version: 66.04
glider: 167
mission: 2
dive: 338
start: 7 20 109 4 30 50
data:
$ID,167
$MISSION,2
$DIVE,338
$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,-12012.96
$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,72
$R_STBD_OVSHOOT,44
$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
$GPS1,042330,2504.472,12420.069,38,1.4,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.8
$GPS2,043028,2504.490,12420.217,14,3.4,33,-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,279.5,56180,-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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.85,0.000,2,0.000,0.000,141,2457,2159
$GC,43,-1.25,-121.7,3.0,-1.5,4,124,8.23,2.15,-63.85,0.000,4,0.234,0.039,2138,1024,3990
$GC,189,-0.92,-121.7,21.3,-22.7,28,197,0.43,2.10,0.00,0.000,6,0.167,0.029,2247,2431,3990
$GC,536,-0.99,-121.7,78.5,-14.1,89,542,0.00,2.03,0.00,0.000,4,0.000,0.044,2239,3764,3992
$GC,713,-0.99,-121.7,102.0,-12.5,120,720,0.00,1.92,0.00,0.000,6,0.000,0.022,2239,2383,3992
$GC,1059,-1.34,-121.7,136.9,-10.6,181,1065,0.32,2.12,0.00,0.000,4,0.053,0.043,2097,3764,3993
$GC,1313,-0.96,-121.7,182.8,-18.0,226,1320,0.47,1.83,0.00,0.000,6,0.166,0.021,2230,2456,3994
$GC,1660,-1.17,-121.7,223.7,-11.8,287,1666,0.17,0.00,0.00,0.000,6,0.066,0.000,2150,2456,3995
$GC,2004,-1.07,-121.7,273.0,-15.1,348,2011,0.20,2.00,0.00,0.000,4,0.159,0.043,2205,3757,3995
$GC,2156,-1.13,-121.7,291.4,-12.1,374,2162,0.00,1.80,0.00,0.000,6,0.000,0.023,2204,2473,3995
$GC,2486,-1.46,-121.7,325.7,-9.9,411,2491,0.32,1.98,0.00,0.000,4,0.054,0.044,2068,3755,3996
$GC,2723,-1.05,-121.7,364.9,-17.4,431,2730,0.50,1.77,0.00,0.000,6,0.172,0.023,2206,2487,3996
$GC,3049,-1.27,-121.7,398.6,-10.0,462,3053,0.20,1.95,0.00,0.000,4,0.064,0.043,2112,3758,3996
$GC,3186,-1.06,-121.7,418.6,-15.3,474,3190,0.32,1.77,0.00,0.000,6,0.162,0.024,2202,2502,3995
$GC,3516,-1.39,-121.7,449.4,-9.0,505,3519,0.30,0.00,0.00,0.000,6,0.056,0.000,2084,2501,3995
$GC,3834,-1.20,-121.7,491.4,-13.1,535,3838,0.22,1.92,0.00,0.000,4,0.175,0.044,2141,3760,3995
$GC,3914,-1.12,-121.7,501.1,-11.8,542,3918,0.15,1.80,0.00,0.000,6,0.165,0.025,2179,2500,3994
$GC,4235,-1.30,-121.7,534.7,-9.9,558,4239,0.15,1.95,0.00,0.000,4,0.074,0.046,2111,3758,3992
$GC,4327,-1.14,-121.7,546.8,-13.4,562,4331,0.25,1.77,0.00,0.000,6,0.167,0.025,2178,2516,3993
$GC,4661,-1.33,-121.7,581.6,-10.2,578,4665,0.17,1.92,0.00,0.000,4,0.072,0.047,2098,3753,3991
$GC,4756,-1.14,-121.7,595.0,-13.7,582,4761,0.28,1.75,0.00,0.000,6,0.169,0.025,2172,2528,3990
$GC,5086,-1.33,-121.7,626.0,-8.9,598,5091,0.17,1.90,0.00,0.000,4,0.067,0.048,2094,3747,3988
$GC,5178,-1.12,-121.7,637.9,-14.0,602,5182,0.32,1.73,0.00,0.000,6,0.170,0.026,2183,2546,3986
$GC,5512,-1.45,-121.7,668.2,-8.7,618,5517,0.28,2.17,0.00,0.000,4,0.065,0.026,2075,1051,3985
$GC,5581,-1.30,-121.7,676.9,-13.3,621,5586,0.20,2.22,0.00,0.000,6,0.179,0.034,2122,2517,3984
$GC,5908,-1.30,-121.7,716.9,-12.2,637,5912,0.00,1.90,0.00,0.000,4,0.000,0.049,2114,3752,3981
$GC,6010,-1.17,-121.7,730.9,-14.1,641,6014,0.20,1.75,0.00,0.000,6,0.173,0.026,2166,2541,3980
$GC,6332,-1.31,-121.7,764.4,-10.2,657,6336,0.12,1.90,0.00,0.000,4,0.082,0.048,2111,3751,3978
$GC,6418,-1.18,-121.7,775.2,-12.9,660,6426,0.20,1.73,0.00,0.000,6,0.177,0.028,2162,2564,3977
$GC,6734,-1.30,-121.7,806.8,-9.7,676,6736,0.12,0.00,0.00,0.000,6,0.082,0.000,2113,2564,3975
$GC,7043,-1.24,-121.7,843.3,-11.8,691,7047,0.12,1.88,0.00,0.000,4,0.179,0.051,2137,3749,3973
$GC,7105,-1.24,-121.7,850.9,-12.3,693,7111,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2564,3972
$GC,7421,-1.24,-121.7,886.9,-11.5,709,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2564,3970
$GC,7731,-1.24,-121.7,923.1,-11.8,724,7734,0.00,2.22,0.00,0.000,4,0.000,0.030,2137,1060,3969
$GC,7759,-1.29,-121.7,926.6,-13.0,725,7763,0.00,2.25,0.00,0.000,6,0.000,0.038,2137,2516,3968
$GC,8080,-1.29,-121.7,966.8,-13.0,741,8084,0.00,1.92,0.00,0.000,4,0.000,0.055,2137,3744,3966
$GC,8159,-1.29,-121.7,977.7,-14.0,744,8163,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2568,3965
$STATE,8271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8271,begin apogee
$GC,8277,-0.22,0.0,992.6,12.8,750,8379,1.15,0.00,93.00,1.388,6,0.165,0.000,2471,2568,3532
$STATE,8379,end apogee,CONTROL_FINISHED_OK
$STATE,8380,begin climb
$GC,8382,1.25,121.7,999.1,0.0,755,8494,1.38,2.05,103.47,1.368,4,0.063,0.050,2953,3747,3034
$GC,8742,0.56,162.2,981.1,10.1,771,8783,0.90,1.80,33.92,1.327,6,0.217,0.026,2733,2526,2870
$GC,9103,0.76,235.6,954.6,7.8,789,9170,0.17,2.20,61.10,1.342,4,0.081,0.030,2802,1123,2570
$GC,9234,0.76,236.2,939.5,13.0,795,9238,0.00,2.15,0.00,0.000,6,0.000,0.034,2802,2489,2566
$GC,9561,0.78,248.0,898.5,12.2,811,9576,0.00,2.10,10.40,1.188,4,0.000,0.031,2806,1116,2520
$GC,9667,0.79,256.6,885.3,12.4,815,9681,0.00,2.12,8.68,1.143,6,0.000,0.035,2806,2483,2485
$GC,9998,0.80,268.9,844.5,12.2,831,10019,0.00,2.15,11.82,1.201,4,0.000,0.031,2811,1111,2434
$GC,10047,0.86,268.9,838.4,13.2,833,10051,0.00,2.12,0.00,0.000,6,0.000,0.035,2812,2478,2433
$GC,10375,0.89,289.3,800.7,11.6,849,10400,0.00,2.12,18.38,1.240,4,0.000,0.032,2812,1129,2352
$GC,10491,0.97,305.3,786.1,11.9,854,10511,0.12,2.08,14.68,1.197,6,0.089,0.036,2858,2460,2287
$GC,10841,0.90,305.3,735.8,14.9,871,10845,0.00,2.03,0.00,0.000,4,0.000,0.031,2866,1112,2282
$GC,10910,0.83,305.3,725.3,15.4,874,10915,0.20,2.08,0.00,0.000,6,0.192,0.037,2817,2455,2282
$GC,11237,0.89,305.3,681.5,13.2,890,11241,0.00,2.05,0.00,0.000,4,0.000,0.051,2817,3765,2280
$GC,11271,0.89,305.3,676.7,14.6,891,11275,0.00,1.95,0.00,0.000,6,0.000,0.026,2821,2437,2280
$GC,11593,0.95,311.2,635.4,12.6,907,11603,0.00,1.98,5.60,0.946,4,0.000,0.031,2829,1111,2262
$GC,11671,1.02,312.2,625.0,13.0,910,11678,0.12,2.05,0.00,0.000,6,0.088,0.036,2876,2449,2261
$GC,11987,0.93,312.2,579.5,13.9,926,11991,0.12,2.00,0.00,0.000,4,0.196,0.028,2854,1118,2261
$GC,12032,0.93,318.5,573.5,12.6,928,12046,0.00,2.03,7.43,0.992,6,0.000,0.035,2854,2437,2233
$GC,12364,0.93,318.5,529.0,13.1,944,12367,0.00,1.98,0.00,0.000,4,0.000,0.031,2855,1120,2231
$GC,12464,0.95,329.1,515.8,12.3,948,12480,0.00,2.00,10.40,1.016,6,0.000,0.034,2855,2436,2190
$GC,12803,0.96,340.1,472.7,12.2,974,12816,0.00,0.00,10.60,0.983,6,0.000,0.000,2855,2436,2145
$GC,13135,1.03,354.8,433.7,12.0,1005,13156,0.00,2.03,13.73,0.973,4,0.000,0.031,2855,1127,2084
$GC,13261,1.14,364.9,418.9,12.3,1016,13278,0.17,1.98,9.90,0.917,6,0.077,0.034,2920,2428,2043
$GC,13604,1.03,364.9,368.1,14.4,1048,13608,0.17,1.98,0.00,0.000,4,0.180,0.028,2878,1117,2039
$GC,13627,1.03,364.9,364.8,13.3,1050,13631,0.00,2.00,0.00,0.000,6,0.000,0.034,2878,2425,2039
$GC,13961,1.10,373.0,325.4,12.5,1081,13973,0.00,2.03,7.62,0.808,4,0.000,0.029,2885,1110,2011
$GC,14064,1.18,373.0,312.0,13.6,1090,14069,0.12,1.98,0.00,0.000,6,0.084,0.034,2932,2407,2010
$GC,14404,1.10,373.0,264.8,14.3,1143,14412,0.12,1.92,0.00,0.000,4,0.184,0.027,2910,1105,2010
$GC,14419,1.04,373.0,262.6,13.5,1145,14426,0.12,1.95,0.00,0.000,6,0.171,0.032,2880,2403,2009
$GC,14765,1.18,390.8,223.4,11.8,1206,14790,0.12,1.95,16.05,0.795,4,0.084,0.028,2934,1119,1938
$GC,14900,1.18,390.8,206.1,13.4,1229,14906,0.00,1.88,0.00,0.000,6,0.000,0.031,2934,2363,1936
$GC,15245,1.19,393.0,160.8,12.9,1290,15251,0.00,1.85,0.00,0.000,4,0.000,0.028,2941,1104,1936
$GC,15418,1.22,420.6,140.2,11.1,1320,15450,0.00,1.80,25.15,0.728,6,0.000,0.030,2941,2316,1816
$GC,15790,1.35,435.7,94.9,12.0,1385,15809,0.12,2.30,13.25,0.659,4,0.077,0.045,2992,3764,1754
$GC,15867,1.21,435.7,83.2,15.4,1398,15874,0.25,2.12,0.00,0.000,6,0.182,0.021,2938,2315,1754
$GC,16212,1.46,491.2,47.5,9.1,1459,16265,0.17,1.80,44.33,0.646,4,0.071,0.028,3020,1121,1528
$GC,16383,1.46,491.2,25.9,13.7,1489,16389,0.00,1.83,0.00,0.000,6,0.000,0.028,3019,2340,1524
$STATE,16553,end climb,SURFACE_DEPTH_REACHED
$STATE,16553,begin surface coast
$FINISH,1.6,0.998554
$STATE,16570,end surface coast,CONTROL_FINISHED_OK
$STATE,16570,begin surface
$SM_CCo,16647,0.00,0.000,0,0,1520,493.54
$SM_GC,2.68,7.72,0.00,0.00,0.054,0.000,0.000,139,2454,1520,-7.50,0.76,493.54
$IRIDIUM_FIX,2456.07,12420.34,131098,232339
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,59.943
$10V_AH,10.7,33.473
$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,27.750,134.100,519.500,0.000,0.000,28.800,34.883,189.276,8.000,0.000,0.000,36.384,2733.890,10255.831,620.079,2808.428,634.574,0.000,2040.971,0.000,2718.373,0.000,54.431,0.000
$DEVICE_MAMPS,233.935,67.496,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.101,1051.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82010,1522
$CAP_FILE_SIZE,175057,0
$CFSIZE,260165632,197603328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156,117.7,1
$GPS,200709,090931,2504.558,12419.693,39,1.9,40,-3.8