version: 66.04
glider: 167
mission: 2
dive: 304
start: 7 13 109 11 36 9
data:
$ID,167
$MISSION,2
$DIVE,304
$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,-11278.359
$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,96
$R_STBD_OVSHOOT,39
$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
$GPS1,112506,2457.102,12417.114,37,1.8,43,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-60.6
$GPS2,113549,2457.225,12417.548,16,1.8,33,-3.7
$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,226.4,18583,-23.2,-12.000
$D_GRID,1854
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,47,0.00,0.00,-28.48,0.000,2,0.000,0.000,139,2464,2281
$GC,50,-1.18,-121.7,3.0,-1.2,4,121,8.32,2.12,-52.40,0.000,4,0.238,0.039,2156,1050,3989
$GC,186,-0.75,-121.7,27.7,-26.5,27,194,0.52,2.08,0.00,0.000,6,0.166,0.029,2297,2439,3991
$GC,534,-0.87,-121.7,75.8,-10.9,88,539,0.00,2.00,0.00,0.000,4,0.000,0.044,2289,3760,3992
$GC,782,-1.07,-121.7,105.0,-10.5,132,789,0.25,1.83,0.00,0.000,6,0.057,0.024,2183,2466,3992
$GC,1127,-0.91,-121.7,156.2,-15.9,193,1133,0.20,0.00,0.00,0.000,6,0.156,0.000,2243,2465,3994
$GC,1471,-1.04,-121.7,198.1,-10.5,254,1477,0.00,1.98,0.00,0.000,4,0.000,0.044,2235,3754,3994
$GC,1659,-1.10,-121.7,220.6,-11.8,287,1666,0.12,1.77,0.00,0.000,6,0.076,0.024,2179,2491,3994
$GC,2006,-1.01,-121.7,266.2,-13.6,348,2012,0.15,1.95,0.00,0.000,4,0.157,0.044,2210,3760,3994
$GC,2144,-1.01,-121.7,283.6,-12.4,372,2150,0.00,1.77,0.00,0.000,6,0.000,0.025,2210,2494,3994
$GC,2484,-1.07,-121.7,319.9,-10.3,416,2487,0.00,1.98,0.00,0.000,4,0.000,0.045,2204,3754,3994
$GC,2587,-1.07,-121.7,331.7,-11.4,425,2590,0.00,1.73,0.00,0.000,6,0.000,0.025,2205,2534,3994
$GC,2920,-1.15,-121.7,365.8,-10.2,456,2923,0.00,1.90,0.00,0.000,4,0.000,0.047,2205,3763,3994
$GC,3071,-1.15,-121.7,383.4,-12.3,469,3077,0.00,1.73,0.00,0.000,6,0.000,0.025,2205,2545,3994
$GC,3399,-1.26,-121.7,418.2,-9.9,500,3405,0.17,0.00,0.00,0.000,6,0.066,0.000,2132,2545,3993
$GC,3724,-1.09,-121.7,459.5,-12.9,531,3728,0.17,1.85,0.00,0.000,4,0.168,0.044,2178,3751,3992
$GC,3885,-1.09,-121.7,479.1,-12.2,545,3891,0.00,1.70,0.00,0.000,6,0.000,0.025,2178,2558,3992
$GC,4219,-1.09,-121.7,517.0,-11.2,570,4223,0.00,1.85,0.00,0.000,4,0.000,0.048,2178,3751,3990
$GC,4336,-1.09,-121.7,531.4,-12.0,575,4340,0.00,1.70,0.00,0.000,6,0.000,0.026,2178,2582,3990
$GC,4665,-1.14,-121.7,566.9,-10.9,591,4668,0.00,1.85,0.00,0.000,4,0.000,0.049,2178,3751,3988
$GC,4748,-1.14,-121.7,576.2,-11.0,594,4754,0.00,1.65,0.00,0.000,6,0.000,0.028,2178,2600,3987
$GC,5065,-1.14,-121.7,607.2,-10.3,610,5069,0.00,2.25,0.00,0.000,4,0.000,0.027,2178,1051,3985
$GC,5087,-1.20,-121.7,609.6,-9.9,611,5091,0.00,2.33,0.00,0.000,6,0.000,0.035,2177,2585,3985
$GC,5408,-1.25,-121.7,642.6,-10.8,627,5412,0.00,1.80,0.00,0.000,4,0.000,0.051,2175,3757,3982
$GC,5481,-1.25,-121.7,651.2,-12.0,630,5485,0.00,1.67,0.00,0.000,6,0.000,0.028,2175,2616,3982
$GC,5808,-1.29,-121.7,687.2,-10.7,646,5812,0.15,1.77,0.00,0.000,4,0.080,0.049,2111,3750,3980
$GC,6048,-1.06,-121.7,720.3,-13.4,656,6055,0.32,1.62,0.00,0.000,6,0.173,0.028,2199,2629,3978
$GC,6365,-1.21,-121.7,747.7,-8.7,672,6369,0.12,2.33,0.00,0.000,4,0.081,0.028,2149,1045,3976
$GC,6421,-1.21,-121.7,753.9,-11.7,674,6427,0.00,2.35,0.00,0.000,6,0.000,0.037,2149,2585,3975
$GC,6736,-1.21,-121.7,790.9,-12.4,690,6739,0.00,1.80,0.00,0.000,4,0.000,0.051,2143,3753,3973
$GC,6775,-1.11,-121.7,796.1,-13.6,691,6782,0.17,1.65,0.00,0.000,6,0.168,0.029,2187,2622,3973
$GC,7093,-1.22,-121.7,829.7,-10.1,707,7097,0.00,1.80,0.00,0.000,4,0.000,0.054,2187,3744,3970
$GC,7145,-1.31,-121.7,835.5,-10.5,709,7149,0.20,1.62,0.00,0.000,6,0.072,0.029,2113,2628,3970
$GC,7475,-1.14,-121.7,883.3,-15.5,725,7480,0.20,2.33,0.00,0.000,4,0.178,0.028,2169,1053,3968
$GC,7519,-1.22,-121.7,889.9,-13.3,727,7523,0.00,2.40,0.00,0.000,6,0.000,0.038,2166,2615,3968
$GC,7840,-1.22,-121.7,932.5,-14.0,743,7844,0.00,1.80,0.00,0.000,4,0.000,0.055,2166,3749,3966
$GC,7940,-1.22,-121.7,947.0,-14.6,747,7943,0.00,1.65,0.00,0.000,6,0.000,0.029,2165,2643,3966
$GC,8261,-1.22,-121.7,989.0,-12.7,763,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2643,3964
$STATE,8279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8279,begin apogee
$GC,8287,-0.22,0.0,991.5,12.6,764,8387,1.02,0.00,91.90,1.384,6,0.158,0.000,2469,2532,3532
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8390,1.18,121.7,997.9,0.0,769,8501,1.27,2.10,102.93,1.369,4,0.063,0.051,2922,3740,3034
$GC,8750,0.45,126.6,977.2,11.7,785,8761,0.93,1.88,5.05,0.965,6,0.213,0.025,2694,2471,3015
$GC,9072,0.67,212.4,957.0,6.3,800,9150,0.17,2.15,70.95,1.351,4,0.080,0.031,2775,1126,2665
$GC,9269,0.68,216.3,936.1,11.7,809,9278,0.00,2.15,4.28,0.863,6,0.000,0.038,2775,2489,2650
$GC,9602,0.69,224.9,898.0,11.4,825,9616,0.00,2.05,8.43,1.147,4,0.000,0.054,2775,3754,2615
$GC,9662,0.56,224.9,890.2,13.0,827,9668,0.22,1.85,0.00,0.000,6,0.185,0.027,2725,2498,2614
$GC,9978,0.76,269.5,861.5,9.1,843,10022,0.20,2.17,37.33,1.301,4,0.075,0.032,2815,1129,2432
$GC,10136,0.76,269.5,840.4,14.1,850,10140,0.00,2.15,0.00,0.000,6,0.000,0.038,2815,2495,2428
$GC,10469,0.70,269.5,793.1,14.4,866,10473,0.17,2.08,0.00,0.000,4,0.179,0.031,2778,1127,2426
$GC,10575,0.79,269.5,779.0,13.2,870,10581,0.00,2.08,0.00,0.000,6,0.000,0.037,2778,2465,2425
$GC,10891,0.85,269.5,736.7,13.3,886,10895,0.12,2.03,0.00,0.000,4,0.087,0.031,2829,1125,2424
$GC,11009,0.78,269.5,719.9,13.6,891,11014,0.12,2.03,0.00,0.000,6,0.186,0.036,2800,2447,2423
$GC,11336,0.78,269.5,678.9,12.3,907,11339,0.00,2.00,0.00,0.000,4,0.000,0.031,2803,1113,2422
$GC,11437,0.78,271.0,666.7,11.9,911,11441,0.00,2.00,0.00,0.000,6,0.000,0.037,2803,2424,2422
$GC,11758,0.81,296.9,632.5,10.3,927,11787,0.00,2.20,22.42,1.157,4,0.000,0.054,2803,3766,2320
$GC,11846,0.72,296.9,622.2,12.6,931,11849,0.00,2.00,0.00,0.000,6,0.000,0.028,2803,2443,2319
$GC,12179,0.79,315.2,585.8,10.8,947,12201,0.00,2.00,16.27,1.095,4,0.000,0.032,2803,1118,2245
$GC,12297,0.90,335.7,572.2,10.6,952,12320,0.00,2.03,18.10,1.081,6,0.000,0.035,2803,2433,2163
$GC,12645,1.00,335.7,529.2,13.1,969,12649,0.17,1.98,0.00,0.000,4,0.074,0.031,2882,1127,2157
$GC,12723,0.89,335.7,516.5,14.7,972,12727,0.20,1.98,0.00,0.000,6,0.185,0.036,2832,2415,2157
$GC,13052,0.89,335.7,474.7,12.4,997,13055,0.00,1.95,0.00,0.000,4,0.000,0.031,2833,1110,2156
$GC,13120,0.94,335.7,465.5,12.6,1003,13124,0.00,1.95,0.00,0.000,6,0.000,0.035,2833,2375,2156
$GC,13452,0.94,335.7,424.5,12.9,1034,13456,0.00,1.88,0.00,0.000,4,0.000,0.030,2839,1108,2156
$GC,13480,0.99,335.7,420.5,12.9,1036,13487,0.00,1.92,0.00,0.000,6,0.000,0.035,2839,2382,2156
$GC,13807,1.00,341.1,381.1,11.6,1067,13819,0.00,1.88,5.25,0.762,4,0.000,0.029,2845,1126,2140
$GC,13869,1.06,341.1,372.8,12.5,1072,13877,0.12,1.90,0.00,0.000,6,0.084,0.035,2893,2380,2140
$GC,14195,0.94,341.1,325.8,14.6,1103,14197,0.17,0.00,0.00,0.000,6,0.187,0.000,2849,2382,2139
$GC,14517,1.04,379.1,289.5,9.5,1142,14554,0.00,1.98,31.50,0.884,4,0.000,0.031,2856,1111,1985
$GC,14678,1.18,398.8,273.3,10.7,1169,14702,0.20,1.92,17.00,0.833,6,0.071,0.033,2932,2371,1905
$GC,15043,1.08,398.8,221.3,14.6,1233,15050,0.15,2.17,0.00,0.000,4,0.176,0.045,2893,3769,1901
$GC,15068,0.99,398.8,217.3,14.6,1237,15075,0.15,2.12,0.00,0.000,6,0.183,0.025,2864,2330,1901
$GC,15414,1.14,398.8,175.4,12.3,1298,15420,0.12,2.25,0.00,0.000,4,0.083,0.046,2914,3761,1901
$GC,15524,1.01,398.8,159.1,16.6,1317,15530,0.20,2.17,0.00,0.000,6,0.171,0.025,2870,2280,1900
$GC,15869,1.19,400.7,119.4,11.9,1378,15875,0.15,1.67,0.00,0.000,4,0.078,0.028,2937,1114,1901
$GC,15910,1.19,400.7,113.8,14.3,1385,15915,0.00,1.73,0.00,0.000,6,0.000,0.031,2936,2279,1901
$GC,16254,1.26,420.7,74.3,10.7,1446,16277,0.00,0.00,18.73,0.667,6,0.000,0.000,2937,2279,1814
$GC,16616,1.47,480.4,38.1,8.1,1510,16669,0.20,2.33,46.95,0.641,4,0.064,0.044,3018,3766,1570
$GC,16779,1.30,496.8,18.8,10.9,1538,16799,0.25,2.15,13.77,0.584,6,0.187,0.022,2966,2295,1505
$STATE,16912,end climb,SURFACE_DEPTH_REACHED
$STATE,16912,begin surface coast
$FINISH,1.9,0.999476
$STATE,16934,end surface coast,CONTROL_FINISHED_OK
$STATE,16934,begin surface
$SM_CCo,17011,0.00,0.000,0,0,1498,498.94
$SM_GC,2.70,7.55,0.00,0.00,0.049,0.000,0.000,138,2468,1498,-7.51,1.16,498.94
$IRIDIUM_FIX,2448.93,12415.70,071098,111113
$TT8_MAMPS,0.029146
$HUMID,1596
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.5,53.697
$10V_AH,10.8,30.277
$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,25.000,137.775,510.850,0.000,0.000,60.091,72.894,281.488,8.000,0.000,0.000,33.932,2802.061,10499.941,623.717,2911.865,801.506,0.000,2090.245,0.000,2823.400,0.000,54.428,0.000
$DEVICE_MAMPS,237.770,57.525,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.137,1086.493,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85216,1565
$CAP_FILE_SIZE,180607,0
$CFSIZE,260165632,200560640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114, 62.6,1
$GPS,130709,162055,2456.905,12416.952,39,1.1,40,-3.7