version: 66.04
glider: 167
mission: 2
dive: 335
start: 7 19 109 14 19 30
data:
$ID,167
$MISSION,2
$DIVE,335
$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,-11948.38
$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,57
$R_STBD_OVSHOOT,31
$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
$GPS1,140907,2504.879,12421.238,26,2.0,27,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.8
$GPS2,141910,2505.009,12421.489,12,2.4,31,-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,254.3,58523,-24.8,-13.043
$D_GRID,2003
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,50,0.00,0.00,-31.92,0.000,2,0.000,0.000,139,2441,2415
$GC,54,-1.25,-121.7,3.2,-1.9,5,115,8.27,2.10,-46.95,0.000,4,0.237,0.038,2133,1012,3988
$GC,198,-0.92,-121.7,26.3,-21.6,29,206,0.43,2.15,0.00,0.000,6,0.164,0.031,2243,2441,3989
$GC,545,-0.99,-121.7,78.4,-12.6,90,551,0.00,2.00,0.00,0.000,4,0.000,0.044,2235,3756,3990
$GC,596,-0.99,-121.7,85.8,-14.0,99,602,0.00,1.95,0.00,0.000,6,0.000,0.021,2235,2358,3990
$GC,941,-1.08,-121.7,129.4,-11.4,160,947,0.12,2.15,0.00,0.000,4,0.074,0.042,2177,3756,3992
$GC,994,-0.94,-121.7,136.5,-14.5,169,1002,0.22,1.95,0.00,0.000,6,0.156,0.021,2239,2360,3992
$GC,1342,-1.14,-121.7,174.5,-11.2,230,1348,0.17,2.15,0.00,0.000,4,0.062,0.041,2152,3763,3992
$GC,1491,-0.96,-121.7,198.2,-16.3,256,1498,0.30,1.92,0.00,0.000,6,0.155,0.022,2237,2382,3993
$GC,1839,-1.28,-121.7,236.5,-9.3,317,1846,0.28,2.10,0.00,0.000,4,0.056,0.041,2113,3757,3993
$GC,1876,-1.03,-121.7,241.5,-14.8,323,1883,0.35,1.85,0.00,0.000,6,0.167,0.022,2209,2431,3993
$GC,2223,-1.21,-121.7,281.5,-10.2,384,2229,0.15,1.98,0.00,0.000,4,0.071,0.024,2146,1043,3993
$GC,2260,-1.14,-121.7,285.9,-12.1,390,2266,0.15,2.08,0.00,0.000,6,0.166,0.029,2177,2449,3993
$GC,2593,-1.21,-121.7,323.1,-12.6,432,2597,0.00,1.98,0.00,0.000,4,0.000,0.045,2175,3764,3993
$GC,2768,-1.21,-121.7,347.0,-13.3,447,2774,0.00,1.83,0.00,0.000,6,0.000,0.023,2175,2460,3993
$GC,3094,-1.30,-121.7,380.2,-9.8,478,3098,0.15,2.00,0.00,0.000,4,0.071,0.044,2110,3757,3993
$GC,3323,-1.09,-121.7,411.6,-13.6,498,3330,0.30,1.77,0.00,0.000,6,0.166,0.025,2192,2502,3993
$GC,3649,-1.32,-121.7,445.4,-10.7,529,3653,0.20,1.95,0.00,0.000,4,0.067,0.044,2098,3768,3993
$GC,3711,-1.10,-121.7,454.4,-15.0,534,3717,0.32,1.77,0.00,0.000,6,0.166,0.023,2188,2506,3993
$GC,4036,-1.43,-121.7,486.7,-9.4,565,4041,0.25,2.10,0.00,0.000,4,0.061,0.025,2083,1044,3992
$GC,4288,-1.25,-121.7,521.4,-13.8,580,4292,0.22,2.12,0.00,0.000,6,0.171,0.032,2137,2468,3991
$GC,4604,-1.25,-121.7,559.0,-12.4,595,4608,0.00,1.98,0.00,0.000,4,0.000,0.046,2129,3765,3989
$GC,4660,-1.18,-121.7,566.4,-12.6,597,4665,0.15,1.85,0.00,0.000,6,0.167,0.024,2167,2469,3989
$GC,4984,-1.33,-121.7,599.8,-9.5,613,4989,0.15,2.00,0.00,0.000,4,0.072,0.047,2101,3754,3987
$GC,5013,-1.23,-121.7,603.4,-12.0,614,5017,0.17,1.85,0.00,0.000,6,0.173,0.026,2145,2467,3986
$GC,5342,-1.28,-121.7,638.0,-10.8,630,5346,0.00,2.00,0.00,0.000,4,0.000,0.048,2138,3758,3983
$GC,5427,-1.28,-121.7,648.4,-11.2,633,5434,0.00,1.85,0.00,0.000,6,0.000,0.025,2138,2466,3983
$GC,5742,-1.28,-121.7,685.5,-11.9,649,5746,0.00,2.03,0.00,0.000,4,0.000,0.049,2138,3761,3980
$GC,5792,-1.28,-121.7,691.8,-12.1,651,5796,0.00,1.83,0.00,0.000,6,0.000,0.027,2138,2494,3980
$GC,6120,-1.28,-121.7,728.4,-11.0,667,6124,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1043,3978
$GC,6147,-1.28,-121.7,731.5,-11.4,668,6151,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2490,3977
$GC,6469,-1.28,-121.7,767.4,-11.4,684,6473,0.00,1.98,0.00,0.000,4,0.000,0.052,2138,3763,3975
$GC,6508,-1.28,-121.7,772.2,-11.8,685,6515,0.00,1.83,0.00,0.000,6,0.000,0.026,2138,2501,3974
$GC,6824,-1.28,-121.7,808.0,-11.5,701,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2500,3972
$GC,7133,-1.28,-121.7,844.8,-11.9,716,7136,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1048,3970
$GC,7166,-1.28,-121.7,849.0,-12.6,717,7170,0.00,2.22,0.00,0.000,6,0.000,0.036,2138,2502,3970
$GC,7481,-1.28,-121.7,885.4,-11.7,732,7485,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1040,3968
$GC,7516,-1.33,-121.7,889.4,-11.7,733,7520,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2490,3968
$GC,7832,-1.33,-121.7,927.0,-12.0,748,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2490,3965
$GC,8141,-1.33,-121.7,964.4,-12.2,763,8144,0.00,1.98,0.00,0.000,4,0.000,0.054,2138,3751,3964
$GC,8169,-1.33,-121.7,968.1,-13.2,764,8172,0.00,1.83,0.00,0.000,6,0.000,0.028,2138,2505,3963
$STATE,8369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8370,begin apogee
$GC,8375,-0.22,0.0,992.2,11.4,774,8475,1.12,0.00,90.20,1.407,6,0.162,0.000,2467,2504,3532
$STATE,8476,end apogee,CONTROL_FINISHED_OK
$STATE,8476,begin climb
$GC,8478,1.25,121.7,997.3,0.0,779,8591,1.38,2.17,103.47,1.369,4,0.063,0.049,2950,3751,3035
$GC,8714,0.51,121.7,988.6,13.1,790,8719,0.98,1.85,0.00,0.000,6,0.219,0.026,2715,2511,3032
$GC,9036,0.72,208.3,965.8,6.8,806,9114,0.17,2.22,70.80,1.353,4,0.079,0.031,2785,1118,2683
$GC,9182,0.75,230.1,950.3,11.5,812,9209,0.00,2.17,19.30,1.268,6,0.000,0.035,2785,2491,2594
$GC,9519,0.79,258.0,911.1,11.0,829,9544,0.00,0.00,23.67,1.288,6,0.000,0.000,2785,2492,2480
$GC,9848,0.88,284.0,873.4,11.2,845,9878,0.12,2.17,22.92,1.276,4,0.087,0.032,2834,1118,2373
$GC,9957,0.88,284.0,858.1,15.1,850,9961,0.00,2.15,0.00,0.000,6,0.000,0.035,2835,2492,2370
$GC,10290,0.84,284.0,811.2,14.4,866,10294,0.00,2.08,0.00,0.000,4,0.000,0.031,2842,1120,2367
$GC,10351,0.84,284.0,801.9,15.3,868,10357,0.00,2.10,0.00,0.000,6,0.000,0.035,2843,2482,2367
$GC,10668,0.78,284.0,756.7,13.9,884,10672,0.17,2.05,0.00,0.000,4,0.184,0.030,2805,1126,2366
$GC,10701,0.88,301.6,752.4,11.8,885,10720,0.00,2.08,15.12,1.200,6,0.000,0.035,2806,2475,2302
$GC,11044,0.97,310.1,709.9,12.4,902,11059,0.15,2.10,8.38,1.085,4,0.082,0.032,2869,1124,2267
$GC,11139,0.89,310.1,695.3,15.0,906,11143,0.15,2.05,0.00,0.000,6,0.189,0.035,2833,2453,2266
$GC,11465,0.89,310.1,648.3,14.9,922,11469,0.00,2.00,0.00,0.000,4,0.000,0.031,2840,1120,2264
$GC,11516,0.89,310.1,640.8,14.4,924,11519,0.00,2.03,0.00,0.000,6,0.000,0.036,2840,2440,2264
$GC,11842,0.89,310.1,594.9,13.1,940,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2440,2263
$GC,12152,0.92,331.4,557.9,11.5,955,12177,0.00,2.05,18.55,1.102,4,0.000,0.031,2842,1120,2180
$GC,12264,0.98,339.9,544.1,12.4,960,12279,0.00,2.03,8.07,0.976,6,0.000,0.034,2842,2434,2147
$GC,12596,1.05,339.9,499.9,13.4,976,12600,0.12,1.98,0.00,0.000,4,0.084,0.031,2896,1113,2144
$GC,12669,0.98,339.9,489.0,16.0,982,12677,0.15,2.00,0.00,0.000,6,0.189,0.035,2860,2423,2143
$GC,12994,1.00,358.6,448.7,11.7,1013,13017,0.00,2.03,16.75,1.004,4,0.000,0.029,2867,1120,2069
$GC,13176,1.07,377.8,427.4,11.7,1029,13199,0.00,1.95,16.95,0.976,6,0.000,0.033,2867,2395,1991
$GC,13516,1.17,377.8,384.1,13.9,1061,13520,0.15,1.92,0.00,0.000,4,0.081,0.029,2930,1110,1987
$GC,13562,1.07,377.8,377.0,16.7,1065,13566,0.17,1.95,0.00,0.000,6,0.185,0.035,2886,2388,1986
$GC,13892,1.07,382.3,332.0,12.7,1096,13903,0.00,2.15,4.68,0.686,4,0.000,0.049,2886,3758,1973
$GC,13927,1.07,382.3,327.3,13.7,1099,13931,0.00,2.00,0.00,0.000,6,0.000,0.025,2894,2394,1972
$GC,14259,1.14,392.4,284.2,12.3,1140,14277,0.00,1.90,10.23,0.815,4,0.000,0.031,2898,1106,1932
$GC,14387,1.25,413.6,269.6,11.5,1162,14412,0.15,1.95,19.05,0.841,6,0.084,0.032,2956,2401,1844
$GC,14752,1.20,413.6,213.6,16.6,1226,14759,0.00,2.12,0.00,0.000,4,0.000,0.048,2957,3765,1840
$GC,14784,1.06,413.6,208.0,17.0,1231,14791,0.30,2.05,0.00,0.000,6,0.183,0.024,2887,2360,1839
$GC,15130,1.28,437.3,165.5,11.3,1292,15155,0.17,1.90,19.90,0.747,4,0.076,0.031,2969,1110,1749
$GC,15279,1.28,437.3,143.6,14.1,1318,15286,0.00,1.88,0.00,0.000,6,0.000,0.031,2969,2357,1746
$GC,15625,1.29,443.0,95.0,12.6,1379,15636,0.00,0.00,5.97,0.575,6,0.000,0.000,2969,2357,1725
$GC,15974,1.40,476.4,51.7,10.7,1441,16011,0.00,1.90,27.85,0.651,4,0.000,0.028,2976,1107,1588
$GC,16133,1.60,501.3,34.7,11.3,1468,16163,0.25,1.85,20.88,0.621,6,0.072,0.029,3069,2346,1487
$STATE,16335,end climb,SURFACE_DEPTH_REACHED
$STATE,16335,begin surface coast
$FINISH,1.8,0.998086
$STATE,16359,end surface coast,CONTROL_FINISHED_OK
$STATE,16359,begin surface
$SM_CCo,16438,0.00,0.000,0,0,1480,503.36
$SM_GC,2.73,7.85,0.00,0.00,0.052,0.000,0.000,140,2453,1480,-7.49,0.74,503.36
$IRIDIUM_FIX,2453.69,12420.34,131098,141419
$TT8_MAMPS,0.028379
$HUMID,1631
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.4,59.391
$10V_AH,10.7,33.190
$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,25.950,140.875,522.750,0.000,0.000,55.814,74.684,244.635,8.250,0.000,0.000,32.268,2682.668,10237.462,649.660,2711.030,746.835,0.000,2025.181,0.000,2620.950,0.000,57.257,0.000
$DEVICE_MAMPS,237.003,72.098,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.295,1038.511,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82167,1508
$CAP_FILE_SIZE,172835,0
$CFSIZE,260165632,197869568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 85.3,1
$GPS,190709,185437,2504.870,12421.002,34,1.1,35,-3.8