version: 66.04
glider: 167
mission: 2
dive: 323
start: 7 17 109 5 53 7
data:
$ID,167
$MISSION,2
$DIVE,323
$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,-11692.051
$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,62
$R_STBD_OVSHOOT,57
$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
$GPS1,054607,2458.517,12424.681,37,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-62.9
$GPS2,055244,2458.695,12424.729,14,1.5,14,-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,294.6,7517,-24.8,-13.043
$D_GRID,1859
$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,-1.25,-121.7,0.0,0.0,0,45,0.00,0.00,-28.98,0.000,2,0.000,0.000,140,2470,2280
$GC,48,-1.25,-121.7,3.2,-2.7,5,118,8.20,1.98,-54.75,0.000,4,0.235,0.056,2129,3748,3988
$GC,371,-0.65,-121.7,72.6,-26.6,61,378,0.73,1.92,0.00,0.000,6,0.174,0.021,2334,2379,3990
$GC,717,-1.19,-121.7,111.9,-8.7,122,725,0.43,1.90,0.00,0.000,4,0.048,0.025,2150,1051,3992
$GC,851,-1.03,-121.7,131.7,-15.0,145,858,0.25,2.03,0.00,0.000,6,0.160,0.030,2212,2424,3992
$GC,1197,-1.03,-121.7,175.3,-12.2,206,1203,0.00,2.00,0.00,0.000,4,0.000,0.044,2205,3748,3993
$GC,1457,-1.03,-121.7,212.9,-14.7,252,1463,0.00,1.80,0.00,0.000,6,0.000,0.023,2205,2457,3994
$GC,1803,-1.10,-121.7,257.3,-9.8,313,1808,0.00,2.00,0.00,0.000,4,0.000,0.044,2204,3760,3994
$GC,1906,-1.10,-121.7,268.2,-10.2,331,1912,0.00,1.80,0.00,0.000,6,0.000,0.023,2204,2469,3994
$GC,2249,-1.22,-121.7,305.9,-13.0,388,2253,0.15,1.98,0.00,0.000,4,0.067,0.044,2138,3751,3994
$GC,2321,-1.05,-121.7,317.8,-17.0,394,2328,0.25,1.75,0.00,0.000,6,0.163,0.024,2206,2504,3994
$GC,2646,-1.36,-121.7,354.7,-10.6,425,2648,0.28,0.00,0.00,0.000,6,0.058,0.000,2095,2502,3994
$GC,2965,-1.14,-121.7,402.4,-15.3,455,2969,0.25,1.92,0.00,0.000,4,0.173,0.043,2160,3756,3994
$GC,3108,-1.10,-121.7,420.7,-11.8,467,3114,0.12,1.77,0.00,0.000,6,0.165,0.025,2191,2498,3994
$GC,3434,-1.26,-121.7,454.6,-10.3,498,3438,0.15,1.95,0.00,0.000,4,0.073,0.044,2124,3761,3994
$GC,3551,-1.10,-121.7,470.1,-13.5,508,3557,0.22,1.75,0.00,0.000,6,0.168,0.025,2185,2525,3994
$GC,3876,-1.26,-121.7,503.0,-10.5,538,3880,0.12,1.90,0.00,0.000,4,0.075,0.045,2126,3754,3993
$GC,4011,-1.12,-121.7,522.4,-15.2,544,4015,0.17,1.75,0.00,0.000,6,0.163,0.025,2178,2555,3992
$GC,4346,-1.27,-121.7,556.6,-9.6,560,4350,0.12,1.85,0.00,0.000,4,0.081,0.047,2126,3745,3991
$GC,4391,-1.15,-121.7,562.3,-13.0,562,4395,0.17,1.67,0.00,0.000,6,0.172,0.026,2171,2577,3991
$GC,4727,-1.26,-121.7,596.6,-10.7,578,4731,0.00,1.85,0.00,0.000,4,0.000,0.049,2166,3749,3989
$GC,4850,-1.31,-121.7,611.1,-11.2,583,4854,0.12,1.65,0.00,0.000,6,0.082,0.026,2116,2594,3988
$GC,5176,-1.23,-121.7,650.3,-12.6,599,5180,0.12,1.80,0.00,0.000,4,0.180,0.048,2139,3750,3986
$GC,5276,-1.16,-121.7,663.6,-12.8,603,5281,0.08,1.65,0.00,0.000,6,0.174,0.028,2161,2628,3985
$GC,5600,-1.25,-121.7,699.2,-11.1,619,5604,0.00,1.77,0.00,0.000,4,0.000,0.051,2161,3741,3982
$GC,5678,-1.25,-121.7,708.9,-12.7,622,5681,0.00,1.62,0.00,0.000,6,0.000,0.028,2161,2616,3982
$GC,5999,-1.35,-121.7,745.0,-11.2,638,6001,0.15,0.00,0.00,0.000,6,0.082,0.000,2105,2616,3980
$GC,6310,-1.24,-121.7,785.1,-12.5,653,6312,0.15,0.00,0.00,0.000,6,0.179,0.000,2141,2615,3977
$GC,6617,-1.24,-121.7,820.8,-11.7,668,6621,0.00,1.77,0.00,0.000,4,0.000,0.054,2138,3742,3974
$GC,6657,-1.24,-121.7,825.8,-13.1,669,6663,0.00,1.65,0.00,0.000,6,0.000,0.029,2138,2605,3974
$GC,6972,-1.24,-121.7,865.6,-12.7,685,6976,0.00,1.80,0.00,0.000,4,0.000,0.054,2138,3744,3972
$GC,7045,-1.24,-121.7,875.4,-13.7,688,7049,0.00,1.62,0.00,0.000,6,0.000,0.028,2138,2625,3971
$GC,7373,-1.24,-121.7,918.8,-13.2,704,7376,0.00,1.77,0.00,0.000,4,0.000,0.054,2137,3747,3969
$GC,7405,-1.24,-121.7,923.3,-13.2,705,7409,0.00,1.65,0.00,0.000,6,0.000,0.028,2137,2637,3969
$GC,7727,-1.24,-121.7,964.2,-12.6,721,7731,0.00,2.33,0.00,0.000,4,0.000,0.028,2137,1052,3967
$GC,7755,-1.24,-121.7,967.7,-12.5,722,7759,0.00,2.38,0.00,0.000,6,0.000,0.038,2137,2595,3967
$STATE,7945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7945,begin apogee
$GC,7950,-0.22,0.0,991.5,12.4,731,8052,1.15,0.00,92.55,1.384,6,0.166,0.000,2470,2595,3532
$STATE,8052,end apogee,CONTROL_FINISHED_OK
$STATE,8052,begin climb
$GC,8055,1.25,121.7,997.3,0.0,736,8166,1.33,2.38,102.62,1.371,4,0.065,0.028,2951,1149,3035
$GC,8420,0.76,162.0,978.9,10.2,752,8461,0.62,2.10,33.80,1.331,6,0.213,0.038,2793,2499,2870
$GC,8785,0.73,203.8,943.3,10.0,770,8829,0.00,2.15,34.45,1.328,4,0.000,0.031,2800,1150,2699
$GC,8958,0.76,227.1,923.1,11.4,777,8986,0.00,2.12,20.55,1.279,6,0.000,0.037,2800,2511,2606
$GC,9295,0.76,232.7,879.3,12.6,794,9302,0.00,0.00,5.47,0.999,6,0.000,0.000,2800,2511,2583
$GC,9604,0.78,248.7,840.6,11.9,809,9623,0.00,0.00,14.27,1.232,6,0.000,0.000,2800,2512,2517
$GC,9934,0.80,260.3,800.2,12.2,825,9950,0.00,2.10,11.25,1.182,4,0.000,0.031,2805,1140,2469
$GC,10065,0.85,268.3,784.0,12.5,830,10079,0.00,2.15,7.82,1.094,6,0.000,0.036,2805,2522,2438
$GC,10397,0.88,289.6,744.3,11.5,846,10421,0.00,2.15,19.48,1.215,4,0.000,0.031,2810,1151,2351
$GC,10579,0.95,289.6,720.9,13.2,854,10584,0.12,2.12,0.00,0.000,6,0.090,0.037,2857,2519,2347
$GC,10901,0.86,289.6,670.5,16.2,870,10905,0.15,2.08,0.00,0.000,4,0.188,0.030,2828,1152,2345
$GC,10968,0.86,289.6,660.8,13.5,873,10972,0.00,2.08,0.00,0.000,6,0.000,0.037,2829,2488,2345
$GC,11301,0.86,289.6,615.1,14.1,889,11305,0.00,2.00,0.00,0.000,4,0.000,0.054,2829,3765,2344
$GC,11351,0.76,289.6,606.9,16.0,891,11356,0.17,1.83,0.00,0.000,6,0.193,0.028,2794,2515,2344
$GC,11679,0.94,318.5,569.9,11.0,907,11710,0.17,2.17,23.88,1.122,4,0.081,0.031,2863,1111,2232
$GC,11768,0.94,318.5,558.1,13.6,911,11772,0.00,2.17,0.00,0.000,6,0.000,0.037,2862,2503,2229
$GC,12101,0.94,318.5,511.5,13.9,927,12105,0.00,2.10,0.00,0.000,4,0.000,0.031,2871,1107,2227
$GC,12130,0.94,318.5,507.5,13.3,928,12133,0.00,2.12,0.00,0.000,6,0.000,0.036,2871,2488,2227
$GC,12456,0.90,327.0,466.5,12.4,956,12469,0.15,2.12,7.72,0.929,4,0.188,0.030,2842,1115,2198
$GC,12539,1.03,358.7,456.7,10.8,963,12573,0.10,2.08,27.48,1.025,6,0.096,0.035,2880,2466,2069
$GC,12891,1.03,358.7,403.6,16.5,996,12895,0.00,2.03,0.00,0.000,4,0.000,0.029,2886,1120,2062
$GC,13020,1.03,358.7,383.5,15.1,1007,13027,0.00,2.00,0.00,0.000,6,0.000,0.032,2886,2436,2062
$GC,13348,1.04,362.0,340.2,12.8,1038,13352,0.00,1.98,0.00,0.000,4,0.000,0.028,2894,1104,2061
$GC,13433,1.05,370.2,328.7,12.5,1045,13450,0.00,2.00,9.95,0.854,6,0.000,0.033,2894,2427,2022
$GC,13775,1.05,374.0,282.6,12.8,1088,13787,0.00,2.00,4.53,0.647,4,0.000,0.031,2895,1121,2007
$GC,13916,1.11,374.8,265.0,13.0,1112,13922,0.00,1.92,0.00,0.000,6,0.000,0.031,2895,2403,2007
$GC,14260,1.17,374.8,219.2,13.4,1173,14266,0.00,2.10,0.00,0.000,4,0.000,0.049,2895,3759,2006
$GC,14306,1.17,374.8,212.9,13.3,1181,14312,0.00,1.98,0.00,0.000,6,0.000,0.024,2895,2399,2006
$GC,14650,1.34,429.3,173.2,9.1,1242,14703,0.20,1.92,45.20,0.777,4,0.072,0.029,2988,1109,1780
$GC,14813,1.25,429.3,150.9,14.7,1270,14819,0.17,1.98,0.00,0.000,6,0.185,0.032,2946,2413,1775
$GC,15158,1.34,439.6,101.3,12.3,1331,15172,0.00,2.00,9.20,0.639,4,0.000,0.028,2953,1105,1738
$GC,15246,1.49,461.9,91.2,11.4,1346,15271,0.20,1.92,19.15,0.675,6,0.072,0.031,3025,2388,1648
$GC,15609,1.49,461.9,42.2,13.6,1410,15615,0.00,1.88,0.00,0.000,4,0.000,0.027,3033,1110,1643
$GC,15774,1.51,482.8,21.7,11.5,1439,15798,0.00,1.95,17.12,0.606,6,0.000,0.031,3033,2412,1563
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,1.7,1.003145
$STATE,15916,end surface coast,CONTROL_FINISHED_OK
$STATE,15916,begin surface
$SM_CCo,15993,0.00,0.000,0,0,1557,484.47
$SM_GC,2.84,7.82,0.00,0.00,0.058,0.000,0.000,142,2417,1557,-7.49,-0.28,484.47
$IRIDIUM_FIX,2446.56,12426.23,111098,010114
$TT8_MAMPS,0.029146
$HUMID,1614
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,57.161
$10V_AH,10.7,32.065
$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,24.625,124.725,506.500,0.000,0.000,31.542,34.345,181.852,8.000,0.000,0.000,14.852,2614.419,9873.179,604.433,2675.749,613.373,0.000,1966.567,0.000,2614.307,0.000,54.432,0.000
$DEVICE_MAMPS,235.469,55.991,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,986.873,1006.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78654,1464
$CAP_FILE_SIZE,164342,0
$CFSIZE,260165632,198922240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.201, 53.7,1
$GPS,170709,102115,2500.910,12425.007,39,2.3,59,-3.8