version: 66.04
glider: 167
mission: 2
dive: 344
start: 7 21 109 9 1 42
data:
$ID,167
$MISSION,2
$DIVE,344
$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,-12161.431
$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,78
$R_STBD_OVSHOOT,51
$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
$GPS1,085436,2502.457,12417.856,31,1.3,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.8
$GPS2,090120,2502.436,12418.002,12,1.9,12,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,187.6,95282,-24.8,-13.043
$D_GRID,1938
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.25,0.000,2,0.000,0.000,143,2453,2177
$GC,44,-1.25,-121.7,3.1,-3.2,4,124,8.10,2.05,-62.67,0.000,4,0.232,0.056,2126,3750,3989
$GC,216,-0.72,-121.7,31.0,-25.4,33,223,0.65,1.90,0.00,0.000,6,0.177,0.021,2306,2405,3989
$GC,562,-1.23,-121.7,73.4,-9.3,94,569,0.40,2.08,0.00,0.000,4,0.048,0.042,2133,3749,3991
$GC,807,-0.90,-121.7,116.4,-18.2,137,814,0.43,1.83,0.00,0.000,6,0.168,0.021,2251,2440,3992
$GC,1153,-1.13,-121.7,159.0,-11.4,198,1161,0.17,2.03,0.00,0.000,4,0.064,0.048,2166,3754,3993
$GC,1403,-1.00,-121.7,195.9,-16.0,242,1411,0.20,1.75,0.00,0.000,6,0.160,0.022,2219,2496,3994
$GC,1753,-1.22,-121.7,237.5,-10.6,303,1759,0.20,1.92,0.00,0.000,4,0.061,0.041,2125,3755,3994
$GC,2004,-0.99,-121.7,275.4,-15.6,347,2010,0.35,1.73,0.00,0.000,6,0.161,0.023,2223,2519,3994
$GC,2343,-1.36,-121.7,311.1,-10.0,398,2347,0.30,2.10,0.00,0.000,4,0.055,0.023,2094,1047,3995
$GC,2375,-1.18,-121.7,315.4,-13.7,400,2382,0.25,2.15,0.00,0.000,6,0.166,0.030,2161,2499,3994
$GC,2700,-1.18,-121.7,354.9,-12.2,431,2704,0.00,1.90,0.00,0.000,4,0.000,0.044,2154,3758,3995
$GC,2886,-1.10,-121.7,378.7,-12.1,447,2892,0.12,1.73,0.00,0.000,6,0.166,0.023,2185,2526,3995
$GC,3211,-1.24,-121.7,413.1,-10.8,478,3215,0.12,1.88,0.00,0.000,4,0.073,0.043,2125,3750,3995
$GC,3326,-1.07,-121.7,428.5,-13.2,488,3331,0.28,1.67,0.00,0.000,6,0.163,0.024,2201,2557,3995
$GC,3658,-1.44,-121.7,458.7,-9.0,519,3662,0.30,1.83,0.00,0.000,4,0.058,0.044,2071,3742,3995
$GC,3887,-1.13,-121.7,494.6,-15.3,539,3894,0.38,1.62,0.00,0.000,6,0.173,0.024,2175,2584,3994
$GC,4208,-1.31,-121.7,528.7,-10.1,557,4212,0.15,1.80,0.00,0.000,4,0.074,0.044,2111,3757,3993
$GC,4246,-1.14,-121.7,534.0,-13.6,558,4254,0.25,1.60,0.00,0.000,6,0.166,0.025,2178,2622,3993
$GC,4563,-1.36,-121.7,562.9,-8.2,574,4568,0.20,2.28,0.00,0.000,4,0.064,0.025,2095,1049,3992
$GC,4585,-1.36,-121.7,565.3,-9.8,575,4589,0.00,2.33,0.00,0.000,6,0.000,0.031,2094,2596,3992
$GC,4906,-1.20,-121.7,606.5,-13.7,591,4911,0.20,1.75,0.00,0.000,4,0.176,0.045,2145,3743,3990
$GC,4980,-1.20,-121.7,616.1,-13.1,594,4983,0.00,1.60,0.00,0.000,6,0.000,0.025,2145,2614,3990
$GC,5308,-1.26,-121.7,652.1,-10.2,610,5312,0.00,1.75,0.00,0.000,4,0.000,0.048,2139,3740,3988
$GC,5342,-1.26,-121.7,656.0,-10.7,611,5345,0.00,1.58,0.00,0.000,6,0.000,0.026,2139,2652,3987
$GC,5664,-1.26,-121.7,689.7,-10.7,627,5668,0.00,2.33,0.00,0.000,4,0.000,0.026,2140,1053,3985
$GC,5715,-1.32,-121.7,695.5,-10.9,629,5719,0.00,2.35,0.00,0.000,6,0.000,0.034,2139,2604,3984
$GC,6032,-1.32,-121.7,729.5,-11.0,644,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2604,3982
$GC,6340,-1.32,-121.7,764.4,-11.5,659,6344,0.00,2.28,0.00,0.000,4,0.000,0.026,2139,1060,3980
$GC,6374,-1.38,-121.7,768.5,-11.9,660,6381,0.12,2.33,0.00,0.000,6,0.083,0.035,2090,2589,3980
$GC,6691,-1.24,-121.7,814.1,-15.0,676,6693,0.20,0.00,0.00,0.000,6,0.193,0.000,2140,2589,3977
$GC,6999,-1.24,-121.7,853.4,-12.1,691,7003,0.00,2.25,0.00,0.000,4,0.000,0.026,2140,1075,3974
$GC,7033,-1.32,-121.7,857.6,-11.8,692,7037,0.00,2.30,0.00,0.000,6,0.000,0.035,2139,2570,3974
$GC,7350,-1.32,-121.7,892.9,-11.1,707,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2571,3972
$GC,7658,-1.32,-121.7,928.7,-11.6,722,7661,0.00,1.83,0.00,0.000,4,0.000,0.052,2137,3743,3970
$GC,7720,-1.32,-121.7,936.5,-12.8,724,7726,0.00,1.65,0.00,0.000,6,0.000,0.028,2136,2626,3969
$GC,8036,-1.32,-121.7,973.8,-11.7,740,8040,0.00,2.30,0.00,0.000,4,0.000,0.028,2137,1061,3968
$GC,8086,-1.39,-121.7,979.7,-11.9,742,8091,0.12,2.30,0.00,0.000,6,0.084,0.037,2091,2561,3967
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8178,begin apogee
$GC,8185,-0.22,0.0,991.8,13.3,747,8287,1.35,0.00,93.55,1.379,6,0.184,0.000,2465,2562,3532
$STATE,8288,end apogee,CONTROL_FINISHED_OK
$STATE,8288,begin climb
$GC,8291,1.25,121.7,997.6,0.0,752,8401,1.38,1.98,103.18,1.361,4,0.066,0.050,2945,3740,3036
$GC,8581,0.55,136.7,984.1,12.0,765,8603,0.88,1.80,13.52,1.239,6,0.215,0.024,2730,2513,2973
$GC,8914,0.74,225.3,960.7,6.7,781,8994,0.15,2.17,73.93,1.345,4,0.084,0.029,2789,1129,2612
$GC,9056,0.83,252.8,946.0,11.1,786,9085,0.00,2.15,23.38,1.275,6,0.000,0.036,2789,2486,2500
$GC,9393,0.90,264.1,904.7,12.2,803,9408,0.12,2.03,10.25,1.177,4,0.085,0.052,2834,3758,2454
$GC,9431,0.73,264.1,898.6,16.9,804,9438,0.25,1.88,0.00,0.000,6,0.193,0.027,2778,2512,2453
$GC,9748,0.86,279.9,859.5,11.9,820,9770,0.12,2.15,14.62,1.230,4,0.088,0.033,2831,1097,2390
$GC,9877,0.86,279.9,841.6,13.7,825,9883,0.00,2.17,0.00,0.000,6,0.000,0.035,2831,2500,2387
$GC,10192,0.86,279.9,798.7,13.7,841,10196,0.00,2.10,0.00,0.000,4,0.000,0.031,2837,1106,2385
$GC,10232,0.86,279.9,793.1,15.0,842,10238,0.00,2.12,0.00,0.000,6,0.000,0.037,2837,2486,2385
$GC,10547,0.86,279.9,747.0,14.4,858,10551,0.00,2.08,0.00,0.000,4,0.000,0.031,2841,1106,2384
$GC,10660,0.86,284.3,731.4,12.7,863,10669,0.00,2.05,4.47,0.877,6,0.000,0.036,2842,2442,2372
$GC,10992,0.88,295.1,688.4,12.3,879,11007,0.00,2.03,10.80,1.126,4,0.000,0.031,2841,1107,2328
$GC,11053,0.89,307.3,680.7,12.2,881,11069,0.00,2.08,11.60,1.117,6,0.000,0.036,2841,2449,2279
$GC,11380,0.89,307.3,637.9,13.8,896,11383,0.00,2.03,0.00,0.000,4,0.000,0.031,2841,1107,2275
$GC,11425,0.89,307.3,631.4,14.1,898,11428,0.00,2.05,0.00,0.000,6,0.000,0.037,2841,2435,2275
$GC,11757,0.89,310.6,586.4,12.8,914,11766,0.00,2.05,3.88,0.745,4,0.000,0.032,2841,1105,2264
$GC,11814,0.97,337.5,579.7,11.1,916,11846,0.00,2.03,23.90,1.116,6,0.000,0.035,2841,2432,2155
$GC,12157,1.05,340.2,537.7,12.8,933,12161,0.12,2.00,0.00,0.000,4,0.086,0.030,2899,1107,2150
$GC,12241,0.96,340.2,524.1,16.1,936,12248,0.17,2.03,0.00,0.000,6,0.189,0.037,2854,2423,2150
$GC,12563,1.03,353.3,480.2,12.1,959,12586,0.00,2.05,13.75,1.006,4,0.000,0.030,2861,1103,2090
$GC,12644,1.10,367.5,469.8,12.0,966,12668,0.12,2.00,13.48,0.985,6,0.088,0.033,2909,2407,2031
$GC,12985,1.03,367.5,419.2,14.6,998,12989,0.12,2.12,0.00,0.000,4,0.195,0.049,2880,3758,2028
$GC,13019,0.96,367.5,413.9,14.9,1000,13025,0.12,2.03,0.00,0.000,6,0.193,0.025,2857,2392,2027
$GC,13344,1.10,394.2,375.3,11.1,1031,13371,0.12,1.92,22.38,0.946,4,0.087,0.030,2915,1104,1924
$GC,13470,1.10,394.2,358.5,13.5,1042,13474,0.00,1.98,0.00,0.000,6,0.000,0.034,2914,2392,1921
$GC,13802,1.10,394.2,310.4,13.5,1073,13806,0.00,2.12,0.00,0.000,4,0.000,0.048,2915,3760,1919
$GC,13849,1.01,394.2,303.3,15.3,1077,13853,0.20,2.08,0.00,0.000,6,0.180,0.025,2871,2354,1918
$GC,14192,1.17,401.8,263.7,12.5,1135,14206,0.15,1.85,7.55,0.749,4,0.080,0.028,2936,1087,1892
$GC,14369,1.17,401.8,237.4,13.5,1166,14375,0.00,1.90,0.00,0.000,6,0.000,0.032,2936,2348,1891
$GC,14714,1.20,429.0,192.5,11.1,1227,14745,0.00,2.22,23.48,0.779,4,0.000,0.046,2936,3774,1781
$GC,14775,1.16,429.0,184.9,13.5,1237,14781,0.00,2.15,0.00,0.000,6,0.000,0.023,2943,2304,1779
$GC,15121,1.22,429.0,140.1,13.2,1298,15127,0.00,1.75,0.00,0.000,4,0.000,0.030,2952,1096,1777
$GC,15246,1.29,429.0,123.0,13.5,1320,15252,0.00,1.83,0.00,0.000,6,0.000,0.029,2952,2323,1777
$GC,15591,1.44,484.5,82.1,9.1,1381,15641,0.15,1.90,44.10,0.682,4,0.072,0.028,3019,1095,1556
$GC,15698,1.44,484.5,68.2,13.7,1399,15705,0.00,1.80,0.00,0.000,6,0.000,0.028,3018,2293,1553
$GC,16044,1.44,484.8,25.5,13.0,1460,16050,0.00,2.25,0.00,0.000,4,0.000,0.043,3018,3762,1551
$GC,16102,1.35,484.8,17.7,13.6,1470,16109,0.20,2.22,0.00,0.000,6,0.173,0.021,2978,2227,1551
$STATE,16226,end climb,SURFACE_DEPTH_REACHED
$STATE,16226,begin surface coast
$FINISH,2.0,1.021365
$STATE,16249,end surface coast,CONTROL_FINISHED_OK
$STATE,16249,begin surface
$SM_CCo,16327,0.00,0.000,0,0,1550,486.43
$SM_GC,2.77,7.60,0.00,0.00,0.055,0.000,0.000,142,2469,1550,-7.49,1.19,486.43
$IRIDIUM_FIX,2451.31,12415.70,151098,040416
$TT8_MAMPS,0.029146
$HUMID,1618
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.50
$XPDR_PINGS,1
$24V_AH,23.2,61.064
$10V_AH,10.7,34.038
$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,26.850,144.175,511.800,0.000,0.000,31.038,39.799,188.160,8.250,0.000,0.000,12.477,2666.668,10102.466,638.701,2665.388,646.536,0.000,2012.868,0.000,2607.375,0.000,54.437,0.000
$DEVICE_MAMPS,232.401,55.991,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.585,1035.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78990,1496
$CAP_FILE_SIZE,172467,0
$CFSIZE,260165632,197070848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 15.7,1
$GPS,210709,133506,2501.515,12417.481,42,1.2,42,-3.7