version: 66.04
glider: 167
mission: 2
dive: 329
start: 7 18 109 10 1 59
data:
$ID,167
$MISSION,2
$DIVE,329
$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,-11815.146
$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,41
$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
$GPS1,095437,2504.395,12424.545,33,1.2,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-62.4
$GPS2,100138,2504.465,12424.679,13,1.4,13,-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,253.9,63100,-24.8,-13.043
$D_GRID,1989
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-34.45,0.000,2,0.000,0.000,140,2447,2308
$GC,55,-1.25,-121.7,3.0,-1.4,6,122,8.15,2.08,-52.33,0.000,4,0.235,0.038,2134,1033,3988
$GC,187,-0.90,-121.7,23.3,-22.4,28,194,0.45,2.10,0.00,0.000,6,0.167,0.028,2250,2441,3989
$GC,532,-0.90,-121.7,78.3,-15.9,89,538,0.00,2.00,0.00,0.000,4,0.000,0.044,2242,3752,3990
$GC,738,-0.90,-121.7,109.3,-13.6,125,744,0.00,1.83,0.00,0.000,6,0.000,0.022,2242,2436,3991
$GC,1082,-1.04,-121.7,150.1,-10.3,186,1089,0.00,2.00,0.00,0.000,4,0.000,0.042,2233,3757,3993
$GC,1153,-1.09,-121.7,157.7,-9.4,198,1160,0.12,1.77,0.00,0.000,6,0.076,0.022,2176,2488,3993
$GC,1499,-1.09,-121.7,203.1,-13.1,259,1506,0.00,1.95,0.00,0.000,4,0.000,0.042,2170,3766,3995
$GC,1650,-0.98,-121.7,225.6,-15.1,285,1656,0.20,1.75,0.00,0.000,6,0.157,0.022,2224,2507,3995
$GC,1994,-1.32,-121.7,265.9,-9.6,346,2001,0.28,1.92,0.00,0.000,4,0.058,0.043,2100,3766,3996
$GC,2117,-1.02,-121.7,284.4,-16.8,367,2126,0.40,1.75,0.00,0.000,6,0.166,0.022,2212,2513,3996
$GC,2454,-1.26,-121.7,322.3,-11.2,409,2458,0.17,1.90,0.00,0.000,4,0.066,0.042,2124,3753,3996
$GC,2583,-1.05,-121.7,341.0,-14.9,420,2590,0.28,1.70,0.00,0.000,6,0.163,0.023,2200,2539,3996
$GC,2909,-1.22,-121.7,377.5,-12.2,451,2913,0.15,1.88,0.00,0.000,4,0.070,0.044,2137,3757,3995
$GC,3050,-1.07,-121.7,396.1,-11.6,463,3058,0.22,1.67,0.00,0.000,6,0.163,0.025,2197,2569,3995
$GC,3375,-1.39,-121.7,420.2,-7.9,494,3380,0.25,2.17,0.00,0.000,4,0.060,0.024,2093,1052,3994
$GC,3450,-1.24,-121.7,429.3,-12.7,500,3454,0.22,2.20,0.00,0.000,6,0.167,0.030,2145,2528,3995
$GC,3774,-1.24,-121.7,470.4,-12.7,530,3778,0.00,1.88,0.00,0.000,4,0.000,0.046,2139,3763,3994
$GC,3960,-1.15,-121.7,496.0,-12.9,546,3966,0.12,1.73,0.00,0.000,6,0.171,0.025,2170,2553,3992
$GC,4289,-1.25,-121.7,533.5,-11.7,564,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2553,3992
$GC,4597,-1.37,-121.7,564.2,-8.9,579,4601,0.20,1.88,0.00,0.000,4,0.069,0.047,2084,3757,3990
$GC,4749,-1.10,-121.7,584.6,-13.8,585,4756,0.38,1.75,0.00,0.000,6,0.172,0.025,2187,2535,3989
$GC,5066,-1.33,-121.7,616.6,-10.4,601,5071,0.17,1.90,0.00,0.000,4,0.068,0.048,2111,3753,3986
$GC,5105,-1.16,-121.7,622.2,-14.6,602,5112,0.22,1.70,0.00,0.000,6,0.169,0.026,2171,2569,3986
$GC,5423,-1.28,-121.7,653.7,-8.8,618,5425,0.12,0.00,0.00,0.000,6,0.080,0.000,2122,2569,3984
$GC,5731,-1.21,-121.7,685.0,-10.7,633,5736,0.12,1.85,0.00,0.000,4,0.176,0.048,2145,3751,3981
$GC,5822,-1.21,-121.7,695.4,-11.6,637,5825,0.00,1.70,0.00,0.000,6,0.000,0.028,2145,2578,3981
$GC,6157,-1.21,-121.7,734.5,-11.8,653,6161,0.00,1.83,0.00,0.000,4,0.000,0.050,2140,3747,3978
$GC,6198,-1.17,-121.7,739.5,-13.0,654,6204,0.12,1.67,0.00,0.000,6,0.175,0.027,2169,2590,3978
$GC,6515,-1.30,-121.7,769.3,-8.5,670,6517,0.12,0.00,0.00,0.000,6,0.084,0.000,2122,2590,3975
$GC,6823,-1.30,-121.7,797.9,-9.0,685,6826,0.00,2.22,0.00,0.000,4,0.000,0.027,2122,1073,3973
$GC,6856,-1.30,-121.7,801.0,-9.5,686,6860,0.00,2.25,0.00,0.000,6,0.000,0.035,2113,2544,3973
$GC,7173,-1.22,-121.7,835.4,-12.0,701,7177,0.15,1.88,0.00,0.000,4,0.176,0.049,2143,3753,3971
$GC,7234,-1.22,-121.7,842.9,-12.5,703,7241,0.00,1.67,0.00,0.000,6,0.000,0.028,2143,2602,3970
$GC,7549,-1.22,-121.7,877.9,-11.0,719,7553,0.00,2.25,0.00,0.000,4,0.000,0.028,2142,1074,3968
$GC,7574,-1.27,-121.7,880.4,-11.0,720,7578,0.00,2.28,0.00,0.000,6,0.000,0.038,2140,2545,3968
$GC,7902,-1.27,-121.7,917.3,-10.9,736,7905,0.00,1.88,0.00,0.000,4,0.000,0.053,2139,3746,3966
$GC,7957,-1.27,-121.7,923.9,-11.3,738,7961,0.00,1.67,0.00,0.000,6,0.000,0.028,2139,2597,3966
$GC,8279,-1.27,-121.7,959.0,-10.7,754,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2597,3964
$STATE,8585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8585,begin apogee
$GC,8591,-0.22,0.0,992.0,10.8,769,8688,1.12,0.00,90.43,1.414,6,0.167,0.000,2464,2596,3533
$STATE,8688,end apogee,CONTROL_FINISHED_OK
$STATE,8689,begin climb
$GC,8692,1.25,121.7,996.7,0.0,774,8803,1.35,1.98,103.55,1.374,4,0.062,0.051,2944,3753,3035
$GC,8978,0.55,140.6,982.0,11.7,787,9002,0.88,1.80,16.55,1.276,6,0.219,0.026,2729,2556,2958
$GC,9312,0.75,233.5,959.0,6.4,803,9397,0.17,2.22,77.12,1.354,4,0.081,0.031,2802,1148,2579
$GC,9543,0.78,257.9,933.6,11.3,813,9569,0.00,2.10,20.62,1.277,6,0.000,0.037,2802,2487,2480
$GC,9879,0.79,270.7,892.5,12.1,829,9900,0.00,2.10,11.82,1.210,4,0.000,0.031,2802,1155,2427
$GC,9964,0.89,293.0,882.3,11.4,832,9991,0.00,2.05,20.50,1.264,6,0.000,0.037,2802,2474,2336
$GC,10302,0.96,298.1,839.3,12.7,849,10313,0.15,2.03,5.47,0.992,4,0.081,0.031,2868,1147,2316
$GC,10388,0.88,298.1,826.1,15.8,853,10393,0.17,2.08,0.00,0.000,6,0.192,0.038,2826,2481,2314
$GC,10714,0.88,298.1,783.1,13.2,869,10718,0.00,2.00,0.00,0.000,4,0.000,0.032,2828,1155,2312
$GC,10821,0.89,308.9,769.3,12.3,873,10836,0.00,2.00,10.15,1.156,6,0.000,0.037,2828,2456,2272
$GC,11158,0.89,308.9,721.7,14.3,890,11162,0.00,1.98,0.00,0.000,4,0.000,0.032,2828,1148,2269
$GC,11219,0.89,308.9,712.7,14.6,892,11225,0.00,2.00,0.00,0.000,6,0.000,0.035,2828,2450,2269
$GC,11536,0.89,308.9,667.7,13.6,908,11540,0.00,1.95,0.00,0.000,4,0.000,0.031,2828,1151,2268
$GC,11628,0.97,321.4,656.0,12.1,912,11643,0.00,1.95,11.45,1.125,6,0.000,0.036,2828,2425,2220
$GC,11955,1.05,329.8,616.8,12.4,927,11969,0.15,2.15,8.32,1.044,4,0.082,0.054,2886,3755,2187
$GC,11992,0.87,329.8,610.5,17.0,928,11998,0.28,1.95,0.00,0.000,6,0.192,0.027,2824,2443,2186
$GC,12308,0.97,329.8,565.5,14.7,944,12312,0.00,1.90,0.00,0.000,4,0.000,0.031,2830,1155,2184
$GC,12410,1.08,329.8,550.4,14.7,948,12414,0.17,1.90,0.00,0.000,6,0.079,0.036,2894,2399,2184
$GC,12731,0.97,329.8,499.3,15.3,964,12735,0.15,1.88,0.00,0.000,4,0.196,0.029,2865,1143,2184
$GC,12804,0.97,329.8,488.9,14.5,970,12810,0.00,1.85,0.00,0.000,6,0.000,0.035,2865,2366,2184
$GC,13131,0.99,344.7,445.9,12.0,1001,13153,0.00,1.85,13.48,0.997,4,0.000,0.031,2868,1162,2125
$GC,13249,1.02,370.0,431.6,11.2,1011,13277,0.00,1.77,22.15,1.005,6,0.000,0.034,2868,2327,2022
$GC,13597,1.09,370.0,383.4,15.0,1044,13600,0.00,2.25,0.00,0.000,4,0.000,0.048,2869,3758,2017
$GC,13654,1.09,370.0,374.1,16.5,1049,13658,0.00,2.08,0.00,0.000,6,0.000,0.025,2878,2369,2017
$GC,13987,1.14,370.0,329.4,13.4,1080,13990,0.00,1.77,0.00,0.000,4,0.000,0.031,2882,1155,2016
$GC,14061,1.19,371.2,319.1,13.0,1086,14067,0.15,1.77,0.00,0.000,6,0.083,0.034,2938,2330,2017
$GC,14398,1.09,371.2,266.2,15.7,1136,14403,0.15,0.00,0.00,0.000,6,0.182,0.000,2901,2331,2016
$GC,14741,1.10,376.9,220.6,12.6,1197,14754,0.00,2.22,6.50,0.710,4,0.000,0.046,2900,3765,1994
$GC,14817,1.03,376.9,210.4,14.4,1210,14824,0.12,2.10,0.00,0.000,6,0.179,0.025,2877,2342,1994
$GC,15163,1.21,394.8,174.0,11.8,1271,15187,0.15,2.28,16.12,0.764,4,0.081,0.046,2934,3761,1921
$GC,15323,1.12,394.8,152.0,13.8,1299,15330,0.15,2.03,0.00,0.000,6,0.184,0.025,2905,2380,1919
$GC,15669,1.31,413.0,110.4,11.7,1360,15693,0.17,2.15,15.85,0.700,4,0.074,0.045,2981,3759,1847
$GC,15852,1.14,413.0,83.2,13.2,1392,15858,0.30,2.05,0.00,0.000,6,0.184,0.024,2912,2360,1845
$GC,16197,1.51,480.4,53.4,8.2,1453,16256,0.30,2.30,53.25,0.660,4,0.064,0.045,3031,3759,1572
$GC,16281,1.40,480.4,42.1,17.6,1467,16289,0.17,2.00,0.00,0.000,6,0.193,0.022,2999,2404,1569
$STATE,16579,end climb,SURFACE_DEPTH_REACHED
$STATE,16579,begin surface coast
$FINISH,1.8,1.021555
$STATE,16603,end surface coast,CONTROL_FINISHED_OK
$STATE,16603,begin surface
$SM_CCo,16681,0.00,0.000,0,0,1563,483.00
$SM_GC,2.68,7.62,0.00,0.00,0.050,0.000,0.000,140,2401,1563,-7.50,-0.74,483.00
$IRIDIUM_FIX,2453.69,12424.27,121098,050503
$TT8_MAMPS,0.029146
$HUMID,1623
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,58.280
$10V_AH,10.7,32.629
$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,26.550,133.125,503.350,0.000,0.000,30.006,34.583,214.819,8.000,0.000,0.000,13.184,2711.209,10359.643,624.557,2739.534,655.548,0.000,2024.801,0.000,2680.526,0.000,54.433,0.000
$DEVICE_MAMPS,234.702,53.690,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.325,1062.003,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82032,1524
$CAP_FILE_SIZE,173077,0
$CFSIZE,260165632,198389760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,118.9,1
$GPS,180709,144107,2503.770,12423.931,32,1.1,33,-3.8