version: 66.04
glider: 167
mission: 2
dive: 313
start: 7 15 109 8 9 10
data:
$ID,167
$MISSION,2
$DIVE,313
$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,275
$T_MISSION,330
$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,-11489.66
$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,55
$R_STBD_OVSHOOT,74
$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
$GPS1,080157,2447.602,12418.630,28,2.3,48,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.5
$GPS2,080848,2447.592,12418.687,9,2.0,14,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,275.6,111237,-23.2,-12.000
$D_GRID,920
$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,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-24.20,0.000,2,0.000,0.000,140,2480,2213
$GC,44,-1.18,-121.7,3.1,-2.6,4,119,8.30,2.20,-58.70,0.000,4,0.238,0.038,2159,998,3989
$GC,277,-0.83,-121.7,44.4,-22.1,44,284,0.43,2.10,0.00,0.000,6,0.160,0.029,2273,2408,3990
$GC,622,-0.83,-121.7,99.1,-14.3,105,629,0.00,2.05,0.00,0.000,4,0.000,0.045,2264,3760,3992
$GC,855,-0.90,-121.7,130.8,-11.4,146,861,0.00,1.90,0.00,0.000,6,0.000,0.023,2263,2403,3992
$GC,1200,-1.19,-121.7,169.6,-10.0,207,1206,0.25,2.08,0.00,0.000,4,0.056,0.044,2146,3751,3994
$GC,1404,-0.89,-121.7,199.3,-14.2,243,1411,0.38,1.73,0.00,0.000,6,0.160,0.023,2252,2514,3994
$GC,1753,-1.11,-121.7,237.7,-11.5,304,1759,0.17,1.90,0.00,0.000,4,0.063,0.044,2166,3754,3995
$GC,1887,-0.96,-121.7,256.9,-11.7,327,1893,0.25,1.73,0.00,0.000,6,0.163,0.025,2234,2525,3995
$GC,2232,-1.13,-121.7,293.0,-11.7,388,2239,0.15,1.90,0.00,0.000,4,0.070,0.045,2166,3760,3995
$GC,2328,-0.98,-121.7,307.2,-14.3,401,2336,0.22,1.70,0.00,0.000,6,0.158,0.025,2227,2555,3995
$GC,2654,-1.27,-121.7,342.5,-9.6,432,2658,0.22,1.85,0.00,0.000,4,0.061,0.045,2125,3756,3995
$GC,2671,-1.40,-121.7,344.4,-10.0,433,2679,0.00,1.70,0.00,0.000,6,0.000,0.025,2125,2547,3996
$GC,2996,-1.19,-121.7,385.7,-13.0,464,3000,0.12,1.85,0.00,0.000,4,0.178,0.044,2148,3748,3995
$GC,3098,-1.01,-121.7,399.6,-14.3,473,3103,0.25,1.67,0.00,0.000,6,0.160,0.025,2217,2557,3996
$GC,3429,-1.20,-121.7,432.4,-8.8,504,3433,0.17,1.85,0.00,0.000,4,0.067,0.046,2140,3755,3994
$GC,3535,-1.03,-121.7,446.4,-11.9,513,3543,0.25,1.67,0.00,0.000,6,0.160,0.025,2209,2573,3994
$GC,3860,-1.33,-121.7,476.8,-9.5,544,3865,0.25,2.20,0.00,0.000,4,0.064,0.026,2106,1050,3993
$GC,3961,-1.12,-121.7,490.6,-14.7,552,3968,0.30,2.20,0.00,0.000,6,0.170,0.033,2180,2514,3993
$GC,4282,-1.17,-121.7,526.7,-11.2,572,4286,0.00,1.90,0.00,0.000,4,0.000,0.049,2179,3754,3991
$GC,4374,-1.17,-121.7,536.9,-10.9,576,4377,0.00,1.73,0.00,0.000,6,0.000,0.027,2178,2554,3991
$GC,4707,-1.23,-121.7,568.0,-9.7,592,4710,0.00,1.88,0.00,0.000,4,0.000,0.050,2178,3757,3989
$GC,4801,-1.23,-121.7,578.0,-10.9,596,4805,0.00,1.73,0.00,0.000,6,0.000,0.027,2178,2556,3988
$GC,5129,-1.29,-121.7,614.6,-11.7,612,5133,0.15,1.85,0.00,0.000,4,0.077,0.048,2111,3753,3986
$GC,5175,-1.05,-121.7,621.2,-15.0,614,5180,0.35,1.70,0.00,0.000,6,0.171,0.027,2206,2574,3985
$GC,5512,-1.37,-121.7,653.6,-9.0,630,5516,0.28,2.20,0.00,0.000,4,0.064,0.026,2095,1061,3982
$GC,5665,-1.18,-121.7,674.4,-14.3,637,5670,0.25,2.22,0.00,0.000,6,0.168,0.035,2158,2524,3982
$GC,6001,-1.18,-121.7,707.8,-9.4,653,6004,0.00,1.92,0.00,0.000,4,0.000,0.051,2153,3749,3979
$GC,6141,-1.12,-121.7,724.5,-12.0,659,6149,0.12,1.73,0.00,0.000,6,0.166,0.027,2183,2557,3978
$GC,6473,-1.22,-121.7,759.9,-11.0,675,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2557,3975
$GC,6780,-1.32,-121.7,793.4,-10.6,690,6785,0.17,1.88,0.00,0.000,4,0.073,0.052,2111,3740,3973
$GC,6860,-1.10,-121.7,804.9,-14.5,693,6864,0.22,1.73,0.00,0.000,6,0.176,0.030,2185,2586,3972
$GC,7181,-1.21,-121.7,838.0,-9.4,709,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2586,3970
$GC,7491,-1.32,-121.7,866.3,-9.1,724,7493,0.20,0.00,0.00,0.000,6,0.071,0.000,2111,2586,3968
$GC,7799,-1.17,-121.7,906.5,-13.3,739,7801,0.20,0.00,0.00,0.000,6,0.182,0.000,2162,2586,3966
$STATE,7941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7941,begin apogee
$GC,7947,-0.22,0.0,921.8,10.3,746,8044,1.02,0.00,89.68,1.357,6,0.160,0.000,2466,2586,3531
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8045,begin climb
$GC,8048,1.18,121.7,925.4,0.0,751,8157,1.27,2.35,101.60,1.318,4,0.061,0.030,2933,1144,3035
$GC,8320,0.64,142.1,910.2,10.7,763,8345,0.70,2.12,17.45,1.229,6,0.208,0.036,2753,2503,2951
$GC,8669,0.65,197.4,880.5,8.3,780,8720,0.00,2.15,45.30,1.286,4,0.000,0.031,2759,1146,2726
$GC,8837,0.69,227.5,864.7,10.0,787,8869,0.00,2.12,26.15,1.249,6,0.000,0.036,2759,2501,2604
$GC,9180,0.77,253.4,829.1,10.3,804,9206,0.10,2.08,21.17,1.236,4,0.097,0.031,2802,1151,2499
$GC,9280,0.77,253.4,816.8,12.2,808,9286,0.00,2.08,0.00,0.000,6,0.000,0.036,2802,2480,2495
$GC,9595,0.77,253.4,778.7,12.1,824,9599,0.00,2.00,0.00,0.000,4,0.000,0.031,2808,1145,2493
$GC,9701,0.77,253.4,765.7,12.5,828,9707,0.00,2.05,0.00,0.000,6,0.000,0.035,2808,2480,2492
$GC,10018,0.72,253.4,725.3,13.0,844,10022,0.12,2.00,0.00,0.000,4,0.186,0.028,2786,1143,2491
$GC,10078,0.74,273.9,718.3,10.6,846,10100,0.00,2.03,17.27,1.190,6,0.000,0.036,2785,2462,2415
$GC,10418,0.74,274.6,678.3,12.0,863,10422,0.00,2.05,0.00,0.000,4,0.000,0.051,2785,3767,2411
$GC,10451,0.69,274.6,673.8,13.0,864,10455,0.00,1.88,0.00,0.000,6,0.000,0.027,2791,2492,2410
$GC,10772,0.71,286.7,637.0,11.2,880,10793,0.00,2.12,11.75,1.108,4,0.000,0.032,2800,1110,2362
$GC,10884,0.71,289.8,623.4,11.8,885,10893,0.00,2.10,4.32,0.813,6,0.000,0.037,2800,2465,2349
$GC,11216,0.71,289.8,582.5,12.0,901,11219,0.00,2.03,0.00,0.000,4,0.000,0.031,2803,1118,2348
$GC,11317,0.77,289.8,570.7,12.1,905,11321,0.00,2.03,0.00,0.000,6,0.000,0.035,2803,2442,2347
$GC,11638,0.78,298.3,533.2,11.4,921,11653,0.00,2.10,8.40,0.994,4,0.000,0.051,2803,3758,2315
$GC,11670,0.78,298.3,529.4,12.6,922,11673,0.00,1.95,0.00,0.000,6,0.000,0.026,2812,2434,2314
$GC,11993,0.80,316.2,494.5,10.8,940,12015,0.00,1.98,15.90,1.042,4,0.000,0.031,2812,1117,2241
$GC,12050,0.90,321.3,488.0,11.7,945,12062,0.00,2.03,5.50,0.835,6,0.000,0.034,2812,2433,2222
$GC,12380,0.99,323.9,451.2,11.8,976,12392,0.15,2.03,3.75,0.665,4,0.077,0.030,2881,1118,2211
$GC,12432,0.89,323.9,444.1,13.5,980,12438,0.20,2.00,0.00,0.000,6,0.183,0.035,2830,2425,2210
$GC,12757,0.90,331.4,406.4,11.5,1011,12769,0.00,2.03,7.80,0.886,4,0.000,0.031,2832,1117,2181
$GC,12797,1.03,368.7,402.0,9.5,1014,12837,0.12,2.00,31.77,0.983,6,0.084,0.034,2880,2429,2028
$GC,13155,1.03,368.7,356.3,12.6,1048,13158,0.00,1.98,0.00,0.000,4,0.000,0.031,2886,1116,2021
$GC,13279,1.03,368.7,340.0,12.9,1059,13283,0.00,1.95,0.00,0.000,6,0.000,0.033,2886,2395,2021
$GC,13605,1.03,368.7,296.2,12.7,1092,13611,0.00,1.90,0.00,0.000,4,0.000,0.029,2888,1109,2021
$GC,13634,1.03,368.7,292.3,13.3,1097,13640,0.00,1.92,0.00,0.000,6,0.000,0.032,2888,2386,2021
$GC,13978,1.03,369.4,246.6,12.0,1158,13985,0.00,1.88,0.00,0.000,4,0.000,0.028,2897,1113,2021
$GC,14171,1.03,369.4,220.8,12.7,1192,14177,0.00,1.83,0.00,0.000,6,0.000,0.032,2897,2332,2021
$GC,14515,1.08,407.3,180.4,9.5,1253,14551,0.00,1.90,31.10,0.779,4,0.000,0.029,2900,1103,1870
$GC,14639,1.20,416.1,167.4,11.4,1274,14653,0.00,1.83,8.05,0.674,6,0.000,0.031,2899,2313,1834
$GC,14993,1.34,434.9,124.6,10.8,1336,15018,0.17,1.83,16.33,0.700,4,0.071,0.029,2985,1114,1757
$GC,15112,1.26,434.9,109.2,13.5,1356,15118,0.15,1.73,0.00,0.000,6,0.186,0.031,2950,2268,1755
$GC,15458,1.34,439.8,72.6,11.7,1417,15470,0.00,1.70,5.57,0.540,4,0.000,0.028,2955,1115,1737
$GC,15562,1.48,457.9,60.5,10.8,1435,15586,0.17,1.62,15.93,0.637,6,0.071,0.029,3019,2216,1664
$GC,15926,1.41,457.9,15.7,12.6,1499,15932,0.00,2.38,0.00,0.000,4,0.000,0.044,3019,3764,1661
$GC,15956,1.28,457.9,11.4,14.0,1504,15964,0.28,2.25,0.00,0.000,6,0.177,0.021,2957,2199,1661
$STATE,16035,end climb,SURFACE_DEPTH_REACHED
$STATE,16035,begin surface coast
$FINISH,1.7,1.008514
$STATE,16073,end surface coast,CONTROL_FINISHED_OK
$STATE,16073,begin surface
$SM_CCo,16151,0.00,0.000,0,0,1657,459.94
$SM_GC,2.83,7.47,0.00,0.00,0.051,0.000,0.000,140,2459,1657,-7.49,0.90,459.94
$IRIDIUM_FIX,2439.44,12416.95,091098,030335
$TT8_MAMPS,0.029913
$HUMID,1598
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.6,55.333
$10V_AH,10.8,31.151
$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,25.625,133.050,484.800,0.000,0.000,23.921,36.589,197.090,7.250,0.000,0.000,16.072,2708.166,9871.682,610.148,2720.010,637.681,0.000,2000.311,0.000,2662.919,0.000,49.458,0.000
$DEVICE_MAMPS,237.770,52.156,1356.823,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.514,1060.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82094,1524
$CAP_FILE_SIZE,170642,0
$CFSIZE,260165632,199766016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188, 94.4,1
$GPS,150709,123937,2448.025,12418.643,41,1.0,42,-3.7