version: 66.04
glider: 167
mission: 2
dive: 340
start: 7 20 109 14 3 0
data:
$ID,167
$MISSION,2
$DIVE,340
$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,-12044.076
$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,45
$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
$GPS1,135606,2504.206,12418.551,28,1.2,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.1
$GPS2,140238,2504.241,12418.674,13,1.3,13,-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,278.1,53624,-24.8,-13.043
$D_GRID,1969
$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,-29.55,0.000,2,0.000,0.000,140,2442,2297
$GC,50,-1.25,-121.7,3.2,-2.1,5,119,8.30,2.08,-54.38,0.000,4,0.239,0.037,2133,1021,3988
$GC,195,-0.92,-121.7,24.7,-22.3,29,202,0.43,2.10,0.00,0.000,6,0.163,0.029,2243,2426,3989
$GC,542,-1.01,-121.7,78.0,-14.6,90,547,0.00,2.03,0.00,0.000,4,0.000,0.044,2235,3757,3990
$GC,627,-1.01,-121.7,90.8,-15.0,105,634,0.00,1.90,0.00,0.000,6,0.000,0.021,2235,2390,3991
$GC,972,-1.35,-121.7,131.5,-10.5,166,979,0.30,2.10,0.00,0.000,4,0.054,0.042,2098,3756,3992
$GC,1171,-0.97,-121.7,167.6,-18.1,201,1179,0.47,1.83,0.00,0.000,6,0.166,0.022,2231,2444,3993
$GC,1519,-1.36,-121.7,204.8,-10.2,262,1525,0.32,2.00,0.00,0.000,4,0.054,0.042,2085,3752,3994
$GC,1577,-1.00,-121.7,214.1,-18.1,272,1584,0.47,1.77,0.00,0.000,6,0.165,0.021,2219,2470,3994
$GC,1924,-1.26,-121.7,252.7,-10.6,333,1931,0.20,1.98,0.00,0.000,4,0.062,0.042,2125,3761,3994
$GC,1944,-1.39,-121.7,255.3,-11.4,336,1950,0.00,1.80,0.00,0.000,6,0.000,0.022,2125,2464,3994
$GC,2292,-1.25,-121.7,305.1,-14.1,395,2295,0.00,1.98,0.00,0.000,4,0.000,0.044,2123,3754,3994
$GC,2395,-1.05,-121.7,319.5,-12.8,404,2399,0.28,1.75,0.00,0.000,6,0.162,0.023,2199,2508,3994
$GC,2725,-1.35,-121.7,351.3,-8.8,435,2730,0.22,2.08,0.00,0.000,4,0.064,0.024,2105,1053,3994
$GC,2862,-1.20,-121.7,369.6,-13.5,446,2868,0.22,2.10,0.00,0.000,6,0.166,0.029,2158,2473,3994
$GC,3188,-1.28,-121.7,408.0,-11.1,477,3192,0.00,1.95,0.00,0.000,4,0.000,0.044,2153,3763,3994
$GC,3283,-1.28,-121.7,421.2,-13.7,485,3290,0.00,1.83,0.00,0.000,6,0.000,0.024,2153,2489,3994
$GC,3608,-1.28,-121.7,459.1,-10.4,516,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2489,3994
$GC,3929,-1.34,-121.7,493.7,-11.8,546,3933,0.12,1.98,0.00,0.000,4,0.081,0.045,2098,3767,3993
$GC,3997,-1.13,-121.7,503.6,-15.4,551,4001,0.30,1.77,0.00,0.000,6,0.166,0.024,2180,2516,3993
$GC,4331,-1.42,-121.7,539.2,-9.6,567,4335,0.22,1.92,0.00,0.000,4,0.065,0.046,2085,3756,3991
$GC,4370,-1.19,-121.7,544.2,-13.0,568,4376,0.28,1.75,0.00,0.000,6,0.172,0.025,2158,2523,3991
$GC,4689,-1.32,-121.7,575.2,-9.5,584,4693,0.12,1.92,0.00,0.000,4,0.080,0.046,2110,3763,3990
$GC,4854,-1.17,-121.7,596.6,-14.0,591,4859,0.17,1.77,0.00,0.000,6,0.164,0.025,2172,2546,3989
$GC,5183,-1.48,-121.7,630.5,-10.2,607,5185,0.30,0.00,0.00,0.000,6,0.062,0.000,2058,2546,3986
$GC,5491,-1.24,-121.7,673.1,-13.9,622,5495,0.28,1.90,0.00,0.000,4,0.186,0.046,2127,3761,3983
$GC,5531,-1.16,-121.7,678.4,-12.0,623,5537,0.15,1.75,0.00,0.000,6,0.171,0.026,2164,2547,3983
$GC,5847,-1.31,-121.7,710.6,-10.6,639,5851,0.12,1.90,0.00,0.000,4,0.085,0.048,2111,3759,3981
$GC,5881,-1.19,-121.7,715.1,-13.8,640,5885,0.17,1.75,0.00,0.000,6,0.173,0.027,2155,2548,3981
$GC,6205,-1.30,-121.7,751.4,-10.4,656,6209,0.00,2.15,0.00,0.000,4,0.000,0.028,2155,1070,3978
$GC,6252,-1.43,-121.7,756.3,-9.7,658,6257,0.20,2.20,0.00,0.000,6,0.074,0.035,2080,2518,3978
$GC,6581,-1.27,-121.7,797.5,-12.8,674,6586,0.17,1.90,0.00,0.000,4,0.195,0.050,2123,3751,3975
$GC,6632,-1.19,-121.7,804.2,-12.1,676,6636,0.15,1.75,0.00,0.000,6,0.179,0.027,2160,2545,3975
$GC,6961,-1.32,-121.7,835.9,-9.5,692,6963,0.12,0.00,0.00,0.000,6,0.084,0.000,2114,2545,3973
$GC,7268,-1.28,-121.7,872.3,-12.2,707,7271,0.00,1.92,0.00,0.000,4,0.000,0.053,2109,3763,3971
$GC,7314,-1.15,-121.7,878.3,-13.9,709,7319,0.25,1.77,0.00,0.000,6,0.175,0.028,2175,2553,3970
$GC,7647,-1.34,-121.7,911.3,-9.8,725,7649,0.20,0.00,0.00,0.000,6,0.074,0.000,2100,2553,3968
$GC,7958,-1.26,-121.7,950.6,-13.1,740,7960,0.15,0.00,0.00,0.000,6,0.179,0.000,2137,2553,3966
$GC,8266,-1.31,-121.7,986.6,-11.8,755,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2553,3965
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8304,begin apogee
$GC,8309,-0.22,0.0,991.5,11.7,757,8411,1.12,0.00,92.82,1.383,6,0.164,0.000,2466,2552,3532
$STATE,8412,end apogee,CONTROL_FINISHED_OK
$STATE,8412,begin climb
$GC,8415,1.25,121.7,997.3,0.0,762,8526,1.38,2.05,103.30,1.367,4,0.064,0.050,2947,3753,3035
$GC,8558,0.60,213.5,1001.5,6.5,769,8644,0.88,1.88,77.97,1.342,6,0.216,0.025,2742,2527,2661
$GC,8953,0.81,271.1,967.2,8.9,788,9006,0.17,2.20,47.75,1.328,4,0.079,0.030,2814,1118,2426
$GC,9102,0.81,271.1,948.3,13.4,795,9106,0.00,2.15,0.00,0.000,6,0.000,0.035,2814,2489,2421
$GC,9435,0.81,271.1,904.0,13.4,811,9438,0.00,2.08,0.00,0.000,4,0.000,0.031,2820,1120,2418
$GC,9507,0.81,271.1,893.9,13.1,814,9511,0.00,2.08,0.00,0.000,6,0.000,0.035,2819,2467,2418
$GC,9835,0.81,271.1,849.2,13.7,830,9839,0.00,2.05,0.00,0.000,4,0.000,0.031,2828,1107,2416
$GC,9868,0.81,271.1,844.4,13.4,831,9872,0.00,2.12,0.00,0.000,6,0.000,0.038,2828,2467,2416
$GC,10190,0.77,271.1,799.7,14.0,847,10194,0.15,2.03,0.00,0.000,4,0.183,0.029,2798,1120,2415
$GC,10223,0.85,271.1,795.1,13.7,848,10227,0.00,2.08,0.00,0.000,6,0.000,0.036,2799,2469,2415
$GC,10545,0.91,271.1,753.2,13.5,864,10549,0.12,2.03,0.00,0.000,4,0.088,0.029,2855,1119,2414
$GC,10594,0.81,271.1,745.3,16.3,866,10599,0.17,2.05,0.00,0.000,6,0.188,0.035,2813,2462,2413
$GC,10916,0.82,279.0,702.6,12.5,882,10927,0.00,2.03,6.05,1.002,4,0.000,0.030,2819,1110,2393
$GC,10966,0.82,279.0,696.0,13.8,884,10969,0.00,2.05,0.00,0.000,6,0.000,0.037,2819,2445,2393
$GC,11287,0.83,286.0,655.7,12.5,900,11301,0.00,2.08,7.57,1.045,4,0.000,0.031,2826,1104,2366
$GC,11365,0.84,293.3,645.6,12.5,903,11379,0.00,2.05,8.07,1.045,6,0.000,0.037,2826,2440,2336
$GC,11707,0.86,312.0,602.7,11.7,920,11728,0.00,2.15,16.65,1.119,4,0.000,0.052,2826,3756,2260
$GC,11753,0.86,312.0,596.9,13.6,922,11757,0.00,1.98,0.00,0.000,6,0.000,0.027,2828,2446,2258
$GC,12086,0.95,335.4,558.6,11.4,938,12112,0.00,2.03,20.70,1.096,4,0.000,0.032,2830,1111,2163
$GC,12180,1.08,347.0,547.0,12.2,942,12196,0.17,2.05,10.85,1.015,6,0.078,0.035,2894,2435,2116
$GC,12510,0.99,347.0,498.2,14.5,959,12514,0.12,2.00,0.00,0.000,4,0.196,0.029,2873,1113,2112
$GC,12577,1.00,362.6,489.1,11.9,965,12600,0.00,2.00,14.02,1.013,6,0.000,0.034,2872,2417,2053
$GC,12918,1.00,362.6,443.4,14.6,997,12921,0.00,1.95,0.00,0.000,4,0.000,0.030,2881,1114,2049
$GC,13070,1.00,362.6,420.9,13.8,1010,13076,0.00,1.90,0.00,0.000,6,0.000,0.034,2881,2361,2049
$GC,13396,1.02,377.4,379.4,12.0,1041,13414,0.00,2.17,13.02,0.926,4,0.000,0.049,2881,3755,1993
$GC,13454,0.96,377.4,371.5,13.8,1045,13462,0.00,2.05,0.00,0.000,6,0.000,0.025,2885,2365,1990
$GC,13781,1.03,385.1,329.1,12.5,1076,13793,0.00,2.28,7.47,0.808,4,0.000,0.047,2885,3768,1961
$GC,13821,1.04,392.3,323.6,12.5,1079,13838,0.00,2.05,8.10,0.807,6,0.000,0.025,2894,2384,1931
$GC,14166,1.12,396.3,282.8,12.8,1124,14178,0.00,1.92,4.78,0.659,4,0.000,0.031,2903,1108,1916
$GC,14360,1.20,396.9,259.1,13.0,1158,14366,0.00,1.90,0.00,0.000,6,0.000,0.031,2903,2367,1915
$GC,14705,1.28,396.9,214.1,13.1,1219,14711,0.15,1.85,0.00,0.000,4,0.077,0.027,2971,1114,1915
$GC,14854,1.16,396.9,189.8,16.9,1245,14862,0.20,1.83,0.00,0.000,6,0.189,0.030,2921,2342,1915
$GC,15201,1.27,421.4,144.1,11.3,1306,15231,0.00,1.88,22.05,0.732,4,0.000,0.029,2925,1113,1813
$GC,15284,1.41,440.2,135.0,11.7,1320,15310,0.20,1.85,16.67,0.706,6,0.070,0.029,3000,2343,1735
$GC,15650,1.35,440.2,80.5,14.4,1384,15656,0.00,1.83,0.00,0.000,4,0.000,0.028,3007,1104,1732
$GC,15780,1.35,440.2,62.5,13.7,1407,15786,0.00,1.80,0.00,0.000,6,0.000,0.029,3007,2318,1732
$GC,16124,1.40,474.8,22.2,10.6,1468,16160,0.00,2.25,27.70,0.624,4,0.000,0.044,3007,3767,1594
$GC,16190,1.34,474.8,14.3,14.3,1479,16197,0.15,2.15,0.00,0.000,6,0.170,0.021,2979,2297,1593
$STATE,16285,end climb,SURFACE_DEPTH_REACHED
$STATE,16285,begin surface coast
$FINISH,1.8,1.009873
$STATE,16316,end surface coast,CONTROL_FINISHED_OK
$STATE,16316,begin surface
$SM_CCo,16394,0.00,0.000,0,0,1591,476.13
$SM_GC,2.77,7.62,0.00,0.00,0.054,0.000,0.000,141,2463,1591,-7.49,1.02,476.13
$IRIDIUM_FIX,2453.69,12419.00,141098,090934
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.3,60.311
$10V_AH,10.7,33.659
$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,27.350,138.425,505.575,0.000,0.000,24.567,32.450,188.912,8.000,0.000,0.000,13.607,2671.885,10217.422,630.168,2632.083,623.237,0.000,1982.264,0.000,2566.909,0.000,54.427,0.000
$DEVICE_MAMPS,238.537,52.923,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.589,1032.549,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78960,1501
$CAP_FILE_SIZE,172218,0
$CFSIZE,260165632,197427200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,136.1,1
$GPS,200709,183736,2503.811,12417.769,40,1.5,46,-3.8