version: 66.04
glider: 167
mission: 2
dive: 341
start: 7 20 109 18 44 59
data:
$ID,167
$MISSION,2
$DIVE,341
$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,-12081.082
$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,50
$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
$GPS1,183736,2503.811,12417.769,40,1.5,46,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-68.0
$GPS2,184437,2503.811,12417.915,17,1.8,34,-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,284.6,52134,-24.8,-13.043
$D_GRID,1941
$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,-30.60,0.000,2,0.000,0.000,141,2463,2367
$GC,51,-1.25,-121.7,3.1,-2.1,5,115,8.12,2.12,-48.97,0.000,4,0.233,0.039,2138,1023,3990
$GC,167,-0.89,-121.7,22.0,-23.1,25,174,0.45,2.10,0.00,0.000,6,0.166,0.030,2254,2425,3991
$GC,513,-1.00,-121.7,73.4,-12.9,86,519,0.00,2.03,0.00,0.000,4,0.000,0.044,2246,3753,3992
$GC,638,-1.00,-121.7,91.6,-13.9,108,645,0.00,1.90,0.00,0.000,6,0.000,0.022,2246,2396,3992
$GC,984,-1.18,-121.7,133.5,-13.1,169,990,0.20,2.10,0.00,0.000,4,0.062,0.043,2149,3759,3994
$GC,1216,-0.99,-121.7,172.6,-15.9,210,1223,0.28,1.83,0.00,0.000,6,0.158,0.022,2226,2450,3995
$GC,1563,-1.19,-121.7,210.8,-10.1,271,1569,0.17,2.00,0.00,0.000,4,0.067,0.041,2139,3760,3996
$GC,1738,-0.97,-121.7,236.9,-15.6,302,1745,0.32,1.77,0.00,0.000,6,0.159,0.022,2230,2487,3996
$GC,2083,-1.33,-121.7,272.3,-8.8,363,2090,0.28,1.95,0.00,0.000,4,0.057,0.043,2110,3756,3996
$GC,2176,-1.05,-121.7,285.7,-15.9,379,2183,0.35,1.77,0.00,0.000,6,0.165,0.023,2207,2485,3996
$GC,2511,-1.22,-121.7,320.8,-9.2,421,2515,0.17,1.95,0.00,0.000,4,0.068,0.041,2126,3761,3996
$GC,2672,-1.03,-121.7,343.1,-13.9,435,2678,0.30,1.75,0.00,0.000,6,0.163,0.023,2209,2514,3996
$GC,2998,-1.41,-121.7,375.5,-10.0,466,3002,0.30,1.90,0.00,0.000,4,0.059,0.044,2083,3753,3996
$GC,3077,-1.08,-121.7,387.4,-15.9,473,3082,0.40,1.75,0.00,0.000,6,0.170,0.023,2194,2505,3996
$GC,3409,-1.40,-121.7,425.1,-10.1,504,3411,0.28,0.00,0.00,0.000,6,0.061,0.000,2086,2505,3996
$GC,3729,-1.20,-121.7,467.4,-12.9,534,3733,0.22,1.92,0.00,0.000,4,0.172,0.042,2142,3757,3996
$GC,3791,-1.13,-121.7,475.2,-11.6,539,3798,0.15,1.77,0.00,0.000,6,0.164,0.024,2180,2499,3996
$GC,4127,-1.40,-121.7,503.8,-7.7,569,4131,0.20,1.95,0.00,0.000,4,0.067,0.044,2086,3763,3995
$GC,4149,-1.40,-121.7,506.0,-9.7,570,4153,0.00,1.80,0.00,0.000,6,0.000,0.024,2086,2510,3995
$GC,4482,-1.23,-121.7,550.7,-14.3,586,4486,0.20,1.92,0.00,0.000,4,0.172,0.044,2137,3754,3993
$GC,4544,-1.17,-121.7,559.0,-13.0,588,4552,0.12,1.75,0.00,0.000,6,0.168,0.025,2168,2520,3993
$GC,4860,-1.32,-121.7,592.1,-10.0,604,4865,0.15,1.92,0.00,0.000,4,0.075,0.046,2101,3761,3992
$GC,4952,-1.14,-121.7,604.2,-14.3,608,4956,0.28,1.75,0.00,0.000,6,0.168,0.025,2175,2537,3991
$GC,5286,-1.47,-121.7,635.6,-8.7,624,5291,0.28,2.15,0.00,0.000,4,0.064,0.026,2066,1054,3989
$GC,5371,-1.28,-121.7,646.5,-12.9,627,5377,0.28,2.17,0.00,0.000,6,0.176,0.033,2131,2500,3989
$GC,5686,-1.28,-121.7,681.6,-11.3,643,5690,0.00,1.92,0.00,0.000,4,0.000,0.048,2124,3759,3986
$GC,5874,-1.19,-121.7,706.1,-13.1,651,5878,0.15,1.75,0.00,0.000,6,0.171,0.026,2161,2544,3985
$GC,6201,-1.32,-121.7,744.4,-11.5,667,6206,0.12,1.90,0.00,0.000,4,0.083,0.049,2111,3754,3982
$GC,6270,-1.19,-121.7,753.7,-14.5,670,6274,0.20,1.75,0.00,0.000,6,0.173,0.026,2162,2546,3982
$GC,6604,-1.34,-121.7,788.2,-9.7,686,6608,0.15,1.90,0.00,0.000,4,0.078,0.049,2098,3755,3979
$GC,6730,-1.16,-121.7,804.4,-12.8,691,6734,0.28,1.73,0.00,0.000,6,0.174,0.027,2172,2567,3978
$GC,7051,-1.32,-121.7,833.1,-8.5,707,7055,0.15,1.88,0.00,0.000,4,0.075,0.051,2111,3754,3975
$GC,7103,-1.20,-121.7,838.8,-11.7,709,7107,0.17,1.73,0.00,0.000,6,0.177,0.028,2155,2570,3975
$GC,7430,-1.30,-121.7,870.4,-10.1,725,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2570,3973
$GC,7740,-1.39,-121.7,904.4,-11.5,740,7744,0.17,1.88,0.00,0.000,4,0.074,0.053,2081,3749,3971
$GC,7857,-1.16,-121.7,922.3,-15.7,745,7861,0.32,1.70,0.00,0.000,6,0.180,0.029,2167,2585,3970
$GC,8187,-1.31,-121.7,957.7,-10.5,761,8191,0.12,1.85,0.00,0.000,4,0.085,0.050,2112,3759,3968
$GC,8237,-1.19,-121.7,964.4,-12.8,763,8241,0.17,1.70,0.00,0.000,6,0.179,0.028,2156,2597,3968
$STATE,8498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8498,begin apogee
$GC,8504,-0.22,0.0,992.2,10.6,776,8606,1.05,0.00,93.35,1.382,6,0.158,0.000,2468,2597,3532
$STATE,8607,end apogee,CONTROL_FINISHED_OK
$STATE,8607,begin climb
$GC,8610,1.25,121.7,996.8,0.0,781,8721,1.35,2.33,103.50,1.364,4,0.066,0.030,2955,1150,3034
$GC,8800,0.76,169.7,994.8,9.6,789,8848,0.65,2.15,40.80,1.328,6,0.214,0.035,2795,2506,2840
$GC,9160,0.75,224.0,961.2,9.2,807,9211,0.00,2.20,45.00,1.332,4,0.000,0.031,2802,1145,2619
$GC,9333,0.80,268.5,942.9,9.8,814,9381,0.00,2.10,37.50,1.309,6,0.000,0.036,2802,2491,2436
$GC,9692,0.82,282.1,900.3,12.1,832,9714,0.00,2.12,12.20,1.208,4,0.000,0.031,2802,1143,2381
$GC,9748,0.92,288.2,893.0,12.6,834,9760,0.12,2.08,6.97,1.069,6,0.087,0.035,2847,2483,2357
$GC,10069,0.84,288.2,846.9,15.1,850,10074,0.12,2.03,0.00,0.000,4,0.188,0.028,2826,1139,2353
$GC,10198,0.84,288.2,827.7,14.4,855,10204,0.00,2.05,0.00,0.000,6,0.000,0.035,2826,2474,2352
$GC,10514,0.84,288.2,784.0,13.3,871,10518,0.00,2.00,0.00,0.000,4,0.000,0.031,2832,1140,2351
$GC,10586,0.84,288.2,774.2,13.4,874,10590,0.00,2.03,0.00,0.000,6,0.000,0.035,2831,2465,2351
$GC,10913,0.86,304.4,734.3,11.9,890,10934,0.00,2.05,14.02,1.186,4,0.000,0.031,2834,1139,2290
$GC,11019,0.86,304.4,720.3,13.1,894,11025,0.00,2.00,0.00,0.000,6,0.000,0.035,2834,2440,2289
$GC,11334,0.86,304.4,675.7,14.3,910,11338,0.00,1.95,0.00,0.000,4,0.000,0.030,2842,1135,2287
$GC,11363,0.86,304.4,671.6,15.1,911,11367,0.00,2.00,0.00,0.000,6,0.000,0.036,2842,2442,2287
$GC,11691,0.86,304.4,625.6,13.5,927,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2442,2286
$GC,11999,0.89,333.1,589.4,11.0,942,12028,0.00,2.03,24.40,1.136,4,0.000,0.032,2842,1146,2173
$GC,12111,0.98,347.7,576.6,12.0,947,12132,0.00,2.00,13.48,1.067,6,0.000,0.035,2842,2439,2113
$GC,12442,1.05,347.7,534.4,13.3,963,12446,0.12,1.95,0.00,0.000,4,0.084,0.030,2898,1148,2109
$GC,12571,0.97,347.7,514.8,15.2,968,12579,0.15,1.92,0.00,0.000,6,0.186,0.035,2862,2412,2109
$GC,12895,0.97,348.3,470.9,13.0,994,12898,0.00,1.90,0.00,0.000,4,0.000,0.030,2868,1138,2108
$GC,12991,1.02,348.3,457.9,13.3,1002,12997,0.00,1.90,0.00,0.000,6,0.000,0.034,2868,2392,2107
$GC,13319,1.04,362.5,418.2,12.0,1033,13341,0.00,1.92,12.90,0.956,4,0.000,0.030,2869,1145,2053
$GC,13370,1.14,377.1,411.7,12.0,1037,13389,0.12,1.85,13.48,0.939,6,0.086,0.032,2917,2368,1994
$GC,13707,1.08,377.1,366.0,13.5,1069,13710,0.00,2.17,0.00,0.000,4,0.000,0.048,2917,3763,1989
$GC,13799,0.86,377.1,352.7,16.4,1077,13803,0.38,2.03,0.00,0.000,6,0.183,0.025,2825,2399,1989
$GC,14124,1.17,408.1,317.4,10.8,1107,14158,0.22,1.90,26.38,0.896,4,0.067,0.030,2925,1147,1866
$GC,14243,1.17,408.1,299.6,15.2,1117,14249,0.00,1.88,0.00,0.000,6,0.000,0.031,2925,2378,1863
$GC,14587,1.17,408.1,249.5,14.1,1178,14593,0.00,2.15,0.00,0.000,4,0.000,0.049,2925,3759,1862
$GC,14729,1.08,408.1,229.0,13.9,1203,14736,0.15,2.10,0.00,0.000,6,0.184,0.024,2897,2325,1861
$GC,15074,1.24,433.4,189.7,11.2,1264,15105,0.12,1.77,21.05,0.766,4,0.087,0.029,2950,1135,1764
$GC,15246,1.24,433.4,165.3,13.2,1294,15252,0.00,1.73,0.00,0.000,6,0.000,0.031,2950,2290,1761
$GC,15591,1.31,450.7,119.8,11.8,1355,15615,0.00,1.77,15.70,0.691,4,0.000,0.029,2950,1136,1693
$GC,15767,1.50,488.8,99.5,10.3,1386,15803,0.22,1.65,30.83,0.690,6,0.071,0.030,3033,2250,1539
$GC,16143,1.50,488.8,41.1,14.2,1452,16149,0.00,1.62,0.00,0.000,4,0.000,0.029,3038,1140,1533
$GC,16258,1.50,488.8,25.5,13.2,1472,16265,0.00,1.60,0.00,0.000,6,0.000,0.029,3038,2227,1533
$STATE,16421,end climb,SURFACE_DEPTH_REACHED
$STATE,16423,begin surface coast
$FINISH,1.9,1.009737
$STATE,16446,end surface coast,CONTROL_FINISHED_OK
$STATE,16446,begin surface
$SM_CCo,16524,0.00,0.000,0,0,1530,491.09
$SM_GC,2.82,7.65,0.00,0.00,0.048,0.000,0.000,140,2452,1530,-7.49,0.71,491.09
$IRIDIUM_FIX,2453.69,12419.00,141098,141408
$TT8_MAMPS,0.029146
$HUMID,1625
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,60.498
$10V_AH,10.7,33.754
$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,27.975,134.950,511.550,0.000,0.000,30.180,35.847,188.617,8.000,0.000,0.000,36.379,2700.669,10188.861,633.769,2778.405,631.564,0.000,2036.721,0.000,2691.305,0.000,57.156,0.000
$DEVICE_MAMPS,233.168,52.923,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.638,1029.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82111,1505
$CAP_FILE_SIZE,173419,0
$CFSIZE,260165632,197337088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,133.6,1
$GPS,200709,232136,2504.051,12417.082,38,1.2,39,-3.8