version: 66.04
glider: 167
mission: 2
dive: 321
start: 7 16 109 20 39 37
data:
$ID,167
$MISSION,2
$DIVE,321
$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,-11641.998
$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,75
$R_STBD_OVSHOOT,50
$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
$GPS1,202607,2453.918,12422.894,38,1.2,39,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-66.9
$GPS2,203914,2454.034,12422.933,14,1.3,14,-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,326.6,15494,-24.8,-13.043
$D_GRID,1327
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-29.77,0.000,2,0.000,0.000,140,2456,2280
$GC,49,-1.25,-121.7,3.1,-1.8,5,121,8.10,2.15,-54.20,0.000,4,0.232,0.037,2136,1024,3989
$GC,319,-0.95,-121.7,57.2,-20.6,52,326,0.40,2.10,0.00,0.000,6,0.168,0.031,2238,2433,3990
$GC,664,-1.00,-121.7,108.2,-16.6,113,670,0.00,2.03,0.00,0.000,4,0.000,0.044,2231,3764,3991
$GC,924,-1.00,-121.7,144.9,-12.5,159,931,0.00,1.85,0.00,0.000,6,0.000,0.022,2231,2431,3992
$GC,1270,-1.09,-121.7,187.3,-15.0,220,1276,0.12,2.05,0.00,0.000,4,0.074,0.044,2175,3767,3992
$GC,1479,-0.96,-121.7,222.9,-14.6,257,1486,0.20,1.77,0.00,0.000,6,0.156,0.023,2229,2498,3993
$GC,1827,-1.12,-121.7,255.5,-10.7,318,1833,0.15,1.92,0.00,0.000,4,0.070,0.042,2162,3760,3992
$GC,1842,-1.22,-121.7,257.2,-10.6,320,1848,0.00,1.75,0.00,0.000,6,0.000,0.024,2162,2501,3993
$GC,2186,-1.22,-121.7,304.8,-13.8,378,2189,0.00,1.92,0.00,0.000,4,0.000,0.044,2153,3763,3993
$GC,2323,-1.09,-121.7,324.7,-14.2,390,2328,0.15,1.75,0.00,0.000,6,0.162,0.024,2192,2510,3993
$GC,2654,-1.19,-121.7,359.1,-11.0,421,2657,0.00,1.92,0.00,0.000,4,0.000,0.045,2192,3764,3993
$GC,2704,-1.24,-121.7,365.3,-12.2,425,2710,0.12,1.75,0.00,0.000,6,0.074,0.025,2139,2519,3993
$GC,3030,-1.16,-121.7,408.3,-12.8,456,3034,0.12,1.90,0.00,0.000,4,0.169,0.044,2165,3754,3993
$GC,3091,-1.16,-121.7,415.9,-11.8,461,3097,0.00,1.70,0.00,0.000,6,0.000,0.025,2165,2546,3993
$GC,3416,-1.16,-121.7,451.3,-10.4,492,3420,0.00,1.88,0.00,0.000,4,0.000,0.047,2165,3760,3992
$GC,3511,-1.16,-121.7,462.6,-12.3,500,3517,0.00,1.70,0.00,0.000,6,0.000,0.025,2165,2558,3992
$GC,3840,-1.22,-121.7,500.9,-11.6,531,3844,0.00,1.85,0.00,0.000,4,0.000,0.047,2162,3755,3991
$GC,3864,-1.22,-121.7,504.0,-11.5,532,3868,0.00,1.70,0.00,0.000,6,0.000,0.025,2162,2562,3990
$GC,4198,-1.28,-121.7,539.4,-9.9,548,4201,0.00,1.85,0.00,0.000,4,0.000,0.048,2162,3754,3989
$GC,4244,-1.28,-121.7,544.1,-10.3,550,4248,0.00,1.67,0.00,0.000,6,0.000,0.026,2162,2580,3989
$GC,4578,-1.36,-121.7,576.4,-9.4,566,4582,0.15,2.20,0.00,0.000,4,0.078,0.026,2101,1057,3986
$GC,4629,-1.23,-121.7,582.4,-12.5,568,4633,0.17,2.25,0.00,0.000,6,0.173,0.034,2143,2551,3986
$GC,4944,-1.23,-121.7,617.6,-11.9,583,4948,0.00,1.85,0.00,0.000,4,0.000,0.049,2139,3757,3983
$GC,5062,-1.18,-121.7,633.0,-12.7,588,5065,0.00,1.67,0.00,0.000,6,0.000,0.026,2140,2582,3982
$GC,5390,-1.18,-121.7,673.4,-11.9,604,5394,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3754,3980
$GC,5424,-1.13,-121.7,677.8,-12.0,605,5428,0.17,1.65,0.00,0.000,6,0.166,0.028,2183,2607,3979
$GC,5746,-1.29,-121.7,706.6,-8.6,621,5751,0.17,2.25,0.00,0.000,4,0.074,0.027,2117,1066,3977
$GC,5814,-1.29,-121.7,714.3,-11.5,624,5818,0.00,2.28,0.00,0.000,6,0.000,0.035,2111,2559,3976
$GC,6143,-1.20,-121.7,752.1,-11.4,640,6147,0.17,1.85,0.00,0.000,4,0.183,0.049,2152,3751,3973
$GC,6234,-1.20,-121.7,761.7,-9.6,644,6237,0.00,1.67,0.00,0.000,6,0.000,0.027,2152,2595,3973
$GC,6567,-1.26,-121.7,794.8,-10.6,660,6571,0.00,2.22,0.00,0.000,4,0.000,0.027,2151,1077,3970
$GC,6614,-1.35,-121.7,799.8,-10.6,662,6622,0.12,2.28,0.00,0.000,6,0.084,0.037,2103,2556,3969
$GC,6951,-1.23,-121.7,844.7,-14.1,678,6953,0.17,0.00,0.00,0.000,6,0.191,0.000,2145,2557,3966
$GC,7260,-1.23,-121.7,881.8,-11.6,693,7264,0.00,1.88,0.00,0.000,4,0.000,0.053,2139,3761,3965
$GC,7293,-1.23,-121.7,886.3,-13.5,694,7296,0.00,1.73,0.00,0.000,6,0.000,0.028,2139,2605,3965
$GC,7615,-1.23,-121.7,927.6,-13.1,710,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2605,3962
$GC,7924,-1.23,-121.7,968.6,-13.5,725,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2605,3961
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8086,begin apogee
$GC,8091,-0.22,0.0,991.7,13.9,733,8188,1.12,0.00,89.32,1.411,6,0.168,0.000,2464,2604,3532
$STATE,8189,end apogee,CONTROL_FINISHED_OK
$STATE,8189,begin climb
$GC,8192,1.25,121.7,998.9,0.0,738,8303,1.35,1.98,102.88,1.372,4,0.061,0.052,2948,3743,3034
$GC,8438,0.58,168.3,994.4,9.7,749,8484,0.88,1.80,39.25,1.338,6,0.216,0.026,2735,2533,2845
$GC,8802,0.80,264.9,972.5,6.1,767,8888,0.17,2.28,79.25,1.354,4,0.079,0.031,2814,1126,2451
$GC,8950,0.82,276.0,956.6,12.2,773,8965,0.00,2.17,10.65,1.183,6,0.000,0.037,2814,2498,2406
$GC,9282,0.82,276.0,913.9,13.1,790,9286,0.00,2.10,0.00,0.000,4,0.000,0.031,2820,1110,2401
$GC,9372,0.82,277.9,901.8,12.9,794,9376,0.00,2.15,0.00,0.000,6,0.000,0.036,2820,2500,2400
$GC,9705,0.82,277.9,853.6,14.6,810,9709,0.00,2.08,0.00,0.000,4,0.000,0.029,2828,1116,2398
$GC,9811,0.82,277.9,837.6,14.5,814,9817,0.00,2.10,0.00,0.000,6,0.000,0.037,2828,2479,2397
$GC,10127,0.82,277.9,791.7,14.6,830,10130,0.00,2.05,0.00,0.000,4,0.000,0.031,2832,1113,2396
$GC,10177,0.82,277.9,784.5,14.0,832,10181,0.00,2.08,0.00,0.000,6,0.000,0.036,2832,2468,2396
$GC,10504,0.82,277.9,737.9,13.9,848,10508,0.00,2.03,0.00,0.000,4,0.000,0.029,2838,1106,2395
$GC,10616,0.82,277.9,722.6,13.8,853,10620,0.00,2.08,0.00,0.000,6,0.000,0.037,2838,2461,2394
$GC,10950,0.77,277.9,675.9,14.3,869,10954,0.17,2.03,0.00,0.000,4,0.183,0.030,2795,1107,2394
$GC,11001,0.91,292.3,669.2,12.0,871,11020,0.12,2.05,13.25,1.154,6,0.088,0.038,2842,2448,2340
$GC,11328,0.92,296.6,623.5,12.7,887,11337,0.00,2.00,5.18,0.912,4,0.000,0.031,2849,1122,2321
$GC,11389,0.92,296.6,615.2,13.7,890,11393,0.00,2.03,0.00,0.000,6,0.000,0.035,2849,2437,2321
$GC,11721,0.92,299.7,571.0,12.8,906,11730,0.00,2.03,4.10,0.782,4,0.000,0.030,2857,1113,2310
$GC,11816,0.92,299.9,559.3,13.0,910,11819,0.00,2.00,0.00,0.000,6,0.000,0.035,2857,2424,2308
$GC,12143,0.87,299.9,516.6,13.7,926,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2424,2308
$GC,12458,0.87,299.9,472.2,14.0,950,12462,0.12,1.95,0.00,0.000,4,0.184,0.030,2833,1120,2307
$GC,12575,0.97,311.4,457.5,12.2,960,12592,0.00,1.98,11.00,0.986,6,0.000,0.035,2833,2422,2262
$GC,12911,1.10,352.2,422.1,10.1,992,12953,0.20,2.00,34.12,1.010,4,0.070,0.029,2918,1117,2093
$GC,12981,1.01,352.2,413.0,13.1,998,12988,0.20,2.00,0.00,0.000,6,0.177,0.035,2867,2409,2091
$GC,13306,1.06,352.2,372.7,13.2,1029,13310,0.00,1.95,0.00,0.000,4,0.000,0.030,2871,1106,2088
$GC,13356,1.11,352.2,366.0,13.3,1033,13363,0.00,1.98,0.00,0.000,6,0.000,0.034,2871,2402,2088
$GC,13684,1.17,352.2,320.8,13.4,1064,13689,0.15,1.92,0.00,0.000,4,0.081,0.028,2936,1109,2088
$GC,13851,1.07,356.8,298.3,12.7,1079,13861,0.17,1.90,4.25,0.632,6,0.180,0.035,2892,2365,2077
$GC,14201,1.09,372.2,258.0,11.9,1140,14224,0.00,2.22,14.25,0.824,4,0.000,0.048,2892,3765,2014
$GC,14248,1.09,372.2,251.1,15.0,1148,14254,0.00,2.08,0.00,0.000,6,0.000,0.024,2901,2357,2013
$GC,14593,1.21,418.3,206.4,9.7,1209,14636,0.10,2.33,37.58,0.804,4,0.091,0.048,2938,3767,1826
$GC,14766,1.12,418.3,182.0,14.9,1239,14774,0.15,2.12,0.00,0.000,6,0.182,0.024,2911,2335,1821
$GC,15113,1.29,440.7,137.4,11.4,1300,15138,0.15,1.85,18.67,0.717,4,0.081,0.028,2980,1116,1734
$GC,15237,1.29,440.7,119.8,14.8,1321,15243,0.00,1.83,0.00,0.000,6,0.000,0.031,2980,2324,1731
$GC,15582,1.39,477.4,69.5,10.4,1382,15619,0.00,2.30,29.52,0.669,4,0.000,0.044,2980,3764,1584
$GC,15665,1.41,499.1,60.5,11.5,1396,15689,0.00,2.17,18.48,0.638,6,0.000,0.022,2990,2293,1497
$GC,16031,1.58,500.9,18.3,12.9,1460,16037,0.17,1.73,0.00,0.000,4,0.081,0.028,3073,1102,1492
$GC,16090,1.46,500.9,9.5,14.2,1470,16097,0.22,1.77,0.00,0.000,6,0.193,0.029,3017,2302,1491
$STATE,16146,end climb,SURFACE_DEPTH_REACHED
$STATE,16146,begin surface coast
$FINISH,1.9,0.999998
$STATE,16180,end surface coast,CONTROL_FINISHED_OK
$STATE,16181,begin surface
$SM_CCo,16258,0.00,0.000,0,0,1489,501.15
$SM_GC,2.61,7.75,0.00,0.00,0.058,0.000,0.000,141,2455,1489,-7.49,0.76,501.15
$IRIDIUM_FIX,2446.56,12422.92,101098,202030
$TT8_MAMPS,0.028379
$HUMID,1612
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,2
$24V_AH,23.5,56.794
$10V_AH,10.7,31.883
$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,23.750,138.100,511.750,0.000,0.000,82.073,104.642,323.187,8.500,0.000,0.000,14.645,2643.167,10229.421,613.672,2661.384,886.948,0.000,1981.554,0.000,2603.263,0.000,57.096,0.000
$DEVICE_MAMPS,232.401,56.758,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.138,1016.719,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78896,1486
$CAP_FILE_SIZE,171790,0
$CFSIZE,260165632,199090176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202, 77.2,1
$GPS,170709,011137,2456.003,12423.968,27,1.4,28,-3.7