version: 66.04
glider: 167
mission: 2
dive: 336
start: 7 19 109 19 1 48
data:
$ID,167
$MISSION,2
$DIVE,336
$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,-11961.657
$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,77
$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
$GPS1,185437,2504.870,12421.002,34,1.1,35,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-64.2
$GPS2,190126,2504.896,12421.160,10,1.9,10,-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,260.5,57933,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,41,0.00,0.00,-24.27,0.000,2,0.000,0.000,141,2453,2094
$GC,44,-1.25,-121.7,3.0,-2.1,4,124,8.00,2.15,-66.07,0.000,4,0.227,0.039,2141,1037,3989
$GC,176,-0.95,-121.7,19.5,-22.1,26,184,0.38,2.08,0.00,0.000,6,0.164,0.028,2236,2430,3990
$GC,523,-0.95,-121.7,76.9,-13.5,87,529,0.00,2.03,0.00,0.000,4,0.000,0.042,2228,3763,3992
$GC,582,-0.90,-121.7,84.9,-13.9,97,588,0.00,1.92,0.00,0.000,6,0.000,0.022,2228,2385,3992
$GC,926,-1.00,-121.7,129.2,-11.6,158,933,0.00,2.10,0.00,0.000,4,0.000,0.041,2218,3756,3993
$GC,1069,-1.00,-121.7,147.1,-13.6,183,1075,0.00,1.83,0.00,0.000,6,0.000,0.022,2218,2442,3994
$GC,1414,-1.12,-121.7,190.5,-11.5,244,1420,0.00,2.00,0.00,0.000,4,0.000,0.041,2209,3755,3995
$GC,1551,-1.12,-121.7,207.1,-12.6,268,1557,0.00,1.75,0.00,0.000,6,0.000,0.023,2209,2494,3995
$GC,1896,-1.22,-121.7,243.1,-10.0,329,1903,0.17,1.92,0.00,0.000,4,0.067,0.041,2125,3756,3996
$GC,1988,-0.92,-121.7,256.7,-17.3,345,1995,0.43,1.75,0.00,0.000,6,0.165,0.022,2244,2501,3995
$GC,2335,-1.39,-121.7,292.0,-9.0,406,2342,0.38,1.92,0.00,0.000,4,0.053,0.044,2085,3752,3995
$GC,2596,-1.02,-121.7,334.9,-17.7,434,2600,0.45,1.67,0.00,0.000,6,0.170,0.023,2210,2547,3995
$GC,2927,-1.37,-121.7,370.2,-10.4,465,2932,0.28,1.85,0.00,0.000,4,0.058,0.044,2094,3750,3996
$GC,2984,-1.07,-121.7,378.4,-16.2,470,2988,0.38,1.70,0.00,0.000,6,0.167,0.023,2197,2536,3996
$GC,3315,-1.27,-121.7,413.0,-9.6,501,3319,0.17,1.88,0.00,0.000,4,0.067,0.044,2124,3756,3996
$GC,3440,-1.08,-121.7,429.2,-13.7,512,3445,0.25,1.70,0.00,0.000,6,0.166,0.025,2191,2553,3995
$GC,3772,-1.38,-121.7,461.8,-9.6,543,3777,0.22,2.15,0.00,0.000,4,0.064,0.024,2096,1053,3995
$GC,3823,-1.24,-121.7,468.1,-13.3,547,3828,0.20,2.17,0.00,0.000,6,0.164,0.031,2142,2512,3994
$GC,4147,-1.24,-121.7,505.6,-10.9,575,4151,0.00,1.90,0.00,0.000,4,0.000,0.046,2137,3761,3994
$GC,4265,-1.16,-121.7,520.0,-12.6,580,4269,0.12,1.73,0.00,0.000,6,0.171,0.025,2168,2551,3993
$GC,4598,-1.30,-121.7,551.4,-9.7,596,4602,0.12,1.85,0.00,0.000,4,0.079,0.045,2111,3748,3992
$GC,4636,-1.13,-121.7,556.9,-13.5,597,4643,0.25,1.67,0.00,0.000,6,0.169,0.025,2178,2569,3992
$GC,4953,-1.34,-121.7,588.4,-9.3,613,4957,0.17,1.85,0.00,0.000,4,0.072,0.047,2097,3760,3991
$GC,4976,-1.34,-121.7,591.0,-11.0,614,4980,0.00,1.73,0.00,0.000,6,0.000,0.026,2098,2579,3990
$GC,5310,-1.20,-121.7,632.4,-12.6,630,5314,0.17,1.83,0.00,0.000,4,0.174,0.047,2142,3753,3989
$GC,5379,-1.15,-121.7,640.4,-12.0,633,5383,0.12,1.67,0.00,0.000,6,0.174,0.027,2172,2591,3988
$GC,5714,-1.31,-121.7,677.4,-11.1,649,5716,0.15,0.00,0.00,0.000,6,0.077,0.000,2114,2591,3986
$GC,6020,-1.24,-121.7,718.3,-12.7,664,6025,0.12,2.22,0.00,0.000,4,0.175,0.026,2144,1063,3982
$GC,6042,-1.24,-121.7,721.1,-12.6,665,6046,0.00,2.28,0.00,0.000,6,0.000,0.035,2140,2562,3983
$GC,6364,-1.24,-121.7,756.5,-10.8,681,6368,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3740,3980
$GC,6397,-1.24,-121.7,760.7,-12.0,682,6401,0.00,1.65,0.00,0.000,6,0.000,0.027,2138,2596,3980
$GC,6718,-1.24,-121.7,796.8,-11.2,698,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2596,3978
$GC,7028,-1.24,-121.7,833.8,-11.9,713,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2596,3975
$GC,7337,-1.24,-121.7,870.4,-11.6,728,7340,0.00,1.83,0.00,0.000,4,0.000,0.053,2137,3754,3973
$GC,7394,-1.24,-121.7,877.4,-12.7,730,7397,0.00,1.67,0.00,0.000,6,0.000,0.028,2137,2602,3973
$GC,7716,-1.24,-121.7,914.1,-10.8,746,7720,0.00,2.25,0.00,0.000,4,0.000,0.028,2137,1066,3971
$GC,7761,-1.29,-121.7,919.5,-11.2,748,7765,0.00,2.28,0.00,0.000,6,0.000,0.038,2137,2547,3971
$GC,8083,-1.29,-121.7,953.8,-10.6,764,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2547,3968
$GC,8392,-1.29,-121.7,985.3,-10.1,779,8395,0.00,1.88,0.00,0.000,4,0.000,0.054,2137,3745,3967
$STATE,8435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8435,begin apogee
$GC,8442,-0.22,0.0,990.0,10.4,781,8544,1.12,0.00,93.05,1.381,6,0.165,0.000,2465,2532,3532
$STATE,8545,end apogee,CONTROL_FINISHED_OK
$STATE,8545,begin climb
$GC,8548,1.25,121.7,993.9,0.0,786,8658,1.40,2.05,103.07,1.363,4,0.066,0.049,2952,3744,3035
$GC,8914,0.53,132.1,968.0,12.3,802,8933,0.95,1.88,9.52,1.176,6,0.219,0.025,2720,2469,2993
$GC,9242,0.76,233.3,946.8,5.8,818,9332,0.17,2.12,83.65,1.341,4,0.080,0.031,2798,1120,2581
$GC,9369,0.78,248.4,934.6,12.0,824,9391,0.00,2.20,13.55,1.206,6,0.000,0.035,2798,2499,2519
$GC,9700,0.81,270.6,895.5,11.4,840,9724,0.00,2.17,19.40,1.261,4,0.000,0.032,2802,1124,2428
$GC,9817,0.88,274.7,881.0,12.8,845,9826,0.00,2.12,4.57,0.891,6,0.000,0.035,2802,2488,2412
$GC,10143,0.93,276.6,839.6,12.9,861,10148,0.12,2.08,0.00,0.000,4,0.085,0.030,2858,1122,2409
$GC,10239,0.83,276.6,825.5,14.6,865,10244,0.17,2.08,0.00,0.000,6,0.189,0.035,2814,2465,2408
$GC,10560,0.83,276.6,782.1,13.3,881,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2465,2407
$GC,10869,0.83,276.6,740.9,13.2,896,10873,0.00,2.03,0.00,0.000,4,0.000,0.031,2815,1118,2407
$GC,10971,0.89,282.1,727.7,12.6,900,10983,0.00,2.08,7.32,1.066,6,0.000,0.035,2816,2475,2381
$GC,11291,0.89,282.1,684.4,13.9,916,11295,0.00,2.05,0.00,0.000,4,0.000,0.032,2817,1113,2379
$GC,11399,0.94,282.1,669.6,13.1,920,11405,0.00,2.05,0.00,0.000,6,0.000,0.036,2817,2452,2379
$GC,11714,0.95,296.3,628.6,12.0,936,11738,0.10,2.10,13.02,1.120,4,0.088,0.054,2857,3755,2323
$GC,11767,0.78,296.3,621.1,15.0,938,11771,0.28,1.92,0.00,0.000,6,0.189,0.025,2795,2448,2322
$GC,12093,0.96,333.9,587.3,10.3,954,12131,0.17,2.03,32.22,1.134,4,0.084,0.032,2868,1123,2169
$GC,12282,0.96,333.9,560.1,14.2,961,12288,0.00,2.03,0.00,0.000,6,0.000,0.035,2869,2429,2164
$GC,12598,0.96,333.9,512.9,14.5,977,12601,0.00,1.98,0.00,0.000,4,0.000,0.031,2871,1124,2161
$GC,12692,0.96,333.9,500.0,13.3,981,12696,0.00,1.98,0.00,0.000,6,0.000,0.033,2871,2419,2161
$GC,13021,0.96,333.9,457.8,13.3,1011,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2419,2160
$GC,13349,0.97,337.9,414.6,12.8,1042,13353,0.00,1.98,0.00,0.000,4,0.000,0.031,2874,1093,2160
$GC,13387,0.99,357.1,409.5,11.7,1045,13411,0.00,2.00,18.83,0.976,6,0.000,0.032,2874,2418,2075
$GC,13729,1.01,369.2,368.5,12.2,1077,13745,0.00,1.98,11.38,0.897,4,0.000,0.030,2875,1113,2026
$GC,13852,1.11,383.5,353.9,12.0,1087,13874,0.00,1.98,12.80,0.887,6,0.000,0.032,2875,2409,1967
$GC,14194,1.21,383.5,309.0,13.5,1119,14198,0.17,1.92,0.00,0.000,4,0.077,0.028,2946,1120,1964
$GC,14263,1.09,383.5,298.6,15.4,1125,14270,0.20,1.98,0.00,0.000,6,0.179,0.032,2895,2422,1963
$GC,14607,1.17,383.5,250.6,14.1,1186,14615,0.00,1.95,0.00,0.000,4,0.000,0.028,2902,1121,1964
$GC,14677,1.24,383.5,240.8,14.0,1198,14685,0.12,1.92,0.00,0.000,6,0.090,0.031,2949,2404,1964
$GC,15024,1.17,383.5,192.6,13.7,1259,15030,0.00,1.90,0.00,0.000,4,0.000,0.028,2954,1113,1963
$GC,15117,1.11,383.5,180.0,14.2,1275,15123,0.20,1.88,0.00,0.000,6,0.179,0.032,2903,2364,1963
$GC,15463,1.28,416.6,141.5,10.7,1336,15498,0.15,1.88,27.98,0.734,4,0.079,0.029,2968,1113,1832
$GC,15533,1.28,416.6,132.2,14.4,1348,15538,0.00,1.88,0.00,0.000,6,0.000,0.031,2968,2357,1830
$GC,15876,1.29,427.5,88.1,12.3,1409,15890,0.00,1.90,9.85,0.633,4,0.000,0.027,2976,1107,1788
$GC,16144,1.44,479.3,59.2,9.3,1456,16192,0.00,1.80,41.83,0.655,6,0.000,0.029,2976,2321,1576
$GC,16534,1.62,492.9,14.7,12.1,1524,16553,0.22,1.77,11.18,0.568,4,0.073,0.026,3076,1107,1523
$STATE,16602,end climb,SURFACE_DEPTH_REACHED
$STATE,16602,begin surface coast
$FINISH,1.8,1.009243
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16623,begin surface
$SM_CCo,16704,0.00,0.000,0,0,1519,493.79
$SM_GC,2.70,7.88,0.00,0.00,0.054,0.000,0.000,140,2447,1519,-7.50,0.57,493.79
$IRIDIUM_FIX,2456.07,12422.30,131098,141426
$TT8_MAMPS,0.028379
$HUMID,1606
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,59.574
$10V_AH,10.7,33.285
$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,26.000,136.175,513.225,0.000,0.000,30.402,36.118,193.898,8.000,0.000,0.000,12.647,2748.808,10317.531,627.943,2758.959,648.433,0.000,2035.542,0.000,2698.474,0.000,54.431,0.000
$DEVICE_MAMPS,227.032,53.690,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.098,1068.222,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82161,1539
$CAP_FILE_SIZE,173258,0
$CFSIZE,260165632,197779456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,104.4,1
$GPS,190709,234130,2504.849,12420.221,38,1.5,44,-3.8