version: 66.04
glider: 167
mission: 2
dive: 241
start: 6 30 109 16 17 48
data:
$ID,167
$MISSION,2
$DIVE,241
$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,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,-9851.9238
$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,29
$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
$GPS1,160625,2510.268,12338.651,38,1.3,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.4
$GPS2,161726,2510.391,12338.767,14,1.6,14,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,308.7,70315,-23.2,-12.000
$D_GRID,2048
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-23.80,0.000,2,0.000,0.000,142,2436,2260
$GC,43,-1.18,-121.7,3.0,-2.3,4,118,8.43,2.10,-59.33,0.000,4,0.245,0.040,2156,1012,3988
$GC,205,-0.63,-121.7,32.5,-27.9,31,212,0.68,2.15,0.00,0.000,6,0.177,0.031,2337,2439,3989
$GC,550,-0.78,-121.7,85.5,-13.9,92,556,0.12,2.03,0.00,0.000,4,0.077,0.044,2276,3766,3990
$GC,602,-0.67,-121.7,93.6,-17.2,101,610,0.17,1.95,0.00,0.000,6,0.161,0.021,2323,2374,3990
$GC,949,-0.87,-121.7,137.5,-10.3,162,955,0.17,2.12,0.00,0.000,4,0.062,0.042,2234,3758,3992
$GC,1124,-0.77,-121.7,165.2,-15.9,193,1132,0.22,1.90,0.00,0.000,6,0.157,0.022,2298,2397,3992
$GC,1471,-0.98,-121.7,204.2,-10.2,254,1478,0.17,2.10,0.00,0.000,4,0.066,0.043,2211,3767,3993
$GC,1611,-0.90,-121.7,223.2,-13.7,278,1617,0.15,1.85,0.00,0.000,6,0.160,0.022,2251,2437,3993
$GC,1957,-1.01,-121.7,262.5,-10.6,339,1963,0.00,2.03,0.00,0.000,4,0.000,0.044,2246,3757,3994
$GC,2095,-1.11,-121.7,276.9,-10.2,363,2102,0.17,1.80,0.00,0.000,6,0.066,0.023,2173,2472,3994
$GC,2435,-0.97,-121.7,322.7,-13.6,409,2439,0.17,1.98,0.00,0.000,4,0.159,0.044,2218,3757,3994
$GC,2525,-0.97,-121.7,334.3,-13.6,417,2528,0.00,1.77,0.00,0.000,6,0.000,0.024,2218,2487,3994
$GC,2858,-1.03,-121.7,375.1,-11.7,448,2862,0.00,1.98,0.00,0.000,4,0.000,0.046,2217,3750,3994
$GC,2906,-1.09,-121.7,380.5,-11.0,452,2910,0.00,1.77,0.00,0.000,6,0.000,0.025,2217,2493,3993
$GC,3240,-1.16,-121.7,413.3,-8.9,483,3245,0.12,1.95,0.00,0.000,4,0.079,0.047,2162,3754,3992
$GC,3268,-1.07,-121.7,416.9,-11.7,485,3276,0.15,1.75,0.00,0.000,6,0.172,0.025,2200,2519,3992
$GC,3593,-1.07,-121.7,452.5,-11.0,516,3597,0.00,1.90,0.00,0.000,4,0.000,0.046,2192,3763,3991
$GC,3644,-1.07,-121.7,458.6,-11.9,520,3650,0.00,1.75,0.00,0.000,6,0.000,0.025,2192,2526,3991
$GC,3970,-1.07,-121.7,496.7,-11.3,551,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2526,3989
$GC,4289,-1.07,-121.7,534.5,-11.7,568,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2526,3987
$GC,4599,-1.07,-121.7,569.8,-11.7,583,4602,0.00,2.12,0.00,0.000,4,0.000,0.028,2192,1056,3985
$GC,4632,-1.12,-121.7,574.0,-11.7,584,4637,0.00,2.22,0.00,0.000,6,0.000,0.035,2192,2530,3984
$GC,4948,-1.12,-121.7,610.5,-11.9,599,4952,0.00,1.90,0.00,0.000,4,0.000,0.051,2192,3764,3981
$GC,4994,-1.12,-121.7,616.0,-11.5,601,4997,0.00,1.77,0.00,0.000,6,0.000,0.027,2192,2532,3981
$GC,5327,-1.18,-121.7,653.8,-11.3,617,5330,0.00,1.92,0.00,0.000,4,0.000,0.051,2192,3763,3979
$GC,5411,-1.18,-121.7,663.8,-11.5,620,5417,0.00,1.75,0.00,0.000,6,0.000,0.028,2192,2554,3978
$GC,5727,-1.24,-121.7,697.9,-10.8,636,5729,0.12,0.00,0.00,0.000,6,0.087,0.000,2143,2553,3975
$GC,6036,-1.12,-121.7,740.6,-13.9,651,6040,0.15,1.90,0.00,0.000,4,0.183,0.051,2178,3759,3974
$GC,6074,-1.12,-121.7,746.0,-13.5,652,6080,0.00,1.77,0.00,0.000,6,0.000,0.028,2178,2564,3973
$GC,6389,-1.12,-121.7,785.9,-13.0,668,6393,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3751,3971
$GC,6422,-1.12,-121.7,790.4,-13.8,669,6426,0.00,1.73,0.00,0.000,6,0.000,0.028,2178,2567,3970
$GC,6743,-1.12,-121.7,832.1,-12.6,685,6747,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3751,3968
$GC,6793,-1.12,-121.7,838.9,-13.2,687,6797,0.00,1.75,0.00,0.000,6,0.000,0.028,2178,2576,3968
$GC,7120,-1.12,-121.7,879.8,-12.5,703,7124,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3761,3966
$GC,7204,-1.12,-121.7,890.7,-13.2,706,7210,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2586,3966
$GC,7520,-1.12,-121.7,928.3,-11.9,722,7524,0.00,1.85,0.00,0.000,4,0.000,0.054,2178,3755,3963
$GC,7570,-1.12,-121.7,934.6,-12.3,724,7574,0.00,1.73,0.00,0.000,6,0.000,0.029,2178,2576,3963
$GC,7897,-1.12,-121.7,973.5,-11.8,740,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2576,3962
$STATE,8038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8038,begin apogee
$GC,8044,-0.22,0.0,990.9,12.0,747,8135,0.98,0.00,87.97,1.415,6,0.160,0.000,2467,2576,3532
$STATE,8136,end apogee,CONTROL_FINISHED_OK
$STATE,8136,begin climb
$GC,8139,1.18,121.7,994.4,0.0,751,8249,1.25,2.08,101.85,1.371,4,0.054,0.051,2921,3758,3035
$GC,8402,0.43,121.7,981.8,13.7,763,8408,0.98,1.88,0.00,0.000,6,0.216,0.027,2684,2512,3032
$GC,8730,0.67,227.4,964.3,5.0,779,8823,0.20,2.25,86.40,1.360,4,0.076,0.031,2774,1116,2603
$GC,8925,0.67,229.3,944.2,11.9,788,8929,0.00,2.17,0.00,0.000,6,0.000,0.036,2774,2490,2598
$GC,9258,0.68,232.6,905.3,11.8,804,9267,0.00,2.12,4.25,0.879,4,0.000,0.031,2775,1123,2583
$GC,9318,0.68,233.1,898.0,12.0,806,9324,0.00,2.12,0.00,0.000,6,0.000,0.035,2775,2496,2582
$GC,9634,0.70,249.3,862.6,10.9,822,9656,0.00,2.03,14.70,1.251,4,0.000,0.056,2775,3756,2514
$GC,9719,0.59,249.3,851.8,13.2,825,9727,0.15,1.88,0.00,0.000,6,0.190,0.027,2739,2503,2512
$GC,10035,0.73,273.5,819.8,10.4,841,10062,0.12,2.15,21.00,1.265,4,0.084,0.033,2789,1120,2415
$GC,10152,0.73,273.5,803.8,13.6,846,10156,0.00,2.15,0.00,0.000,6,0.000,0.036,2789,2494,2412
$GC,10479,0.73,273.5,758.6,13.3,862,10482,0.00,2.10,0.00,0.000,4,0.000,0.033,2792,1109,2411
$GC,10579,0.73,273.5,745.3,13.0,866,10583,0.00,2.15,0.00,0.000,6,0.000,0.038,2792,2497,2410
$GC,10901,0.73,273.5,704.7,12.5,882,10904,0.00,2.10,0.00,0.000,4,0.000,0.032,2797,1104,2409
$GC,10962,0.73,273.5,696.6,13.4,884,10968,0.00,2.12,0.00,0.000,6,0.000,0.038,2797,2483,2409
$GC,11277,0.73,273.5,650.9,15.0,900,11281,0.00,2.08,0.00,0.000,4,0.000,0.033,2796,1104,2408
$GC,11338,0.78,273.5,641.7,14.2,902,11344,0.00,2.10,0.00,0.000,6,0.000,0.037,2797,2476,2408
$GC,11654,0.78,273.5,596.8,14.3,918,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2476,2408
$GC,11963,0.78,273.5,554.8,12.6,933,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2476,2408
$GC,12273,0.81,295.1,521.0,10.6,948,12295,0.00,2.15,17.77,1.080,4,0.000,0.033,2797,1103,2328
$GC,12480,0.90,295.1,495.9,13.1,958,12487,0.10,2.10,0.00,0.000,6,0.096,0.037,2836,2462,2325
$GC,12805,0.83,295.1,448.2,13.7,989,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2463,2324
$GC,13125,0.77,295.1,407.3,12.4,1019,13129,0.15,2.05,0.00,0.000,4,0.177,0.031,2802,1106,2323
$GC,13255,0.89,303.9,392.2,11.4,1030,13272,0.00,2.10,8.00,0.894,6,0.000,0.034,2802,2479,2292
$GC,13592,0.99,315.5,351.6,11.2,1062,13607,0.17,2.05,10.45,0.898,4,0.071,0.029,2885,1106,2247
$GC,13700,0.88,315.5,336.3,15.0,1071,13705,0.22,2.05,0.00,0.000,6,0.186,0.036,2827,2446,2246
$GC,14027,0.93,315.5,294.4,13.8,1105,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2446,2245
$GC,14371,0.99,315.5,254.3,12.0,1166,14378,0.12,2.00,0.00,0.000,4,0.081,0.029,2882,1106,2245
$GC,14424,0.93,315.5,246.6,14.9,1175,14430,0.15,2.00,0.00,0.000,6,0.184,0.035,2845,2428,2245
$GC,14769,1.04,357.4,207.8,9.2,1236,14810,0.00,2.03,34.25,0.822,4,0.000,0.031,2850,1098,2073
$GC,14893,1.20,387.5,195.1,10.0,1257,14925,0.22,2.03,24.30,0.791,6,0.067,0.033,2936,2424,1951
$GC,15265,1.14,387.5,137.6,13.0,1322,15271,0.00,1.98,0.00,0.000,4,0.000,0.029,2943,1097,1945
$GC,15294,1.14,387.5,133.4,12.9,1327,15300,0.12,2.03,0.00,0.000,6,0.171,0.033,2913,2429,1946
$GC,15638,1.21,387.5,94.6,12.7,1388,15644,0.00,1.95,0.00,0.000,4,0.000,0.028,2920,1106,1945
$GC,15810,1.36,431.2,76.4,9.1,1418,15851,0.17,1.92,34.25,0.679,6,0.071,0.031,2987,2398,1773
$GC,16190,1.36,431.2,25.6,13.8,1485,16197,0.00,1.90,0.00,0.000,4,0.000,0.026,2995,1102,1768
$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,1.7,1.003771
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16467,0.00,0.000,0,0,1767,432.95
$SM_GC,2.61,7.47,0.00,0.00,0.044,0.000,0.000,141,2444,1767,-7.50,0.48,432.95
$IRIDIUM_FIX,2500.82,12336.78,240998,161626
$TT8_MAMPS,0.028379
$HUMID,1585
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.6,42.663
$10V_AH,10.8,24.198
$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,23.625,130.525,445.200,0.000,0.000,54.909,85.612,309.163,8.000,0.000,0.000,14.803,2680.948,10412.137,576.831,2666.159,781.763,0.000,1925.372,0.000,2603.426,0.000,54.420,0.000
$DEVICE_MAMPS,245.440,55.991,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.312,1041.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82130,1520
$CAP_FILE_SIZE,166902,0
$CFSIZE,260165632,206196736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 76.6,1
$GPS,300609,205331,2512.031,12337.686,41,1.7,42,-3.7