version: 66.04
glider: 167
mission: 2
dive: 41
start: 5 28 109 11 37 18
data:
$ID,167
$MISSION,2
$DIVE,41
$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,-4589.626
$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,72
$R_STBD_OVSHOOT,36
$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
$GPS1,112730,2521.418,12325.048,40,1.7,46,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-66.0
$GPS2,113656,2521.457,12325.078,13,1.7,13,-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,274.6,11851,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-194.7,0.0,0.0,0,54,0.00,0.00,-35.33,0.000,2,0.000,0.000,143,2495,2702
$GC,57,-1.05,-194.7,3.4,-4.0,6,110,8.68,1.98,-38.47,0.000,4,0.261,0.058,2190,3771,3989
$GC,235,0.21,-194.7,62.9,-50.6,37,242,1.52,1.95,0.00,0.000,6,0.209,0.026,2601,2431,3990
$GC,579,-0.84,-194.7,92.4,-7.2,98,586,0.90,2.05,0.00,0.000,4,0.089,0.048,2276,3757,3991
$GC,699,-0.46,-194.7,108.7,-20.1,119,706,0.40,2.05,0.00,0.000,6,0.159,0.026,2395,2319,3991
$GC,1045,-0.66,-194.7,144.2,-11.4,180,1053,0.17,2.22,0.00,0.000,4,0.065,0.048,2312,3765,3992
$GC,1110,-0.52,-194.7,154.5,-15.9,191,1117,0.22,2.05,0.00,0.000,6,0.155,0.026,2377,2327,3993
$GC,1455,-0.75,-194.7,182.7,-7.8,252,1462,0.17,1.85,0.00,0.000,4,0.064,0.028,2296,1030,3993
$GC,1486,-0.75,-194.7,186.2,-11.8,257,1492,0.00,1.98,0.00,0.000,6,0.000,0.034,2289,2361,3992
$GC,1830,-0.63,-194.7,237.1,-13.8,318,1835,0.17,0.00,0.00,0.000,6,0.165,0.000,2344,2362,3993
$GC,2174,-0.81,-194.7,266.6,-7.5,379,2180,0.17,0.00,0.00,0.000,6,0.067,0.000,2262,2364,3994
$GC,2513,-0.61,-194.7,315.5,-15.1,431,2517,0.25,1.95,0.00,0.000,4,0.170,0.031,2339,1032,3994
$GC,2574,-0.82,-194.7,322.5,-9.0,436,2582,0.17,2.00,0.00,0.000,6,0.069,0.035,2266,2376,3993
$GC,2899,-0.71,-194.7,362.5,-10.6,467,2901,0.17,0.00,0.00,0.000,6,0.166,0.000,2314,2376,3994
$GC,3220,-0.85,-194.7,386.7,-8.6,497,3224,0.12,2.12,0.00,0.000,4,0.081,0.051,2261,3768,3994
$GC,3241,-0.85,-194.7,389.2,-9.9,498,3247,0.00,2.03,0.00,0.000,6,0.000,0.028,2261,2352,3994
$GC,3567,-0.80,-194.7,431.3,-13.2,529,3570,0.00,1.92,0.00,0.000,4,0.000,0.033,2261,1031,3993
$GC,3634,-0.80,-194.7,439.9,-11.7,535,3638,0.00,2.00,0.00,0.000,6,0.000,0.038,2261,2378,3993
$GC,3965,-0.80,-194.7,477.3,-11.0,566,3968,0.00,1.98,0.00,0.000,4,0.000,0.031,2261,1021,3993
$GC,4093,-0.80,-194.7,491.5,-11.0,577,4099,0.00,2.00,0.00,0.000,6,0.000,0.037,2261,2363,3993
$GC,4422,-0.80,-194.7,523.6,-8.7,597,4426,0.00,2.12,0.00,0.000,4,0.000,0.054,2261,3752,3991
$GC,4461,-0.80,-194.7,527.2,-8.2,598,4467,0.00,2.03,0.00,0.000,6,0.000,0.029,2261,2346,3991
$GC,4777,-0.80,-194.7,550.3,-7.2,614,4781,0.00,1.90,0.00,0.000,4,0.000,0.034,2261,1028,3990
$GC,4816,-0.85,-194.7,553.8,-9.1,615,4822,0.00,2.00,0.00,0.000,6,0.000,0.039,2261,2362,3990
$GC,5132,-0.90,-194.7,584.7,-10.8,631,5136,0.00,2.15,0.00,0.000,4,0.000,0.056,2261,3760,3987
$GC,5227,-0.90,-194.7,595.7,-11.4,635,5231,0.00,2.05,0.00,0.000,6,0.000,0.033,2261,2355,3986
$GC,5556,-0.95,-194.7,626.5,-8.6,651,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2354,3984
$GC,5864,-1.02,-194.7,656.8,-10.4,666,5865,0.12,0.00,0.00,0.000,6,0.084,0.000,2209,2354,3982
$GC,6174,-0.90,-194.7,696.0,-11.8,681,6175,0.17,0.00,0.00,0.000,6,0.174,0.000,2256,2353,3980
$GC,6482,-0.97,-194.7,723.8,-8.5,696,6486,0.00,2.20,0.00,0.000,4,0.000,0.060,2256,3753,3977
$GC,6510,-1.03,-194.7,726.3,-8.9,697,6514,0.12,2.05,0.00,0.000,6,0.086,0.034,2208,2355,3977
$GC,6837,-0.92,-194.7,761.9,-11.3,713,6841,0.15,1.92,0.00,0.000,4,0.174,0.035,2247,1036,3975
$GC,6876,-0.98,-194.7,765.9,-9.2,714,6881,0.00,2.00,0.00,0.000,6,0.000,0.042,2247,2358,3975
$GC,7192,-1.02,-194.7,793.8,-8.3,730,7195,0.00,2.17,0.00,0.000,4,0.000,0.060,2246,3757,3973
$GC,7309,-1.07,-194.7,803.3,-8.1,735,7314,0.12,2.03,0.00,0.000,6,0.090,0.035,2198,2369,3972
$GC,7638,-0.94,-194.7,834.8,-9.8,751,7640,0.17,0.00,0.00,0.000,6,0.176,0.000,2244,2368,3970
$GC,7945,-0.98,-194.7,859.8,-8.4,766,7949,0.00,1.95,0.00,0.000,4,0.000,0.037,2244,1035,3968
$GC,7979,-1.05,-194.7,862.8,-8.5,767,7983,0.12,2.00,0.00,0.000,6,0.088,0.043,2198,2366,3968
$GC,8300,-0.93,-194.7,896.6,-10.3,783,8304,0.17,1.98,0.00,0.000,4,0.188,0.036,2243,1026,3967
$GC,8338,-0.98,-194.7,900.6,-9.6,784,8346,0.00,2.00,0.00,0.000,6,0.000,0.041,2243,2347,3967
$GC,8655,-1.04,-194.7,926.3,-8.7,800,8659,0.00,2.17,0.00,0.000,4,0.000,0.061,2243,3753,3965
$GC,8712,-1.10,-194.7,930.7,-7.7,802,8716,0.15,2.05,0.00,0.000,6,0.085,0.034,2185,2359,3965
$GC,9028,-0.95,-194.7,964.8,-10.5,817,9030,0.20,0.00,0.00,0.000,6,0.178,0.000,2239,2359,3964
$GC,9337,-1.00,-194.7,989.3,-8.3,832,9341,0.00,2.17,0.00,0.000,4,0.000,0.061,2232,3747,3962
$STATE,9345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9345,begin apogee
$GC,9352,-0.22,0.0,990.2,8.2,832,9444,0.75,0.00,86.82,1.450,6,0.163,0.000,2467,2511,3532
$STATE,9445,end apogee,CONTROL_FINISHED_OK
$STATE,9445,begin climb
$GC,9448,1.05,194.7,992.8,0.0,837,9616,1.17,2.33,160.02,1.406,4,0.056,0.038,2898,1096,2737
$GC,9656,0.46,194.7,977.1,22.2,847,9661,0.77,2.28,0.00,0.000,6,0.209,0.041,2700,2501,2734
$GC,9983,0.39,194.7,931.5,13.5,863,9987,0.00,2.03,0.00,0.000,4,0.000,0.060,2700,3767,2730
$GC,10078,0.23,194.7,916.6,16.2,867,10082,0.30,1.92,0.00,0.000,6,0.183,0.034,2626,2497,2729
$GC,10405,0.48,239.3,882.5,10.2,883,10449,0.20,2.10,36.17,1.344,4,0.075,0.059,2707,3756,2554
$GC,10618,0.38,239.3,849.6,15.3,892,10622,0.12,1.85,0.00,0.000,6,0.178,0.035,2671,2558,2550
$GC,10938,0.47,239.3,809.1,12.3,908,10942,0.00,2.20,0.00,0.000,4,0.000,0.038,2677,1097,2548
$GC,10989,0.62,248.5,803.0,11.6,910,11006,0.20,2.25,7.72,1.139,6,0.077,0.043,2754,2545,2517
$GC,11316,0.47,248.5,752.8,15.5,926,11320,0.20,1.92,0.00,0.000,4,0.181,0.060,2698,3765,2515
$GC,11428,0.42,248.5,737.0,13.0,931,11432,0.00,1.83,0.00,0.000,6,0.000,0.036,2703,2549,2515
$GC,11761,0.42,248.5,695.5,13.1,947,11764,0.00,1.92,0.00,0.000,4,0.000,0.060,2703,3762,2514
$GC,11889,0.36,248.5,678.0,12.6,952,11897,0.17,1.80,0.00,0.000,6,0.193,0.038,2664,2559,2513
$GC,12205,0.62,330.2,648.8,8.6,968,12278,0.20,2.08,65.95,1.224,4,0.078,0.061,2746,3761,2186
$GC,12330,0.54,330.2,632.0,14.9,973,12336,0.12,1.85,0.00,0.000,6,0.189,0.036,2722,2571,2180
$GC,12647,0.65,371.3,595.4,10.3,989,12688,0.00,2.03,33.35,1.160,4,0.000,0.059,2722,3761,2017
$GC,12722,0.70,371.3,586.8,12.4,992,12726,0.12,1.83,0.00,0.000,6,0.086,0.037,2773,2591,2014
$GC,13043,0.65,371.3,539.0,16.4,1008,13046,0.00,1.90,0.00,0.000,4,0.000,0.060,2773,3767,2010
$GC,13082,0.56,371.3,531.4,18.6,1009,13088,0.20,1.75,0.00,0.000,6,0.186,0.036,2725,2605,2009
$GC,13400,0.68,371.3,483.3,16.6,1029,13405,0.12,2.28,0.00,0.000,4,0.086,0.040,2773,1103,2008
$GC,13432,0.68,371.3,477.2,19.2,1031,13439,0.00,2.35,0.00,0.000,6,0.000,0.042,2773,2616,2008
$GC,13759,0.68,371.3,414.1,17.5,1062,13763,0.00,2.30,0.00,0.000,4,0.000,0.038,2775,1101,2007
$GC,13791,0.68,371.3,408.1,15.9,1064,13799,0.00,2.38,0.00,0.000,6,0.000,0.042,2775,2636,2007
$GC,14119,0.68,371.3,357.4,13.9,1095,14123,0.00,1.75,0.00,0.000,4,0.000,0.060,2775,3762,2006
$GC,14187,0.62,371.3,346.6,15.4,1101,14191,0.00,1.67,0.00,0.000,6,0.000,0.034,2775,2623,2006
$GC,14519,0.62,371.3,299.4,14.4,1132,14526,0.00,2.25,0.00,0.000,4,0.000,0.038,2775,1109,2005
$GC,14572,0.73,371.3,291.9,13.0,1141,14578,0.00,2.35,0.00,0.000,6,0.000,0.042,2775,2643,2006
$GC,14915,0.73,371.3,236.3,15.9,1202,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2643,2006
$GC,15258,0.80,371.3,187.3,13.2,1263,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2643,2007
$GC,15601,0.98,404.5,145.2,10.6,1324,15633,0.22,2.40,25.67,0.771,4,0.069,0.035,2882,1094,1881
$GC,15680,0.88,404.5,132.5,16.3,1337,15687,0.20,2.38,0.00,0.000,6,0.173,0.039,2829,2645,1879
$GC,16025,0.98,410.0,83.5,11.8,1398,16036,0.00,0.00,5.20,0.564,6,0.000,0.000,2829,2646,1860
$GC,16373,1.14,435.6,43.6,10.9,1460,16398,0.20,0.00,20.92,0.657,6,0.067,0.000,2914,2647,1755
$STATE,16609,end climb,SURFACE_DEPTH_REACHED
$STATE,16609,begin surface coast
$FINISH,1.6,1.009681
$STATE,16628,end surface coast,CONTROL_FINISHED_OK
$STATE,16628,begin surface
$SM_CCo,16705,0.00,0.000,0,0,1751,437.12
$SM_GC,2.73,7.47,0.00,0.00,0.064,0.000,0.000,146,2421,1751,-7.49,-0.20,437.12
$IRIDIUM_FIX,2510.35,12327.52,220898,111117
$TT8_MAMPS,0.028379
$HUMID,1542
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,11.195
$10V_AH,10.8,7.493
$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,27.450,131.200,441.850,0.000,0.000,54.350,75.081,243.111,8.000,0.000,0.000,14.030,2700.919,10691.579,571.407,2636.169,662.534,0.000,1914.911,0.000,2578.567,0.000,54.420,0.000
$DEVICE_MAMPS,260.780,61.360,1449.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.359,1041.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78960,1505
$CAP_FILE_SIZE,171167,0
$CFSIZE,260165632,221667328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 80.8,1
$GPS,280509,161659,2521.677,12324.036,37,1.7,42,-3.7