version: 66.04
glider: 167
mission: 2
dive: 328
start: 7 18 109 5 23 18
data:
$ID,167
$MISSION,2
$DIVE,328
$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,-11801.334
$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,56
$R_STBD_OVSHOOT,44
$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
$GPS1,051457,2504.458,12425.198,27,3.2,47,-3.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-61.3
$GPS2,052258,2504.599,12425.431,14,4.4,33,-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,238.2,5883,-24.8,-13.043
$D_GRID,1980
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.25,-121.7,0.0,0.0,0,44,0.00,0.00,-24.73,0.000,2,0.000,0.000,140,2443,2180
$GC,47,-1.25,-121.7,3.0,-3.2,4,126,8.00,2.15,-63.05,0.000,4,0.226,0.040,2143,1019,3989
$GC,196,-0.90,-121.7,23.5,-20.9,29,204,0.43,2.10,0.00,0.000,6,0.168,0.028,2252,2429,3990
$GC,543,-0.90,-121.7,79.4,-14.2,90,549,0.00,2.03,0.00,0.000,4,0.000,0.042,2244,3766,3991
$GC,725,-0.90,-121.7,107.0,-13.6,122,731,0.00,1.92,0.00,0.000,6,0.000,0.021,2245,2379,3992
$GC,1070,-1.04,-121.7,151.7,-11.2,183,1076,0.00,2.10,0.00,0.000,4,0.000,0.041,2233,3758,3993
$GC,1093,-1.16,-121.7,154.6,-11.2,187,1100,0.17,1.83,0.00,0.000,6,0.064,0.021,2158,2440,3994
$GC,1440,-1.09,-121.7,201.2,-12.6,248,1446,0.12,2.00,0.00,0.000,4,0.165,0.041,2182,3753,3995
$GC,1701,-1.09,-121.7,235.0,-13.1,294,1707,0.00,1.80,0.00,0.000,6,0.000,0.022,2182,2462,3996
$GC,2046,-1.14,-121.7,279.8,-12.2,355,2052,0.00,1.98,0.00,0.000,4,0.000,0.044,2178,3751,3996
$GC,2266,-1.14,-121.7,305.4,-9.6,389,2273,0.00,1.77,0.00,0.000,6,0.000,0.023,2179,2480,3996
$GC,2596,-1.21,-121.7,342.7,-13.0,420,2599,0.00,1.95,0.00,0.000,4,0.000,0.044,2178,3751,3996
$GC,2646,-1.21,-121.7,350.2,-14.2,424,2652,0.00,1.77,0.00,0.000,6,0.000,0.024,2178,2483,3996
$GC,2974,-1.31,-121.7,388.9,-11.5,455,2978,0.15,1.95,0.00,0.000,4,0.074,0.044,2110,3750,3996
$GC,3234,-1.07,-121.7,424.8,-14.1,478,3240,0.25,1.77,0.00,0.000,6,0.163,0.024,2194,2521,3995
$GC,3565,-1.25,-121.7,459.2,-10.2,509,3569,0.15,1.90,0.00,0.000,4,0.073,0.044,2126,3757,3993
$GC,3703,-1.09,-121.7,478.9,-15.5,521,3707,0.25,1.73,0.00,0.000,6,0.166,0.025,2193,2546,3993
$GC,4043,-1.29,-121.7,513.0,-8.7,546,4047,0.20,1.88,0.00,0.000,4,0.067,0.045,2106,3761,3992
$GC,4089,-1.08,-121.7,518.0,-11.2,548,4093,0.25,1.75,0.00,0.000,6,0.164,0.025,2196,2560,3991
$GC,4423,-1.44,-121.7,544.3,-7.7,564,4425,0.32,0.00,0.00,0.000,6,0.060,0.000,2071,2560,3990
$GC,4731,-1.22,-121.7,586.6,-14.6,579,4735,0.28,1.85,0.00,0.000,4,0.177,0.045,2141,3752,3988
$GC,4832,-1.17,-121.7,599.0,-12.2,583,4835,0.00,1.73,0.00,0.000,6,0.000,0.025,2141,2541,3987
$GC,5154,-1.17,-121.7,633.4,-10.7,599,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2541,3985
$GC,5462,-1.17,-121.7,664.9,-10.5,614,5466,0.00,1.90,0.00,0.000,4,0.000,0.048,2139,3760,3982
$GC,5563,-1.12,-121.7,676.8,-12.6,618,5568,0.17,1.73,0.00,0.000,6,0.165,0.026,2185,2566,3982
$GC,5887,-1.30,-121.7,709.0,-10.5,634,5891,0.17,1.85,0.00,0.000,4,0.071,0.048,2112,3749,3979
$GC,5981,-1.15,-121.7,722.4,-13.9,638,5986,0.22,1.70,0.00,0.000,6,0.173,0.027,2171,2570,3978
$GC,6313,-1.29,-121.7,758.7,-11.0,654,6317,0.12,1.85,0.00,0.000,4,0.081,0.049,2123,3749,3976
$GC,6359,-1.19,-121.7,765.2,-13.9,656,6363,0.15,1.70,0.00,0.000,6,0.176,0.027,2160,2577,3975
$GC,6694,-1.29,-121.7,802.3,-10.4,672,6698,0.00,1.85,0.00,0.000,4,0.000,0.050,2153,3740,3972
$GC,6740,-1.29,-121.7,807.4,-10.6,674,6744,0.00,1.73,0.00,0.000,6,0.000,0.028,2153,2577,3973
$GC,7073,-1.37,-121.7,843.4,-11.1,690,7078,0.15,2.22,0.00,0.000,4,0.081,0.027,2096,1056,3969
$GC,7096,-1.37,-121.7,846.4,-12.7,691,7100,0.00,2.28,0.00,0.000,6,0.000,0.038,2096,2544,3970
$GC,7417,-1.24,-121.7,890.3,-13.9,707,7421,0.17,1.88,0.00,0.000,4,0.188,0.049,2140,3750,3968
$GC,7490,-1.24,-121.7,900.0,-12.8,710,7493,0.00,1.70,0.00,0.000,6,0.000,0.028,2139,2579,3968
$GC,7817,-1.24,-121.7,938.5,-11.7,726,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2579,3966
$GC,8126,-1.24,-121.7,974.4,-11.4,741,8134,0.00,1.85,0.00,0.000,4,0.000,0.053,2139,3748,3964
$GC,8185,-1.24,-121.7,981.6,-12.6,743,8189,0.00,1.70,0.00,0.000,6,0.000,0.028,2139,2579,3964
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8256,begin apogee
$GC,8262,-0.22,0.0,990.1,11.5,747,8363,1.12,0.00,92.38,1.382,6,0.165,0.000,2466,2578,3532
$STATE,8363,end apogee,CONTROL_FINISHED_OK
$STATE,8364,begin climb
$GC,8366,1.25,121.7,995.2,0.0,752,8478,1.40,2.05,103.38,1.365,4,0.066,0.049,2952,3750,3034
$GC,8732,0.54,146.8,972.2,11.2,769,8759,0.93,1.80,21.25,1.295,6,0.219,0.025,2728,2525,2933
$GC,9090,0.76,240.5,948.0,6.3,786,9174,0.17,2.20,78.45,1.345,4,0.080,0.030,2792,1126,2549
$GC,9209,0.85,258.1,936.0,11.8,792,9231,0.00,2.17,15.65,1.233,6,0.000,0.033,2792,2492,2479
$GC,9541,0.92,273.2,896.9,12.0,808,9563,0.15,2.15,13.27,1.223,4,0.087,0.030,2855,1120,2417
$GC,9678,0.84,273.2,876.2,15.4,814,9683,0.15,2.12,0.00,0.000,6,0.189,0.035,2819,2491,2415
$GC,10012,0.84,273.2,829.1,14.4,830,10016,0.00,2.05,0.00,0.000,4,0.000,0.029,2828,1119,2413
$GC,10095,0.84,273.2,816.4,15.6,833,10102,0.00,2.08,0.00,0.000,6,0.000,0.035,2828,2470,2413
$GC,10411,0.84,273.2,768.9,15.0,849,10415,0.00,2.03,0.00,0.000,4,0.000,0.032,2828,1123,2412
$GC,10525,0.84,273.2,753.0,13.3,854,10528,0.00,2.05,0.00,0.000,6,0.000,0.036,2828,2461,2411
$GC,10857,0.84,273.2,708.0,13.4,870,10861,0.00,2.03,0.00,0.000,4,0.000,0.031,2828,1113,2410
$GC,10907,0.86,286.7,701.7,12.1,872,10924,0.00,2.05,11.77,1.151,6,0.000,0.036,2828,2453,2363
$GC,11233,0.86,286.7,658.8,13.3,888,11236,0.00,2.00,0.00,0.000,4,0.000,0.032,2828,1127,2361
$GC,11290,0.92,293.6,651.5,12.6,890,11302,0.00,2.00,7.28,1.030,6,0.000,0.036,2828,2432,2335
$GC,11611,0.92,297.9,609.1,12.7,906,11620,0.00,1.98,5.38,0.916,4,0.000,0.032,2828,1127,2316
$GC,11643,1.00,312.8,604.9,12.0,907,11664,0.10,1.98,14.07,1.102,6,0.097,0.037,2865,2416,2255
$GC,11982,0.93,312.8,558.0,13.9,924,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2416,2251
$GC,12289,0.88,312.8,512.8,14.4,939,12291,0.15,0.00,0.00,0.000,6,0.189,0.000,2830,2417,2251
$GC,12607,1.00,344.9,476.5,10.7,964,12642,0.12,2.00,26.90,1.052,4,0.090,0.032,2882,1117,2123
$GC,12714,1.01,359.5,462.2,12.0,973,12733,0.00,1.98,13.07,0.979,6,0.000,0.035,2882,2394,2066
$GC,13051,1.03,375.7,417.1,11.9,1005,13074,0.00,2.00,14.27,0.958,4,0.000,0.030,2885,1115,1999
$GC,13124,1.04,379.1,407.5,12.8,1011,13134,0.00,1.92,4.25,0.683,6,0.000,0.033,2885,2365,1986
$GC,13460,1.05,385.6,365.3,12.6,1043,13472,0.00,1.88,6.07,0.789,4,0.000,0.030,2885,1110,1963
$GC,13506,1.10,385.6,359.1,14.2,1047,13510,0.00,1.90,0.00,0.000,6,0.000,0.033,2885,2354,1962
$GC,13840,1.15,385.6,311.4,15.0,1078,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2354,1962
$GC,14179,1.21,385.6,263.2,15.0,1132,14186,0.15,1.85,0.00,0.000,4,0.081,0.029,2945,1109,1962
$GC,14293,1.12,385.6,244.9,15.7,1152,14299,0.15,1.85,0.00,0.000,6,0.180,0.034,2909,2337,1961
$GC,14637,1.13,388.9,197.8,12.8,1213,14651,0.00,1.85,5.35,0.644,4,0.000,0.030,2915,1117,1946
$GC,14663,1.16,418.3,195.0,10.9,1217,14700,0.00,1.77,27.42,0.752,6,0.000,0.031,2915,2304,1825
$GC,15040,1.34,458.7,150.0,10.1,1283,15083,0.17,2.30,33.47,0.752,4,0.073,0.044,2990,3763,1659
$GC,15148,1.19,458.7,132.4,16.6,1301,15156,0.28,2.17,0.00,0.000,6,0.182,0.023,2929,2296,1656
$GC,15495,1.50,511.2,93.5,9.3,1362,15543,0.25,1.80,41.55,0.696,4,0.066,0.030,3035,1120,1446
$GC,15679,1.50,511.2,68.2,13.3,1394,15685,0.00,1.75,0.00,0.000,6,0.000,0.029,3035,2285,1441
$GC,16024,1.44,511.2,17.2,14.6,1455,16030,0.00,1.73,0.00,0.000,4,0.000,0.028,3042,1102,1441
$STATE,16112,end climb,SURFACE_DEPTH_REACHED
$STATE,16112,begin surface coast
$FINISH,1.8,1.014811
$STATE,16131,end surface coast,CONTROL_FINISHED_OK
$STATE,16131,begin surface
$SM_CCo,16211,0.00,0.000,0,0,1438,513.66
$SM_GC,2.61,7.78,0.00,0.00,0.054,0.000,0.000,140,2447,1438,-7.50,0.57,513.66
$IRIDIUM_FIX,2453.69,12425.61,121098,000059
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,58.095
$10V_AH,10.7,32.535
$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,24.825,127.400,535.250,0.000,0.000,31.301,33.981,248.702,8.000,0.000,0.000,34.420,2617.771,10065.822,655.470,2668.838,670.571,0.000,2005.599,0.000,2581.678,0.000,54.447,0.000
$DEVICE_MAMPS,226.265,52.923,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.544,1013.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78857,1474
$CAP_FILE_SIZE,167200,0
$CFSIZE,260165632,198488064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094, 71.9,1
$GPS,180709,095437,2504.395,12424.545,33,1.2,34,-3.8