version: 66.04
glider: 167
mission: 2
dive: 324
start: 7 17 109 10 28 54
data:
$ID,167
$MISSION,2
$DIVE,324
$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,-11724.352
$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,76
$R_STBD_OVSHOOT,34
$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
$GPS1,102115,2500.910,12425.007,39,2.3,59,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-63.6
$GPS2,102834,2501.116,12425.128,11,2.7,30,-3.8
$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,261.3,4430,-24.8,-13.043
$D_GRID,1973
$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,11,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,-28.98,0.000,2,0.000,0.000,141,2418,2295
$GC,49,-1.25,-121.7,3.2,-2.5,5,121,8.20,2.08,-55.85,0.000,4,0.236,0.040,2139,1038,3989
$GC,324,-0.90,-121.7,53.9,-23.9,53,331,0.43,2.10,0.00,0.000,6,0.169,0.030,2248,2443,3990
$GC,669,-1.01,-121.7,103.8,-13.3,114,675,0.00,2.00,0.00,0.000,4,0.000,0.045,2240,3756,3992
$GC,721,-1.01,-121.7,111.1,-13.1,123,730,0.00,1.90,0.00,0.000,6,0.000,0.021,2240,2388,3991
$GC,1069,-1.15,-121.7,151.8,-12.2,184,1075,0.17,2.10,0.00,0.000,4,0.063,0.042,2152,3754,3993
$GC,1244,-0.93,-121.7,182.2,-18.7,215,1252,0.32,1.80,0.00,0.000,6,0.160,0.022,2243,2461,3994
$GC,1591,-1.12,-121.7,224.6,-10.5,276,1599,0.17,2.00,0.00,0.000,4,0.067,0.043,2153,3764,3995
$GC,1835,-0.98,-121.7,258.6,-13.8,319,1843,0.28,1.75,0.00,0.000,6,0.155,0.023,2230,2509,3995
$GC,2183,-1.37,-121.7,293.1,-9.5,380,2189,0.32,0.00,0.00,0.000,6,0.054,0.000,2093,2509,3996
$GC,2511,-1.14,-121.7,340.2,-13.5,415,2515,0.25,1.92,0.00,0.000,4,0.167,0.043,2160,3763,3995
$GC,2571,-1.09,-121.7,347.5,-12.5,420,2575,0.12,1.75,0.00,0.000,6,0.164,0.024,2191,2517,3996
$GC,2902,-1.23,-121.7,382.3,-10.7,451,2906,0.12,1.92,0.00,0.000,4,0.078,0.044,2137,3767,3995
$GC,2930,-1.18,-121.7,386.1,-13.7,453,2936,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2538,3995
$GC,3256,-1.12,-121.7,426.3,-11.8,484,3260,0.17,1.88,0.00,0.000,4,0.163,0.044,2178,3756,3996
$GC,3313,-1.18,-121.7,432.8,-11.3,489,3317,0.00,1.70,0.00,0.000,6,0.000,0.025,2178,2558,3996
$GC,3646,-1.30,-121.7,467.5,-9.8,520,3652,0.15,0.00,0.00,0.000,6,0.075,0.000,2116,2557,3994
$GC,3973,-1.20,-121.7,505.2,-11.4,549,3977,0.15,1.88,0.00,0.000,4,0.170,0.046,2152,3764,3992
$GC,4022,-1.20,-121.7,511.0,-10.0,551,4026,0.00,1.73,0.00,0.000,6,0.000,0.026,2152,2555,3993
$GC,4351,-1.25,-121.7,547.8,-11.8,567,4355,0.00,1.88,0.00,0.000,4,0.000,0.048,2149,3744,3992
$GC,4378,-1.25,-121.7,551.4,-12.3,568,4382,0.00,1.65,0.00,0.000,6,0.000,0.026,2149,2583,3991
$GC,4707,-1.25,-121.7,589.0,-10.7,584,4710,0.00,1.83,0.00,0.000,4,0.000,0.048,2144,3760,3990
$GC,4790,-1.25,-121.7,598.9,-11.0,587,4797,0.00,1.67,0.00,0.000,6,0.000,0.027,2144,2589,3989
$GC,5106,-1.25,-121.7,633.5,-11.2,603,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2589,3986
$GC,5416,-1.25,-121.7,670.2,-11.7,618,5420,0.00,1.83,0.00,0.000,4,0.000,0.050,2139,3760,3984
$GC,5444,-1.25,-121.7,673.8,-12.2,619,5447,0.00,1.65,0.00,0.000,6,0.000,0.028,2139,2616,3984
$GC,5770,-1.25,-121.7,712.9,-11.7,635,5774,0.00,2.28,0.00,0.000,4,0.000,0.027,2139,1050,3981
$GC,5844,-1.30,-121.7,721.7,-12.3,638,5848,0.00,2.33,0.00,0.000,6,0.000,0.035,2138,2578,3981
$GC,6160,-1.30,-121.7,758.4,-11.5,653,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2579,3978
$GC,6471,-1.30,-121.7,793.2,-11.6,668,6475,0.00,2.25,0.00,0.000,4,0.000,0.027,2137,1057,3976
$GC,6510,-1.30,-121.7,798.0,-11.6,670,6515,0.00,2.33,0.00,0.000,6,0.000,0.038,2138,2572,3976
$GC,6837,-1.30,-121.7,837.2,-12.7,686,6841,0.00,2.22,0.00,0.000,4,0.000,0.027,2137,1075,3973
$GC,6940,-1.30,-121.7,850.3,-12.7,690,6944,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2563,3973
$GC,7255,-1.30,-121.7,891.9,-13.3,705,7259,0.00,2.22,0.00,0.000,4,0.000,0.028,2137,1071,3970
$GC,7294,-1.35,-121.7,897.1,-13.4,706,7300,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2560,3970
$GC,7610,-1.35,-121.7,935.7,-12.1,722,7614,0.00,2.22,0.00,0.000,4,0.000,0.029,2137,1071,3968
$GC,7666,-1.35,-121.7,942.8,-12.3,724,7670,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2558,3968
$GC,7988,-1.35,-121.7,980.5,-12.0,740,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2559,3966
$STATE,8067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8072,-0.22,0.0,990.5,12.2,744,8174,1.12,0.00,92.60,1.384,6,0.166,0.000,2464,2560,3532
$STATE,8175,end apogee,CONTROL_FINISHED_OK
$STATE,8175,begin climb
$GC,8177,1.25,121.7,996.1,0.0,749,8289,1.40,2.03,103.20,1.367,4,0.065,0.051,2952,3745,3035
$GC,8475,0.54,145.6,980.3,11.3,763,8501,0.93,1.80,20.40,1.291,6,0.217,0.025,2727,2521,2938
$GC,8826,0.74,223.1,953.1,7.5,780,8898,0.17,2.25,64.40,1.342,4,0.079,0.031,2803,1124,2621
$GC,9011,0.75,232.3,931.7,12.4,788,9025,0.00,2.15,8.68,1.140,6,0.000,0.036,2803,2496,2584
$GC,9333,0.78,258.8,894.0,11.1,804,9360,0.00,2.10,22.50,1.281,4,0.000,0.031,2808,1127,2476
$GC,9433,0.81,281.5,882.0,11.4,808,9461,0.00,2.12,20.02,1.254,6,0.000,0.037,2808,2483,2385
$GC,9772,0.82,284.3,840.1,12.8,825,9776,0.00,2.08,0.00,0.000,4,0.000,0.031,2813,1113,2381
$GC,9855,0.82,284.3,828.4,14.0,828,9863,0.00,2.10,0.00,0.000,6,0.000,0.035,2813,2473,2380
$GC,10171,0.82,284.3,784.3,13.9,844,10175,0.00,2.03,0.00,0.000,4,0.000,0.032,2813,1129,2379
$GC,10217,0.86,284.3,778.2,13.8,846,10221,0.00,2.08,0.00,0.000,6,0.000,0.037,2812,2474,2379
$GC,10550,0.86,284.4,734.7,13.0,862,10554,0.00,2.03,0.00,0.000,4,0.000,0.031,2813,1126,2377
$GC,10611,0.91,284.4,726.6,13.4,864,10618,0.00,2.05,0.00,0.000,6,0.000,0.035,2812,2465,2377
$GC,10927,0.92,290.4,686.7,12.6,880,10942,0.00,2.08,8.23,1.079,4,0.000,0.032,2813,1122,2346
$GC,10976,0.99,290.4,680.2,13.1,882,10980,0.15,2.03,0.00,0.000,6,0.086,0.035,2869,2444,2346
$GC,11303,0.88,290.4,630.4,15.4,898,11308,0.15,1.98,0.00,0.000,4,0.191,0.028,2840,1122,2344
$GC,11342,0.88,290.4,624.6,13.6,899,11348,0.00,2.00,0.00,0.000,6,0.000,0.035,2840,2434,2344
$GC,11658,0.88,297.1,583.8,12.6,915,11671,0.00,2.15,6.78,0.981,4,0.000,0.052,2840,3768,2320
$GC,11779,0.77,297.1,566.0,15.7,920,11784,0.20,1.95,0.00,0.000,6,0.186,0.026,2798,2456,2319
$GC,12100,0.93,316.5,528.2,11.7,936,12124,0.15,2.08,17.15,1.075,4,0.083,0.032,2859,1108,2241
$GC,12181,0.93,316.5,517.0,13.9,939,12185,0.00,2.08,0.00,0.000,6,0.000,0.036,2859,2448,2239
$GC,12507,0.93,316.5,472.0,13.1,964,12511,0.00,2.00,0.00,0.000,4,0.000,0.030,2867,1114,2237
$GC,12610,0.95,331.0,459.2,12.0,973,12632,0.00,2.00,13.10,0.996,6,0.000,0.035,2867,2422,2181
$GC,12951,0.95,331.0,413.2,13.1,1005,12954,0.00,1.95,0.00,0.000,4,0.000,0.031,2869,1121,2179
$GC,13035,0.95,331.4,401.9,13.0,1012,13042,0.00,1.98,0.00,0.000,6,0.000,0.034,2869,2419,2179
$GC,13363,0.95,332.4,361.1,13.0,1043,13367,0.00,1.95,0.00,0.000,4,0.000,0.031,2869,1110,2178
$GC,13420,0.97,350.4,354.1,11.7,1048,13443,0.00,1.95,16.90,0.923,6,0.000,0.033,2868,2396,2102
$GC,13761,0.99,368.7,312.5,11.7,1080,13784,0.00,2.17,15.98,0.878,4,0.000,0.049,2869,3772,2028
$GC,13812,0.99,368.7,306.0,13.9,1084,13819,0.00,2.05,0.00,0.000,6,0.000,0.025,2879,2394,2026
$GC,14153,1.07,374.8,264.0,12.6,1140,14166,0.00,1.90,6.53,0.728,4,0.000,0.031,2884,1111,2002
$GC,14330,1.17,384.1,240.6,12.4,1171,14345,0.12,1.92,8.98,0.759,6,0.085,0.033,2932,2387,1965
$GC,14686,1.21,417.0,197.1,10.7,1233,14720,0.00,1.92,27.80,0.789,4,0.000,0.028,2938,1111,1831
$GC,14830,1.26,417.0,177.8,14.2,1258,14836,0.00,1.92,0.00,0.000,6,0.000,0.032,2938,2378,1826
$GC,15175,1.32,417.0,127.8,13.1,1319,15181,0.00,1.88,0.00,0.000,4,0.000,0.028,2945,1109,1825
$GC,15296,1.45,456.6,114.3,10.2,1340,15334,0.20,1.83,32.28,0.713,6,0.071,0.031,3017,2330,1669
$GC,15674,1.47,475.9,59.4,11.7,1406,15693,0.00,1.88,15.45,0.637,4,0.000,0.028,3024,1106,1592
$GC,15897,1.47,475.9,29.9,14.3,1445,15903,0.00,1.83,0.00,0.000,6,0.000,0.028,3023,2337,1589
$STATE,16083,end climb,SURFACE_DEPTH_REACHED
$STATE,16083,begin surface coast
$FINISH,1.7,1.001490
$STATE,16104,end surface coast,CONTROL_FINISHED_OK
$STATE,16104,begin surface
$SM_CCo,16183,0.00,0.000,0,0,1585,477.35
$SM_GC,2.76,7.78,0.00,0.00,0.058,0.000,0.000,139,2469,1585,-7.50,1.19,477.35
$IRIDIUM_FIX,2448.93,12422.92,111098,050521
$TT8_MAMPS,0.029146
$HUMID,1627
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,57.344
$10V_AH,10.7,32.158
$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,23.250,135.850,500.950,0.000,0.000,29.492,33.323,214.950,8.000,0.000,0.000,31.672,2625.007,10083.748,627.149,2638.112,635.701,0.000,1971.648,0.000,2559.823,0.000,56.043,0.000
$DEVICE_MAMPS,236.236,66.729,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.286,1009.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78851,1482
$CAP_FILE_SIZE,164377,0
$CFSIZE,260165632,198840320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.245, 52.0,1
$GPS,170709,145955,2502.329,12425.043,44,1.6,44,-3.8