version: 66.04
glider: 167
mission: 2
dive: 330
start: 7 18 109 14 52 18
data:
$ID,167
$MISSION,2
$DIVE,330
$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,-11832.376
$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,111
$R_STBD_OVSHOOT,33
$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
$GPS1,144107,2503.770,12423.931,32,1.1,33,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-64.5
$GPS2,145156,2503.818,12424.179,16,1.6,16,-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,275.3,61893,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.25,-121.7,0.0,0.0,0,45,0.00,0.00,-28.98,0.000,2,0.000,0.000,140,2401,2308
$GC,49,-1.25,-121.7,3.1,-1.2,5,123,8.23,1.98,-56.83,0.000,4,0.236,0.038,2137,1070,3989
$GC,298,-0.92,-121.7,46.1,-22.1,48,305,0.43,2.05,0.00,0.000,6,0.166,0.028,2246,2451,3989
$GC,644,-0.99,-121.7,97.9,-13.2,109,649,0.00,1.98,0.00,0.000,4,0.000,0.044,2239,3751,3991
$GC,801,-0.99,-121.7,120.3,-13.9,137,807,0.00,1.83,0.00,0.000,6,0.000,0.022,2239,2441,3991
$GC,1145,-1.27,-121.7,157.4,-11.1,198,1152,0.25,2.03,0.00,0.000,4,0.056,0.042,2124,3760,3992
$GC,1207,-0.96,-121.7,167.1,-16.7,208,1213,0.38,1.80,0.00,0.000,6,0.165,0.021,2228,2463,3992
$GC,1554,-1.27,-121.7,208.5,-9.6,269,1560,0.22,0.00,0.00,0.000,6,0.060,0.000,2129,2462,3993
$GC,1898,-1.13,-121.7,253.5,-12.7,330,1904,0.17,1.98,0.00,0.000,4,0.164,0.042,2172,3757,3994
$GC,2159,-1.06,-121.7,288.3,-14.4,376,2166,0.12,1.85,0.00,0.000,6,0.165,0.023,2203,2440,3994
$GC,2491,-1.26,-121.7,328.3,-11.9,415,2495,0.17,2.03,0.00,0.000,4,0.064,0.041,2124,3763,3994
$GC,2749,-1.05,-121.7,370.3,-16.3,438,2753,0.30,1.85,0.00,0.000,6,0.165,0.023,2207,2452,3994
$GC,3080,-1.29,-121.7,402.6,-8.4,469,3084,0.20,2.00,0.00,0.000,4,0.066,0.043,2114,3757,3994
$GC,3256,-1.09,-121.7,426.5,-13.5,484,3262,0.28,1.83,0.00,0.000,6,0.165,0.024,2189,2466,3993
$GC,3581,-1.23,-121.7,461.5,-10.4,515,3585,0.12,2.00,0.00,0.000,4,0.076,0.044,2138,3761,3992
$GC,3833,-1.13,-121.7,497.6,-15.5,537,3840,0.15,1.80,0.00,0.000,6,0.167,0.025,2176,2501,3992
$GC,4152,-1.27,-121.7,531.2,-8.7,554,4156,0.12,1.95,0.00,0.000,4,0.078,0.045,2125,3759,3990
$GC,4284,-1.13,-121.7,545.3,-11.3,559,4292,0.20,1.77,0.00,0.000,6,0.167,0.025,2177,2512,3990
$GC,4600,-1.28,-121.7,574.5,-10.3,575,4606,0.12,1.92,0.00,0.000,4,0.079,0.045,2125,3753,3987
$GC,4651,-1.16,-121.7,581.3,-13.7,577,4656,0.17,1.77,0.00,0.000,6,0.170,0.025,2169,2512,3987
$GC,4980,-1.30,-121.7,619.3,-11.1,593,4985,0.12,1.92,0.00,0.000,4,0.080,0.046,2113,3751,3984
$GC,5129,-1.14,-121.7,640.1,-13.7,599,5133,0.17,1.77,0.00,0.000,6,0.167,0.026,2175,2543,3983
$GC,5450,-1.29,-121.7,669.6,-7.8,615,5454,0.15,1.90,0.00,0.000,4,0.077,0.048,2111,3757,3981
$GC,5483,-1.15,-121.7,672.9,-10.3,616,5487,0.22,1.75,0.00,0.000,6,0.172,0.026,2170,2545,3980
$GC,5808,-1.29,-121.7,701.1,-9.3,632,5810,0.12,0.00,0.00,0.000,6,0.081,0.000,2123,2545,3978
$GC,6113,-1.29,-121.7,738.8,-12.4,647,6116,0.00,2.17,0.00,0.000,4,0.000,0.028,2123,1055,3976
$GC,6164,-1.29,-121.7,745.1,-12.2,649,6168,0.00,2.22,0.00,0.000,6,0.000,0.034,2114,2519,3975
$GC,6485,-1.22,-121.7,785.1,-12.9,665,6490,0.15,1.92,0.00,0.000,4,0.179,0.050,2149,3756,3972
$GC,6581,-1.22,-121.7,797.2,-12.7,669,6585,0.00,1.75,0.00,0.000,6,0.000,0.028,2149,2553,3972
$GC,6908,-1.28,-121.7,836.8,-11.7,685,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2553,3969
$GC,7218,-1.34,-121.7,867.4,-9.3,700,7222,0.00,2.20,0.00,0.000,4,0.000,0.028,2148,1055,3967
$GC,7275,-1.43,-121.7,872.7,-9.5,702,7280,0.17,2.25,0.00,0.000,6,0.077,0.036,2084,2523,3967
$GC,7598,-1.26,-121.7,911.5,-12.9,718,7602,0.20,1.92,0.00,0.000,4,0.199,0.049,2129,3759,3965
$GC,7671,-1.19,-121.7,920.9,-12.4,721,7676,0.12,1.77,0.00,0.000,6,0.183,0.028,2158,2549,3965
$GC,8000,-1.29,-121.7,954.5,-10.6,737,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2549,3963
$GC,8309,-1.40,-121.7,988.0,-10.9,752,8313,0.17,1.92,0.00,0.000,4,0.081,0.053,2085,3756,3961
$STATE,8323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8323,begin apogee
$GC,8330,-0.22,0.0,990.4,11.3,752,8424,1.33,0.00,90.15,1.411,6,0.182,0.000,2461,2526,3532
$STATE,8425,end apogee,CONTROL_FINISHED_OK
$STATE,8425,begin climb
$GC,8428,1.25,121.7,995.5,0.0,757,8539,1.35,2.12,103.43,1.370,4,0.062,0.048,2943,3753,3035
$GC,8597,0.55,136.3,996.3,12.0,765,8619,0.90,1.95,13.50,1.237,6,0.214,0.025,2727,2480,2975
$GC,8929,0.75,221.3,972.7,7.0,781,9007,0.17,2.17,70.93,1.352,4,0.079,0.031,2802,1123,2628
$GC,9031,0.76,233.1,961.5,12.2,785,9046,0.00,2.20,10.95,1.183,6,0.000,0.035,2802,2501,2581
$GC,9362,0.78,246.0,919.1,12.1,802,9377,0.00,2.15,10.75,1.198,4,0.000,0.031,2802,1104,2531
$GC,9457,0.79,258.3,908.0,12.2,805,9476,0.00,2.17,12.27,1.213,6,0.000,0.036,2802,2501,2478
$GC,9798,0.82,276.9,868.0,11.7,822,9820,0.00,2.20,16.75,1.253,4,0.000,0.032,2802,1114,2402
$GC,9900,0.91,286.6,855.3,12.3,826,9915,0.10,2.12,9.85,1.161,6,0.093,0.035,2839,2480,2363
$GC,10245,0.86,286.6,804.2,15.2,843,10248,0.00,2.08,0.00,0.000,4,0.000,0.031,2844,1107,2359
$GC,10359,0.86,286.6,786.5,15.0,848,10363,0.00,2.10,0.00,0.000,6,0.000,0.036,2845,2467,2359
$GC,10692,0.81,286.6,736.9,14.4,864,10696,0.15,2.05,0.00,0.000,4,0.183,0.030,2815,1110,2357
$GC,10738,0.87,290.0,731.0,12.8,866,10742,0.00,2.08,0.00,0.000,6,0.000,0.037,2814,2452,2357
$GC,11071,0.92,293.0,688.5,12.8,882,11082,0.00,2.03,6.15,1.005,4,0.000,0.032,2815,1116,2337
$GC,11145,1.01,293.0,678.7,13.1,885,11149,0.15,2.03,0.00,0.000,6,0.086,0.036,2871,2438,2336
$GC,11467,0.90,293.0,631.9,14.0,901,11471,0.15,2.00,0.00,0.000,4,0.191,0.030,2842,1103,2335
$GC,11528,0.91,300.9,623.8,12.5,903,11540,0.00,2.03,8.05,1.047,6,0.000,0.035,2842,2429,2305
$GC,11863,0.91,300.9,579.3,13.2,920,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2429,2302
$GC,12171,0.92,303.6,540.3,12.9,935,12174,0.00,1.98,0.00,0.000,4,0.000,0.031,2845,1112,2302
$GC,12284,0.92,307.1,525.8,12.8,940,12295,0.00,1.98,6.50,0.940,6,0.000,0.036,2845,2405,2280
$GC,12616,0.97,346.5,487.5,10.2,961,12654,0.00,2.00,33.25,1.069,4,0.000,0.032,2845,1111,2118
$GC,12818,1.10,370.6,464.9,11.3,978,12848,0.15,1.92,20.95,1.017,6,0.081,0.035,2900,2361,2019
$GC,13166,1.06,370.6,416.1,14.7,1011,13170,0.00,1.88,0.00,0.000,4,0.000,0.031,2908,1113,2013
$GC,13236,1.06,370.6,405.7,15.0,1017,13240,0.00,1.90,0.00,0.000,6,0.000,0.035,2909,2349,2014
$GC,13569,1.06,370.6,357.0,14.5,1048,13572,0.00,1.88,0.00,0.000,4,0.000,0.031,2915,1111,2013
$GC,13597,1.06,370.6,352.5,15.7,1050,13603,0.12,1.83,0.00,0.000,6,0.182,0.033,2886,2318,2012
$GC,13922,1.10,370.6,307.8,13.7,1081,13925,0.00,2.25,0.00,0.000,4,0.000,0.048,2886,3762,2012
$GC,13944,1.10,370.6,304.5,13.3,1083,13948,0.00,2.12,0.00,0.000,6,0.000,0.025,2894,2325,2011
$GC,14287,1.17,382.4,258.6,12.2,1141,14305,0.00,2.30,9.75,0.797,4,0.000,0.046,2895,3761,1972
$GC,14426,1.17,382.4,240.8,13.6,1165,14432,0.00,2.22,0.00,0.000,6,0.000,0.025,2905,2251,1971
$GC,14770,1.21,419.0,198.7,10.4,1226,14807,0.00,2.47,30.85,0.798,4,0.000,0.045,2906,3768,1823
$GC,14853,1.21,419.0,187.9,15.3,1240,14859,0.00,2.22,0.00,0.000,6,0.000,0.024,2914,2264,1819
$GC,15198,1.35,435.9,146.2,11.8,1301,15218,0.17,1.75,14.45,0.716,4,0.074,0.029,2998,1105,1754
$GC,15387,1.29,435.9,117.4,13.1,1334,15394,0.15,1.75,0.00,0.000,6,0.188,0.031,2963,2279,1753
$GC,15733,1.37,444.3,74.7,12.4,1395,15746,0.00,1.80,8.43,0.611,4,0.000,0.028,2969,1095,1719
$GC,15884,1.52,478.5,58.6,10.6,1421,15920,0.17,1.75,28.02,0.654,6,0.078,0.028,3032,2276,1580
$GC,16258,1.52,478.5,5.5,15.6,1487,16265,0.00,1.73,0.00,0.000,4,0.000,0.027,3039,1090,1576
$STATE,16276,end climb,SURFACE_DEPTH_REACHED
$STATE,16276,begin surface coast
$FINISH,1.8,1.018003
$STATE,16292,end surface coast,CONTROL_FINISHED_OK
$STATE,16292,begin surface
$SM_CCo,16373,0.00,0.000,0,0,1571,480.79
$SM_GC,2.78,7.88,0.00,0.00,0.061,0.000,0.000,140,2440,1571,-7.49,0.37,480.79
$IRIDIUM_FIX,2453.69,12422.30,121098,141414
$TT8_MAMPS,0.029146
$HUMID,1611
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.4,58.474
$10V_AH,10.7,32.725
$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,26.225,135.000,504.975,0.000,0.000,60.509,73.547,305.699,8.250,0.000,0.000,16.600,2668.993,10206.179,594.891,2724.345,815.571,0.000,1981.509,0.000,2657.472,0.000,54.442,0.000
$DEVICE_MAMPS,236.236,52.923,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.844,1032.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78990,1493
$CAP_FILE_SIZE,174030,0
$CFSIZE,260165632,198303744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,131.4,1
$GPS,180709,192625,2503.698,12423.644,39,1.2,40,-3.8