version: 66.04
glider: 167
mission: 2
dive: 316
start: 7 15 109 21 57 36
data:
$ID,167
$MISSION,2
$DIVE,316
$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,-11534.046
$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,76
$R_STBD_OVSHOOT,49
$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
$GPS1,215025,2447.816,12419.045,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.4
$GPS2,215714,2447.804,12419.126,13,1.4,13,-3.7
$SPEED_LIMITS,0.226,0.258
$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,291.9,112070,-24.8,-13.043
$D_GRID,837
$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,-121.7,0.0,0.0,0,57,0.00,0.00,-39.78,0.000,2,0.000,0.000,141,2453,2437
$GC,60,-1.25,-121.7,3.3,-2.5,6,120,8.23,2.15,-46.17,0.000,4,0.238,0.038,2137,1024,3988
$GC,312,-0.94,-121.7,53.0,-19.1,50,319,0.40,2.10,0.00,0.000,6,0.171,0.028,2238,2439,3990
$GC,657,-0.94,-121.7,106.7,-14.6,111,663,0.00,2.00,0.00,0.000,4,0.000,0.043,2230,3757,3991
$GC,788,-0.94,-121.7,126.8,-14.3,134,794,0.00,1.88,0.00,0.000,6,0.000,0.022,2230,2408,3991
$GC,1132,-1.05,-121.7,171.3,-11.7,195,1138,0.00,2.05,0.00,0.000,4,0.000,0.042,2220,3753,3992
$GC,1247,-1.05,-121.7,186.2,-13.0,215,1253,0.00,1.77,0.00,0.000,6,0.000,0.022,2220,2471,3993
$GC,1592,-1.18,-121.7,230.9,-11.9,276,1599,0.15,1.95,0.00,0.000,4,0.067,0.043,2149,3754,3993
$GC,1684,-0.98,-121.7,244.5,-15.1,292,1691,0.28,1.77,0.00,0.000,6,0.160,0.023,2225,2486,3994
$GC,2030,-1.28,-121.7,278.8,-9.5,353,2038,0.22,1.95,0.00,0.000,4,0.061,0.043,2125,3757,3994
$GC,2085,-1.02,-121.7,286.4,-15.5,362,2092,0.32,1.75,0.00,0.000,6,0.164,0.023,2214,2506,3994
$GC,2418,-1.20,-121.7,328.2,-12.2,402,2422,0.17,1.92,0.00,0.000,4,0.065,0.044,2139,3757,3994
$GC,2531,-1.02,-121.7,345.4,-15.5,412,2536,0.28,1.75,0.00,0.000,6,0.162,0.023,2215,2507,3994
$GC,2863,-1.41,-121.7,376.4,-7.8,443,2867,0.30,1.92,0.00,0.000,4,0.057,0.044,2084,3757,3994
$GC,2935,-1.07,-121.7,386.4,-15.2,449,2943,0.40,1.75,0.00,0.000,6,0.172,0.023,2195,2509,3994
$GC,3262,-1.23,-121.7,418.3,-9.7,480,3266,0.15,1.92,0.00,0.000,4,0.074,0.043,2125,3764,3994
$GC,3319,-1.06,-121.7,425.5,-12.7,485,3324,0.28,1.77,0.00,0.000,6,0.162,0.024,2201,2507,3994
$GC,3650,-1.26,-121.7,457.2,-8.6,516,3655,0.17,1.92,0.00,0.000,4,0.067,0.044,2125,3754,3993
$GC,3777,-1.10,-121.7,472.2,-12.3,527,3781,0.22,1.73,0.00,0.000,6,0.165,0.025,2185,2545,3992
$GC,4106,-1.25,-121.7,504.9,-10.0,556,4108,0.15,0.00,0.00,0.000,6,0.069,0.000,2126,2545,3991
$GC,4415,-1.19,-121.7,545.2,-14.0,571,4417,0.12,0.00,0.00,0.000,6,0.176,0.000,2156,2544,3990
$GC,4726,-1.19,-121.7,582.9,-11.9,586,4729,0.00,1.88,0.00,0.000,4,0.000,0.048,2149,3750,3987
$GC,4817,-1.19,-121.7,594.2,-12.3,590,4821,0.00,1.73,0.00,0.000,6,0.000,0.027,2150,2571,3986
$GC,5151,-1.19,-121.7,632.2,-12.0,606,5155,0.00,1.85,0.00,0.000,4,0.000,0.050,2149,3756,3984
$GC,5201,-1.19,-121.7,638.5,-11.8,608,5204,0.00,1.70,0.00,0.000,6,0.000,0.027,2149,2573,3984
$GC,5528,-1.19,-121.7,674.5,-10.6,624,5536,0.00,1.85,0.00,0.000,4,0.000,0.049,2143,3761,3981
$GC,5615,-1.19,-121.7,684.5,-10.8,627,5621,0.00,1.67,0.00,0.000,6,0.000,0.028,2143,2599,3980
$GC,5931,-1.19,-121.7,716.5,-9.3,643,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2599,3979
$GC,6240,-1.19,-121.7,748.4,-10.6,658,6244,0.00,1.80,0.00,0.000,4,0.000,0.051,2139,3750,3976
$GC,6275,-1.14,-121.7,752.5,-12.1,659,6279,0.15,1.65,0.00,0.000,6,0.173,0.028,2176,2612,3975
$GC,6596,-1.29,-121.7,783.8,-9.5,675,6601,0.15,2.28,0.00,0.000,4,0.077,0.027,2121,1059,3973
$GC,6641,-1.29,-121.7,789.1,-12.5,677,6645,0.00,2.28,0.00,0.000,6,0.000,0.035,2112,2558,3973
$GC,6962,-1.20,-121.7,828.5,-12.5,693,6964,0.17,0.00,0.00,0.000,6,0.183,0.000,2156,2558,3971
$STATE,7041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7041,begin apogee
$GC,7047,-0.22,0.0,837.9,11.4,697,7148,1.05,0.00,91.10,1.262,6,0.158,0.000,2470,2558,3532
$STATE,7149,end apogee,CONTROL_FINISHED_OK
$STATE,7149,begin climb
$GC,7152,1.25,121.7,843.2,0.0,702,7260,1.35,2.00,99.57,1.249,4,0.063,0.051,2947,3743,3034
$GC,7469,0.58,152.4,827.3,10.8,716,7500,0.85,1.80,25.23,1.200,6,0.214,0.026,2737,2521,2910
$GC,7824,0.76,229.2,799.7,7.5,734,7891,0.15,2.20,62.08,1.232,4,0.082,0.031,2802,1117,2596
$GC,8037,0.80,263.7,777.3,10.6,743,8071,0.00,2.12,27.80,1.187,6,0.000,0.035,2802,2478,2457
$GC,8395,0.84,296.1,739.8,10.7,761,8429,0.00,2.17,27.50,1.183,4,0.000,0.031,2802,1117,2323
$GC,8453,0.98,313.3,732.8,11.8,763,8474,0.17,2.15,15.43,1.121,6,0.075,0.035,2868,2488,2254
$GC,8787,0.90,313.3,679.2,16.3,779,8791,0.12,2.08,0.00,0.000,4,0.190,0.029,2847,1113,2248
$GC,8894,0.90,313.3,662.7,15.1,784,8898,0.00,2.10,0.00,0.000,6,0.000,0.035,2847,2473,2247
$GC,9226,0.90,313.3,612.3,15.4,800,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2473,2245
$GC,9536,0.90,313.3,566.3,14.7,815,9539,0.00,2.03,0.00,0.000,4,0.000,0.030,2855,1123,2244
$GC,9682,0.90,313.3,544.9,13.2,821,9685,0.00,2.03,0.00,0.000,6,0.000,0.035,2855,2453,2243
$GC,10003,0.91,321.1,503.2,12.5,837,10013,0.00,2.00,6.12,0.888,4,0.000,0.030,2862,1119,2221
$GC,10170,0.92,325.3,481.8,12.7,850,10181,0.00,1.98,4.88,0.798,6,0.000,0.034,2862,2422,2206
$GC,10507,0.92,325.3,435.7,14.3,882,10511,0.00,1.95,0.00,0.000,4,0.000,0.030,2869,1109,2204
$GC,10637,0.92,325.3,417.9,13.6,893,10642,0.00,1.95,0.00,0.000,6,0.000,0.035,2869,2396,2204
$GC,10965,0.95,352.5,379.9,11.1,924,10993,0.00,2.15,23.30,0.960,4,0.000,0.049,2869,3758,2094
$GC,11034,0.96,356.8,371.5,12.7,929,11043,0.00,2.08,4.88,0.713,6,0.000,0.025,2880,2363,2077
$GC,11369,0.96,360.0,331.7,12.8,961,11380,0.00,1.88,4.07,0.633,4,0.000,0.031,2885,1120,2064
$GC,11454,1.02,360.0,320.3,14.4,968,11460,0.00,1.90,0.00,0.000,6,0.000,0.033,2884,2373,2064
$GC,11790,1.02,360.0,272.7,14.0,1016,11796,0.00,2.15,0.00,0.000,4,0.000,0.047,2884,3764,2063
$GC,11859,0.97,360.0,262.1,15.8,1028,11865,0.15,2.00,0.00,0.000,6,0.182,0.025,2856,2391,2063
$GC,12204,1.20,412.0,225.5,9.3,1089,12253,0.17,1.90,42.53,0.821,4,0.074,0.028,2937,1120,1851
$GC,12490,1.20,412.0,184.4,14.1,1139,12496,0.00,1.88,0.00,0.000,6,0.000,0.031,2938,2364,1845
$GC,12834,1.21,415.6,140.3,12.8,1200,12840,0.00,1.85,0.00,0.000,4,0.000,0.029,2938,1114,1845
$GC,12869,1.31,415.6,135.3,14.5,1206,12876,0.00,1.85,0.00,0.000,6,0.000,0.029,2938,2353,1845
$GC,13215,1.49,476.0,97.8,8.7,1267,13269,0.20,0.00,49.65,0.698,6,0.066,0.000,3018,2353,1590
$GC,13610,1.51,487.1,41.8,12.2,1336,13628,0.00,1.88,9.60,0.585,4,0.000,0.028,3026,1107,1545
$GC,13725,1.51,487.1,26.7,13.7,1356,13731,0.00,1.88,0.00,0.000,6,0.000,0.030,3026,2364,1544
$STATE,13905,end climb,SURFACE_DEPTH_REACHED
$STATE,13905,begin surface coast
$FINISH,1.8,1.009175
$STATE,13928,end surface coast,CONTROL_FINISHED_OK
$STATE,13928,begin surface
$SM_CCo,14006,0.00,0.000,0,0,1542,488.39
$SM_GC,2.75,7.68,0.00,0.00,0.051,0.000,0.000,139,2438,1542,-7.50,0.31,488.39
$IRIDIUM_FIX,2439.44,12416.95,091098,171745
$TT8_MAMPS,0.029146
$HUMID,1623
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.8,55.854
$10V_AH,10.8,31.420
$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,24.225,104.750,493.725,0.000,0.000,25.824,39.925,196.399,6.500,0.000,0.000,14.996,2432.930,8343.906,578.602,2452.950,596.742,0.000,1831.397,0.000,2402.344,0.000,44.432,0.000
$DEVICE_MAMPS,237.770,86.671,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,936.323,971.301,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75801,1392
$CAP_FILE_SIZE,147467,0
$CFSIZE,260165632,199540736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.228, 92.5,1
$GPS,160709,015207,2448.584,12419.696,30,1.0,30,-3.7