version: 66.04
glider: 167
mission: 2
dive: 411
start: 7 27 109 20 19 54
data:
$ID,167
$MISSION,2
$DIVE,411
$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,-13831.597
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,46
$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
$GPS1,200901,2446.267,12427.220,40,1.3,41,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.1
$GPS2,201934,2446.305,12427.038,17,7.4,36,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$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,168.2,60629,-24.8,-13.043
$D_GRID,909
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-121.7,0.0,0.0,0,55,0.00,0.00,-34.53,0.000,2,0.000,0.000,139,2491,2386
$GC,58,-1.25,-121.7,3.2,-2.2,6,120,8.32,2.03,-48.25,0.000,4,0.235,0.055,2127,3762,3989
$GC,204,-0.83,-121.7,24.8,-21.3,30,212,0.52,1.88,0.00,0.000,6,0.164,0.021,2275,2435,3990
$GC,551,-1.22,-121.7,64.5,-9.8,91,558,0.30,2.03,0.00,0.000,4,0.054,0.041,2139,3750,3992
$GC,588,-1.04,-121.7,69.0,-13.5,97,595,0.25,1.77,0.00,0.000,6,0.163,0.021,2206,2474,3991
$GC,933,-1.15,-121.7,110.7,-11.4,158,940,0.00,1.98,0.00,0.000,4,0.000,0.042,2205,3761,3992
$GC,976,-1.26,-121.7,115.8,-12.4,165,983,0.20,1.77,0.00,0.000,6,0.059,0.021,2121,2488,3992
$GC,1323,-1.10,-121.7,164.0,-13.2,226,1330,0.20,1.95,0.00,0.000,4,0.160,0.040,2175,3761,3994
$GC,1388,-1.04,-121.7,172.2,-11.9,237,1395,0.12,1.73,0.00,0.000,6,0.163,0.021,2206,2515,3994
$GC,1734,-1.33,-121.7,209.5,-12.2,298,1742,0.22,1.90,0.00,0.000,4,0.060,0.041,2103,3759,3995
$GC,1766,-1.22,-121.7,214.1,-15.4,303,1773,0.17,1.70,0.00,0.000,6,0.167,0.021,2148,2528,3995
$GC,2114,-1.29,-121.7,255.4,-9.7,364,2120,0.00,1.88,0.00,0.000,4,0.000,0.041,2141,3763,3995
$GC,2139,-1.29,-121.7,258.0,-10.0,368,2145,0.00,1.70,0.00,0.000,6,0.000,0.021,2141,2526,3995
$GC,2486,-1.34,-121.7,292.9,-10.5,429,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2526,3996
$GC,2819,-1.41,-121.7,330.4,-11.4,466,2824,0.15,2.03,0.00,0.000,4,0.071,0.023,2076,1115,3995
$GC,2894,-1.18,-121.7,341.3,-15.6,472,2900,0.32,2.15,0.00,0.000,6,0.162,0.029,2161,2558,3995
$GC,3220,-1.40,-121.7,376.4,-9.8,503,3224,0.17,2.10,0.00,0.000,4,0.070,0.021,2082,1101,3995
$GC,3250,-1.32,-121.7,379.7,-11.4,505,3254,0.17,2.15,0.00,0.000,6,0.170,0.030,2119,2549,3995
$GC,3576,-1.41,-121.7,411.6,-8.7,535,3580,0.00,2.08,0.00,0.000,4,0.000,0.023,2120,1107,3996
$GC,3605,-1.41,-121.7,414.1,-8.7,537,3611,0.00,2.10,0.00,0.000,6,0.000,0.028,2113,2528,3995
$GC,3931,-1.47,-121.7,446.3,-11.0,568,3935,0.12,1.88,0.00,0.000,4,0.079,0.042,2056,3764,3994
$GC,3960,-1.27,-121.7,449.9,-12.9,570,3969,0.28,1.75,0.00,0.000,6,0.175,0.021,2130,2517,3994
$GC,4288,-1.39,-121.7,486.2,-10.8,601,4292,0.00,2.03,0.00,0.000,4,0.000,0.025,2130,1097,3993
$GC,4324,-1.46,-121.7,490.3,-10.7,604,4329,0.15,2.08,0.00,0.000,6,0.076,0.028,2067,2505,3992
$GC,4661,-1.34,-121.7,527.6,-10.7,624,4665,0.17,1.90,0.00,0.000,4,0.183,0.044,2103,3753,3991
$GC,4832,-1.22,-121.7,547.3,-11.3,631,4837,0.17,1.77,0.00,0.000,6,0.168,0.025,2148,2506,3991
$GC,5157,-1.45,-121.7,576.9,-8.9,647,5161,0.17,2.05,0.00,0.000,4,0.071,0.025,2074,1083,3988
$GC,5221,-1.33,-121.7,584.3,-11.9,650,5225,0.17,2.10,0.00,0.000,6,0.171,0.031,2113,2492,3988
$GC,5555,-1.45,-121.7,619.9,-10.6,666,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2491,3985
$GC,5863,-1.57,-121.7,648.9,-8.8,681,5868,0.20,2.05,0.00,0.000,4,0.074,0.025,2034,1110,3982
$GC,5887,-1.48,-121.7,651.4,-10.4,682,5892,0.15,2.05,0.00,0.000,6,0.196,0.033,2063,2455,3982
$GC,6222,-1.31,-121.7,690.6,-12.2,698,6226,0.17,2.03,0.00,0.000,4,0.192,0.048,2110,3757,3980
$GC,6417,-1.22,-121.7,713.7,-12.5,706,6425,0.15,1.83,0.00,0.000,6,0.170,0.025,2147,2493,3978
$GC,6735,-1.43,-121.7,746.7,-10.8,722,6739,0.17,2.00,0.00,0.000,4,0.072,0.048,2071,3762,3976
$GC,6790,-1.19,-121.7,754.6,-15.3,724,6794,0.32,1.85,0.00,0.000,6,0.172,0.025,2158,2480,3975
$GC,7112,-1.48,-121.7,788.0,-10.2,740,7117,0.22,2.03,0.00,0.000,4,0.067,0.026,2067,1087,3973
$GC,7192,-1.36,-121.7,798.2,-13.0,743,7199,0.17,2.08,0.00,0.000,6,0.174,0.033,2104,2459,3973
$GC,7509,-1.36,-121.7,834.5,-11.2,759,7512,0.00,2.03,0.00,0.000,4,0.000,0.049,2097,3762,3970
$GC,7589,-1.25,-121.7,844.4,-12.5,762,7593,0.17,1.90,0.00,0.000,6,0.174,0.025,2142,2456,3970
$GC,7912,-1.37,-121.7,881.9,-13.6,778,7916,0.12,2.08,0.00,0.000,4,0.083,0.049,2094,3764,3967
$STATE,8111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8111,begin apogee
$GC,8120,-0.22,0.0,909.7,14.5,787,8222,1.30,0.00,92.72,1.318,6,0.166,0.000,2467,2383,3532
$STATE,8222,end apogee,CONTROL_FINISHED_OK
$STATE,8223,begin climb
$GC,8225,1.25,121.7,918.3,0.0,792,8333,1.35,0.00,102.00,1.305,6,0.064,0.000,2948,2383,3034
$GC,8643,0.74,141.8,902.9,11.6,812,8666,0.60,2.30,16.95,1.232,4,0.212,0.051,2791,3767,2953
$GC,8678,0.71,175.8,898.8,10.6,813,8712,0.00,2.05,29.40,1.258,6,0.000,0.023,2799,2387,2815
$GC,9022,0.68,231.0,870.1,9.1,830,9074,0.15,2.30,45.85,1.279,4,0.198,0.049,2763,3752,2589
$GC,9087,0.79,257.7,863.3,11.1,833,9117,0.00,2.08,23.08,1.217,6,0.000,0.025,2769,2384,2480
$GC,9443,1.02,316.1,827.0,8.9,850,9499,0.28,2.20,48.62,1.256,4,0.075,0.031,2882,1012,2242
$GC,9602,0.92,316.1,803.8,13.7,857,9607,0.17,2.10,0.00,0.000,6,0.190,0.033,2840,2368,2237
$GC,9928,0.92,322.5,763.2,12.6,873,9939,0.00,2.20,5.57,0.953,4,0.000,0.049,2840,3764,2217
$GC,9961,0.86,322.5,758.5,14.8,874,9969,0.00,2.08,0.00,0.000,6,0.000,0.025,2846,2379,2215
$GC,10278,0.86,327.9,718.4,12.7,890,10286,0.00,0.00,6.18,0.986,6,0.000,0.000,2846,2379,2195
$GC,10586,0.87,331.0,678.9,12.8,905,10595,0.00,2.20,4.43,0.844,4,0.000,0.051,2846,3752,2182
$GC,10700,0.80,331.0,662.7,14.3,910,10705,0.20,2.08,0.00,0.000,6,0.189,0.026,2805,2365,2180
$GC,11027,1.01,396.3,630.4,8.4,926,11090,0.20,2.30,55.60,1.170,4,0.077,0.050,2879,3755,1914
$GC,11101,1.02,401.3,621.7,12.7,929,11114,0.00,2.08,5.68,0.871,6,0.000,0.025,2889,2409,1894
$GC,11423,1.02,401.3,579.6,13.4,945,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2408,1888
$GC,11731,1.02,401.3,532.8,15.4,960,11735,0.00,2.12,0.00,0.000,4,0.000,0.031,2899,988,1887
$GC,11816,1.02,401.3,519.6,15.2,963,11822,0.00,2.20,0.00,0.000,6,0.000,0.033,2899,2429,1886
$GC,12137,1.03,407.1,472.9,12.6,988,12146,0.00,0.00,4.93,0.800,6,0.000,0.000,2899,2429,1871
$GC,12469,1.04,416.7,432.4,12.4,1019,12484,0.00,2.22,9.55,0.933,4,0.000,0.031,2909,987,1833
$GC,12518,1.04,419.2,425.8,12.9,1023,12528,0.00,2.20,3.90,0.660,6,0.000,0.031,2909,2429,1822
$GC,12855,1.05,425.0,382.2,12.6,1055,12867,0.00,2.17,6.35,0.819,4,0.000,0.029,2917,989,1799
$GC,12963,1.06,436.9,368.0,12.2,1064,12981,0.12,2.12,11.90,0.904,6,0.180,0.031,2888,2395,1750
$GC,13299,1.33,460.3,328.3,11.4,1096,13325,0.20,2.15,20.88,0.904,4,0.069,0.048,2973,3752,1654
$GC,13394,1.12,460.3,314.7,14.2,1104,13399,0.30,2.17,0.00,0.000,6,0.190,0.025,2904,2283,1651
$GC,13731,1.28,460.3,273.8,13.1,1152,13737,0.15,1.92,0.00,0.000,4,0.082,0.030,2965,977,1649
$GC,13819,1.28,460.3,260.8,14.9,1167,13824,0.00,2.00,0.00,0.000,6,0.000,0.030,2966,2308,1649
$GC,14162,1.32,490.1,209.5,10.9,1228,14192,0.00,2.33,24.58,0.801,4,0.000,0.048,2965,3753,1534
$GC,14211,1.32,490.1,203.3,13.8,1236,14217,0.00,2.22,0.00,0.000,6,0.000,0.023,2975,2250,1532
$GC,14556,1.33,497.9,158.8,12.5,1297,14570,0.00,1.92,7.90,0.670,4,0.000,0.031,2982,983,1501
$GC,14627,1.33,497.9,149.1,14.0,1309,14633,0.00,1.95,0.00,0.000,6,0.000,0.028,2982,2282,1500
$GC,14972,1.38,497.9,103.0,13.2,1370,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2282,1500
$GC,15317,1.52,531.5,61.8,10.6,1431,15353,0.15,2.28,28.80,0.659,4,0.078,0.043,3043,3749,1363
$GC,15472,1.43,531.5,42.1,13.5,1458,15480,0.17,2.12,0.00,0.000,6,0.185,0.021,3008,2278,1361
$STATE,15803,end climb,SURFACE_DEPTH_REACHED
$STATE,15803,begin surface coast
$FINISH,1.7,1.021558
$STATE,15836,end surface coast,CONTROL_FINISHED_OK
$STATE,15836,begin surface
$SM_CCo,15914,0.00,0.000,0,0,1359,533.04
$SM_GC,2.55,7.68,0.00,0.00,0.054,0.000,0.000,141,2498,1359,-7.50,0.42,533.04
$IRIDIUM_FIX,2434.69,12427.46,211098,202018
$TT8_MAMPS,0.029146
$HUMID,1666
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,23.5,69.548
$10V_AH,10.7,37.969
$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,27.300,134.775,554.850,0.000,0.000,52.966,112.578,224.052,7.750,0.000,0.000,37.643,2704.297,9648.959,661.680,2701.364,814.288,0.000,2042.254,0.000,2613.671,0.000,53.313,0.000
$DEVICE_MAMPS,235.469,55.224,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.799,1066.588,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82060,1522
$CAP_FILE_SIZE,173578,0
$CFSIZE,260165632,193470464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,344.3,1
$GPS,280709,004625,2446.370,12426.533,41,1.0,42,-3.7