version: 66.04
glider: 167
mission: 2
dive: 315
start: 7 15 109 17 22 23
data:
$ID,167
$MISSION,2
$DIVE,315
$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,-11518.423
$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,73
$R_STBD_OVSHOOT,48
$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
$GPS1,171437,2448.094,12418.639,27,1.4,28,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.2
$GPS2,172202,2448.073,12418.685,13,1.9,13,-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,273.1,111563,-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,-121.7,0.0,0.0,0,42,0.00,0.00,-24.33,0.000,2,0.000,0.000,141,2448,2306
$GC,45,-1.18,-121.7,3.2,-2.4,4,112,8.30,2.15,-52.40,0.000,4,0.237,0.038,2157,1026,3989
$GC,193,-0.77,-121.7,27.5,-23.5,29,200,0.50,2.10,0.00,0.000,6,0.164,0.029,2291,2435,3991
$GC,539,-0.85,-121.7,80.2,-11.0,90,546,0.00,2.00,0.00,0.000,4,0.000,0.044,2288,3758,3992
$GC,670,-0.95,-121.7,95.6,-12.2,113,677,0.15,1.88,0.00,0.000,6,0.067,0.024,2221,2428,3992
$GC,1015,-0.89,-121.7,145.9,-13.2,174,1022,0.12,2.05,0.00,0.000,4,0.153,0.042,2246,3761,3993
$GC,1186,-0.89,-121.7,167.8,-11.9,204,1193,0.00,1.80,0.00,0.000,6,0.000,0.024,2246,2471,3994
$GC,1531,-1.00,-121.7,207.1,-11.4,265,1537,0.00,1.98,0.00,0.000,4,0.000,0.045,2244,3758,3995
$GC,1639,-1.12,-121.7,218.3,-9.3,284,1646,0.17,1.73,0.00,0.000,6,0.066,0.025,2170,2526,3995
$GC,1984,-1.01,-121.7,261.0,-13.4,345,1990,0.17,1.88,0.00,0.000,4,0.153,0.043,2218,3751,3996
$GC,2048,-1.01,-121.7,268.2,-11.2,356,2054,0.00,1.73,0.00,0.000,6,0.000,0.025,2218,2521,3996
$GC,2395,-1.10,-121.7,308.5,-10.8,411,2398,0.00,1.90,0.00,0.000,4,0.000,0.044,2211,3764,3996
$GC,2507,-1.10,-121.7,322.4,-12.0,421,2511,0.00,1.73,0.00,0.000,6,0.000,0.024,2211,2540,3996
$GC,2838,-1.20,-121.7,358.2,-11.4,452,2842,0.15,1.88,0.00,0.000,4,0.071,0.044,2146,3757,3996
$GC,2922,-1.01,-121.7,370.3,-13.6,459,2928,0.25,1.67,0.00,0.000,6,0.162,0.025,2214,2568,3996
$GC,3247,-1.15,-121.7,405.8,-11.5,490,3251,0.12,1.83,0.00,0.000,4,0.077,0.045,2154,3751,3996
$GC,3338,-1.02,-121.7,418.2,-13.4,498,3342,0.22,1.65,0.00,0.000,6,0.158,0.025,2216,2582,3995
$GC,3669,-1.29,-121.7,450.3,-8.1,529,3674,0.20,2.20,0.00,0.000,4,0.064,0.025,2128,1057,3995
$GC,3781,-1.15,-121.7,463.6,-12.3,538,3788,0.17,2.20,0.00,0.000,6,0.171,0.032,2169,2530,3995
$GC,4106,-1.15,-121.7,500.5,-12.4,569,4110,0.00,1.88,0.00,0.000,4,0.000,0.048,2166,3763,3994
$GC,4319,-1.10,-121.7,531.4,-13.6,578,4322,0.00,1.70,0.00,0.000,6,0.000,0.027,2166,2572,3992
$GC,4640,-1.10,-121.7,569.1,-11.1,594,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2572,3991
$GC,4949,-1.10,-121.7,604.6,-11.6,609,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2572,3990
$GC,5259,-1.10,-121.7,639.2,-11.6,624,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2572,3987
$GC,5569,-1.10,-121.7,675.4,-11.3,639,5572,0.00,1.85,0.00,0.000,4,0.000,0.051,2165,3754,3985
$GC,5602,-1.10,-121.7,679.5,-12.0,640,5605,0.00,1.70,0.00,0.000,6,0.000,0.028,2164,2593,3984
$GC,5923,-1.10,-121.7,715.6,-10.8,656,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2592,3982
$GC,6233,-1.10,-121.7,747.2,-10.2,671,6236,0.00,1.83,0.00,0.000,4,0.000,0.051,2165,3757,3979
$GC,6279,-1.10,-121.7,752.2,-11.0,673,6283,0.00,1.70,0.00,0.000,6,0.000,0.028,2165,2586,3979
$GC,6612,-1.10,-121.7,786.4,-9.8,689,6615,0.00,1.83,0.00,0.000,4,0.000,0.052,2165,3746,3976
$GC,6667,-1.10,-121.7,792.6,-10.8,691,6671,0.00,1.70,0.00,0.000,6,0.000,0.029,2165,2596,3976
$GC,6990,-1.10,-121.7,827.4,-11.2,707,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2596,3974
$GC,7298,-1.10,-121.7,860.4,-10.4,722,7302,0.00,1.85,0.00,0.000,4,0.000,0.052,2158,3750,3971
$GC,7343,-1.10,-121.7,865.6,-12.0,724,7347,0.08,1.70,0.00,0.000,6,0.167,0.029,2181,2612,3970
$GC,7678,-1.21,-121.7,896.8,-9.1,740,7681,0.00,1.80,0.00,0.000,4,0.000,0.052,2178,3753,3969
$GC,7728,-1.26,-121.7,902.2,-10.4,742,7732,0.12,1.67,0.00,0.000,6,0.084,0.029,2131,2608,3968
$STATE,7886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7887,begin apogee
$GC,7893,-0.22,0.0,921.2,12.0,750,7990,1.15,0.00,89.90,1.352,6,0.166,0.000,2465,2607,3532
$STATE,7991,end apogee,CONTROL_FINISHED_OK
$STATE,7991,begin climb
$GC,7993,1.18,121.7,926.0,0.0,755,8102,1.27,2.38,101.10,1.315,4,0.062,0.030,2931,1143,3035
$GC,8210,0.64,123.5,919.9,11.9,764,8217,0.70,2.12,0.00,0.000,6,0.208,0.036,2752,2496,3032
$GC,8526,0.65,196.0,895.8,7.2,780,8591,0.00,2.10,59.75,1.301,4,0.000,0.053,2752,3748,2733
$GC,8621,0.57,196.0,886.4,12.3,784,8625,0.12,1.88,0.00,0.000,6,0.194,0.026,2733,2510,2730
$GC,8943,0.74,251.3,857.3,8.3,800,8993,0.15,2.17,45.33,1.277,4,0.081,0.031,2792,1112,2507
$GC,9033,0.76,266.6,848.0,11.0,804,9052,0.00,2.17,13.90,1.176,6,0.000,0.035,2793,2485,2445
$GC,9381,0.76,266.6,807.1,12.0,821,9384,0.00,2.08,0.00,0.000,4,0.000,0.030,2801,1111,2440
$GC,9459,0.77,271.8,797.3,11.7,824,9470,0.00,2.12,5.05,0.930,6,0.000,0.036,2801,2486,2423
$GC,9780,0.77,271.8,756.1,13.6,840,9784,0.00,2.05,0.00,0.000,4,0.000,0.030,2807,1117,2422
$GC,9848,0.77,271.8,746.5,14.2,843,9852,0.00,2.10,0.00,0.000,6,0.000,0.035,2807,2482,2421
$GC,10180,0.77,271.8,699.8,14.2,859,10184,0.00,2.05,0.00,0.000,4,0.000,0.031,2814,1113,2420
$GC,10226,0.77,271.8,693.4,14.1,861,10230,0.00,2.10,0.00,0.000,6,0.000,0.036,2814,2482,2420
$GC,10557,0.77,271.8,648.4,13.5,877,10561,0.00,2.00,0.00,0.000,4,0.000,0.052,2815,3765,2419
$GC,10596,0.60,271.8,642.7,15.7,878,10604,0.25,1.92,0.00,0.000,6,0.179,0.027,2741,2467,2419
$GC,10913,0.85,299.1,609.5,10.2,894,10941,0.20,2.10,23.38,1.148,4,0.077,0.032,2828,1111,2312
$GC,11014,0.85,299.1,596.6,12.4,898,11022,0.00,2.08,0.00,0.000,6,0.000,0.036,2828,2448,2308
$GC,11331,0.85,299.8,558.1,12.0,914,11335,0.00,2.00,0.00,0.000,4,0.000,0.032,2829,1124,2307
$GC,11358,0.86,304.2,554.6,11.7,915,11368,0.00,2.08,4.88,0.843,6,0.000,0.036,2828,2473,2292
$GC,11686,0.86,304.2,511.8,13.2,931,11690,0.00,2.03,0.00,0.000,4,0.000,0.031,2828,1124,2291
$GC,11782,0.86,310.6,499.9,11.6,935,11797,0.00,2.03,6.95,0.930,6,0.000,0.034,2828,2452,2265
$GC,12116,0.86,310.6,458.8,12.1,966,12119,0.00,2.00,0.00,0.000,4,0.000,0.031,2829,1120,2263
$GC,12144,0.87,313.0,455.5,11.8,968,12150,0.00,2.03,0.00,0.000,6,0.000,0.033,2828,2453,2263
$GC,12471,0.89,331.7,419.9,10.8,999,12494,0.00,2.08,18.42,0.988,4,0.000,0.031,2828,1127,2179
$GC,12679,0.98,338.9,396.0,11.5,1017,12691,0.10,1.98,7.12,0.848,6,0.092,0.033,2867,2423,2150
$GC,13009,0.98,338.9,351.4,13.3,1048,13012,0.00,1.95,0.00,0.000,4,0.000,0.031,2873,1119,2148
$GC,13032,0.98,338.9,348.2,13.8,1050,13036,0.00,2.00,0.00,0.000,6,0.000,0.033,2873,2434,2148
$GC,13364,1.01,357.2,308.1,10.8,1081,13387,0.00,2.08,16.35,0.876,4,0.000,0.048,2873,3759,2074
$GC,13394,1.01,361.5,304.5,11.7,1083,13404,0.00,2.00,5.05,0.668,6,0.000,0.025,2882,2416,2058
$GC,13740,1.01,361.5,263.6,12.2,1141,13746,0.00,1.90,0.00,0.000,4,0.000,0.030,2885,1119,2055
$GC,13918,1.01,361.5,239.9,13.9,1172,13924,0.00,1.92,0.00,0.000,6,0.000,0.031,2885,2400,2054
$GC,14261,1.06,403.1,199.4,9.3,1233,14302,0.00,2.15,34.20,0.796,4,0.000,0.049,2885,3759,1887
$GC,14315,1.14,428.1,194.3,10.4,1242,14346,0.00,2.05,21.12,0.759,6,0.000,0.025,2894,2368,1784
$GC,14686,1.31,446.3,149.0,10.8,1307,14711,0.20,1.88,15.20,0.713,4,0.071,0.030,2987,1121,1711
$GC,14857,1.20,446.3,126.0,13.4,1337,14864,0.22,1.88,0.00,0.000,6,0.181,0.031,2930,2366,1709
$GC,15202,1.33,457.1,85.0,11.3,1398,15221,0.12,1.92,10.12,0.630,4,0.077,0.028,2988,1100,1667
$GC,15261,1.33,457.1,76.4,16.1,1408,15267,0.00,1.88,0.00,0.000,6,0.000,0.030,2989,2356,1666
$GC,15605,1.39,507.8,37.9,8.7,1469,15652,0.00,1.85,40.47,0.638,4,0.000,0.027,2994,1118,1459
$GC,15751,1.50,516.5,21.7,11.4,1494,15765,0.00,1.85,7.82,0.538,6,0.000,0.028,2994,2351,1425
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,1.7,1.021234
$STATE,15927,end surface coast,CONTROL_FINISHED_OK
$STATE,15927,begin surface
$SM_CCo,16006,0.00,0.000,0,0,1420,518.07
$SM_GC,2.66,7.62,0.00,0.00,0.052,0.000,0.000,141,2453,1420,-7.49,0.74,518.07
$IRIDIUM_FIX,2437.06,12420.24,091098,121237
$TT8_MAMPS,0.028379
$HUMID,1594
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.6,55.686
$10V_AH,10.8,31.335
$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,22.875,132.550,526.125,0.000,0.000,31.708,39.744,231.603,7.250,0.000,0.000,14.023,2668.391,9822.607,623.517,2663.490,660.936,0.000,1991.532,0.000,2604.767,0.000,49.432,0.000
$DEVICE_MAMPS,237.003,72.865,1352.221,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.219,1060.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82109,1525
$CAP_FILE_SIZE,165425,0
$CFSIZE,260165632,199602176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244,110.9,1
$GPS,150709,215025,2447.816,12419.045,41,1.0,42,-3.7