version: 66.04
glider: 167
mission: 2
dive: 314
start: 7 15 109 12 46 41
data:
$ID,167
$MISSION,2
$DIVE,314
$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,275
$T_MISSION,330
$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,-11503.771
$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,74
$R_STBD_OVSHOOT,53
$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
$GPS1,123937,2448.025,12418.643,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-67.5
$GPS2,124620,2448.033,12418.694,13,1.4,13,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,271.0,111550,-23.2,-12.000
$D_GRID,920
$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,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-23.88,0.000,2,0.000,0.000,140,2459,2265
$GC,44,-1.18,-121.7,3.1,-2.3,4,117,8.27,2.17,-54.58,0.000,4,0.235,0.037,2162,1020,3989
$GC,331,-0.81,-121.7,59.9,-22.5,54,338,0.45,2.10,0.00,0.000,6,0.160,0.029,2283,2433,3990
$GC,677,-0.92,-121.7,108.0,-10.9,115,683,0.00,2.03,0.00,0.000,4,0.000,0.044,2275,3764,3992
$GC,752,-1.01,-121.7,116.9,-12.1,128,759,0.15,1.92,0.00,0.000,6,0.071,0.021,2208,2379,3992
$GC,1097,-0.94,-121.7,167.0,-15.5,189,1103,0.12,1.88,0.00,0.000,4,0.157,0.024,2241,1054,3994
$GC,1150,-1.01,-121.7,174.4,-13.4,198,1157,0.00,2.05,0.00,0.000,6,0.000,0.028,2234,2449,3994
$GC,1498,-1.08,-121.7,215.1,-11.5,259,1504,0.12,1.98,0.00,0.000,4,0.076,0.044,2175,3754,3995
$GC,1561,-0.94,-121.7,224.1,-14.5,270,1569,0.22,1.83,0.00,0.000,6,0.153,0.022,2238,2442,3995
$GC,1909,-1.12,-121.7,260.7,-10.3,331,1916,0.15,2.03,0.00,0.000,4,0.067,0.043,2175,3761,3995
$GC,1980,-0.99,-121.7,270.0,-13.8,343,1987,0.17,1.83,0.00,0.000,6,0.159,0.023,2221,2463,3996
$GC,2327,-1.10,-121.7,309.6,-10.7,397,2330,0.00,1.98,0.00,0.000,4,0.000,0.044,2218,3752,3996
$GC,2372,-1.14,-121.7,314.6,-11.2,401,2377,0.12,1.83,0.00,0.000,6,0.074,0.023,2162,2456,3996
$GC,2704,-1.06,-121.7,354.8,-12.1,432,2706,0.15,0.00,0.00,0.000,6,0.160,0.000,2201,2456,3996
$GC,3023,-1.14,-121.7,386.0,-9.8,462,3027,0.00,2.00,0.00,0.000,4,0.000,0.044,2193,3759,3996
$GC,3131,-1.14,-121.7,398.3,-11.2,471,3137,0.00,1.83,0.00,0.000,6,0.000,0.024,2193,2456,3995
$GC,3456,-1.23,-121.7,435.0,-10.8,502,3460,0.12,2.00,0.00,0.000,4,0.079,0.044,2140,3763,3995
$GC,3570,-1.06,-121.7,450.2,-13.7,512,3574,0.22,1.80,0.00,0.000,6,0.162,0.024,2201,2491,3995
$GC,3901,-1.31,-121.7,483.2,-9.4,543,3906,0.20,2.08,0.00,0.000,4,0.065,0.025,2117,1046,3994
$GC,3935,-1.19,-121.7,487.2,-12.2,545,3941,0.20,2.12,0.00,0.000,6,0.169,0.031,2164,2473,3994
$GC,4256,-1.19,-121.7,525.3,-11.9,566,4259,0.00,1.98,0.00,0.000,4,0.000,0.048,2162,3767,3993
$GC,4358,-1.13,-121.7,537.9,-11.9,570,4361,0.00,1.83,0.00,0.000,6,0.000,0.025,2162,2484,3992
$GC,4679,-1.13,-121.7,574.2,-10.9,586,4683,0.00,2.05,0.00,0.000,4,0.000,0.026,2162,1056,3991
$GC,4724,-1.13,-121.7,579.3,-10.7,588,4728,0.00,2.15,0.00,0.000,6,0.000,0.034,2162,2482,3990
$GC,5058,-1.13,-121.7,615.0,-11.0,604,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2482,3988
$GC,5367,-1.13,-121.7,649.2,-10.9,619,5372,0.00,2.10,0.00,0.000,4,0.000,0.026,2162,1047,3986
$GC,5422,-1.13,-121.7,655.2,-10.8,621,5426,0.00,2.15,0.00,0.000,6,0.000,0.033,2155,2476,3986
$GC,5744,-1.13,-121.7,691.2,-11.3,637,5748,0.00,1.98,0.00,0.000,4,0.000,0.049,2152,3760,3983
$GC,5817,-1.08,-121.7,699.7,-11.0,640,5822,0.10,1.85,0.00,0.000,6,0.153,0.025,2195,2500,3982
$GC,6147,-1.24,-121.7,726.6,-7.6,656,6149,0.15,0.00,0.00,0.000,6,0.077,0.000,2139,2499,3980
$GC,6454,-1.19,-121.7,758.1,-10.5,671,6458,0.00,1.98,0.00,0.000,4,0.000,0.051,2137,3755,3977
$GC,6505,-1.08,-121.7,764.3,-12.7,673,6509,0.20,1.83,0.00,0.000,6,0.164,0.027,2190,2499,3976
$GC,6833,-1.23,-121.7,794.1,-9.0,689,6837,0.12,2.00,0.00,0.000,4,0.078,0.051,2140,3766,3974
$GC,6867,-1.14,-121.7,798.0,-11.3,690,6871,0.15,1.83,0.00,0.000,6,0.174,0.027,2177,2510,3974
$GC,7191,-1.23,-121.7,826.8,-8.7,706,7194,0.00,1.98,0.00,0.000,4,0.000,0.053,2177,3767,3971
$GC,7259,-1.30,-121.7,833.6,-9.3,709,7263,0.15,1.83,0.00,0.000,6,0.077,0.027,2122,2518,3971
$GC,7593,-1.18,-121.7,876.0,-13.4,725,7597,0.15,2.15,0.00,0.000,4,0.178,0.027,2159,1053,3969
$GC,7659,-1.18,-121.7,884.4,-11.8,728,7663,0.00,2.20,0.00,0.000,6,0.000,0.035,2153,2496,3968
$STATE,7963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7963,begin apogee
$GC,7970,-0.22,0.0,922.5,12.9,743,8068,1.08,0.00,89.88,1.355,6,0.159,0.000,2470,2496,3531
$STATE,8069,end apogee,CONTROL_FINISHED_OK
$STATE,8069,begin climb
$GC,8072,1.18,121.7,929.1,0.0,748,8181,1.27,2.22,101.10,1.319,4,0.064,0.030,2934,1142,3035
$GC,8244,0.70,185.0,932.4,7.8,755,8303,0.62,2.17,52.67,1.293,6,0.206,0.035,2776,2514,2777
$GC,8619,0.72,248.3,901.8,7.8,774,8676,0.00,2.08,51.67,1.294,4,0.000,0.054,2776,3748,2519
$GC,8694,0.73,257.1,894.6,11.4,777,8709,0.00,1.85,8.95,1.098,6,0.000,0.025,2776,2524,2482
$GC,9037,0.76,288.3,859.8,9.9,794,9080,0.00,2.20,28.70,1.189,4,0.000,0.031,2775,1120,2355
$GC,9144,0.88,300.7,848.3,11.2,798,9161,0.15,2.17,11.43,1.155,6,0.081,0.036,2831,2509,2306
$GC,9479,0.80,300.7,802.4,13.5,815,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2509,2301
$GC,9786,0.73,300.7,760.4,13.8,830,9791,0.17,2.10,0.00,0.000,4,0.176,0.030,2789,1114,2300
$GC,9837,0.82,308.2,754.3,11.5,832,9849,0.00,2.15,7.07,1.050,6,0.000,0.036,2788,2515,2275
$GC,10158,0.89,308.2,715.3,12.2,848,10160,0.12,0.00,0.00,0.000,6,0.085,0.000,2835,2516,2272
$GC,10468,0.82,308.2,669.5,15.2,863,10471,0.00,2.08,0.00,0.000,4,0.000,0.030,2844,1114,2272
$GC,10663,0.74,308.2,640.3,14.1,871,10671,0.22,2.12,0.00,0.000,6,0.183,0.037,2786,2505,2270
$GC,10980,0.88,334.8,605.5,10.2,887,11008,0.12,2.12,22.50,1.141,4,0.087,0.030,2835,1107,2167
$GC,11065,0.88,334.8,595.3,12.2,891,11069,0.00,2.12,0.00,0.000,6,0.000,0.035,2835,2480,2164
$GC,11398,0.88,334.8,549.8,14.8,907,11402,0.00,2.05,0.00,0.000,4,0.000,0.030,2841,1111,2161
$GC,11476,0.88,334.8,538.2,14.1,910,11480,0.00,2.08,0.00,0.000,6,0.000,0.035,2841,2465,2162
$GC,11800,0.88,334.8,494.3,12.6,928,11803,0.00,2.03,0.00,0.000,4,0.000,0.031,2848,1110,2160
$GC,11859,0.88,334.8,487.1,12.0,933,11862,0.00,2.05,0.00,0.000,6,0.000,0.036,2848,2452,2159
$GC,12191,0.88,334.8,446.0,12.3,964,12195,0.00,2.00,0.00,0.000,4,0.000,0.031,2853,1117,2159
$GC,12241,0.89,337.7,439.6,11.8,968,12247,0.00,1.95,0.00,0.000,6,0.000,0.035,2853,2409,2159
$GC,12570,0.89,337.7,399.1,12.4,999,12573,0.00,1.92,0.00,0.000,4,0.000,0.031,2860,1108,2159
$GC,12615,0.89,337.7,392.9,12.9,1003,12619,0.00,1.95,0.00,0.000,6,0.000,0.035,2860,2399,2159
$GC,12948,0.89,337.7,350.9,13.4,1034,12952,0.12,2.12,0.00,0.000,4,0.179,0.051,2830,3758,2159
$GC,13019,0.89,337.7,340.8,13.4,1040,13025,0.00,2.03,0.00,0.000,6,0.000,0.026,2830,2373,2159
$GC,13347,1.03,357.0,303.4,10.7,1071,13372,0.15,1.92,18.40,0.875,4,0.080,0.030,2898,1104,2075
$GC,13508,0.97,357.0,281.9,13.2,1096,13514,0.15,1.95,0.00,0.000,6,0.175,0.034,2860,2394,2074
$GC,13853,1.07,371.7,242.9,11.0,1157,13872,0.00,2.20,13.20,0.797,4,0.000,0.048,2860,3768,2015
$GC,13969,1.07,371.7,229.1,12.0,1177,13975,0.00,2.03,0.00,0.000,6,0.000,0.025,2868,2385,2014
$GC,14314,1.22,398.3,189.2,10.2,1238,14344,0.17,1.90,22.42,0.770,4,0.073,0.030,2950,1122,1907
$GC,14449,1.14,406.5,172.5,11.5,1261,14462,0.15,1.98,8.15,0.674,6,0.177,0.031,2914,2436,1873
$GC,14805,1.20,406.5,130.7,12.8,1323,14812,0.00,1.95,0.00,0.000,4,0.000,0.027,2921,1107,1871
$GC,14876,1.31,429.4,122.0,10.5,1335,14901,0.12,1.95,19.25,0.699,6,0.082,0.030,2972,2415,1780
$GC,15243,1.31,429.4,76.7,12.6,1399,15250,0.00,1.92,0.00,0.000,4,0.000,0.028,2980,1104,1777
$GC,15347,1.31,431.5,64.1,11.9,1417,15353,0.00,1.92,0.00,0.000,6,0.000,0.031,2980,2395,1776
$GC,15690,1.32,441.4,27.9,11.3,1478,15709,0.00,1.92,10.90,0.581,4,0.000,0.026,2988,1105,1732
$GC,15778,1.33,450.4,18.0,11.4,1493,15796,0.00,1.88,9.00,0.554,6,0.000,0.029,2988,2374,1695
$STATE,15909,end climb,SURFACE_DEPTH_REACHED
$STATE,15909,begin surface coast
$FINISH,1.7,1.000785
$STATE,15935,end surface coast,CONTROL_FINISHED_OK
$STATE,15936,begin surface
$SM_CCo,16013,0.00,0.000,0,0,1690,451.84
$SM_GC,2.74,7.65,0.00,0.00,0.057,0.000,0.000,140,2448,1690,-7.49,0.59,451.84
$IRIDIUM_FIX,2439.44,12418.28,091098,080805
$TT8_MAMPS,0.029146
$HUMID,1583
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,23.6,55.505
$10V_AH,10.8,31.243
$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,24.025,136.425,475.300,0.000,0.000,25.458,33.147,199.802,7.250,0.000,0.000,13.483,2696.942,9850.086,587.067,2651.509,618.678,0.000,1945.530,0.000,2587.643,0.000,49.450,0.000
$DEVICE_MAMPS,235.469,100.477,1354.522,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.679,1050.276,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82082,1521
$CAP_FILE_SIZE,168127,0
$CFSIZE,260165632,199680000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 95.3,1
$GPS,150709,171437,2448.094,12418.639,27,1.4,28,-3.7