version: 66.04
glider: 167
mission: 2
dive: 296
start: 7 11 109 19 39 20
data:
$ID,167
$MISSION,2
$DIVE,296
$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,-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,-11133.862
$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,41
$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
$GPS1,193207,2505.071,12414.547,27,1.3,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.7
$GPS2,193858,2505.075,12414.582,13,99.0,32,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,186.4,33600,-23.2,-12.000
$D_GRID,1925
$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,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.50,0.000,2,0.000,0.000,140,2442,2248
$GC,42,-1.18,-121.7,3.1,-2.5,4,112,8.35,2.15,-55.58,0.000,4,0.239,0.038,2152,1015,3989
$GC,182,-0.68,-121.7,26.8,-27.0,27,188,0.62,2.12,0.00,0.000,6,0.177,0.029,2318,2436,3990
$GC,527,-0.89,-121.7,73.1,-10.5,88,534,0.17,2.03,0.00,0.000,4,0.067,0.043,2231,3764,3992
$GC,739,-0.79,-121.7,103.3,-13.9,125,745,0.20,1.88,0.00,0.000,6,0.162,0.022,2285,2430,3993
$GC,1084,-1.00,-121.7,138.7,-10.1,186,1090,0.17,2.05,0.00,0.000,4,0.065,0.042,2194,3767,3994
$GC,1260,-0.82,-121.7,165.3,-15.2,217,1266,0.30,1.80,0.00,0.000,6,0.161,0.022,2279,2478,3994
$GC,1605,-1.24,-121.7,206.6,-10.2,278,1612,0.32,1.98,0.00,0.000,4,0.054,0.044,2138,3761,3996
$GC,1795,-0.91,-121.7,236.8,-16.2,311,1801,0.40,1.73,0.00,0.000,6,0.165,0.023,2250,2528,3996
$GC,2139,-1.10,-121.7,269.1,-7.8,372,2147,0.17,1.90,0.00,0.000,4,0.064,0.044,2166,3766,3996
$GC,2296,-0.94,-121.7,290.7,-15.1,399,2302,0.28,1.70,0.00,0.000,6,0.157,0.024,2242,2552,3996
$GC,2626,-1.16,-121.7,330.1,-11.4,436,2630,0.17,1.85,0.00,0.000,4,0.067,0.044,2162,3754,3997
$GC,2671,-1.01,-121.7,336.3,-14.3,440,2675,0.20,1.65,0.00,0.000,6,0.162,0.025,2215,2585,3997
$GC,3002,-1.13,-121.7,369.4,-9.7,471,3005,0.00,1.80,0.00,0.000,4,0.000,0.044,2208,3760,3997
$GC,3064,-1.18,-121.7,376.3,-11.0,476,3071,0.12,1.60,0.00,0.000,6,0.078,0.025,2155,2625,3997
$GC,3389,-1.08,-121.7,413.2,-11.0,507,3393,0.15,1.75,0.00,0.000,4,0.171,0.046,2192,3756,3996
$GC,3416,-1.08,-121.7,416.3,-10.3,509,3422,0.00,1.60,0.00,0.000,6,0.000,0.026,2192,2624,3997
$GC,3741,-1.13,-121.7,453.0,-12.2,540,3745,0.00,1.75,0.00,0.000,4,0.000,0.049,2192,3753,3995
$GC,3813,-1.13,-121.7,462.3,-13.0,546,3819,0.00,1.58,0.00,0.000,6,0.000,0.027,2192,2664,3995
$GC,4142,-1.19,-121.7,499.3,-11.2,577,4147,0.00,1.70,0.00,0.000,4,0.000,0.049,2192,3761,3993
$GC,4186,-1.19,-121.7,504.9,-12.5,580,4190,0.00,1.60,0.00,0.000,6,0.000,0.028,2192,2663,3993
$GC,4520,-1.27,-121.7,542.6,-11.1,596,4525,0.17,2.35,0.00,0.000,4,0.074,0.026,2115,1054,3991
$GC,4567,-1.12,-121.7,548.9,-14.4,598,4572,0.28,2.42,0.00,0.000,6,0.173,0.035,2184,2646,3991
$GC,4897,-1.17,-121.7,584.2,-10.3,614,4900,0.00,1.70,0.00,0.000,4,0.000,0.051,2179,3758,3990
$GC,5003,-1.17,-121.7,596.4,-11.3,618,5009,0.00,1.58,0.00,0.000,6,0.000,0.028,2179,2675,3990
$GC,5319,-1.22,-121.7,630.7,-10.6,634,5323,0.00,1.67,0.00,0.000,4,0.000,0.051,2179,3750,3987
$GC,5376,-1.22,-121.7,637.1,-11.9,636,5380,0.00,1.58,0.00,0.000,6,0.000,0.028,2179,2674,3987
$GC,5697,-1.27,-121.7,670.8,-10.3,652,5699,0.12,0.00,0.00,0.000,6,0.086,0.000,2130,2674,3985
$GC,6007,-1.15,-121.7,709.4,-12.7,667,6009,0.17,0.00,0.00,0.000,6,0.178,0.000,2174,2673,3983
$GC,6315,-1.15,-121.7,745.8,-11.8,682,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2673,3981
$GC,6625,-1.15,-121.7,781.3,-11.5,697,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2673,3979
$GC,6934,-1.20,-121.7,818.2,-11.6,712,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2673,3976
$GC,7244,-1.25,-121.7,851.5,-10.5,727,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2673,3974
$GC,7554,-1.30,-121.7,882.8,-10.3,742,7556,0.15,0.00,0.00,0.000,6,0.082,0.000,2119,2673,3972
$GC,7862,-1.15,-121.7,922.4,-13.4,757,7867,0.17,2.40,0.00,0.000,4,0.186,0.030,2168,1056,3970
$GC,7889,-1.15,-121.7,926.0,-12.6,758,7893,0.00,2.47,0.00,0.000,6,0.000,0.040,2166,2654,3970
$GC,8211,-1.15,-121.7,964.9,-12.3,774,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2654,3969
$STATE,8414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8414,begin apogee
$GC,8420,-0.22,0.0,990.0,11.9,784,8520,1.02,0.00,90.82,1.406,6,0.163,0.000,2466,2554,3532
$STATE,8520,end apogee,CONTROL_FINISHED_OK
$STATE,8521,begin climb
$GC,8523,1.18,121.7,995.0,0.0,789,8634,1.27,2.08,103.00,1.366,4,0.063,0.051,2921,3747,3035
$GC,8735,0.45,121.7,989.1,12.5,798,8742,0.93,1.92,0.00,0.000,6,0.212,0.027,2696,2478,3032
$GC,9052,0.66,217.6,970.9,5.7,814,9134,0.17,0.00,79.38,1.351,6,0.081,0.000,2762,2477,2644
$GC,9440,0.69,237.6,930.8,10.7,833,9462,0.00,2.15,16.83,1.262,4,0.000,0.034,2762,1111,2563
$GC,9536,0.79,251.9,920.1,11.1,837,9556,0.10,2.17,13.12,1.223,6,0.097,0.036,2799,2503,2504
$GC,9885,0.72,251.9,875.9,12.8,854,9889,0.00,2.10,0.00,0.000,4,0.000,0.033,2802,1120,2500
$GC,9969,0.72,251.9,864.6,13.3,857,9975,0.00,2.15,0.00,0.000,6,0.000,0.037,2802,2511,2500
$GC,10286,0.66,251.9,822.6,13.4,873,10291,0.17,2.10,0.00,0.000,4,0.178,0.031,2762,1118,2497
$GC,10359,0.78,255.4,813.4,11.8,876,10363,0.00,2.12,0.00,0.000,6,0.000,0.037,2762,2502,2497
$GC,10681,0.86,260.8,774.8,11.6,892,10696,0.17,2.12,7.95,1.111,4,0.077,0.032,2828,1123,2467
$GC,10758,0.78,260.8,763.9,14.3,895,10763,0.12,2.10,0.00,0.000,6,0.186,0.037,2799,2488,2466
$GC,11074,0.78,260.8,725.1,12.0,910,11078,0.00,2.08,0.00,0.000,4,0.000,0.032,2802,1107,2465
$GC,11119,0.79,262.9,719.3,11.9,912,11123,0.00,2.12,0.00,0.000,6,0.000,0.038,2802,2488,2465
$GC,11452,0.79,262.9,679.5,12.2,928,11455,0.00,2.08,0.00,0.000,4,0.000,0.032,2802,1103,2464
$GC,11531,0.80,276.7,670.4,11.1,931,11550,0.00,2.08,14.30,1.152,6,0.000,0.036,2802,2463,2403
$GC,11872,0.80,276.7,629.0,12.3,948,11875,0.00,2.05,0.00,0.000,4,0.000,0.034,2802,1107,2401
$GC,11966,0.80,276.7,617.8,12.4,952,11970,0.00,2.03,0.00,0.000,6,0.000,0.037,2802,2431,2400
$GC,12295,0.82,294.6,581.7,10.8,968,12318,0.00,2.10,16.27,1.101,4,0.000,0.053,2803,3757,2329
$GC,12391,0.74,294.6,569.3,12.7,972,12394,0.00,1.98,0.00,0.000,6,0.000,0.028,2809,2427,2327
$GC,12718,0.76,310.6,533.1,10.9,988,12741,0.00,2.00,14.05,1.048,4,0.000,0.033,2818,1118,2265
$GC,12842,0.82,310.6,517.2,12.8,993,12846,0.00,2.03,0.00,0.000,6,0.000,0.035,2818,2434,2263
$GC,13170,0.83,316.3,476.8,11.6,1017,13181,0.00,2.00,6.07,0.867,4,0.000,0.030,2824,1104,2241
$GC,13238,0.84,325.4,468.5,11.4,1023,13253,0.00,2.05,9.15,0.941,6,0.000,0.035,2825,2440,2204
$GC,13579,0.84,326.3,427.7,11.9,1055,13583,0.00,2.00,0.00,0.000,4,0.000,0.031,2825,1105,2202
$GC,13618,0.92,333.9,423.0,11.5,1058,13635,0.00,2.00,8.73,0.906,6,0.000,0.035,2825,2421,2169
$GC,13955,0.99,333.9,380.7,12.7,1090,13959,0.12,1.95,0.00,0.000,4,0.081,0.029,2882,1116,2167
$GC,14056,0.90,333.9,366.6,13.0,1099,14060,0.17,1.92,0.00,0.000,6,0.182,0.034,2837,2392,2167
$GC,14385,0.92,347.7,328.4,11.1,1130,14407,0.00,2.20,12.50,0.877,4,0.000,0.049,2837,3764,2114
$GC,14430,0.92,347.7,322.7,13.5,1134,14433,0.00,2.08,0.00,0.000,6,0.000,0.027,2841,2371,2113
$GC,14764,1.00,347.7,279.3,12.0,1178,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2369,2112
$GC,15107,1.13,380.3,241.0,9.9,1239,15144,0.17,1.90,27.02,0.839,4,0.074,0.031,2923,1112,1979
$GC,15168,1.02,380.3,233.0,14.7,1249,15175,0.20,1.95,0.00,0.000,6,0.171,0.034,2871,2392,1977
$GC,15514,1.12,388.0,191.9,11.5,1310,15526,0.00,1.98,7.03,0.687,4,0.000,0.029,2878,1101,1949
$GC,15665,1.21,391.3,173.7,11.8,1336,15674,0.15,1.88,4.57,0.577,6,0.081,0.031,2936,2352,1936
$GC,16016,1.14,391.3,123.1,14.1,1397,16021,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2353,1936
$GC,16359,1.16,400.6,76.6,11.4,1458,16378,0.00,1.88,9.62,0.638,4,0.000,0.030,2941,1110,1897
$GC,16424,1.16,404.5,69.0,11.7,1469,16436,0.00,1.85,4.40,0.495,6,0.000,0.031,2941,2349,1884
$GC,16776,1.29,440.7,32.5,9.6,1531,16812,0.00,1.92,29.85,0.639,4,0.000,0.029,2943,1095,1735
$GC,16949,1.52,455.4,16.2,11.0,1561,16968,0.25,1.80,13.05,0.589,6,0.066,0.028,3035,2308,1674
$STATE,17050,end climb,SURFACE_DEPTH_REACHED
$STATE,17050,begin surface coast
$FINISH,1.8,1.015515
$STATE,17074,end surface coast,CONTROL_FINISHED_OK
$STATE,17074,begin surface
$SM_CCo,17151,0.00,0.000,0,0,1669,456.99
$SM_GC,2.73,7.72,0.00,0.00,0.049,0.000,0.000,142,2456,1669,-7.49,0.82,456.99
$IRIDIUM_FIX,2456.07,12415.07,051098,141403
$TT8_MAMPS,0.028379
$HUMID,1615
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,52.183
$10V_AH,10.8,29.479
$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,25.500,125.575,487.725,0.000,0.000,24.022,37.553,187.488,8.000,0.000,0.000,34.935,2780.953,10811.646,616.525,2725.540,615.543,0.000,1988.645,0.000,2650.181,0.000,54.436,0.000
$DEVICE_MAMPS,238.537,59.059,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.896,1092.554,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85163,1583
$CAP_FILE_SIZE,172067,0
$CFSIZE,260165632,201281536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 57.5,1
$GPS,120709,002630,2503.663,12414.751,38,1.4,44,-3.7