version: 66.04
glider: 167
mission: 2
dive: 337
start: 7 19 109 23 48 36
data:
$ID,167
$MISSION,2
$DIVE,337
$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,-11975.946
$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,78
$R_STBD_OVSHOOT,43
$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
$GPS1,234130,2504.849,12420.221,38,1.5,44,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-66.9
$GPS2,234814,2504.859,12420.312,13,1.6,13,-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,265.4,56603,-24.8,-13.043
$D_GRID,1986
$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,-29.70,0.000,2,0.000,0.000,140,2447,2272
$GC,50,-1.25,-121.7,3.2,-2.4,5,120,8.07,2.15,-56.85,0.000,4,0.231,0.038,2134,1031,3989
$GC,184,-0.91,-121.7,20.1,-19.7,27,192,0.43,2.10,0.00,0.000,6,0.166,0.029,2244,2434,3990
$GC,531,-0.97,-121.7,76.2,-15.7,88,537,0.00,2.03,0.00,0.000,4,0.000,0.044,2235,3758,3991
$GC,678,-0.97,-121.7,97.0,-12.7,114,685,0.00,1.88,0.00,0.000,6,0.000,0.021,2235,2414,3992
$GC,1024,-1.10,-121.7,140.7,-13.0,175,1031,0.12,2.08,0.00,0.000,4,0.074,0.042,2171,3767,3993
$GC,1140,-0.91,-121.7,160.6,-18.2,195,1147,0.28,1.77,0.00,0.000,6,0.156,0.021,2248,2483,3993
$GC,1490,-1.33,-121.7,197.9,-9.3,256,1496,0.32,1.95,0.00,0.000,4,0.054,0.043,2109,3754,3994
$GC,1639,-1.00,-121.7,222.7,-17.7,282,1646,0.40,1.75,0.00,0.000,6,0.166,0.023,2221,2497,3994
$GC,1987,-1.34,-121.7,261.4,-9.5,343,1994,0.28,1.92,0.00,0.000,4,0.056,0.043,2100,3755,3994
$GC,2058,-1.02,-121.7,272.4,-17.0,355,2066,0.40,1.73,0.00,0.000,6,0.166,0.023,2211,2523,3995
$GC,2399,-1.21,-121.7,309.6,-9.9,407,2403,0.17,1.90,0.00,0.000,4,0.065,0.043,2137,3763,3995
$GC,2561,-1.05,-121.7,331.7,-13.6,421,2568,0.25,1.70,0.00,0.000,6,0.160,0.023,2205,2546,3994
$GC,2887,-1.26,-121.7,364.8,-9.8,452,2891,0.20,1.85,0.00,0.000,4,0.064,0.042,2111,3754,3995
$GC,2982,-1.02,-121.7,378.1,-13.8,460,2989,0.38,1.65,0.00,0.000,6,0.166,0.024,2215,2576,3995
$GC,3308,-1.43,-121.7,410.1,-10.2,491,3312,0.32,1.83,0.00,0.000,4,0.057,0.045,2072,3762,3995
$GC,3325,-1.59,-121.7,412.3,-11.5,492,3332,0.12,1.65,0.00,0.000,6,0.091,0.025,2024,2585,3995
$GC,3650,-1.21,-121.7,468.4,-15.0,523,3655,0.43,2.20,0.00,0.000,4,0.180,0.024,2146,1054,3994
$GC,3679,-1.14,-121.7,471.9,-12.0,525,3684,0.12,2.28,0.00,0.000,6,0.167,0.032,2177,2573,3994
$GC,4005,-1.41,-121.7,500.5,-8.4,555,4010,0.22,1.80,0.00,0.000,4,0.065,0.046,2081,3757,3993
$GC,4022,-1.51,-121.7,502.3,-8.8,555,4030,0.00,1.65,0.00,0.000,6,0.000,0.024,2082,2587,3994
$GC,4339,-1.30,-121.7,542.8,-13.2,571,4344,0.17,2.20,0.00,0.000,4,0.180,0.025,2126,1063,3993
$GC,4401,-1.30,-121.7,550.7,-12.0,573,4407,0.00,2.25,0.00,0.000,6,0.000,0.032,2126,2562,3993
$GC,4716,-1.30,-121.7,588.5,-12.2,589,4720,0.00,1.83,0.00,0.000,4,0.000,0.048,2124,3757,3990
$GC,4830,-1.19,-121.7,603.6,-13.2,594,4835,0.15,1.67,0.00,0.000,6,0.169,0.026,2162,2592,3989
$GC,5165,-1.29,-121.7,640.6,-11.5,610,5169,0.00,1.83,0.00,0.000,4,0.000,0.051,2162,3743,3986
$GC,5245,-1.33,-121.7,650.3,-11.6,613,5249,0.12,1.62,0.00,0.000,6,0.081,0.026,2111,2606,3986
$GC,5566,-1.25,-121.7,693.9,-13.5,629,5570,0.12,2.25,0.00,0.000,4,0.174,0.026,2141,1058,3984
$GC,5624,-1.32,-121.7,700.8,-12.0,631,5631,0.00,2.30,0.00,0.000,6,0.000,0.034,2139,2578,3983
$GC,5940,-1.32,-121.7,736.6,-10.7,647,5943,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3750,3981
$GC,6023,-1.32,-121.7,746.5,-11.2,650,6029,0.00,1.62,0.00,0.000,6,0.000,0.027,2137,2621,3980
$GC,6340,-1.32,-121.7,782.7,-12.0,666,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2621,3978
$GC,6648,-1.32,-121.7,818.8,-11.2,681,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2621,3975
$GC,6959,-1.32,-121.7,852.7,-10.9,696,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2621,3973
$GC,7268,-1.32,-121.7,885.4,-10.6,711,7272,0.00,2.28,0.00,0.000,4,0.000,0.029,2137,1071,3971
$GC,7301,-1.37,-121.7,889.4,-10.8,712,7307,0.00,2.33,0.00,0.000,6,0.000,0.038,2137,2583,3970
$GC,7619,-1.37,-121.7,926.0,-12.2,728,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2583,3968
$GC,7926,-1.37,-121.7,963.4,-11.9,743,7929,0.00,1.83,0.00,0.000,4,0.000,0.056,2138,3749,3966
$GC,7959,-1.37,-121.7,967.7,-12.9,744,7963,0.00,1.62,0.00,0.000,6,0.000,0.030,2138,2639,3966
$STATE,8154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8154,begin apogee
$GC,8161,-0.22,0.0,990.9,11.6,754,8263,1.15,0.00,92.95,1.376,6,0.166,0.000,2471,2556,3533
$STATE,8263,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8266,1.25,121.7,996.5,0.0,759,8376,1.33,2.05,103.47,1.361,4,0.064,0.051,2942,3754,3035
$GC,8420,0.60,179.3,998.7,8.9,766,8475,0.85,1.85,49.03,1.329,6,0.216,0.026,2741,2542,2801
$GC,8792,0.77,238.8,966.0,8.8,784,8844,0.15,0.00,49.78,1.331,6,0.083,0.000,2795,2542,2558
$GC,9141,0.78,246.5,923.1,12.5,801,9154,0.00,2.22,6.68,1.071,4,0.000,0.031,2802,1106,2526
$GC,9216,0.78,246.8,913.2,13.0,804,9220,0.00,2.17,0.00,0.000,6,0.000,0.037,2802,2507,2525
$GC,9532,0.79,249.6,871.4,12.8,819,9541,0.00,2.15,3.88,0.818,4,0.000,0.031,2807,1113,2514
$GC,9696,0.80,261.3,850.7,12.2,826,9713,0.00,2.12,11.57,1.203,6,0.000,0.037,2807,2493,2466
$GC,10021,0.80,261.3,806.4,13.5,842,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2493,2463
$GC,10331,0.80,262.2,764.5,13.0,857,10335,0.00,2.08,0.00,0.000,4,0.000,0.031,2812,1111,2461
$GC,10387,0.81,264.5,757.0,12.9,859,10391,0.00,2.10,0.00,0.000,6,0.000,0.037,2812,2477,2461
$GC,10708,0.82,276.9,717.4,12.2,875,10730,0.00,2.10,13.80,1.178,4,0.000,0.033,2813,1124,2402
$GC,10777,0.90,280.0,708.8,12.8,878,10786,0.00,2.08,4.25,0.830,6,0.000,0.035,2812,2468,2390
$GC,11108,0.93,305.0,669.7,11.2,894,11132,0.00,0.00,22.60,1.180,6,0.000,0.000,2812,2467,2288
$GC,11438,1.03,321.1,631.8,11.9,910,11460,0.17,2.10,14.18,1.117,4,0.076,0.031,2893,1101,2221
$GC,11529,0.90,321.1,618.1,15.3,914,11534,0.22,2.12,0.00,0.000,6,0.193,0.035,2836,2466,2219
$GC,11857,0.92,333.2,576.0,12.2,930,11872,0.00,2.05,11.32,1.055,4,0.000,0.030,2844,1113,2173
$GC,11906,0.93,341.8,569.6,12.4,931,11920,0.00,2.10,8.80,0.997,6,0.000,0.037,2844,2463,2138
$GC,12228,0.98,343.2,529.3,12.9,947,12232,0.00,2.03,0.00,0.000,4,0.000,0.031,2850,1118,2135
$GC,12319,1.05,355.0,517.2,12.2,951,12342,0.10,2.03,12.23,1.023,6,0.095,0.035,2886,2439,2083
$GC,12655,1.00,355.0,467.9,14.4,977,12659,0.00,2.00,0.00,0.000,4,0.000,0.030,2895,1106,2080
$GC,12734,0.94,355.0,456.4,14.7,984,12739,0.17,2.03,0.00,0.000,6,0.187,0.035,2852,2427,2080
$GC,13065,1.06,378.1,416.8,11.4,1015,13090,0.10,2.05,19.88,0.987,4,0.089,0.031,2897,1121,1989
$GC,13163,1.06,378.1,403.3,13.5,1023,13170,0.00,2.00,0.00,0.000,6,0.000,0.034,2898,2417,1987
$GC,13490,1.06,378.1,357.3,14.6,1054,13494,0.00,1.95,0.00,0.000,4,0.000,0.030,2903,1111,1985
$GC,13574,1.06,378.1,344.8,13.8,1061,13580,0.00,1.95,0.00,0.000,6,0.000,0.033,2903,2399,1985
$GC,13901,1.07,384.3,302.5,12.6,1092,13913,0.00,1.92,5.70,0.733,4,0.000,0.028,2911,1108,1965
$GC,14031,1.07,384.3,283.9,13.7,1113,14037,0.00,1.90,0.00,0.000,6,0.000,0.034,2911,2360,1965
$GC,14375,1.07,384.3,238.4,13.4,1174,14381,0.00,1.85,0.00,0.000,4,0.000,0.030,2916,1107,1964
$GC,14421,1.07,384.3,232.8,13.1,1182,14427,0.00,1.83,0.00,0.000,6,0.000,0.033,2916,2323,1964
$GC,14765,1.08,391.3,190.7,12.5,1243,14779,0.00,1.80,8.27,0.713,4,0.000,0.026,2924,1098,1935
$GC,14831,1.08,393.4,182.6,12.9,1254,14838,0.12,1.75,0.00,0.000,6,0.169,0.030,2893,2278,1934
$GC,15178,1.30,432.1,143.7,10.3,1315,15216,0.17,0.00,33.72,0.745,6,0.075,0.000,2968,2279,1769
$GC,15555,1.30,432.1,93.0,13.5,1381,15561,0.00,2.30,0.00,0.000,4,0.000,0.045,2968,3767,1764
$GC,15658,1.26,441.6,79.6,12.4,1399,15672,0.00,2.25,8.73,0.615,6,0.000,0.023,2979,2204,1731
$GC,16011,1.34,459.0,40.0,11.8,1461,16030,0.00,1.65,15.38,0.621,4,0.000,0.029,2986,1103,1660
$GC,16082,1.47,477.4,31.7,11.7,1473,16106,0.00,1.73,15.65,0.609,6,0.000,0.028,2986,2267,1584
$STATE,16318,end climb,SURFACE_DEPTH_REACHED
$STATE,16318,begin surface coast
$FINISH,1.9,1.021538
$STATE,16341,end surface coast,CONTROL_FINISHED_OK
$STATE,16342,begin surface
$SM_CCo,16420,0.00,0.000,0,0,1579,479.07
$SM_GC,2.72,7.60,0.00,0.00,0.052,0.000,0.000,141,2457,1579,-7.49,0.85,479.07
$IRIDIUM_FIX,2453.69,12422.30,131098,191952
$TT8_MAMPS,0.028379
$HUMID,1613
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,59.758
$10V_AH,10.7,33.378
$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,25.250,129.875,511.850,0.000,0.000,26.447,42.872,189.515,8.000,0.000,0.000,13.662,2685.930,10229.887,653.658,2621.270,621.997,0.000,1987.845,0.000,2561.512,0.000,54.430,0.000
$DEVICE_MAMPS,230.867,85.904,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.064,1056.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81878,1519
$CAP_FILE_SIZE,168389,0
$CFSIZE,260165632,197697536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188,108.8,1
$GPS,200709,042330,2504.472,12420.069,38,1.4,39,-3.8