version: 66.04
glider: 167
mission: 2
dive: 334
start: 7 19 109 9 33 59
data:
$ID,167
$MISSION,2
$DIVE,334
$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,-11915.484
$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,73
$R_STBD_OVSHOOT,58
$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
$GPS1,092653,2504.727,12421.964,24,2.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-65.5
$GPS2,093338,2504.790,12422.065,16,1.2,16,-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,253.6,59252,-24.8,-13.043
$D_GRID,2008
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-29.30,0.000,2,0.000,0.000,140,2463,2381
$GC,50,-1.25,-121.7,3.3,-2.3,5,116,8.18,2.17,-51.62,0.000,4,0.235,0.038,2136,1032,3989
$GC,146,-0.85,-121.7,14.5,-23.8,21,152,0.50,2.08,0.00,0.000,6,0.170,0.029,2266,2421,3990
$GC,491,-0.93,-121.7,66.3,-13.7,82,497,0.00,2.05,0.00,0.000,4,0.000,0.046,2261,3754,3991
$GC,639,-1.05,-121.7,87.2,-13.6,108,646,0.15,1.85,0.00,0.000,6,0.071,0.023,2195,2440,3992
$GC,984,-1.05,-121.7,137.4,-13.9,169,990,0.00,2.03,0.00,0.000,4,0.000,0.044,2193,3760,3993
$GC,1036,-0.96,-121.7,144.9,-14.8,178,1042,0.15,1.80,0.00,0.000,6,0.162,0.023,2230,2477,3994
$GC,1382,-1.17,-121.7,184.3,-10.3,239,1390,0.17,1.95,0.00,0.000,4,0.064,0.041,2141,3752,3995
$GC,1506,-0.92,-121.7,203.4,-16.6,260,1513,0.38,1.75,0.00,0.000,6,0.163,0.022,2246,2494,3995
$GC,1852,-1.16,-121.7,243.8,-10.5,321,1858,0.17,1.92,0.00,0.000,4,0.066,0.043,2162,3748,3996
$GC,2012,-1.05,-121.7,265.4,-13.4,349,2018,0.15,1.73,0.00,0.000,6,0.165,0.023,2200,2516,3996
$GC,2362,-1.20,-121.7,303.6,-10.8,408,2366,0.12,1.90,0.00,0.000,4,0.074,0.041,2139,3758,3996
$GC,2546,-1.05,-121.7,330.4,-14.0,424,2552,0.25,1.73,0.00,0.000,6,0.163,0.023,2207,2524,3996
$GC,2871,-1.26,-121.7,361.2,-9.1,455,2875,0.17,1.90,0.00,0.000,4,0.067,0.043,2124,3762,3996
$GC,2988,-1.08,-121.7,376.3,-13.3,465,2994,0.25,1.70,0.00,0.000,6,0.165,0.024,2192,2552,3996
$GC,3313,-1.23,-121.7,408.6,-10.6,496,3318,0.15,1.85,0.00,0.000,4,0.071,0.044,2124,3753,3996
$GC,3426,-1.08,-121.7,424.1,-13.4,506,3431,0.25,1.65,0.00,0.000,6,0.165,0.025,2192,2580,3996
$GC,3757,-1.34,-121.7,454.5,-7.6,537,3762,0.20,1.80,0.00,0.000,4,0.066,0.045,2100,3747,3995
$GC,3780,-1.34,-121.7,456.9,-10.0,539,3784,0.00,1.62,0.00,0.000,6,0.000,0.025,2100,2593,3995
$GC,4121,-1.18,-121.7,503.1,-14.9,570,4125,0.20,2.22,0.00,0.000,4,0.174,0.025,2157,1044,3994
$GC,4193,-1.27,-121.7,513.0,-13.1,573,4197,0.00,2.30,0.00,0.000,6,0.000,0.032,2153,2576,3993
$GC,4516,-1.32,-121.7,552.0,-11.3,589,4520,0.00,1.80,0.00,0.000,4,0.000,0.048,2149,3755,3993
$GC,4594,-1.32,-121.7,561.6,-12.0,592,4598,0.00,1.65,0.00,0.000,6,0.000,0.026,2149,2597,3992
$GC,4917,-1.37,-121.7,595.5,-10.8,608,4919,0.12,0.00,0.00,0.000,6,0.084,0.000,2098,2596,3990
$GC,5225,-1.25,-121.7,634.3,-12.7,623,5227,0.17,0.00,0.00,0.000,6,0.179,0.000,2142,2596,3988
$GC,5535,-1.25,-121.7,673.9,-12.9,638,5538,0.00,1.80,0.00,0.000,4,0.000,0.051,2138,3748,3986
$GC,5568,-1.25,-121.7,678.8,-14.1,639,5571,0.00,1.65,0.00,0.000,6,0.000,0.028,2138,2624,3986
$GC,5890,-1.25,-121.7,716.4,-11.1,655,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3983
$GC,6199,-1.25,-121.7,750.0,-10.7,670,6204,0.00,2.28,0.00,0.000,4,0.000,0.028,2138,1061,3981
$GC,6222,-1.25,-121.7,752.5,-10.3,671,6226,0.00,2.33,0.00,0.000,6,0.000,0.037,2138,2579,3980
$GC,6548,-1.25,-121.7,788.1,-11.2,687,6552,0.00,1.83,0.00,0.000,4,0.000,0.052,2138,3757,3978
$GC,6588,-1.25,-121.7,792.8,-12.2,688,6594,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2602,3977
$GC,6904,-1.25,-121.7,829.5,-11.8,704,6908,0.00,2.28,0.00,0.000,4,0.000,0.028,2138,1049,3975
$GC,6960,-1.31,-121.7,836.5,-12.3,706,6967,0.00,2.35,0.00,0.000,6,0.000,0.038,2138,2580,3975
$GC,7278,-1.31,-121.7,875.1,-12.2,722,7282,0.00,1.83,0.00,0.000,4,0.000,0.053,2138,3754,3973
$GC,7334,-1.31,-121.7,882.2,-12.0,724,7338,0.00,1.70,0.00,0.000,6,0.000,0.029,2138,2613,3972
$GC,7656,-1.31,-121.7,918.2,-11.0,740,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2614,3970
$GC,7965,-1.31,-121.7,950.5,-10.2,755,7969,0.00,1.80,0.00,0.000,4,0.000,0.055,2138,3746,3968
$GC,8033,-1.31,-121.7,957.9,-11.2,758,8037,0.00,1.65,0.00,0.000,6,0.000,0.031,2138,2624,3968
$STATE,8363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8363,begin apogee
$GC,8370,-0.22,0.0,991.5,10.0,774,8466,1.12,0.00,90.93,1.409,6,0.165,0.000,2465,2543,3532
$STATE,8467,end apogee,CONTROL_FINISHED_OK
$STATE,8467,begin climb
$GC,8469,1.25,121.7,995.4,0.0,779,8580,1.38,2.30,103.25,1.368,4,0.063,0.031,2956,1105,3035
$GC,8833,0.74,151.2,971.2,10.9,795,8865,0.68,2.17,24.90,1.308,6,0.214,0.039,2785,2497,2914
$GC,9196,0.75,219.0,939.5,8.2,813,9260,0.00,2.22,56.30,1.337,4,0.000,0.031,2790,1101,2637
$GC,9335,0.83,245.4,925.4,11.1,819,9362,0.00,2.22,22.40,1.272,6,0.000,0.036,2791,2512,2531
$GC,9679,0.87,271.1,887.2,11.2,836,9706,0.00,2.20,22.25,1.273,4,0.000,0.031,2791,1103,2426
$GC,9735,0.98,280.0,880.1,12.4,838,9750,0.20,2.20,9.05,1.130,6,0.079,0.036,2863,2500,2390
$GC,10075,0.84,280.0,827.0,16.3,855,10079,0.17,2.12,0.00,0.000,4,0.193,0.030,2828,1101,2386
$GC,10130,0.84,280.0,817.8,15.1,857,10136,0.00,2.15,0.00,0.000,6,0.000,0.035,2828,2494,2385
$GC,10445,0.84,280.0,769.9,15.7,873,10449,0.00,2.10,0.00,0.000,4,0.000,0.031,2831,1100,2383
$GC,10530,0.84,280.0,757.0,14.6,876,10536,0.00,2.12,0.00,0.000,6,0.000,0.035,2831,2486,2383
$GC,10846,0.85,284.1,712.7,12.8,892,10855,0.00,2.12,4.07,0.821,4,0.000,0.031,2836,1102,2373
$GC,10928,0.85,284.1,701.5,13.5,895,10936,0.00,2.10,0.00,0.000,6,0.000,0.035,2836,2470,2372
$GC,11245,0.85,284.1,660.0,13.6,911,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2470,2372
$GC,11553,0.86,292.6,619.8,12.4,926,11567,0.00,2.10,8.68,1.056,4,0.000,0.031,2843,1104,2339
$GC,11692,0.87,297.0,602.4,12.7,932,11702,0.00,2.10,5.25,0.898,6,0.000,0.037,2843,2463,2321
$GC,12018,0.87,303.9,560.0,12.5,948,12032,0.00,2.12,7.22,0.980,4,0.000,0.030,2848,1091,2293
$GC,12108,0.88,311.3,548.5,12.5,952,12122,0.00,2.08,8.10,0.987,6,0.000,0.035,2849,2441,2261
$GC,12439,0.89,320.3,506.2,12.4,968,12454,0.00,2.05,8.55,0.972,4,0.000,0.031,2855,1109,2225
$GC,12494,0.91,332.3,499.2,12.2,970,12510,0.00,2.05,11.70,1.000,6,0.000,0.035,2855,2439,2177
$GC,12829,0.93,347.8,456.9,11.9,1001,12851,0.00,2.08,14.00,0.992,4,0.000,0.031,2856,1106,2113
$GC,12942,1.02,366.6,443.5,11.7,1011,12965,0.00,2.03,17.00,0.986,6,0.000,0.034,2855,2422,2037
$GC,13284,1.11,366.6,398.3,14.5,1043,13288,0.15,2.00,0.00,0.000,4,0.079,0.029,2920,1097,2032
$GC,13379,1.03,366.6,383.1,16.1,1051,13387,0.17,2.00,0.00,0.000,6,0.176,0.034,2876,2406,2032
$GC,13705,1.09,368.1,337.5,12.9,1082,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2406,2030
$GC,14026,1.20,398.4,300.4,10.9,1112,14056,0.15,0.00,26.40,0.892,6,0.082,0.000,2931,2406,1907
$GC,14395,1.21,402.2,249.3,12.8,1177,14407,0.00,2.00,4.00,0.576,4,0.000,0.030,2937,1100,1891
$GC,14481,1.21,402.2,237.8,13.4,1192,14487,0.00,2.00,0.00,0.000,6,0.000,0.032,2937,2416,1891
$GC,14825,1.23,418.5,192.0,11.9,1253,14845,0.00,2.03,14.77,0.765,4,0.000,0.028,2937,1100,1825
$GC,15015,1.28,422.3,168.3,12.8,1286,15028,0.00,1.92,4.45,0.558,6,0.000,0.030,2937,2385,1811
$GC,15367,1.36,422.3,120.0,14.7,1348,15373,0.12,1.90,0.00,0.000,4,0.075,0.027,2995,1095,1810
$GC,15470,1.29,422.3,104.1,15.6,1366,15476,0.15,1.85,0.00,0.000,6,0.182,0.029,2960,2342,1810
$GC,15815,1.41,444.9,63.6,11.4,1427,15840,0.12,2.28,20.17,0.660,4,0.080,0.045,3006,3777,1717
$GC,15958,1.31,454.7,46.2,12.3,1451,15972,0.20,2.10,9.48,0.594,6,0.173,0.021,2965,2332,1678
$GC,16313,1.51,472.2,5.6,11.8,1513,16333,0.17,1.85,13.95,0.584,4,0.074,0.027,3038,1094,1606
$STATE,16337,end climb,SURFACE_DEPTH_REACHED
$STATE,16337,begin surface coast
$FINISH,1.9,1.021513
$STATE,16366,end surface coast,CONTROL_FINISHED_OK
$STATE,16366,begin surface
$SM_CCo,16447,0.00,0.000,0,0,1602,473.18
$SM_GC,2.90,7.72,0.00,0.00,0.050,0.000,0.000,139,2440,1602,-7.50,0.40,473.18
$IRIDIUM_FIX,2453.69,12424.27,131098,040405
$TT8_MAMPS,0.028379
$HUMID,1615
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,59.197
$10V_AH,10.7,33.095
$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,24.275,131.300,506.875,0.000,0.000,31.390,35.243,192.392,8.000,0.000,0.000,16.356,2697.829,10208.571,614.854,2691.950,627.331,0.000,1981.845,0.000,2628.439,0.000,54.443,0.000
$DEVICE_MAMPS,234.702,87.438,1408.979,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.026,1052.941,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82007,1522
$CAP_FILE_SIZE,168534,0
$CFSIZE,260165632,197959680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 75.9,1
$GPS,190709,140907,2504.879,12421.238,26,2.0,27,-3.8