version: 66.04
glider: 167
mission: 2
dive: 40
start: 5 28 109 6 56 37
data:
$ID,167
$MISSION,2
$DIVE,40
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4574.9678
$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,65
$R_STBD_OVSHOOT,30
$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
$GPS1,065000,2521.700,12324.682,37,1.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.6
$GPS2,065614,2521.666,12324.718,12,2.0,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,269.9,11709,-18.3,-12.000
$D_GRID,1455
$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,14,-1.05,-194.7,0.0,0.0,0,53,0.00,0.00,-36.58,0.000,2,0.000,0.000,144,2407,2646
$GC,56,-1.05,-194.7,3.1,-2.5,6,115,8.68,2.20,-41.08,0.000,4,0.261,0.059,2192,3787,3989
$GC,264,0.03,-194.7,70.4,-42.3,42,271,1.30,2.00,0.00,0.000,6,0.219,0.027,2542,2405,3990
$GC,608,-0.82,-194.7,110.2,-5.5,103,615,0.73,2.10,0.00,0.000,4,0.086,0.048,2279,3763,3992
$GC,683,-0.54,-194.7,117.2,-12.6,116,692,0.30,1.92,0.00,0.000,6,0.156,0.027,2366,2415,3992
$GC,1030,-0.59,-194.7,165.9,-15.0,177,1036,0.00,1.98,0.00,0.000,4,0.000,0.029,2367,1039,3993
$GC,1070,-0.75,-194.7,171.6,-13.4,184,1078,0.17,2.08,0.00,0.000,6,0.064,0.034,2285,2439,3993
$GC,1416,-0.56,-194.7,220.6,-13.8,245,1423,0.22,2.03,0.00,0.000,4,0.164,0.028,2354,1044,3994
$GC,1481,-0.76,-194.7,227.1,-8.0,256,1489,0.15,2.03,0.00,0.000,6,0.071,0.035,2287,2415,3995
$GC,1829,-0.66,-194.7,277.3,-13.9,317,1836,0.15,2.05,0.00,0.000,4,0.162,0.050,2328,3759,3995
$GC,1859,-0.66,-194.7,281.1,-12.3,322,1865,0.00,1.92,0.00,0.000,6,0.000,0.028,2328,2405,3995
$GC,2200,-0.79,-194.7,315.4,-10.5,370,2202,0.12,0.00,0.00,0.000,6,0.077,0.000,2272,2404,3995
$GC,2518,-0.73,-194.7,357.7,-12.6,400,2520,0.15,0.00,0.00,0.000,6,0.161,0.000,2313,2403,3995
$GC,2839,-0.88,-194.7,385.6,-7.5,430,2843,0.15,2.08,0.00,0.000,4,0.075,0.051,2247,3748,3995
$GC,2862,-0.88,-194.7,388.0,-9.5,432,2865,0.00,1.90,0.00,0.000,6,0.000,0.028,2247,2416,3995
$GC,3192,-0.77,-194.7,424.8,-11.2,463,3198,0.17,2.08,0.00,0.000,4,0.163,0.051,2301,3758,3995
$GC,3250,-0.91,-194.7,429.8,-8.3,468,3254,0.15,1.92,0.00,0.000,6,0.076,0.030,2238,2416,3995
$GC,3579,-0.81,-194.7,473.9,-14.6,499,3581,0.17,0.00,0.00,0.000,6,0.162,0.000,2286,2415,3995
$GC,3910,-0.92,-194.7,510.7,-9.4,525,3914,0.12,2.08,0.00,0.000,4,0.083,0.054,2233,3751,3993
$GC,3943,-0.81,-194.7,514.7,-11.5,526,3948,0.17,1.95,0.00,0.000,6,0.162,0.030,2281,2421,3993
$GC,4266,-0.92,-194.7,538.3,-6.5,542,4270,0.00,2.05,0.00,0.000,4,0.000,0.054,2276,3753,3992
$GC,4299,-1.02,-194.7,541.0,-7.5,543,4304,0.17,1.92,0.00,0.000,6,0.077,0.030,2204,2413,3992
$GC,4621,-0.85,-194.7,580.2,-13.3,559,4626,0.20,1.98,0.00,0.000,4,0.170,0.032,2265,1037,3990
$GC,4744,-0.97,-194.7,592.9,-9.9,564,4748,0.00,2.08,0.00,0.000,6,0.000,0.039,2264,2420,3989
$GC,5066,-1.04,-194.7,623.7,-9.5,580,5070,0.15,2.08,0.00,0.000,4,0.083,0.055,2201,3764,3987
$GC,5098,-0.87,-194.7,627.6,-12.3,581,5103,0.22,1.98,0.00,0.000,6,0.169,0.031,2264,2409,3986
$GC,5414,-0.95,-194.7,656.0,-8.7,596,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2408,3984
$GC,5724,-1.04,-194.7,680.6,-7.5,611,5728,0.17,2.12,0.00,0.000,4,0.080,0.056,2188,3764,3981
$GC,5768,-0.82,-194.7,685.5,-12.2,613,5772,0.30,1.98,0.00,0.000,6,0.173,0.032,2274,2414,3981
$GC,6091,-0.95,-194.7,708.5,-7.3,629,6095,0.12,2.03,0.00,0.000,4,0.086,0.035,2225,1033,3978
$GC,6146,-0.95,-194.7,714.0,-10.0,631,6150,0.00,2.10,0.00,0.000,6,0.000,0.041,2221,2421,3977
$GC,6467,-0.88,-194.7,748.3,-10.5,647,6469,0.15,0.00,0.00,0.000,6,0.186,0.000,2259,2421,3975
$GC,6777,-0.97,-194.7,773.9,-7.8,662,6781,0.00,2.08,0.00,0.000,4,0.000,0.061,2259,3754,3974
$GC,6872,-1.06,-194.7,781.4,-7.5,666,6877,0.17,1.95,0.00,0.000,6,0.079,0.034,2192,2428,3973
$GC,7199,-0.88,-194.7,820.5,-13.2,682,7204,0.20,2.10,0.00,0.000,4,0.177,0.058,2246,3758,3971
$GC,7272,-0.93,-194.7,828.9,-11.0,685,7275,0.00,1.95,0.00,0.000,6,0.000,0.035,2247,2433,3970
$GC,7594,-0.98,-194.7,860.0,-9.3,701,7597,0.00,2.08,0.00,0.000,4,0.000,0.036,2247,1017,3969
$GC,7685,-1.04,-194.7,869.0,-10.1,705,7690,0.12,2.17,0.00,0.000,6,0.089,0.041,2199,2444,3968
$GC,8014,-0.92,-194.7,909.9,-12.4,721,8018,0.17,2.10,0.00,0.000,4,0.190,0.035,2250,1023,3968
$GC,8046,-1.00,-194.7,913.8,-10.3,722,8050,0.00,2.15,0.00,0.000,6,0.000,0.041,2246,2437,3967
$GC,8368,-1.05,-194.7,942.7,-8.6,738,8370,0.12,0.00,0.00,0.000,6,0.092,0.000,2199,2440,3965
$GC,8679,-0.94,-194.7,976.5,-11.8,753,8683,0.15,2.08,0.00,0.000,4,0.188,0.059,2232,3767,3964
$GC,8751,-0.94,-194.7,984.4,-10.5,756,8754,0.00,1.98,0.00,0.000,6,0.000,0.035,2232,2428,3964
$STATE,8827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8827,begin apogee
$GC,8834,-0.22,0.0,991.3,8.9,760,8924,0.77,0.00,87.50,1.451,6,0.163,0.000,2470,2518,3532
$STATE,8925,end apogee,CONTROL_FINISHED_OK
$STATE,8925,begin climb
$GC,8927,1.05,194.7,993.6,0.0,764,9098,1.15,2.33,159.77,1.406,4,0.062,0.038,2890,1112,2737
$GC,9308,0.48,194.7,946.6,20.4,782,9314,0.70,2.22,0.00,0.000,6,0.202,0.044,2704,2514,2732
$GC,9635,0.42,194.7,904.3,12.4,798,9639,0.00,2.00,0.00,0.000,4,0.000,0.061,2704,3766,2729
$GC,9681,0.25,194.7,898.2,13.4,800,9685,0.30,1.90,0.00,0.000,6,0.182,0.034,2625,2509,2729
$GC,10013,0.58,302.7,871.0,7.5,816,10107,0.28,2.25,87.72,1.348,4,0.071,0.040,2737,1107,2296
$GC,10130,0.58,302.7,855.9,14.3,821,10134,0.00,2.28,0.00,0.000,6,0.000,0.041,2738,2511,2293
$GC,10445,0.58,302.7,807.0,15.8,836,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2511,2287
$GC,10754,0.58,302.7,758.1,15.3,851,10758,0.00,1.98,0.00,0.000,4,0.000,0.061,2737,3757,2285
$GC,10877,0.49,302.7,736.5,17.7,856,10882,0.15,1.88,0.00,0.000,6,0.186,0.035,2708,2508,2284
$GC,11198,0.58,302.7,694.6,12.4,872,11202,0.00,2.10,0.00,0.000,4,0.000,0.040,2708,1110,2283
$GC,11260,0.74,304.5,687.1,11.9,874,11266,0.22,2.17,0.00,0.000,6,0.072,0.044,2792,2516,2283
$GC,11575,0.57,304.5,632.0,18.0,890,11579,0.20,1.95,0.00,0.000,4,0.186,0.061,2735,3758,2282
$GC,11670,0.50,304.5,616.8,15.2,894,11675,0.12,1.85,0.00,0.000,6,0.193,0.035,2711,2515,2282
$GC,11997,0.59,304.5,576.0,13.3,910,12001,0.00,1.98,0.00,0.000,4,0.000,0.060,2711,3757,2282
$GC,12132,0.59,304.5,555.7,14.9,916,12136,0.00,1.83,0.00,0.000,6,0.000,0.035,2711,2550,2281
$GC,12465,0.72,318.8,515.6,11.4,932,12482,0.17,2.22,11.35,1.066,4,0.079,0.040,2789,1109,2232
$GC,12567,0.65,318.8,501.1,14.5,935,12574,0.12,2.25,0.00,0.000,6,0.192,0.044,2760,2559,2231
$GC,12891,0.65,318.8,457.1,14.3,965,12895,0.00,2.20,0.00,0.000,4,0.000,0.038,2763,1107,2229
$GC,12975,0.65,318.8,445.8,13.9,972,12982,0.00,2.20,0.00,0.000,6,0.000,0.042,2763,2534,2229
$GC,13301,0.65,318.8,395.4,16.1,1003,13305,0.00,1.92,0.00,0.000,4,0.000,0.061,2763,3768,2229
$GC,13374,0.57,318.8,382.9,16.8,1009,13380,0.15,1.85,0.00,0.000,6,0.183,0.034,2734,2520,2228
$GC,13699,0.78,395.7,347.4,8.8,1040,13765,0.17,2.20,60.78,0.969,4,0.077,0.038,2803,1112,1917
$GC,13809,0.78,395.7,332.7,13.9,1050,13816,0.00,2.25,0.00,0.000,6,0.000,0.040,2804,2531,1912
$GC,14140,0.74,395.7,278.1,17.0,1091,14146,0.00,1.95,0.00,0.000,4,0.000,0.058,2804,3764,1908
$GC,14192,0.64,395.7,268.5,19.8,1100,14200,0.20,1.83,0.00,0.000,6,0.176,0.033,2755,2534,1908
$GC,14538,0.81,395.7,222.4,12.4,1161,14545,0.15,2.10,0.00,0.000,4,0.078,0.036,2815,1110,1908
$GC,14635,0.81,395.7,206.8,16.1,1178,14641,0.00,2.17,0.00,0.000,6,0.000,0.040,2815,2532,1908
$GC,14979,0.81,395.7,155.2,13.3,1239,14985,0.00,2.15,0.00,0.000,4,0.000,0.035,2815,1100,1908
$GC,15064,0.91,395.7,143.4,14.7,1254,15070,0.00,2.17,0.00,0.000,6,0.000,0.038,2815,2537,1908
$GC,15408,1.03,400.9,94.8,11.8,1315,15415,0.17,0.00,4.60,0.538,6,0.070,0.000,2886,2538,1897
$GC,15753,0.96,400.9,45.4,13.0,1376,15760,0.12,1.88,0.00,0.000,4,0.182,0.053,2855,3763,1897
$GC,15806,0.96,400.9,37.5,14.7,1385,15812,0.00,1.83,0.00,0.000,6,0.000,0.029,2858,2498,1897
$STATE,16102,end climb,SURFACE_DEPTH_REACHED
$STATE,16102,begin surface coast
$FINISH,1.6,1.003223
$STATE,16137,end surface coast,CONTROL_FINISHED_OK
$STATE,16137,begin surface
$SM_CCo,16154,16.70,0.615,0,0,1798,425.10
$SM_GC,2.71,0.00,0.00,16.70,0.000,0.000,0.615,143,2494,1798,-7.51,1.89,425.10
$IRIDIUM_FIX,2512.73,12325.53,220898,020215
$TT8_MAMPS,0.028379
$HUMID,1538
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,11.014
$10V_AH,10.8,7.400
$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,27.800,135.225,411.725,16.700,0.000,25.340,38.274,184.387,8.000,0.000,0.000,12.671,2626.797,10252.511,540.189,2588.023,531.839,0.000,1860.105,0.000,2527.369,0.000,54.424,0.000
$DEVICE_MAMPS,260.780,82.069,1451.164,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,977.417,982.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75789,1444
$CAP_FILE_SIZE,168877,0
$CFSIZE,260165632,221761536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326, 94.5,1
$GPS,280509,112730,2521.418,12325.048,40,1.7,46,-3.7