version: 66.04
glider: 167
mission: 2
dive: 331
start: 7 18 109 19 33 28
data:
$ID,167
$MISSION,2
$DIVE,331
$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,-11848.581
$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,67
$R_STBD_OVSHOOT,36
$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
$GPS1,192625,2503.698,12423.644,39,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-60.9
$GPS2,193306,2503.660,12423.766,11,1.8,15,-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,284.3,61141,-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,14,-1.25,-121.7,0.0,0.0,0,45,0.00,0.00,-28.85,0.000,2,0.000,0.000,140,2440,2307
$GC,48,-1.25,-121.7,3.1,-1.8,5,128,8.02,2.15,-61.75,0.000,4,0.229,0.037,2137,1006,3989
$GC,270,-0.95,-121.7,39.0,-21.9,43,277,0.40,2.15,0.00,0.000,6,0.164,0.031,2239,2441,3989
$GC,615,-0.95,-121.7,92.2,-15.1,104,621,0.00,2.00,0.00,0.000,4,0.000,0.043,2231,3758,3992
$GC,723,-0.95,-121.7,108.3,-15.3,123,730,0.00,1.90,0.00,0.000,6,0.000,0.021,2231,2397,3992
$GC,1068,-1.10,-121.7,154.4,-11.4,184,1074,0.12,0.00,0.00,0.000,6,0.074,0.000,2175,2398,3993
$GC,1412,-1.04,-121.7,203.0,-15.2,245,1419,0.12,2.10,0.00,0.000,4,0.166,0.043,2204,3761,3994
$GC,1511,-1.04,-121.7,216.3,-12.6,262,1518,0.00,1.83,0.00,0.000,6,0.000,0.022,2204,2446,3994
$GC,1858,-1.21,-121.7,259.1,-10.6,323,1864,0.15,2.03,0.00,0.000,4,0.065,0.044,2137,3764,3995
$GC,2001,-1.04,-121.7,278.4,-13.4,348,2008,0.25,1.80,0.00,0.000,6,0.160,0.023,2206,2476,3995
$GC,2339,-1.26,-121.7,312.6,-9.6,397,2344,0.20,1.98,0.00,0.000,4,0.062,0.043,2111,3763,3995
$GC,2524,-1.00,-121.7,341.1,-15.9,413,2531,0.40,1.80,0.00,0.000,6,0.165,0.024,2223,2485,3996
$GC,2850,-1.41,-121.7,373.1,-9.1,444,2855,0.32,1.95,0.00,0.000,4,0.057,0.045,2085,3757,3996
$GC,3025,-1.08,-121.7,399.5,-17.1,459,3030,0.40,1.75,0.00,0.000,6,0.170,0.024,2195,2521,3996
$GC,3357,-1.27,-121.7,437.4,-11.7,490,3361,0.17,1.90,0.00,0.000,4,0.068,0.044,2125,3755,3996
$GC,3424,-1.12,-121.7,447.4,-14.5,496,3428,0.22,1.73,0.00,0.000,6,0.163,0.024,2185,2530,3996
$GC,3756,-1.28,-121.7,486.4,-11.4,527,3760,0.15,1.90,0.00,0.000,4,0.067,0.045,2124,3760,3995
$GC,3908,-1.12,-121.7,508.8,-14.7,538,3916,0.22,1.73,0.00,0.000,6,0.166,0.025,2184,2549,3994
$GC,4226,-1.31,-121.7,543.5,-9.5,554,4230,0.17,1.88,0.00,0.000,4,0.067,0.044,2101,3761,3993
$GC,4286,-1.09,-121.7,551.5,-13.4,556,4292,0.32,1.70,0.00,0.000,6,0.169,0.025,2190,2566,3993
$GC,4603,-1.41,-121.7,580.2,-9.4,572,4605,0.28,0.00,0.00,0.000,6,0.061,0.000,2084,2567,3991
$GC,4911,-1.22,-121.7,621.5,-13.3,587,4913,0.25,0.00,0.00,0.000,6,0.182,0.000,2149,2567,3989
$GC,5220,-1.22,-121.7,655.3,-11.2,602,5223,0.00,1.85,0.00,0.000,4,0.000,0.048,2142,3754,3987
$GC,5338,-1.22,-121.7,670.2,-12.9,607,5342,0.00,1.73,0.00,0.000,6,0.000,0.027,2142,2556,3986
$GC,5666,-1.22,-121.7,710.5,-12.1,623,5669,0.00,2.17,0.00,0.000,4,0.000,0.027,2142,1063,3984
$GC,5683,-1.22,-121.7,712.7,-12.2,623,5689,0.00,2.25,0.00,0.000,6,0.000,0.035,2140,2543,3983
$GC,6000,-1.22,-121.7,750.2,-11.6,639,6003,0.00,1.88,0.00,0.000,4,0.000,0.051,2138,3757,3981
$GC,6033,-1.22,-121.7,754.5,-12.5,640,6037,0.00,1.73,0.00,0.000,6,0.000,0.027,2137,2568,3980
$GC,6355,-1.22,-121.7,792.8,-12.5,656,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2568,3978
$GC,6664,-1.22,-121.7,832.3,-12.7,671,6668,0.00,1.88,0.00,0.000,4,0.000,0.052,2138,3755,3976
$GC,6748,-1.22,-121.7,843.9,-13.0,674,6755,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2572,3975
$GC,7064,-1.22,-121.7,884.9,-13.0,690,7068,0.00,2.22,0.00,0.000,4,0.000,0.029,2137,1064,3973
$GC,7120,-1.27,-121.7,892.5,-13.2,692,7124,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2555,3972
$GC,7437,-1.27,-121.7,934.5,-13.5,707,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2556,3970
$GC,7745,-1.27,-121.7,973.2,-11.9,722,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2556,3969
$STATE,7907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7907,begin apogee
$GC,7913,-0.22,0.0,991.7,11.0,730,8015,1.12,0.00,93.25,1.381,6,0.164,0.000,2465,2556,3531
$STATE,8015,end apogee,CONTROL_FINISHED_OK
$STATE,8015,begin climb
$GC,8019,1.25,121.7,996.0,0.0,735,8129,1.38,2.00,103.45,1.362,4,0.065,0.050,2946,3748,3035
$GC,8275,0.53,121.7,982.4,13.2,747,8280,0.93,1.83,0.00,0.000,6,0.216,0.026,2721,2526,3032
$GC,8598,0.72,205.0,958.7,7.1,763,8673,0.17,2.28,67.85,1.346,4,0.081,0.030,2797,1110,2696
$GC,8757,0.72,205.0,940.1,13.5,770,8761,0.00,2.17,0.00,0.000,6,0.000,0.035,2797,2491,2692
$GC,9079,0.72,206.0,898.5,13.0,786,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2491,2689
$GC,9387,0.74,215.4,859.1,12.4,801,9401,0.00,2.12,9.12,1.160,4,0.000,0.032,2799,1123,2653
$GC,9510,0.75,228.3,844.4,12.1,806,9527,0.00,2.12,12.40,1.204,6,0.000,0.035,2799,2501,2601
$GC,9849,0.80,263.4,805.6,10.5,823,9884,0.00,2.20,29.38,1.263,4,0.000,0.031,2799,1120,2457
$GC,9930,0.92,298.8,796.5,10.5,826,9967,0.12,2.15,31.33,1.239,6,0.087,0.034,2844,2493,2313
$GC,10291,0.92,298.8,750.0,13.7,844,10295,0.00,2.10,0.00,0.000,4,0.000,0.031,2850,1106,2306
$GC,10409,0.92,298.8,733.2,13.6,849,10413,0.00,2.10,0.00,0.000,6,0.000,0.037,2850,2445,2305
$GC,10736,0.92,298.8,684.3,15.2,865,10740,0.00,2.00,0.00,0.000,4,0.000,0.031,2857,1117,2304
$GC,10837,0.87,298.8,669.7,13.8,869,10841,0.12,2.00,0.00,0.000,6,0.183,0.035,2828,2429,2304
$GC,11159,0.88,306.7,630.6,12.5,885,11167,0.00,0.00,6.47,0.983,6,0.000,0.000,2828,2429,2281
$GC,11467,0.93,306.7,589.5,13.1,900,11471,0.00,1.98,0.00,0.000,4,0.000,0.031,2833,1107,2279
$GC,11580,1.01,311.6,575.4,12.7,905,11591,0.10,2.05,5.65,0.911,6,0.097,0.036,2871,2446,2261
$GC,11910,0.93,311.6,530.6,13.5,921,11913,0.00,2.00,0.00,0.000,4,0.000,0.030,2880,1106,2259
$GC,11994,0.86,311.6,518.0,14.4,924,12000,0.22,2.00,0.00,0.000,6,0.188,0.035,2823,2420,2259
$GC,12317,0.96,319.4,476.3,12.5,948,12329,0.00,2.03,7.82,0.940,4,0.000,0.030,2830,1105,2229
$GC,12505,1.12,359.6,454.4,10.2,964,12545,0.22,1.98,34.17,1.032,6,0.074,0.035,2915,2405,2065
$GC,12863,1.03,359.6,404.4,16.4,998,12867,0.15,1.95,0.00,0.000,4,0.180,0.029,2882,1110,2058
$GC,12947,1.03,359.6,392.6,14.9,1005,12952,0.00,1.98,0.00,0.000,6,0.000,0.034,2882,2406,2058
$GC,13274,1.03,359.6,346.0,14.5,1036,13278,0.00,1.95,0.00,0.000,4,0.000,0.031,2882,1107,2057
$GC,13314,1.03,359.6,339.9,14.3,1039,13320,0.00,1.92,0.00,0.000,6,0.000,0.033,2882,2380,2057
$GC,13643,1.08,359.6,297.2,13.4,1071,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2380,2057
$GC,13988,1.18,375.0,252.1,11.9,1132,14007,0.12,1.95,12.68,0.815,4,0.089,0.028,2937,1110,2002
$GC,14053,1.18,375.0,243.3,13.9,1143,14059,0.00,1.95,0.00,0.000,6,0.000,0.034,2937,2397,2000
$GC,14398,1.13,375.0,201.1,14.0,1204,14404,0.00,2.12,0.00,0.000,4,0.000,0.047,2937,3771,2000
$GC,14581,1.01,375.0,174.8,14.4,1236,14587,0.28,1.98,0.00,0.000,6,0.178,0.023,2870,2398,2000
$GC,14926,1.26,412.7,138.6,10.3,1297,14964,0.17,1.95,31.45,0.739,4,0.076,0.027,2952,1110,1848
$GC,15123,1.27,418.8,112.6,12.6,1331,15135,0.00,2.00,5.90,0.581,6,0.000,0.031,2953,2433,1824
$GC,15474,1.39,460.5,72.3,10.1,1393,15517,0.12,2.03,34.33,0.673,4,0.077,0.028,3009,1113,1652
$GC,15742,1.40,469.2,39.8,12.4,1440,15754,0.00,1.95,7.53,0.559,6,0.000,0.029,3010,2415,1619
$STATE,16021,end climb,SURFACE_DEPTH_REACHED
$STATE,16021,begin surface coast
$FINISH,1.8,1.021301
$STATE,16053,end surface coast,CONTROL_FINISHED_OK
$STATE,16054,begin surface
$SM_CCo,16132,0.00,0.000,0,0,1614,470.24
$SM_GC,2.76,7.62,0.00,0.00,0.050,0.000,0.000,140,2427,1614,-7.50,-0.03,470.24
$IRIDIUM_FIX,2456.07,12423.65,121098,141448
$TT8_MAMPS,0.029146
$HUMID,1607
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,58.652
$10V_AH,10.7,32.816
$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,25.075,114.800,492.775,0.000,0.000,30.272,35.761,188.170,8.000,0.000,0.000,15.576,2638.499,10009.054,604.949,2655.991,612.936,0.000,1943.719,0.000,2596.778,0.000,54.439,0.000
$DEVICE_MAMPS,228.566,52.156,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.374,1036.582,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78855,1495
$CAP_FILE_SIZE,160344,0
$CFSIZE,260165632,198230016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,130.6,1
$GPS,190709,000336,2503.727,12423.030,41,1.3,42,-3.8