version: 66.04
glider: 167
mission: 2
dive: 414
start: 7 28 109 10 40 59
data:
$ID,167
$MISSION,2
$DIVE,414
$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,-13876.562
$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,74
$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
$GPS1,103324,2446.146,12426.315,39,1.7,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-68.7
$GPS2,104038,2446.225,12426.257,14,1.6,14,-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,166.1,61034,-24.8,-13.043
$D_GRID,892
$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,13,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,53,0.00,0.00,-34.80,0.000,2,0.000,0.000,140,2498,2255
$GC,57,-1.25,-121.7,3.2,-2.3,6,130,8.25,1.98,-55.58,0.000,4,0.235,0.056,2129,3746,3989
$GC,195,-0.83,-121.7,21.8,-20.6,29,202,0.50,1.83,0.00,0.000,6,0.163,0.021,2269,2453,3990
$GC,542,-1.23,-121.7,63.4,-10.9,90,548,0.30,2.00,0.00,0.000,4,0.053,0.042,2138,3744,3991
$GC,572,-1.16,-121.7,67.7,-14.7,95,578,0.12,1.75,0.00,0.000,6,0.179,0.021,2166,2493,3992
$GC,917,-1.16,-121.7,120.0,-13.3,156,924,0.00,1.92,0.00,0.000,4,0.000,0.041,2159,3751,3992
$GC,1022,-1.02,-121.7,134.9,-14.7,174,1028,0.20,1.73,0.00,0.000,6,0.160,0.021,2212,2507,3992
$GC,1368,-1.35,-121.7,171.5,-11.1,235,1375,0.25,1.90,0.00,0.000,4,0.058,0.041,2097,3746,3994
$GC,1499,-1.01,-121.7,192.2,-16.9,258,1505,0.43,1.67,0.00,0.000,6,0.166,0.021,2216,2532,3995
$GC,1847,-1.35,-121.7,225.7,-9.0,319,1853,0.28,1.88,0.00,0.000,4,0.056,0.041,2094,3756,3995
$GC,1899,-1.03,-121.7,232.7,-14.1,328,1907,0.40,1.65,0.00,0.000,6,0.162,0.021,2206,2561,3995
$GC,2247,-1.37,-121.7,268.8,-11.2,389,2254,0.25,2.08,0.00,0.000,4,0.060,0.021,2097,1097,3996
$GC,2329,-1.18,-121.7,279.6,-13.7,403,2335,0.25,2.17,0.00,0.000,6,0.160,0.029,2165,2562,3996
$GC,2667,-1.41,-121.7,317.3,-12.1,450,2671,0.20,1.80,0.00,0.000,4,0.067,0.042,2072,3753,3996
$GC,2690,-1.35,-121.7,320.6,-13.4,452,2694,0.15,1.67,0.00,0.000,6,0.178,0.022,2108,2556,3996
$GC,3022,-1.27,-121.7,363.8,-11.9,483,3025,0.00,1.83,0.00,0.000,4,0.000,0.042,2101,3753,3996
$GC,3101,-1.08,-121.7,373.6,-12.3,490,3105,0.32,1.62,0.00,0.000,6,0.162,0.022,2191,2593,3996
$GC,3433,-1.40,-121.7,403.2,-9.5,521,3438,0.25,2.12,0.00,0.000,4,0.062,0.023,2087,1107,3996
$GC,3478,-1.25,-121.7,408.9,-12.7,524,3486,0.20,2.17,0.00,0.000,6,0.164,0.029,2137,2571,3996
$GC,3804,-1.42,-121.7,445.8,-10.4,555,3808,0.15,1.77,0.00,0.000,4,0.073,0.043,2071,3744,3995
$GC,3865,-1.18,-121.7,453.9,-13.7,560,3873,0.32,1.62,0.00,0.000,6,0.167,0.022,2161,2582,3995
$GC,4191,-1.46,-121.7,483.6,-9.1,591,4195,0.22,2.12,0.00,0.000,4,0.061,0.024,2068,1099,3994
$GC,4247,-1.27,-121.7,489.9,-11.1,595,4253,0.28,2.20,0.00,0.000,6,0.165,0.030,2134,2580,3994
$GC,4569,-1.45,-121.7,520.3,-9.7,616,4574,0.15,2.15,0.00,0.000,4,0.073,0.024,2074,1101,3993
$GC,4632,-1.29,-121.7,527.6,-11.8,619,4636,0.22,2.15,0.00,0.000,6,0.166,0.030,2128,2544,3992
$GC,4967,-1.43,-121.7,559.7,-9.0,635,4972,0.12,2.10,0.00,0.000,4,0.081,0.024,2080,1104,3991
$GC,5023,-1.30,-121.7,566.1,-11.0,637,5030,0.20,2.10,0.00,0.000,6,0.168,0.031,2123,2509,3990
$GC,5341,-1.46,-121.7,592.9,-8.0,653,5345,0.15,1.92,0.00,0.000,4,0.077,0.046,2057,3764,3988
$GC,5369,-1.31,-121.7,596.0,-10.6,654,5373,0.25,1.77,0.00,0.000,6,0.180,0.025,2123,2523,3988
$GC,5698,-1.46,-121.7,627.3,-10.4,670,5702,0.15,2.05,0.00,0.000,4,0.074,0.025,2064,1093,3986
$GC,5794,-1.31,-121.7,639.7,-12.5,674,5799,0.25,2.08,0.00,0.000,6,0.170,0.031,2124,2474,3985
$GC,6118,-1.43,-121.7,673.6,-10.8,690,6122,0.12,2.03,0.00,0.000,4,0.082,0.025,2076,1090,3982
$GC,6174,-1.32,-121.7,681.7,-14.4,692,6179,0.17,2.05,0.00,0.000,6,0.172,0.032,2115,2452,3982
$GC,6493,-1.46,-121.7,722.0,-12.9,707,6497,0.12,2.00,0.00,0.000,4,0.086,0.025,2069,1094,3980
$GC,6510,-1.51,-121.7,724.5,-12.0,707,6518,0.00,2.03,0.00,0.000,6,0.000,0.033,2060,2435,3980
$GC,6827,-1.32,-121.7,765.7,-11.5,723,6831,0.17,2.08,0.00,0.000,4,0.186,0.048,2110,3767,3977
$GC,6982,-1.26,-121.7,779.3,-7.9,730,6986,0.12,1.92,0.00,0.000,6,0.173,0.025,2140,2441,3976
$GC,7318,-1.44,-121.7,801.0,-6.9,746,7323,0.17,1.95,0.00,0.000,4,0.074,0.025,2067,1098,3974
$GC,7376,-1.25,-121.7,807.3,-12.1,748,7380,0.30,2.03,0.00,0.000,6,0.167,0.034,2140,2435,3974
$GC,7697,-1.47,-121.7,835.0,-9.3,764,7702,0.20,2.08,0.00,0.000,4,0.074,0.048,2057,3766,3972
$GC,7852,-1.17,-121.7,856.1,-16.8,771,7856,0.40,1.95,0.00,0.000,6,0.178,0.024,2165,2420,3971
$STATE,8154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8155,begin apogee
$GC,8161,-0.22,0.0,893.0,11.7,786,8263,0.98,0.00,93.22,1.304,6,0.136,0.000,2469,2419,3532
$STATE,8263,end apogee,CONTROL_FINISHED_OK
$STATE,8263,begin climb
$GC,8266,1.25,121.7,900.9,0.0,791,8375,1.33,2.28,101.80,1.289,4,0.064,0.028,2953,1005,3035
$GC,8617,0.83,208.4,893.4,6.8,806,8695,0.55,2.15,70.78,1.279,6,0.210,0.034,2814,2407,2681
$GC,9018,0.90,307.5,861.0,5.9,826,9105,0.00,2.20,81.82,1.266,4,0.000,0.030,2816,1025,2276
$GC,9134,1.01,321.0,849.3,12.1,831,9154,0.17,2.17,12.12,1.124,6,0.074,0.033,2878,2403,2222
$GC,9472,0.91,321.0,800.3,15.4,848,9477,0.17,2.10,0.00,0.000,4,0.186,0.031,2843,1021,2216
$GC,9563,0.91,321.0,786.9,13.9,852,9566,0.00,2.08,0.00,0.000,6,0.000,0.035,2843,2374,2215
$GC,9889,0.91,321.0,738.9,14.8,868,9893,0.00,2.17,0.00,0.000,4,0.000,0.051,2843,3758,2214
$GC,9928,0.82,321.0,733.5,13.9,869,9935,0.15,2.05,0.00,0.000,6,0.194,0.025,2813,2371,2213
$GC,10246,0.96,356.6,698.5,10.5,885,10282,0.12,2.25,29.65,1.190,4,0.091,0.049,2860,3751,2077
$GC,10304,0.90,356.6,690.8,13.6,887,10311,0.15,2.08,0.00,0.000,6,0.191,0.025,2834,2381,2074
$GC,10622,1.07,393.7,658.0,10.4,903,10659,0.17,2.30,31.48,1.161,4,0.079,0.051,2906,3752,1926
$GC,10683,0.93,393.7,649.1,16.1,905,10688,0.28,2.10,0.00,0.000,6,0.194,0.025,2847,2370,1924
$GC,11014,1.07,407.4,609.2,12.1,921,11036,0.12,2.12,12.40,1.066,4,0.087,0.031,2898,1001,1870
$GC,11105,1.07,407.4,595.5,15.4,925,11109,0.00,2.15,0.00,0.000,6,0.000,0.032,2898,2399,1868
$GC,11438,1.07,407.4,545.9,14.5,941,11442,0.00,2.12,0.00,0.000,4,0.000,0.050,2898,3754,1866
$GC,11456,1.02,407.4,543.2,14.5,941,11462,0.15,2.05,0.00,0.000,6,0.193,0.025,2871,2360,1865
$GC,11772,1.11,407.4,500.5,13.8,957,11776,0.00,2.00,0.00,0.000,4,0.000,0.031,2880,1012,1864
$GC,11869,1.25,411.6,487.6,12.7,964,11879,0.20,2.03,4.47,0.762,6,0.079,0.032,2956,2348,1853
$GC,12194,1.13,434.8,443.3,11.4,995,12221,0.20,2.08,21.02,1.002,4,0.189,0.031,2909,1013,1758
$GC,12276,1.20,496.0,436.0,8.7,1002,12333,0.00,2.03,52.38,0.999,6,0.000,0.031,2909,2333,1509
$GC,12659,1.52,496.0,388.6,15.0,1038,12664,0.32,2.25,0.00,0.000,4,0.063,0.049,3036,3759,1499
$GC,12694,1.25,496.0,381.8,22.1,1040,12702,0.38,2.12,0.00,0.000,6,0.195,0.025,2949,2335,1498
$GC,13019,1.25,496.0,323.8,16.0,1071,13022,0.00,1.98,0.00,0.000,4,0.000,0.031,2957,999,1497
$GC,13043,1.25,496.0,320.5,14.1,1073,13047,0.00,1.95,0.00,0.000,6,0.000,0.031,2958,2286,1497
$GC,13377,1.28,517.6,281.5,11.5,1118,13401,0.00,2.33,17.77,0.848,4,0.000,0.048,2958,3763,1421
$GC,13476,1.28,517.6,267.0,15.7,1135,13482,0.00,2.22,0.00,0.000,6,0.000,0.025,2967,2252,1418
$GC,13821,1.33,517.6,210.3,14.2,1196,13828,0.00,1.83,0.00,0.000,4,0.000,0.031,2975,1006,1417
$GC,13908,1.34,525.3,198.7,12.5,1211,13921,0.00,1.92,7.53,0.698,6,0.000,0.029,2974,2295,1389
$GC,14261,1.42,525.3,148.1,15.0,1273,14266,0.00,1.92,0.00,0.000,4,0.000,0.030,2980,1001,1389
$GC,14325,1.49,525.3,138.7,13.7,1284,14333,0.12,1.88,0.00,0.000,6,0.084,0.028,3028,2265,1389
$GC,14672,1.49,525.3,88.6,13.6,1345,14678,0.00,1.88,0.00,0.000,4,0.000,0.029,3035,995,1389
$GC,14736,1.49,525.3,79.3,14.8,1356,14743,0.00,1.80,0.00,0.000,6,0.000,0.028,3035,2213,1389
$GC,15081,1.49,525.3,29.1,13.6,1417,15087,0.00,2.35,0.00,0.000,4,0.000,0.043,3035,3758,1389
$GC,15094,1.49,525.3,27.0,13.7,1419,15100,0.00,2.28,0.00,0.000,6,0.000,0.021,3046,2163,1389
$STATE,15283,end climb,SURFACE_DEPTH_REACHED
$STATE,15283,begin surface coast
$FINISH,1.8,1.021479
$STATE,15308,end surface coast,CONTROL_FINISHED_OK
$STATE,15308,begin surface
$SM_CCo,15388,0.00,0.000,0,0,1389,525.68
$SM_GC,2.71,7.70,0.00,0.00,0.051,0.000,0.000,143,2498,1389,-7.49,0.42,525.68
$IRIDIUM_FIX,2437.06,12425.50,221098,050524
$TT8_MAMPS,0.028379
$HUMID,1695
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.5,70.147
$10V_AH,10.7,38.258
$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,29.900,149.625,536.450,0.000,0.000,31.165,38.216,195.543,7.000,0.000,0.000,16.418,2621.143,9227.413,655.077,2606.919,694.394,0.000,2014.610,0.000,2544.941,0.000,47.765,0.000
$DEVICE_MAMPS,234.702,55.991,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,980.879,1009.115,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78938,1457
$CAP_FILE_SIZE,173067,0
$CFSIZE,260165632,193196032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189,344.0,1
$GPS,280709,145837,2446.455,12425.979,34,0.9,35,-3.7