version: 66.04
glider: 167
mission: 2
dive: 455
start: 8 4 109 13 15 43
data:
$ID,167
$MISSION,2
$DIVE,455
$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,-14713.384
$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,18.5
$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,72
$R_STBD_OVSHOOT,44
$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
$GPS1,130807,2441.616,12401.504,28,1.3,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-68.8
$GPS2,131520,2441.592,12401.476,12,1.5,12,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2441.100,12400.200
$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,253.9,2331,-28.1,-13.043
$D_GRID,1538
$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,-1.64,-93.9,0.0,0.0,0,52,0.00,0.00,-34.17,0.000,2,0.000,0.000,141,2438,2156
$GC,57,-1.67,-121.7,3.0,-1.4,6,131,7.82,2.10,-60.50,0.000,4,0.237,0.052,1993,3761,3989
$GC,220,-1.06,-121.7,29.7,-23.0,32,227,0.77,1.85,0.00,0.000,6,0.183,0.020,2203,2440,3991
$GC,567,-1.43,-121.7,76.3,-12.0,93,573,0.30,1.90,0.00,0.000,4,0.055,0.022,2076,1107,3992
$GC,625,-1.23,-121.7,85.0,-15.4,103,633,0.28,2.00,0.00,0.000,6,0.164,0.028,2143,2461,3992
$GC,972,-1.23,-121.7,129.2,-14.0,164,978,0.00,1.95,0.00,0.000,4,0.000,0.041,2137,3755,3994
$GC,1019,-1.17,-121.7,135.6,-13.9,172,1026,0.12,1.83,0.00,0.000,6,0.172,0.021,2167,2442,3994
$GC,1367,-1.37,-121.7,177.0,-11.0,233,1373,0.17,1.90,0.00,0.000,4,0.065,0.021,2087,1096,3995
$GC,1404,-1.26,-121.7,182.1,-14.5,239,1412,0.20,2.00,0.00,0.000,6,0.166,0.029,2137,2452,3995
$GC,1752,-1.38,-121.7,224.3,-12.6,300,1758,0.12,0.00,0.00,0.000,6,0.077,0.000,2083,2455,3996
$GC,2098,-1.38,-121.7,270.8,-12.3,361,2104,0.00,1.98,0.00,0.000,4,0.000,0.043,2080,3763,3996
$GC,2148,-1.23,-121.7,276.8,-12.9,369,2155,0.25,1.85,0.00,0.000,6,0.166,0.021,2147,2434,3997
$GC,2494,-1.53,-121.7,312.7,-10.8,420,2498,0.22,1.88,0.00,0.000,4,0.059,0.022,2048,1103,3997
$GC,2521,-1.53,-121.7,316.5,-13.7,422,2527,0.00,1.98,0.00,0.000,6,0.000,0.028,2041,2446,3997
$GC,2846,-1.36,-121.7,365.6,-14.9,453,2848,0.22,0.00,0.00,0.000,6,0.175,0.000,2101,2446,3997
$GC,3168,-1.43,-121.7,400.6,-10.4,483,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2446,3997
$GC,3497,-1.54,-121.7,437.5,-11.1,514,3503,0.15,0.00,0.00,0.000,6,0.071,0.000,2042,2448,3997
$GC,3822,-1.45,-121.7,481.4,-13.2,545,3827,0.12,2.00,0.00,0.000,4,0.178,0.044,2070,3754,3996
$GC,3850,-1.37,-121.7,485.2,-13.3,547,3858,0.12,1.88,0.00,0.000,6,0.176,0.022,2100,2427,3996
$GC,4173,-1.55,-121.7,520.8,-10.3,569,4177,0.17,1.88,0.00,0.000,4,0.071,0.024,2026,1113,3996
$GC,4220,-1.41,-121.7,526.4,-12.1,571,4224,0.28,1.98,0.00,0.000,6,0.176,0.029,2091,2443,3995
$GC,4549,-1.51,-121.7,561.3,-10.5,587,4553,0.00,2.00,0.00,0.000,4,0.000,0.044,2084,3757,3993
$GC,4641,-1.51,-121.7,572.2,-11.4,591,4645,0.00,1.85,0.00,0.000,6,0.000,0.023,2084,2449,3993
$GC,4977,-1.67,-121.7,606.0,-9.4,607,4981,0.17,1.92,0.00,0.000,4,0.074,0.025,2007,1109,3991
$GC,5079,-1.47,-121.7,618.7,-12.6,611,5083,0.25,1.95,0.00,0.000,6,0.184,0.031,2067,2418,3990
$GC,5400,-1.47,-121.7,654.9,-11.9,627,5404,0.00,2.05,0.00,0.000,4,0.000,0.044,2058,3757,3988
$GC,5480,-1.38,-121.7,665.5,-13.3,630,5484,0.15,1.92,0.00,0.000,6,0.166,0.023,2097,2407,3987
$GC,5802,-1.59,-121.7,699.6,-10.0,646,5807,0.17,1.85,0.00,0.000,4,0.073,0.025,2031,1110,3985
$GC,5973,-1.49,-121.7,720.6,-12.0,653,5977,0.15,1.90,0.00,0.000,6,0.188,0.033,2064,2375,3984
$GC,6294,-1.49,-121.7,753.3,-9.5,669,6298,0.00,2.12,0.00,0.000,4,0.000,0.046,2057,3755,3981
$GC,6432,-1.39,-121.7,769.0,-11.7,675,6436,0.15,1.95,0.00,0.000,6,0.172,0.022,2094,2392,3980
$GC,6768,-1.53,-121.7,801.5,-9.7,691,6773,0.12,2.15,0.00,0.000,4,0.080,0.046,2041,3758,3978
$GC,6797,-1.46,-121.7,804.8,-11.3,692,6801,0.12,1.95,0.00,0.000,6,0.188,0.023,2070,2399,3977
$GC,7120,-1.46,-121.7,836.6,-9.6,708,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2398,3975
$GC,7428,-1.46,-121.7,868.9,-10.6,723,7432,0.00,2.15,0.00,0.000,4,0.000,0.050,2070,3760,3973
$GC,7508,-1.41,-121.7,878.3,-11.9,726,7512,0.00,1.95,0.00,0.000,6,0.000,0.025,2069,2406,3973
$GC,7830,-1.41,-121.7,913.9,-11.3,742,7834,0.00,2.12,0.00,0.000,4,0.000,0.050,2070,3751,3970
$GC,7869,-1.35,-121.7,919.0,-13.3,743,7877,0.15,1.92,0.00,0.000,6,0.177,0.024,2107,2417,3970
$GC,8190,-1.55,-121.7,950.8,-9.7,759,8195,0.17,2.12,0.00,0.000,4,0.075,0.048,2041,3756,3968
$GC,8218,-1.49,-121.7,954.6,-12.7,760,8222,0.00,1.92,0.00,0.000,6,0.000,0.024,2041,2421,3968
$STATE,8516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8516,begin apogee
$GC,8524,-0.27,0.0,991.3,12.4,775,8627,1.48,0.00,94.72,1.379,6,0.178,0.000,2453,2419,3532
$STATE,8628,end apogee,CONTROL_FINISHED_OK
$STATE,8628,begin climb
$GC,8631,1.67,121.7,997.2,0.0,780,8743,1.77,2.22,104.30,1.359,4,0.066,0.046,3080,3750,3034
$GC,8856,0.83,130.5,990.6,12.2,790,8871,1.12,1.98,8.60,1.143,6,0.231,0.021,2814,2412,2999
$GC,9201,0.90,191.3,964.7,7.4,807,9258,0.00,2.25,50.83,1.342,4,0.000,0.048,2815,3751,2750
$GC,9347,0.85,205.4,949.5,11.7,813,9367,0.00,1.98,13.15,1.224,6,0.000,0.023,2824,2411,2694
$GC,9690,0.88,234.6,913.0,10.3,830,9717,0.00,0.00,25.65,1.299,6,0.000,0.000,2825,2411,2575
$GC,10021,0.99,257.2,876.5,10.9,846,10042,0.12,0.00,19.35,1.267,6,0.091,0.000,2871,2410,2483
$GC,10348,1.00,267.3,836.5,12.1,862,10362,0.00,2.15,9.70,1.162,4,0.000,0.048,2871,3750,2442
$GC,10388,0.89,267.3,831.0,15.5,863,10395,0.17,1.92,0.00,0.000,6,0.196,0.022,2838,2434,2441
$GC,10704,0.99,273.6,791.0,12.5,879,10718,0.00,2.17,6.78,1.062,4,0.000,0.028,2847,1016,2416
$GC,10758,1.11,273.6,783.8,13.6,881,10763,0.17,2.20,0.00,0.000,6,0.083,0.034,2911,2444,2415
$GC,11076,1.00,273.6,740.7,13.3,896,11081,0.17,2.15,0.00,0.000,4,0.196,0.028,2871,1021,2414
$GC,11132,1.08,300.5,733.9,10.5,898,11162,0.00,2.15,24.25,1.226,6,0.000,0.033,2871,2430,2306
$GC,11473,1.14,312.3,693.1,12.0,915,11489,0.12,2.10,10.80,1.121,4,0.093,0.049,2917,3755,2258
$GC,11582,0.93,312.3,675.8,16.4,919,11587,0.30,1.95,0.00,0.000,6,0.199,0.025,2851,2438,2255
$GC,11913,1.09,322.1,634.7,12.1,935,11929,0.12,0.00,9.68,1.076,6,0.088,0.000,2896,2437,2217
$GC,12238,1.10,333.5,591.7,12.0,951,12254,0.00,2.10,11.02,1.069,4,0.000,0.049,2896,3754,2171
$GC,12306,1.05,333.5,582.9,13.4,953,12310,0.00,1.95,0.00,0.000,6,0.000,0.024,2906,2444,2170
$GC,12633,1.06,343.0,543.1,12.2,969,12647,0.00,2.17,9.23,1.011,4,0.000,0.031,2916,1020,2132
$GC,12687,1.06,349.1,536.2,12.5,971,12700,0.00,2.20,6.95,0.933,6,0.000,0.033,2915,2450,2108
$GC,13010,1.06,349.1,492.3,14.0,989,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2450,2105
$GC,13330,1.08,359.2,450.5,12.1,1019,13346,0.00,2.22,9.65,0.957,4,0.000,0.031,2925,1015,2067
$GC,13492,1.18,377.9,431.7,11.3,1033,13514,0.00,2.15,16.98,0.989,6,0.000,0.033,2925,2422,1991
$GC,13833,1.24,377.9,388.6,13.3,1065,13837,0.00,2.12,0.00,0.000,4,0.000,0.029,2931,1012,1987
$GC,13857,1.32,382.9,385.5,12.6,1067,13870,0.12,2.15,5.15,0.762,6,0.087,0.032,2978,2417,1970
$GC,14189,1.25,382.9,338.4,13.3,1098,14193,0.12,2.10,0.00,0.000,4,0.193,0.028,2956,1018,1969
$GC,14228,1.25,383.0,333.1,13.0,1101,14232,0.00,2.10,0.00,0.000,6,0.000,0.031,2956,2402,1969
$GC,14559,1.25,383.0,288.6,13.7,1139,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2402,1969
$GC,14905,1.26,394.7,244.1,12.0,1200,14924,0.00,2.05,11.32,0.807,4,0.000,0.028,2965,1019,1924
$GC,14943,1.32,401.3,239.4,12.4,1206,14956,0.00,2.08,7.35,0.733,6,0.000,0.031,2964,2392,1896
$GC,15298,1.39,416.2,196.9,11.7,1268,15322,0.00,2.17,13.77,0.773,4,0.000,0.045,2964,3752,1834
$GC,15407,1.39,416.2,182.4,13.1,1287,15414,0.00,1.98,0.00,0.000,6,0.000,0.022,2974,2377,1832
$GC,15755,1.50,436.4,139.9,11.2,1348,15780,0.15,2.05,17.85,0.731,4,0.081,0.028,3039,1030,1751
$GC,15864,1.44,436.4,124.6,15.1,1366,15870,0.12,2.08,0.00,0.000,6,0.175,0.030,3010,2410,1748
$GC,16212,1.52,458.3,79.6,11.0,1427,16236,0.00,2.15,19.05,0.676,4,0.000,0.045,3010,3754,1662
$GC,16322,1.54,471.9,65.0,11.8,1446,16340,0.00,1.90,11.85,0.630,6,0.000,0.022,3019,2426,1607
$GC,16682,1.83,505.5,25.4,9.9,1509,16717,0.28,2.08,28.08,0.625,4,0.064,0.028,3139,1026,1469
$STATE,16845,end climb,SURFACE_DEPTH_REACHED
$STATE,16846,begin surface coast
$FINISH,1.6,0.999753
$STATE,16869,end surface coast,CONTROL_FINISHED_OK
$STATE,16869,begin surface
$SM_CCo,16951,0.00,0.000,0,0,1463,507.53
$SM_GC,2.69,8.12,0.00,0.00,0.056,0.000,0.000,139,2479,1463,-7.51,-0.11,507.53
$IRIDIUM_FIX,2432.32,12405.09,291098,080838
$TT8_MAMPS,0.029146
$HUMID,1692
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,23.3,77.926
$10V_AH,10.6,41.958
$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,27.475,134.025,546.050,0.000,0.000,28.652,32.723,203.376,8.250,0.000,0.000,15.022,2733.870,10526.900,684.294,2682.158,740.358,0.000,2065.469,0.000,2627.051,0.000,54.444,0.000
$DEVICE_MAMPS,237.003,52.156,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.427,1067.476,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82111,1542
$CAP_FILE_SIZE,175446,0
$CFSIZE,260165632,189767680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075, 55.0,1
$GPS,040809,175931,2441.499,12400.442,40,1.5,41,-3.6