version: 66.04
glider: 167
mission: 2
dive: 339
start: 7 20 109 9 16 23
data:
$ID,167
$MISSION,2
$DIVE,339
$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,-12029.84
$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,50
$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
$GPS1,090931,2504.558,12419.693,39,1.9,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.1
$GPS2,091601,2504.570,12419.771,11,1.9,16,-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,278.1,55554,-24.8,-13.043
$D_GRID,1986
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.42,0.000,2,0.000,0.000,139,2454,2140
$GC,44,-1.25,-121.7,3.1,-2.5,4,124,8.23,2.10,-65.12,0.000,4,0.238,0.038,2135,1030,3988
$GC,220,-0.92,-121.7,28.6,-22.1,34,228,0.43,2.08,0.00,0.000,6,0.164,0.029,2245,2423,3990
$GC,567,-0.98,-121.7,79.9,-12.8,95,573,0.00,2.03,0.00,0.000,4,0.000,0.044,2236,3750,3990
$GC,624,-0.98,-121.7,88.3,-14.7,105,630,0.00,1.90,0.00,0.000,6,0.000,0.023,2237,2396,3991
$GC,969,-1.12,-121.7,130.9,-12.2,166,976,0.15,2.10,0.00,0.000,4,0.067,0.043,2166,3760,3992
$GC,1202,-0.95,-121.7,169.7,-16.4,207,1209,0.25,1.83,0.00,0.000,6,0.156,0.023,2235,2455,3993
$GC,1549,-1.34,-121.7,202.7,-8.6,268,1556,0.30,2.00,0.00,0.000,4,0.054,0.025,2107,1050,3994
$GC,1699,-1.12,-121.7,224.0,-14.8,294,1711,0.30,2.05,0.00,0.000,6,0.162,0.029,2181,2439,3994
$GC,2052,-1.18,-121.7,269.6,-12.2,355,2058,0.00,2.00,0.00,0.000,4,0.000,0.044,2178,3761,3995
$GC,2177,-1.18,-121.7,285.7,-12.4,377,2183,0.00,1.83,0.00,0.000,6,0.000,0.023,2178,2447,3994
$GC,2512,-1.25,-121.7,321.8,-10.6,419,2516,0.10,1.98,0.00,0.000,4,0.086,0.043,2125,3757,3994
$GC,2558,-1.06,-121.7,327.7,-13.1,423,2562,0.22,1.83,0.00,0.000,6,0.159,0.023,2202,2476,3994
$GC,2889,-1.25,-121.7,361.4,-9.7,454,2893,0.17,1.98,0.00,0.000,4,0.064,0.044,2124,3761,3994
$GC,3041,-1.07,-121.7,381.9,-13.3,467,3048,0.28,1.83,0.00,0.000,6,0.161,0.023,2199,2460,3994
$GC,3367,-1.42,-121.7,414.3,-9.9,498,3371,0.28,2.03,0.00,0.000,4,0.058,0.025,2082,1043,3994
$GC,3399,-1.23,-121.7,418.6,-13.7,500,3406,0.28,2.08,0.00,0.000,6,0.165,0.029,2149,2446,3995
$GC,3725,-1.23,-121.7,455.4,-10.3,531,3728,0.00,2.00,0.00,0.000,4,0.000,0.045,2141,3766,3994
$GC,3786,-1.15,-121.7,462.4,-11.9,536,3793,0.12,1.85,0.00,0.000,6,0.167,0.024,2172,2454,3994
$GC,4112,-1.28,-121.7,496.3,-10.7,567,4117,0.12,2.03,0.00,0.000,4,0.080,0.044,2114,3767,3993
$GC,4229,-1.13,-121.7,512.4,-13.9,574,4233,0.25,1.85,0.00,0.000,6,0.165,0.025,2181,2465,3992
$GC,4559,-1.44,-121.7,542.5,-8.5,590,4563,0.25,2.05,0.00,0.000,4,0.064,0.025,2080,1046,3991
$GC,4580,-1.44,-121.7,545.0,-9.8,591,4584,0.00,2.10,0.00,0.000,6,0.000,0.031,2071,2453,3991
$GC,4908,-1.22,-121.7,588.3,-13.5,607,4913,0.25,2.00,0.00,0.000,4,0.175,0.045,2137,3757,3990
$GC,4930,-1.10,-121.7,591.3,-12.6,608,4934,0.17,1.88,0.00,0.000,6,0.162,0.024,2183,2442,3989
$GC,5260,-1.42,-121.7,621.7,-8.9,624,5262,0.28,0.00,0.00,0.000,6,0.064,0.000,2078,2442,3987
$GC,5567,-1.24,-121.7,659.0,-12.1,639,5572,0.20,2.03,0.00,0.000,4,0.183,0.026,2136,1049,3985
$GC,5600,-1.24,-121.7,663.0,-10.8,640,5606,0.00,2.12,0.00,0.000,6,0.000,0.035,2136,2454,3985
$GC,5917,-1.24,-121.7,696.7,-11.6,656,5920,0.00,2.03,0.00,0.000,4,0.000,0.048,2128,3771,3982
$GC,6007,-1.18,-121.7,708.5,-13.6,660,6012,0.15,1.90,0.00,0.000,6,0.168,0.026,2165,2456,3982
$GC,6342,-1.32,-121.7,743.0,-9.8,676,6347,0.15,2.05,0.00,0.000,4,0.079,0.049,2100,3761,3980
$GC,6394,-1.15,-121.7,749.6,-13.2,678,6400,0.25,1.88,0.00,0.000,6,0.171,0.026,2167,2466,3979
$GC,6724,-1.30,-121.7,778.6,-8.5,694,6729,0.12,2.10,0.00,0.000,4,0.083,0.027,2119,1027,3976
$GC,6779,-1.30,-121.7,785.0,-11.3,696,6785,0.00,2.20,0.00,0.000,6,0.000,0.035,2112,2476,3976
$GC,7095,-1.24,-121.7,823.3,-12.5,712,7100,0.12,2.00,0.00,0.000,4,0.178,0.050,2137,3761,3974
$GC,7129,-1.24,-121.7,827.7,-12.5,713,7132,0.00,1.88,0.00,0.000,6,0.000,0.026,2137,2463,3973
$GC,7450,-1.24,-121.7,867.4,-12.5,729,7454,0.00,2.08,0.00,0.000,4,0.000,0.028,2137,1042,3971
$GC,7506,-1.29,-121.7,874.7,-12.8,731,7511,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2479,3971
$GC,7828,-1.29,-121.7,912.0,-11.4,747,7832,0.00,2.00,0.00,0.000,4,0.000,0.052,2137,3761,3969
$GC,7868,-1.29,-121.7,917.0,-12.7,748,7874,0.00,1.88,0.00,0.000,6,0.000,0.027,2137,2469,3969
$GC,8184,-1.29,-121.7,953.5,-12.0,764,8188,0.00,2.10,0.00,0.000,4,0.000,0.028,2137,1034,3967
$GC,8240,-1.36,-121.7,960.6,-12.0,766,8245,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2471,3966
$STATE,8491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8491,begin apogee
$GC,8497,-0.22,0.0,991.0,11.8,778,8599,1.12,0.00,92.93,1.381,6,0.163,0.000,2466,2472,3531
$STATE,8600,end apogee,CONTROL_FINISHED_OK
$STATE,8600,begin climb
$GC,8603,1.25,121.7,996.7,0.0,783,8714,1.35,2.20,103.10,1.364,4,0.067,0.049,2942,3762,3034
$GC,8913,0.57,151.1,980.9,10.9,797,8944,0.85,1.88,24.98,1.307,6,0.215,0.025,2735,2493,2915
$GC,9262,0.75,217.6,952.6,8.3,814,9327,0.15,2.17,55.03,1.339,4,0.082,0.031,2789,1129,2644
$GC,9398,0.76,223.8,937.1,12.6,820,9411,0.00,2.17,6.65,1.059,6,0.000,0.036,2789,2512,2619
$GC,9727,0.78,246.4,897.6,11.4,836,9749,0.00,0.00,19.27,1.269,6,0.000,0.000,2789,2512,2527
$GC,10058,0.83,279.7,861.0,10.7,852,10089,0.00,0.00,29.12,1.283,6,0.000,0.000,2789,2513,2391
$GC,10386,0.96,311.5,825.3,10.8,868,10421,0.17,2.22,27.35,1.262,4,0.082,0.032,2868,1126,2260
$GC,10498,0.87,311.5,808.8,15.6,873,10503,0.17,2.17,0.00,0.000,6,0.189,0.037,2826,2507,2257
$GC,10825,0.87,311.5,760.6,15.6,889,10829,0.00,2.10,0.00,0.000,4,0.000,0.031,2829,1122,2254
$GC,10903,0.87,311.5,748.2,16.6,892,10907,0.00,2.10,0.00,0.000,6,0.000,0.036,2829,2487,2253
$GC,11225,0.87,311.5,701.0,13.8,908,11229,0.00,2.00,0.00,0.000,4,0.000,0.053,2829,3760,2252
$GC,11263,0.78,311.5,695.0,16.5,909,11270,0.12,1.88,0.00,0.000,6,0.200,0.026,2801,2492,2252
$GC,11579,0.93,330.7,658.6,11.7,925,11602,0.12,2.08,16.02,1.150,4,0.091,0.031,2855,1109,2182
$GC,11693,0.93,330.7,641.6,15.7,930,11697,0.00,2.12,0.00,0.000,6,0.000,0.038,2855,2474,2180
$GC,12026,0.93,330.7,590.7,15.2,946,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2475,2178
$GC,12336,0.93,330.7,545.8,13.6,961,12339,0.00,2.08,0.00,0.000,4,0.000,0.033,2862,1098,2177
$GC,12426,0.93,330.7,534.0,13.7,965,12430,0.00,2.12,0.00,0.000,6,0.000,0.036,2862,2480,2177
$GC,12750,0.93,330.7,492.4,13.1,983,12753,0.00,2.00,0.00,0.000,4,0.000,0.052,2862,3764,2176
$GC,12762,0.93,330.7,490.7,13.1,984,12766,0.00,1.90,0.00,0.000,6,0.000,0.026,2870,2464,2176
$GC,13093,0.93,331.6,445.0,13.0,1015,13097,0.00,1.98,0.00,0.000,4,0.000,0.032,2874,1120,2176
$GC,13128,0.94,335.1,440.5,12.8,1018,13140,0.00,2.08,4.38,0.739,6,0.000,0.034,2874,2484,2165
$GC,13457,0.94,342.2,397.9,12.5,1049,13470,0.00,2.10,7.75,0.877,4,0.000,0.029,2882,1123,2136
$GC,13578,0.95,346.1,382.4,12.8,1059,13588,0.12,2.03,4.80,0.730,6,0.186,0.034,2852,2457,2120
$GC,13914,1.09,369.2,343.3,11.4,1091,13937,0.12,0.00,20.35,0.918,6,0.078,0.000,2902,2457,2027
$GC,14254,1.10,378.9,298.9,12.3,1123,14266,0.00,0.00,9.02,0.808,6,0.000,0.000,2902,2457,1987
$GC,14604,1.10,380.0,252.8,13.0,1185,14610,0.00,2.00,0.00,0.000,4,0.000,0.029,2911,1111,1984
$GC,14679,1.16,383.9,243.1,12.8,1198,14692,0.00,2.05,5.78,0.683,6,0.000,0.033,2911,2462,1965
$GC,15030,1.16,383.9,194.5,13.5,1260,15036,0.00,2.00,0.00,0.000,4,0.000,0.028,2915,1110,1964
$GC,15175,1.24,407.5,176.8,11.4,1285,15205,0.00,2.03,21.02,0.764,6,0.000,0.031,2915,2455,1868
$GC,15545,1.36,416.2,131.7,12.4,1350,15560,0.17,2.00,7.95,0.647,4,0.070,0.027,3000,1111,1835
$GC,15652,1.24,416.2,116.6,13.7,1368,15659,0.22,1.98,0.00,0.000,6,0.186,0.033,2944,2423,1834
$GC,15998,1.38,438.8,78.8,11.4,1429,16023,0.12,2.00,19.52,0.667,4,0.077,0.027,3003,1110,1742
$GC,16194,1.42,477.6,54.6,10.3,1463,16234,0.00,1.92,31.42,0.650,6,0.000,0.031,3002,2395,1583
$GC,16574,1.52,486.2,7.4,12.4,1530,16588,0.00,2.10,7.93,0.538,4,0.000,0.042,3002,3761,1548
$GC,16606,1.52,486.2,3.2,13.4,1535,16612,0.00,2.00,0.00,0.000,6,0.000,0.021,3013,2361,1547
$STATE,16615,end climb,SURFACE_DEPTH_REACHED
$STATE,16616,begin surface coast
$FINISH,1.8,1.007262
$STATE,16639,end surface coast,CONTROL_FINISHED_OK
$STATE,16640,begin surface
$SM_CCo,16719,0.00,0.000,0,0,1546,487.17
$SM_GC,2.73,7.68,0.00,0.00,0.051,0.000,0.000,140,2442,1546,-7.50,0.42,487.17
$IRIDIUM_FIX,2453.69,12419.00,141098,040436
$TT8_MAMPS,0.029146
$HUMID,1632
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,60.127
$10V_AH,10.7,33.567
$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,25.950,141.525,514.375,0.000,0.000,25.713,33.802,183.595,8.000,0.000,0.000,16.251,2740.329,10386.164,642.499,2690.602,637.557,0.000,2027.680,0.000,2630.259,0.000,54.460,0.000
$DEVICE_MAMPS,237.770,72.098,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.192,1071.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82063,1541
$CAP_FILE_SIZE,174136,0
$CFSIZE,260165632,197513216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,141.5,1
$GPS,200709,135606,2504.206,12418.551,28,1.2,29,-3.8