,-121.7,774.2,-12.1,666,6418,0.12,2.33,0.00,0.000,6,0.084,0.037,2101,2587,3978
$GC,6728,-1.25,-121.7,816.8,-13.1,682,6733,0.15,1.80,0.00,0.000,4,0.195,0.049,2130,3751,3975
$GC,6819,-1.20,-121.7,828.1,-12.4,686,6823,0.00,1.62,0.00,0.000,6,0.000,0.028,2130,2637,3975
$GC,7152,-1.20,-121.7,866.3,-11.3,702,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2637,3972
$GC,7462,-1.20,-121.7,903.1,-11.8,717,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2637,3970
$GC,7771,-1.20,-121.7,938.8,-11.4,732,7775,0.00,2.30,0.00,0.000,4,0.000,0.028,2130,1072,3968
$GC,7792,-1.20,-121.7,941.4,-11.5,733,7797,0.12,2.33,0.00,0.000,6,0.177,0.037,2156,2584,3968
$GC,8116,-1.30,-121.7,974.3,-10.4,749,8124,0.00,1.83,0.00,0.000,4,0.000,0.054,2153,3755,3966
$GC,8219,-1.30,-121.7,986.3,-11.8,753,8223,0.00,1.65,0.00,0.000,6,0.000,0.031,2153,2654,3966
$STATE,8269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8269,begin apogee
$GC,8277,-0.22,0.0,991.9,10.8,756,8373,1.08,0.00,91.22,1.412,6,0.162,0.000,2467,2559,3532
$STATE,8374,end apogee,CONTROL_FINISHED_OK
$STATE,8374,begin climb
$GC,8376,1.25,121.7,996.7,0.0,761,8487,1.38,2.05,103.62,1.368,4,0.064,0.051,2948,3758,3034
$GC,8728,0.53,125.6,972.8,12.8,777,8740,0.93,1.83,4.32,0.881,6,0.220,0.027,2723,2527,3018
$GC,9052,0.73,219.0,951.2,6.4,793,9138,0.17,2.28,77.45,1.351,4,0.079,0.031,2791,1122,2638
$GC,9166,0.73,222.4,939.3,12.8,798,9175,0.00,2.20,3.72,0.763,6,0.000,0.034,2791,2503,2627
$GC,9491,0.76,250.2,901.8,11.1,814,9521,0.00,2.20,23.70,1.289,4,0.000,0.031,2791,1122,2512
$GC,9603,0.87,268.6,889.4,11.7,819,9625,0.10,2.15,16.92,1.245,6,0.098,0.035,2827,2494,2437
$GC,9933,0.87,268.6,846.2,13.1,835,9937,0.00,2.10,0.00,0.000,4,0.000,0.031,2831,1108,2431
$GC,9973,0.87,268.9,841.1,13.0,836,9980,0.00,2.12,0.00,0.000,6,0.000,0.036,2831,2482,2431
$GC,10288,0.87,268.9,797.7,13.9,852,10292,0.00,2.05,0.00,0.000,4,0.000,0.031,2836,1118,2429
$GC,10317,0.87,268.9,793.7,13.8,853,10320,0.00,2.10,0.00,0.000,6,0.000,0.035,2836,2485,2429
$GC,10645,0.82,268.9,747.6,13.9,869,10648,0.00,2.05,0.00,0.000,4,0.000,0.030,2843,1114,2428
$GC,10690,0.76,268.9,741.0,13.6,871,10695,0.20,2.10,0.00,0.000,6,0.185,0.035,2793,2482,2428
$GC,11020,0.88,289.9,702.0,11.5,887,11043,0.10,2.15,18.02,1.197,4,0.099,0.031,2829,1117,2349
$GC,11111,0.88,289.9,689.0,14.3,891,11114,0.00,2.10,0.00,0.000,6,0.000,0.035,2829,2466,2347
$GC,11443,0.88,289.9,643.1,14.1,907,11446,0.00,2.05,0.00,0.000,4,0.000,0.032,2833,1106,2346
$GC,11499,0.88,289.9,635.3,13.6,909,11503,0.00,2.08,0.00,0.000,6,0.000,0.036,2834,2455,2345
$GC,11820,0.89,294.6,592.8,12.7,925,11829,0.00,2.03,4.85,0.874,4,0.000,0.033,2837,1116,2331
$GC,11881,0.89,300.2,584.8,12.6,927,11892,0.00,2.08,6.65,0.973,6,0.000,0.037,2837,2461,2307
$GC,12215,0.91,317.1,543.9,11.8,944,12237,0.00,2.05,15.05,1.079,4,0.000,0.051,2837,3770,2239
$GC,12265,0.86,317.1,537.0,14.1,946,12269,0.00,1.98,0.00,0.000,6,0.000,0.025,2844,2450,2238
$GC,12583,0.86,317.1,496.2,13.1,962,12587,0.00,1.98,0.00,0.000,4,0.000,0.031,2853,1117,2236
$GC,12759,0.87,325.3,473.0,12.5,977,12775,0.00,2.00,8.07,0.946,6,0.000,0.035,2853,2429,2205
$GC,13094,0.90,348.6,431.6,11.4,1009,13119,0.00,2.00,20.75,1.006,4,0.000,0.031,2859,1121,2109
$GC,13177,1.01,369.0,421.9,11.6,1016,13201,0.00,1.98,18.10,0.974,6,0.000,0.034,2859,2401,2027
$GC,13519,1.12,383.6,379.6,12.0,1048,13537,0.12,1.95,12.45,0.916,4,0.084,0.030,2912,1120,1967
$GC,13576,1.07,383.6,371.5,14.8,1052,13583,0.00,1.92,0.00,0.000,6,0.000,0.033,2912,2375,1966
$GC,13903,1.07,383.6,323.2,14.2,1083,13907,0.00,1.88,0.00,0.000,4,0.000,0.031,2914,1117,1964
$GC,13964,1.07,383.9,314.4,13.0,1088,13972,0.00,1.90,0.00,0.000,6,0.000,0.032,2914,2370,1964
$GC,14302,1.07,383.9,269.0,14.3,1139,14308,0.00,2.17,0.00,0.000,4,0.000,0.048,2914,3772,1963
$GC,14452,1.00,383.9,247.7,14.1,1165,14458,0.20,2.00,0.00,0.000,6,0.177,0.025,2870,2387,1963
$GC,14797,1.23,416.6,210.6,10.7,1226,14828,0.17,0.00,27.83,0.808,6,0.076,0.000,2944,2384,1833
$GC,15166,1.23,416.6,160.0,15.2,1291,15172,0.00,1.88,0.00,0.000,4,0.000,0.028,2951,1101,1829
$GC,15381,1.26,444.3,131.4,11.1,1329,15410,0.00,1.98,23.30,0.722,6,0.000,0.030,2951,2419,1719
$GC,15751,1.35,444.3,84.0,13.3,1394,15757,0.00,1.92,0.00,0.000,4,0.000,0.028,2957,1111,1715
$GC,15907,1.50,468.4,64.8,11.3,1421,15933,0.20,1.90,20.02,0.653,6,0.072,0.029,3031,2394,1621
$GC,16274,1.44,468.4,16.7,13.9,1485,16280,0.00,2.10,0.00,0.000,4,0.000,0.044,3031,3765,1617
$GC,16298,1.34,468.4,12.5,15.2,1489,16305,0.25,2.05,0.00,0.000,6,0.186,0.021,2976,2347,1616
$STATE,16381,end climb,SURFACE_DEPTH_REACHED
$STATE,16382,begin surface coast
$FINISH,1.8,1.021543
$STATE,16414,end surface coast,CONTROL_FINISHED_OK
$STATE,16414,begin surface
$SM_CCo,16492,0.00,0.000,0,0,1614,469.99
$SM_GC,2.87,7.62,0.00,0.00,0.058,0.000,0.000,140,2473,1614,-7.49,1.30,469.99
$IRIDIUM_FIX,2453.69,12508.48,121098,191931
$TT8_MAMPS,0.028379
$HUMID,1620
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,58.834
$10V_AH,10.7,32.910
$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,23.900,138.525,496.075,0.000,0.000,28.435,38.303,184.089,8.000,0.000,0.000,33.410,2675.047,10278.279,611.326,2696.758,632.182,0.000,1988.802,0.000,2620.489,0.000,54.443,0.000
$DEVICE_MAMPS,233.168,66.729,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.648,1038.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82086,1509
$CAP_FILE_SIZE,170001,0
$CFSIZE,260165632,198131712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,106.0,1
$GPS,190709,044659,2503.858,12422.832,37,1.4,43,-3.8