version: 66.04
glider: 167
mission: 2
dive: 432
start: 7 31 109 21 50 23
data:
$ID,167
$MISSION,2
$DIVE,432
$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,475
$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,-14244.469
$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,20.75
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,214156,2446.647,12414.579,30,2.4,49,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-63.3
$GPS2,215003,2446.614,12414.531,15,2.2,34,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2439.100,12400.200
$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,265.2,27848,-24.8,-13.043
$D_GRID,839
$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,-1.34,-121.7,0.0,0.0,0,62,0.00,0.00,-44.40,0.000,2,0.000,0.000,141,2505,2408
$GC,66,-1.34,-121.7,3.4,-2.7,7,132,8.10,1.95,-47.47,0.000,4,0.235,0.055,2098,3742,3989
$GC,364,-0.88,-121.7,54.0,-19.0,59,371,0.55,1.83,0.00,0.000,6,0.160,0.021,2255,2433,3991
$GC,710,-1.27,-121.7,95.2,-10.4,120,716,0.30,0.00,0.00,0.000,6,0.052,0.000,2125,2433,3992
$GC,1054,-1.15,-121.7,137.5,-13.0,181,1062,0.17,2.00,0.00,0.000,4,0.160,0.040,2166,3747,3992
$GC,1202,-1.07,-121.7,157.7,-13.4,206,1208,0.12,1.75,0.00,0.000,6,0.163,0.032,2196,2491,3993
$GC,1547,-1.32,-121.7,192.8,-9.3,267,1554,0.20,1.98,0.00,0.000,4,0.061,0.022,2110,1094,3994
$GC,1618,-1.15,-121.7,201.4,-13.5,279,1625,0.25,2.05,0.00,0.000,6,0.161,0.028,2170,2494,3994
$GC,1964,-1.33,-121.7,237.1,-9.4,340,1971,0.15,2.00,0.00,0.000,4,0.071,0.022,2109,1101,3995
$GC,2041,-1.18,-121.7,245.8,-12.5,353,2049,0.22,2.00,0.00,0.000,6,0.157,0.027,2161,2469,3995
$GC,2391,-1.36,-121.7,280.7,-10.0,414,2397,0.15,1.95,0.00,0.000,4,0.073,0.043,2097,3760,3995
$GC,2444,-1.11,-121.7,287.5,-13.5,423,2450,0.30,1.80,0.00,0.000,6,0.161,0.021,2180,2465,3995
$GC,2782,-1.38,-121.7,320.8,-9.4,465,2786,0.20,1.92,0.00,0.000,4,0.061,0.023,2093,1110,3995
$GC,2822,-1.27,-121.7,325.1,-10.8,468,2829,0.17,2.00,0.00,0.000,6,0.161,0.028,2131,2470,3995
$GC,3148,-1.40,-121.7,357.7,-10.0,499,3152,0.12,1.95,0.00,0.000,4,0.078,0.043,2071,3758,3995
$GC,3160,-1.46,-121.7,359.2,-10.2,500,3164,0.00,1.85,0.00,0.000,6,0.000,0.021,2071,2433,3995
$GC,3492,-1.28,-121.7,401.6,-12.2,531,3496,0.20,2.05,0.00,0.000,4,0.165,0.042,2123,3760,3994
$GC,3554,-1.17,-121.7,409.4,-12.2,536,3560,0.17,1.83,0.00,0.000,6,0.160,0.022,2170,2462,3994
$GC,3879,-1.41,-121.7,440.1,-8.6,567,3883,0.20,1.95,0.00,0.000,4,0.066,0.023,2083,1096,3993
$GC,3948,-1.26,-121.7,447.5,-11.6,573,3953,0.20,2.00,0.00,0.000,6,0.164,0.030,2134,2443,3993
$GC,4274,-1.43,-121.7,479.9,-9.6,603,4278,0.15,1.95,0.00,0.000,4,0.074,0.024,2074,1098,3992
$GC,4313,-1.27,-121.7,484.0,-10.8,606,4319,0.22,1.98,0.00,0.000,6,0.163,0.031,2132,2429,3992
$GC,4648,-1.45,-121.7,514.8,-8.8,630,4652,0.15,1.92,0.00,0.000,4,0.076,0.025,2072,1105,3991
$GC,4681,-1.33,-121.7,518.4,-10.0,631,4686,0.17,1.95,0.00,0.000,6,0.166,0.031,2116,2419,3991
$GC,5005,-1.45,-121.7,547.8,-8.9,647,5009,0.12,1.90,0.00,0.000,4,0.080,0.024,2067,1109,3990
$GC,5032,-1.36,-121.7,550.9,-11.1,648,5037,0.17,1.92,0.00,0.000,6,0.166,0.029,2103,2413,3989
$GC,5363,-1.44,-121.7,582.5,-9.6,664,5367,0.00,1.92,0.00,0.000,4,0.000,0.025,2103,1106,3987
$GC,5410,-1.44,-121.7,587.3,-10.4,666,5414,0.00,1.92,0.00,0.000,6,0.000,0.030,2098,2379,3987
$GC,5744,-1.50,-121.7,619.7,-9.9,682,5748,0.10,2.12,0.00,0.000,4,0.091,0.045,2056,3760,3984
$GC,5801,-1.25,-121.7,626.5,-12.1,684,5807,0.30,1.98,0.00,0.000,6,0.168,0.023,2139,2372,3983
$GC,6117,-1.47,-121.7,656.7,-9.6,700,6121,0.20,1.83,0.00,0.000,4,0.069,0.025,2056,1101,3981
$GC,6175,-1.29,-121.7,663.3,-12.3,702,6179,0.25,1.90,0.00,0.000,6,0.166,0.032,2124,2370,3980
$GC,6497,-1.46,-121.7,692.4,-8.9,718,6501,0.15,1.85,0.00,0.000,4,0.078,0.024,2067,1104,3979
$GC,6572,-1.33,-121.7,700.6,-11.6,721,6576,0.22,1.85,0.00,0.000,6,0.162,0.031,2119,2345,3978
$GC,6901,-1.50,-121.7,730.8,-8.7,737,6903,0.17,0.00,0.00,0.000,6,0.073,0.000,2053,2347,3975
$GC,7210,-1.40,-121.7,761.1,-10.1,752,7214,0.15,2.17,0.00,0.000,4,0.173,0.044,2085,3752,3973
$GC,7310,-1.25,-121.7,772.1,-10.9,756,7317,0.22,2.05,0.00,0.000,6,0.166,0.022,2145,2322,3972
$GC,7631,-1.53,-121.7,800.3,-9.5,772,7636,0.25,2.28,0.00,0.000,4,0.067,0.048,2042,3763,3971
$GC,7670,-1.22,-121.7,805.7,-14.2,773,7678,0.40,2.05,0.00,0.000,6,0.173,0.024,2152,2344,3970
$GC,7986,-1.52,-121.7,838.4,-10.6,789,7991,0.25,2.03,0.00,0.000,3,0.067,0.048,2053,3636,3968
$STATE,7991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,8001,-0.24,0.0,839.2,10.6,789,8098,1.42,0.00,90.80,1.282,6,0.179,0.000,2457,2390,3531
$STATE,8099,end apogee,CONTROL_FINISHED_OK
$STATE,8099,begin climb
$GC,8102,1.34,121.7,847.5,0.0,794,8211,1.45,2.33,101.05,1.248,4,0.064,0.046,2977,3758,3035
$GC,8425,0.65,186.8,839.3,8.4,808,8484,0.90,2.03,52.85,1.233,6,0.220,0.024,2760,2379,2770
$GC,8808,0.86,258.5,810.9,7.9,827,8873,0.17,2.33,58.55,1.230,4,0.081,0.048,2830,3750,2477
$GC,8919,0.69,258.5,797.8,13.7,832,8924,0.28,2.03,0.00,0.000,6,0.186,0.024,2770,2397,2473
$GC,9248,0.97,313.0,766.8,9.1,848,9300,0.22,2.28,45.35,1.209,4,0.075,0.048,2861,3755,2254
$GC,9402,0.80,313.0,745.4,14.4,855,9407,0.17,1.95,0.00,0.000,6,0.179,0.023,2810,2455,2249
$GC,9737,0.97,350.7,710.1,10.3,871,9774,0.15,2.10,31.38,1.175,4,0.084,0.048,2866,3749,2101
$GC,9799,0.87,350.7,701.9,15.1,873,9803,0.20,1.92,0.00,0.000,6,0.187,0.024,2826,2457,2098
$GC,10133,1.00,365.3,661.3,12.0,889,10156,0.12,2.22,13.00,1.091,4,0.087,0.030,2882,1011,2041
$GC,10274,1.00,365.3,641.6,14.0,895,10278,0.00,2.17,0.00,0.000,6,0.000,0.032,2882,2432,2038
$GC,10608,1.00,365.3,593.8,14.9,911,10611,0.00,2.12,0.00,0.000,4,0.000,0.031,2889,1015,2037
$GC,10680,1.00,365.3,582.9,15.1,914,10684,0.00,2.12,0.00,0.000,6,0.000,0.032,2889,2417,2036
$GC,11007,1.00,365.3,537.9,13.3,930,11011,0.00,2.10,0.00,0.000,4,0.000,0.051,2889,3762,2034
$GC,11054,0.87,365.3,531.0,14.8,932,11059,0.28,1.98,0.00,0.000,6,0.191,0.025,2825,2421,2034
$GC,11373,1.21,402.7,496.9,10.4,948,11411,0.28,2.20,31.17,1.058,4,0.065,0.050,2935,3754,1889
$GC,11531,1.00,402.7,472.2,16.1,962,11535,0.30,1.92,0.00,0.000,6,0.185,0.024,2865,2447,1885
$GC,11862,1.33,429.7,432.9,11.1,993,11891,0.28,2.20,23.20,0.995,4,0.067,0.031,2985,998,1778
$GC,11943,1.15,429.7,421.6,14.5,999,11949,0.28,2.20,0.00,0.000,6,0.194,0.033,2917,2426,1775
$GC,12270,1.27,429.7,379.4,13.6,1030,12274,0.10,2.10,0.00,0.000,4,0.089,0.051,2958,3760,1772
$GC,12371,1.08,429.7,362.5,16.5,1039,12375,0.28,1.90,0.00,0.000,6,0.193,0.025,2897,2453,1771
$GC,12704,1.30,453.3,320.4,11.4,1070,12729,0.17,2.12,20.10,0.901,4,0.081,0.050,2972,3752,1684
$GC,12793,1.10,453.3,307.5,14.5,1078,12798,0.30,2.00,0.00,0.000,6,0.188,0.024,2903,2407,1681
$GC,13134,1.37,453.3,267.0,13.5,1132,13140,0.20,2.10,0.00,0.000,4,0.073,0.029,2993,990,1679
$GC,13232,1.23,453.3,251.6,16.3,1149,13240,0.20,2.10,0.00,0.000,6,0.190,0.030,2944,2389,1679
$GC,13583,1.33,466.4,205.7,12.1,1210,13600,0.00,2.10,11.15,0.764,4,0.000,0.047,2943,3745,1632
$GC,13641,1.34,471.2,197.6,12.7,1220,13654,0.00,2.00,6.03,0.662,6,0.000,0.023,2950,2378,1610
$GC,13996,1.50,474.7,155.6,12.8,1282,14009,0.17,2.20,4.45,0.561,4,0.071,0.048,3025,3745,1595
$GC,14038,1.23,474.7,148.6,16.7,1289,14046,0.32,1.90,0.00,0.000,6,0.183,0.022,2947,2431,1595
$GC,14387,1.39,504.7,107.9,10.9,1350,14423,0.12,2.15,26.25,0.712,4,0.083,0.045,2995,3759,1472
$GC,14507,1.28,504.7,91.6,14.1,1370,14514,0.20,2.03,0.00,0.000,6,0.182,0.022,2955,2367,1470
$GC,14853,1.75,554.6,53.9,9.5,1431,14902,0.38,2.22,40.60,0.659,4,0.057,0.043,3105,3749,1270
$GC,15026,1.48,554.6,25.9,16.3,1461,15034,0.35,2.05,0.00,0.000,6,0.192,0.021,3024,2336,1266
$STATE,15207,end climb,SURFACE_DEPTH_REACHED
$STATE,15207,begin surface coast
$FINISH,1.7,0.997767
$STATE,15237,end surface coast,CONTROL_FINISHED_OK
$STATE,15237,begin surface
$SM_CCo,15316,0.00,0.000,0,0,1263,556.59
$SM_GC,2.63,7.78,0.00,0.00,0.056,0.000,0.000,140,2497,1263,-7.50,0.40,556.59
$IRIDIUM_FIX,2439.44,12416.95,251098,171727
$TT8_MAMPS,0.028379
$HUMID,1728
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,22.6,73.826
$10V_AH,10.7,39.988
$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,32.550,141.625,555.925,0.000,0.000,24.922,35.214,241.450,6.750,0.000,0.000,35.086,2674.668,9040.379,655.411,2665.228,753.740,0.000,2033.563,0.000,2585.262,0.000,44.421,0.000
$DEVICE_MAMPS,234.702,55.224,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.950,1053.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82006,1498
$CAP_FILE_SIZE,176226,0
$CFSIZE,260165632,191598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,107.4,1
$GPS,010809,020654,2446.169,12414.420,38,1.3,39,-3.7