version: 66.04
glider: 167
mission: 2
dive: 333
start: 7 19 109 4 53 54
data:
$ID,167
$MISSION,2
$DIVE,333
$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,-11898.5
$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,74
$R_STBD_OVSHOOT,64
$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
$GPS1,044659,2503.858,12422.832,37,1.4,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.0
$GPS2,045332,2503.900,12422.958,15,1.5,15,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2452.300,12349.600
$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,276.1,60026,-24.8,-13.043
$D_GRID,1993
$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,-1.25,-121.7,0.0,0.0,0,47,0.00,0.00,-30.35,0.000,2,0.000,0.000,141,2474,2384
$GC,50,-1.25,-121.7,3.2,-1.6,5,116,8.30,2.12,-49.03,0.000,4,0.240,0.038,2134,1028,3989
$GC,224,-0.91,-121.7,32.5,-22.1,35,232,0.45,2.08,0.00,0.000,6,0.166,0.028,2251,2424,3990
$GC,571,-1.00,-121.7,84.3,-14.0,96,577,0.00,2.03,0.00,0.000,4,0.000,0.043,2244,3751,3992
$GC,797,-1.00,-121.7,117.9,-14.6,136,803,0.00,1.85,0.00,0.000,6,0.000,0.023,2244,2433,3992
$GC,1141,-1.28,-121.7,158.8,-11.9,197,1147,0.28,2.03,0.00,0.000,4,0.056,0.041,2114,3755,3993
$GC,1322,-0.94,-121.7,191.8,-17.4,229,1329,0.45,1.77,0.00,0.000,6,0.165,0.023,2241,2491,3994
$GC,1670,-1.10,-121.7,227.7,-11.3,290,1676,0.15,1.95,0.00,0.000,4,0.070,0.042,2176,3764,3995
$GC,1932,-0.99,-121.7,266.8,-14.2,336,1938,0.17,1.77,0.00,0.000,6,0.161,0.024,2222,2494,3995
$GC,2276,-1.36,-121.7,302.5,-9.6,395,2280,0.30,2.05,0.00,0.000,4,0.056,0.025,2095,1054,3995
$GC,2326,-1.17,-121.7,309.2,-14.4,399,2331,0.28,2.12,0.00,0.000,6,0.163,0.031,2169,2482,3995
$GC,2652,-1.17,-121.7,350.8,-12.8,429,2656,0.00,1.92,0.00,0.000,4,0.000,0.044,2165,3757,3996
$GC,2747,-1.17,-121.7,364.0,-13.7,437,2753,0.00,1.80,0.00,0.000,6,0.000,0.023,2165,2496,3996
$GC,3072,-1.17,-121.7,402.2,-11.2,468,3076,0.00,1.92,0.00,0.000,4,0.000,0.046,2165,3749,3996
$GC,3107,-1.17,-121.7,406.4,-12.1,471,3110,0.00,1.75,0.00,0.000,6,0.000,0.024,2165,2500,3995
$GC,3440,-1.25,-121.7,443.4,-10.6,502,3444,0.00,1.92,0.00,0.000,4,0.000,0.045,2161,3754,3996
$GC,3512,-1.25,-121.7,452.0,-10.9,508,3518,0.00,1.75,0.00,0.000,6,0.000,0.025,2162,2509,3996
$GC,3841,-1.33,-121.7,489.4,-10.7,539,3845,0.15,1.92,0.00,0.000,4,0.074,0.045,2097,3753,3995
$GC,3977,-1.09,-121.7,508.8,-14.1,549,3981,0.32,1.75,0.00,0.000,6,0.171,0.025,2186,2527,3994
$GC,4313,-1.31,-121.7,540.0,-8.4,565,4317,0.17,1.90,0.00,0.000,4,0.065,0.045,2104,3754,3992
$GC,4450,-1.11,-121.7,557.4,-12.9,571,4454,0.30,1.73,0.00,0.000,6,0.170,0.026,2185,2551,3992
$GC,4785,-1.31,-121.7,590.3,-9.9,587,4789,0.17,1.88,0.00,0.000,4,0.067,0.048,2110,3753,3990
$GC,4908,-1.16,-121.7,607.4,-13.7,592,4912,0.22,1.70,0.00,0.000,6,0.173,0.026,2169,2569,3989
$GC,5231,-1.29,-121.7,642.8,-10.7,608,5235,0.12,2.20,0.00,0.000,4,0.078,0.027,2120,1060,3987
$GC,5248,-1.37,-121.7,644.9,-10.7,609,5252,0.00,2.25,0.00,0.000,6,0.000,0.033,2113,2548,3987
$GC,5576,-1.28,-121.7,686.3,-12.7,625,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2549,3984
$GC,5885,-1.18,-121.7,725.5,-12.8,640,5889,0.17,1.88,0.00,0.000,4,0.181,0.049,2156,3759,3982
$GC,5976,-1.18,-121.7,736.3,-11.4,644,5980,0.00,1.73,0.00,0.000,6,0.000,0.028,2156,2573,3981
$GC,6311,-1.26,-121.7,774.9,-12.1,660,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2573,3979
$GC,6618,-1.34,-121.7,812.0,-11.8,675,6620,0.12,0.00,0.00,0.000,6,0.086,0.000,2107,2573,3976
$GC,6928,-1.24,-121.7,853.1,-13.3,690,6932,0.15,1.88,0.00,0.000,4,0.179,0.051,2137,3756,3974
$GC,6984,-1.24,-121.7,860.4,-12.3,692,6988,0.00,1.73,0.00,0.000,6,0.000,0.029,2137,2577,3973
$GC,7307,-1.24,-121.7,897.9,-11.5,708,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2577,3971
$GC,7615,-1.24,-121.7,935.4,-12.4,723,7618,0.00,1.85,0.00,0.000,4,0.000,0.054,2137,3743,3969
$GC,7675,-1.24,-121.7,943.7,-13.8,725,7681,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2587,3969
$GC,7992,-1.24,-121.7,983.2,-12.7,741,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2586,3967
$STATE,8051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8057,-0.22,0.0,991.0,12.6,744,8159,1.15,0.00,93.22,1.385,6,0.170,0.000,2467,2586,3532
$STATE,8159,end apogee,CONTROL_FINISHED_OK
$STATE,8159,begin climb
$GC,8162,1.25,121.7,996.9,0.0,749,8274,1.35,2.03,103.15,1.368,4,0.063,0.050,2948,3743,3034
$GC,8420,0.55,141.9,987.7,11.6,760,8445,0.90,1.83,17.52,1.276,6,0.216,0.027,2729,2520,2953
$GC,8764,0.73,217.5,962.0,7.6,777,8833,0.15,2.20,62.88,1.347,4,0.081,0.031,2789,1122,2644
$GC,8902,0.79,228.5,946.8,12.3,783,8917,0.00,2.17,10.48,1.179,6,0.000,0.035,2789,2501,2600
$GC,9240,0.82,248.1,906.6,11.6,800,9259,0.00,0.00,16.80,1.260,6,0.000,0.000,2789,2501,2519
$GC,9568,0.89,264.4,867.2,11.9,816,9590,0.12,2.15,14.55,1.236,4,0.089,0.032,2842,1109,2453
$GC,9636,0.84,264.4,857.4,15.1,819,9640,0.00,2.17,0.00,0.000,6,0.000,0.037,2842,2497,2451
$GC,9970,0.76,264.4,810.1,13.7,835,9974,0.17,2.08,0.00,0.000,4,0.183,0.030,2800,1116,2449
$GC,10026,0.84,278.1,803.1,12.1,837,10052,0.00,2.15,14.55,1.061,6,0.000,0.037,2800,2510,2398
$GC,10372,0.90,278.1,758.6,13.5,854,10376,0.10,2.10,0.00,0.000,4,0.099,0.031,2841,1120,2394
$GC,10477,0.90,278.1,743.1,14.5,858,10484,0.00,2.10,0.00,0.000,6,0.000,0.035,2842,2480,2393
$GC,10795,0.84,278.1,699.8,13.5,874,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2480,2393
$GC,11103,0.79,278.1,659.2,13.4,889,11107,0.15,2.05,0.00,0.000,4,0.182,0.031,2812,1123,2392
$GC,11187,0.89,292.2,649.0,12.0,892,11206,0.00,2.05,13.00,1.136,6,0.000,0.035,2812,2457,2340
$GC,11526,1.00,315.8,608.5,11.4,909,11553,0.15,2.10,20.35,1.138,4,0.081,0.033,2872,1120,2244
$GC,11603,0.94,315.8,597.6,14.3,912,11607,0.00,2.05,0.00,0.000,6,0.000,0.035,2872,2441,2242
$GC,11926,0.87,315.8,554.6,13.2,928,11930,0.17,2.00,0.00,0.000,4,0.188,0.030,2831,1122,2239
$GC,11972,0.98,337.4,549.0,11.5,930,11996,0.00,2.03,18.90,1.090,6,0.000,0.035,2831,2436,2156
$GC,12328,1.07,343.9,505.0,12.6,947,12339,0.17,2.00,6.22,0.894,4,0.073,0.031,2899,1110,2130
$GC,12396,0.98,343.9,494.1,16.3,951,12402,0.15,2.03,0.00,0.000,6,0.187,0.036,2863,2424,2129
$GC,12722,0.98,345.9,451.2,12.9,982,12726,0.00,1.95,0.00,0.000,4,0.000,0.030,2869,1122,2128
$GC,12738,0.99,353.0,448.7,12.5,983,12755,0.00,1.95,9.45,0.950,6,0.000,0.032,2869,2404,2091
$GC,13074,1.05,355.9,403.3,12.8,1015,13078,0.00,1.92,0.00,0.000,4,0.000,0.031,2871,1120,2089
$GC,13203,1.11,358.0,386.8,12.9,1026,13213,0.00,1.92,5.38,0.781,6,0.000,0.033,2871,2392,2072
$GC,13540,1.17,359.5,342.8,12.9,1058,13544,0.15,1.90,0.00,0.000,4,0.082,0.028,2936,1113,2070
$GC,13645,1.05,359.5,327.6,14.2,1067,13652,0.20,1.90,0.00,0.000,6,0.181,0.034,2884,2372,2070
$GC,13976,1.11,369.7,285.7,12.3,1107,13995,0.00,2.17,11.40,0.835,4,0.000,0.046,2885,3771,2023
$GC,14046,1.11,369.7,276.1,13.9,1119,14052,0.00,2.10,0.00,0.000,6,0.000,0.023,2893,2344,2022
$GC,14390,1.20,385.1,232.1,11.9,1180,14410,0.10,1.88,13.70,0.800,4,0.095,0.029,2939,1103,1960
$GC,14498,1.21,396.1,218.5,12.3,1198,14517,0.00,1.85,10.30,0.752,6,0.000,0.031,2938,2331,1916
$GC,14855,1.21,396.1,171.5,13.2,1261,14862,0.00,1.80,0.00,0.000,4,0.000,0.029,2940,1113,1914
$GC,14953,1.21,396.1,157.6,14.3,1278,14959,0.00,1.80,0.00,0.000,6,0.000,0.031,2940,2318,1915
$GC,15298,1.26,430.2,115.7,10.6,1339,15332,0.00,1.80,28.50,0.714,4,0.000,0.028,2941,1117,1776
$GC,15475,1.41,448.1,94.9,11.8,1370,15500,0.17,1.75,15.32,0.666,6,0.073,0.029,3007,2292,1705
$GC,15840,1.43,464.0,47.6,11.9,1434,15857,0.00,0.00,13.93,0.621,6,0.000,0.000,3007,2292,1639
$STATE,16192,end climb,SURFACE_DEPTH_REACHED
$STATE,16192,begin surface coast
$FINISH,1.8,1.006342
$STATE,16226,end surface coast,CONTROL_FINISHED_OK
$STATE,16226,begin surface
$SM_CCo,16304,0.00,0.000,0,0,1633,465.58
$SM_GC,2.79,7.70,0.00,0.00,0.056,0.000,0.000,140,2463,1633,-7.50,1.02,465.58
$IRIDIUM_FIX,2453.69,12422.30,131098,000039
$TT8_MAMPS,0.029146
$HUMID,1607
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,59.014
$10V_AH,10.7,33.002
$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,25.375,121.125,499.600,0.000,0.000,29.438,31.162,186.488,8.000,0.000,0.000,15.251,2663.390,10150.474,595.457,2666.013,610.110,0.000,1950.798,0.000,2599.952,0.000,57.061,0.000
$DEVICE_MAMPS,240.071,53.690,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.501,1033.727,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82036,1502
$CAP_FILE_SIZE,166818,0
$CFSIZE,260165632,198049792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095, 74.6,1
$GPS,190709,092653,2504.727,12421.964,24,2.0,41,-3.8