version: 66.04
glider: 167
mission: 2
dive: 320
start: 7 16 109 15 55 53
data:
$ID,167
$MISSION,2
$DIVE,320
$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,253
$T_MISSION,304
$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,-11626.723
$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,70
$R_STBD_OVSHOOT,54
$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
$GPS1,154751,2452.270,12422.024,40,3.7,60,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-64.8
$GPS2,155534,2452.327,12422.062,10,3.6,29,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2502.400,12422.900
$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,327.9,18707,-24.8,-13.043
$D_GRID,1014
$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,15,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-34.28,0.000,2,0.000,0.000,140,2453,2325
$GC,56,-1.25,-121.7,3.1,-2.0,6,123,8.15,2.00,-51.85,0.000,4,0.233,0.058,2131,3741,3987
$GC,377,-0.78,-121.7,75.6,-22.2,62,384,0.55,1.90,0.00,0.000,6,0.168,0.022,2286,2396,3988
$GC,722,-1.00,-121.7,119.5,-11.8,123,729,0.17,2.08,0.00,0.000,4,0.064,0.042,2195,3746,3989
$GC,983,-0.90,-121.7,158.2,-13.3,169,990,0.20,1.80,0.00,0.000,6,0.158,0.022,2250,2452,3991
$GC,1329,-1.10,-121.7,200.2,-14.1,230,1335,0.17,1.98,0.00,0.000,4,0.064,0.042,2175,3740,3992
$GC,1393,-0.98,-121.7,211.2,-17.9,241,1400,0.20,1.75,0.00,0.000,6,0.156,0.022,2229,2491,3992
$GC,1739,-1.14,-121.7,249.0,-10.1,302,1746,0.15,1.92,0.00,0.000,4,0.069,0.043,2162,3744,3992
$GC,1815,-1.04,-121.7,259.1,-13.8,315,1822,0.17,1.73,0.00,0.000,6,0.157,0.023,2209,2505,3992
$GC,2166,-1.18,-121.7,302.9,-11.8,375,2168,0.12,0.00,0.00,0.000,6,0.076,0.000,2155,2504,3992
$GC,2485,-1.18,-121.7,345.3,-12.7,405,2488,0.00,1.90,0.00,0.000,4,0.000,0.044,2152,3744,3992
$GC,2523,-1.09,-121.7,351.0,-14.0,408,2529,0.15,1.75,0.00,0.000,6,0.161,0.023,2191,2500,3992
$GC,2848,-1.19,-121.7,389.0,-12.3,439,2852,0.00,1.92,0.00,0.000,4,0.000,0.045,2191,3750,3992
$GC,2911,-1.28,-121.7,396.7,-11.7,444,2918,0.17,1.75,0.00,0.000,6,0.066,0.024,2122,2505,3992
$GC,3237,-1.16,-121.7,436.4,-12.1,475,3239,0.17,0.00,0.00,0.000,6,0.169,0.000,2167,2504,3992
$GC,3557,-1.23,-121.7,473.3,-12.1,505,3561,0.00,1.90,0.00,0.000,4,0.000,0.045,2165,3738,3992
$GC,3603,-1.23,-121.7,479.2,-12.3,509,3606,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2511,3992
$GC,3943,-1.29,-121.7,515.7,-10.3,534,3947,0.12,1.92,0.00,0.000,4,0.081,0.045,2110,3755,3991
$GC,4016,-1.10,-121.7,525.5,-13.5,537,4020,0.28,1.75,0.00,0.000,6,0.167,0.025,2185,2521,3990
$GC,4345,-1.27,-121.7,553.8,-8.6,553,4349,0.15,1.90,0.00,0.000,4,0.069,0.046,2124,3749,3989
$GC,4401,-1.15,-121.7,560.4,-12.0,555,4405,0.17,1.75,0.00,0.000,6,0.169,0.025,2170,2515,3988
$GC,4723,-1.25,-121.7,593.3,-11.1,571,4727,0.00,1.92,0.00,0.000,4,0.000,0.047,2165,3736,3986
$GC,4813,-1.31,-121.7,605.2,-13.0,575,4818,0.12,1.73,0.00,0.000,6,0.080,0.026,2114,2532,3986
$GC,5149,-1.23,-121.7,655.5,-14.9,591,5153,0.12,2.15,0.00,0.000,4,0.177,0.025,2144,1048,3983
$GC,5198,-1.30,-121.7,663.1,-13.9,593,5202,0.00,2.20,0.00,0.000,6,0.000,0.034,2140,2506,3982
$GC,5516,-1.30,-121.7,702.1,-11.5,608,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2507,3980
$GC,5823,-1.30,-121.7,733.1,-9.3,623,5826,0.00,1.92,0.00,0.000,4,0.000,0.051,2137,3751,3978
$GC,5913,-1.30,-121.7,742.3,-10.9,627,5917,0.00,1.77,0.00,0.000,6,0.000,0.027,2137,2521,3977
$GC,6247,-1.30,-121.7,774.3,-9.8,643,6251,0.00,1.92,0.00,0.000,4,0.000,0.052,2137,3743,3974
$GC,6314,-1.30,-121.7,782.1,-12.3,646,6318,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2538,3974
$GC,6646,-1.30,-121.7,819.1,-11.8,662,6650,0.00,2.15,0.00,0.000,4,0.000,0.028,2137,1067,3971
$GC,6764,-1.30,-121.7,833.6,-13.2,667,6768,0.00,2.17,0.00,0.000,6,0.000,0.038,2137,2487,3970
$GC,7091,-1.30,-121.7,872.8,-12.6,683,7095,0.00,1.95,0.00,0.000,4,0.000,0.054,2137,3736,3968
$GC,7118,-1.30,-121.7,876.4,-13.4,684,7122,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2520,3967
$GC,7446,-1.30,-121.7,911.9,-10.6,700,7449,0.00,2.15,0.00,0.000,4,0.000,0.029,2137,1054,3965
$GC,7473,-1.30,-121.7,915.1,-11.2,701,7477,0.00,2.20,0.00,0.000,6,0.000,0.038,2137,2485,3965
$GC,7801,-1.30,-121.7,952.7,-11.4,717,7805,0.00,1.98,0.00,0.000,4,0.000,0.054,2137,3749,3963
$GC,7896,-1.30,-121.7,964.4,-11.9,721,7900,0.00,1.77,0.00,0.000,6,0.000,0.030,2137,2541,3962
$STATE,7993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7994,begin apogee
$GC,7999,-0.22,0.0,975.0,10.6,726,8096,1.12,0.00,89.82,1.393,6,0.161,0.000,2467,2540,3531
$STATE,8097,end apogee,CONTROL_FINISHED_OK
$STATE,8097,begin climb
$GC,8100,1.25,121.7,978.5,0.0,731,8210,1.38,2.05,102.40,1.352,4,0.061,0.049,2953,3748,3035
$GC,8424,0.51,121.7,953.7,13.4,746,8429,0.98,1.80,0.00,0.000,6,0.215,0.027,2712,2530,3031
$GC,8747,0.72,199.4,928.7,7.5,762,8815,0.17,2.20,62.45,1.334,4,0.079,0.032,2790,1120,2720
$GC,8856,0.73,206.6,917.0,12.5,767,8870,0.00,2.17,7.82,1.097,6,0.000,0.035,2790,2493,2689
$GC,9186,0.75,226.1,877.8,11.6,783,9210,0.00,2.17,17.33,1.251,4,0.000,0.032,2791,1123,2609
$GC,9301,0.76,237.6,863.5,12.2,788,9316,0.00,2.15,10.57,1.170,6,0.000,0.036,2791,2502,2563
$GC,9628,0.77,243.9,820.4,12.6,803,9638,0.00,2.10,6.30,1.037,4,0.000,0.029,2799,1115,2537
$GC,9745,0.77,243.9,804.8,13.6,808,9749,0.00,2.15,0.00,0.000,6,0.000,0.037,2799,2483,2536
$GC,10068,0.77,245.9,762.8,12.9,824,10071,0.00,2.05,0.00,0.000,4,0.000,0.031,2802,1121,2534
$GC,10151,0.80,270.2,752.4,11.3,827,10180,0.00,2.08,22.67,1.228,6,0.000,0.035,2802,2474,2429
$GC,10492,0.87,289.5,712.6,11.7,844,10515,0.00,2.12,17.33,1.182,4,0.000,0.052,2802,3768,2350
$GC,10561,0.87,289.5,702.8,14.0,847,10565,0.00,1.92,0.00,0.000,6,0.000,0.025,2809,2477,2348
$GC,10895,0.95,297.6,660.3,12.5,863,10909,0.12,2.08,7.78,1.039,4,0.088,0.031,2863,1114,2318
$GC,11023,0.88,297.6,642.6,13.6,868,11030,0.15,2.08,0.00,0.000,6,0.188,0.036,2828,2459,2316
$GC,11339,0.89,306.5,605.0,12.4,884,11353,0.00,2.08,8.80,1.041,4,0.000,0.031,2833,1113,2282
$GC,11413,0.89,306.5,595.4,13.6,887,11416,0.00,2.10,0.00,0.000,6,0.000,0.035,2833,2476,2280
$GC,11739,0.89,306.5,552.0,13.4,903,11743,0.00,2.05,0.00,0.000,4,0.000,0.031,2842,1112,2278
$GC,11801,0.89,306.5,543.2,13.2,905,11807,0.00,2.05,0.00,0.000,6,0.000,0.036,2842,2450,2278
$GC,12117,0.90,313.1,500.0,12.6,921,12125,0.00,0.00,6.57,0.914,6,0.000,0.000,2842,2450,2254
$GC,12436,0.93,337.9,463.5,11.3,950,12462,0.00,2.08,21.60,1.027,4,0.000,0.032,2847,1120,2154
$GC,12589,1.05,357.6,445.0,11.6,963,12612,0.10,2.05,17.23,0.986,6,0.094,0.035,2885,2453,2074
$GC,12931,1.05,357.6,398.0,14.4,995,12935,0.00,2.00,0.00,0.000,4,0.000,0.029,2893,1117,2069
$GC,13044,1.05,357.6,381.7,13.7,1005,13047,0.00,2.03,0.00,0.000,6,0.000,0.035,2893,2447,2069
$GC,13377,1.08,383.1,338.1,11.2,1036,13403,0.00,2.03,21.30,0.910,4,0.000,0.030,2898,1113,1968
$GC,13561,1.08,383.1,313.8,13.9,1052,13565,0.00,1.98,0.00,0.000,6,0.000,0.033,2898,2404,1965
$GC,13900,1.08,383.1,267.1,13.2,1104,13906,0.00,2.12,0.00,0.000,4,0.000,0.050,2898,3769,1964
$GC,13957,1.08,383.1,258.5,15.2,1114,13962,0.00,2.03,0.00,0.000,6,0.000,0.025,2908,2374,1963
$GC,14300,1.14,383.1,214.2,14.5,1175,14307,0.00,1.83,0.00,0.000,4,0.000,0.030,2916,1117,1964
$GC,14388,1.22,383.1,201.8,14.3,1190,14394,0.00,1.92,0.00,0.000,6,0.000,0.031,2916,2403,1963
$GC,14732,1.30,402.9,161.1,11.6,1251,14756,0.15,1.92,17.27,0.736,4,0.076,0.029,2985,1110,1888
$GC,14866,1.21,402.9,142.8,15.0,1274,14872,0.20,1.88,0.00,0.000,6,0.186,0.031,2936,2365,1887
$GC,15211,1.32,420.4,98.9,11.8,1335,15231,0.10,1.92,15.15,0.672,4,0.085,0.029,2983,1107,1818
$GC,15312,1.36,446.7,87.4,11.2,1352,15341,0.00,1.83,22.05,0.670,6,0.000,0.031,2983,2328,1711
$GC,15683,1.49,490.6,47.6,9.9,1417,15725,0.12,1.88,34.85,0.640,4,0.089,0.028,3034,1113,1530
$GC,15759,1.49,490.6,38.2,13.4,1430,15765,0.00,1.80,0.00,0.000,6,0.000,0.029,3034,2311,1529
$STATE,16039,end climb,SURFACE_DEPTH_REACHED
$STATE,16039,begin surface coast
$FINISH,1.6,1.009224
$STATE,16063,end surface coast,CONTROL_FINISHED_OK
$STATE,16063,begin surface
$SM_CCo,16141,0.00,0.000,0,0,1523,492.56
$SM_GC,2.69,7.82,0.00,0.00,0.058,0.000,0.000,140,2456,1523,-7.50,0.82,492.56
$IRIDIUM_FIX,2439.44,12423.54,101098,111111
$TT8_MAMPS,0.029146
$HUMID,1597
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.1,73.0
$24V_AH,23.5,56.598
$10V_AH,10.7,31.788
$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,23.800,133.825,509.300,0.000,0.000,33.131,34.206,235.075,7.750,0.000,0.000,30.190,2645.386,9977.017,602.065,2723.196,643.820,0.000,1977.747,0.000,2635.401,0.000,54.057,0.000
$DEVICE_MAMPS,233.168,62.894,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.928,1024.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78987,1484
$CAP_FILE_SIZE,167452,0
$CFSIZE,260165632,199180288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155, 92.3,1
$GPS,160709,202607,2453.918,12422.894,38,1.2,39,-3.7