version: 66.04
glider: 167
mission: 2
dive: 345
start: 7 21 109 13 42 15
data:
$ID,167
$MISSION,2
$DIVE,345
$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,-12176.543
$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,59
$R_STBD_OVSHOOT,66
$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
$GPS1,133506,2501.515,12417.481,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-68.1
$GPS2,134154,2501.509,12417.585,10,1.5,14,-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,167.4,94046,-24.8,-13.043
$D_GRID,1911
$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,-29.02,0.000,2,0.000,0.000,142,2469,2289
$GC,50,-1.25,-121.7,3.2,-2.5,5,119,8.23,0.00,-58.42,0.000,6,0.236,0.000,2139,2469,3988
$GC,457,-0.97,-121.7,77.6,-18.2,76,463,0.28,1.92,0.00,0.000,4,0.169,0.041,2213,3730,3990
$GC,624,-0.91,-121.7,103.9,-15.0,105,631,0.15,1.90,0.00,0.000,6,0.164,0.021,2252,2375,3991
$GC,969,-1.15,-121.7,141.8,-9.3,166,976,0.17,2.10,0.00,0.000,4,0.064,0.041,2166,3741,3993
$GC,1061,-0.98,-121.7,153.5,-13.5,182,1068,0.22,1.88,0.00,0.000,6,0.159,0.021,2226,2395,3993
$GC,1407,-1.17,-121.7,193.1,-11.1,243,1414,0.17,2.05,0.00,0.000,4,0.066,0.041,2137,3735,3994
$GC,1652,-0.98,-121.7,229.9,-15.9,286,1659,0.32,1.70,0.00,0.000,6,0.161,0.022,2228,2511,3994
$GC,2001,-1.37,-121.7,266.8,-8.8,347,2009,0.32,2.08,0.00,0.000,4,0.055,0.023,2094,1051,3994
$GC,2033,-1.27,-121.7,270.5,-12.6,352,2040,0.17,2.08,0.00,0.000,6,0.170,0.028,2129,2461,3994
$GC,2371,-1.17,-121.7,314.4,-13.2,403,2376,0.15,1.98,0.00,0.000,4,0.176,0.043,2165,3767,3994
$GC,2445,-1.12,-121.7,323.9,-12.5,409,2451,0.00,1.80,0.00,0.000,6,0.000,0.021,2165,2466,3994
$GC,2771,-1.17,-121.7,360.4,-11.8,440,2775,0.00,1.98,0.00,0.000,4,0.000,0.044,2162,3758,3995
$GC,2901,-1.17,-121.7,377.6,-13.0,451,2908,0.00,1.73,0.00,0.000,6,0.000,0.022,2162,2518,3994
$GC,3232,-1.22,-121.7,415.7,-11.0,482,3236,0.00,2.08,0.00,0.000,4,0.000,0.025,2162,1063,3994
$GC,3294,-1.29,-121.7,423.9,-11.3,487,3301,0.00,2.17,0.00,0.000,6,0.000,0.030,2155,2527,3995
$GC,3619,-1.35,-121.7,457.1,-9.4,518,3623,0.12,1.88,0.00,0.000,4,0.079,0.044,2098,3764,3994
$GC,3800,-1.14,-121.7,481.3,-13.3,534,3804,0.28,1.70,0.00,0.000,6,0.168,0.024,2173,2562,3993
$GC,4142,-1.32,-121.7,515.4,-10.2,559,4144,0.15,0.00,0.00,0.000,6,0.071,0.000,2111,2562,3992
$GC,4449,-1.25,-121.7,551.5,-10.7,574,4453,0.12,1.83,0.00,0.000,4,0.168,0.045,2137,3753,3991
$GC,4497,-1.20,-121.7,556.7,-10.4,576,4500,0.00,1.67,0.00,0.000,6,0.000,0.025,2137,2575,3991
$GC,4830,-1.20,-121.7,590.2,-10.2,592,4833,0.00,2.17,0.00,0.000,4,0.000,0.026,2137,1070,3989
$GC,4853,-1.20,-121.7,592.5,-9.9,593,4857,0.00,2.25,0.00,0.000,6,0.000,0.033,2137,2555,3989
$GC,5182,-1.20,-121.7,626.0,-10.5,609,5185,0.00,1.85,0.00,0.000,4,0.000,0.049,2137,3764,3987
$GC,5232,-1.20,-121.7,632.1,-11.2,611,5235,0.00,1.67,0.00,0.000,6,0.000,0.026,2136,2589,3986
$GC,5559,-1.20,-121.7,668.2,-11.1,627,5562,0.00,1.83,0.00,0.000,4,0.000,0.049,2137,3758,3984
$GC,5598,-1.20,-121.7,672.8,-11.5,628,5604,0.00,1.65,0.00,0.000,6,0.000,0.026,2137,2605,3984
$GC,5915,-1.20,-121.7,706.1,-10.9,644,5918,0.00,2.22,0.00,0.000,4,0.000,0.027,2136,1082,3981
$GC,6015,-1.20,-121.7,717.7,-11.1,648,6019,0.00,2.30,0.00,0.000,6,0.000,0.035,2137,2581,3980
$GC,6333,-1.20,-121.7,752.2,-11.0,663,6337,0.00,2.22,0.00,0.000,4,0.000,0.026,2137,1069,3978
$GC,6372,-1.25,-121.7,756.7,-11.5,664,6378,0.00,2.30,0.00,0.000,6,0.000,0.035,2136,2578,3978
$GC,6689,-1.25,-121.7,789.4,-10.2,680,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2578,3975
$GC,6997,-1.25,-121.7,821.2,-10.6,695,7000,0.00,2.22,0.00,0.000,4,0.000,0.026,2136,1081,3973
$GC,7047,-1.31,-121.7,826.9,-11.1,697,7051,0.00,2.28,0.00,0.000,6,0.000,0.035,2133,2560,3973
$GC,7369,-1.31,-121.7,863.2,-11.7,713,7373,0.00,1.88,0.00,0.000,4,0.000,0.051,2125,3750,3971
$GC,7402,-1.26,-121.7,867.6,-13.1,714,7406,0.00,1.67,0.00,0.000,6,0.000,0.027,2125,2592,3970
$GC,7723,-1.26,-121.7,906.7,-12.2,730,7727,0.00,2.22,0.00,0.000,4,0.000,0.027,2124,1069,3968
$GC,7848,-1.26,-121.7,921.8,-12.1,735,7852,0.00,2.28,0.00,0.000,6,0.000,0.037,2124,2553,3967
$GC,8163,-1.26,-121.7,959.6,-12.2,750,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2553,3966
$STATE,8428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8428,begin apogee
$GC,8435,-0.22,0.0,990.7,11.5,763,8534,1.17,0.00,90.95,1.402,6,0.165,0.000,2466,2553,3532
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8538,1.25,121.7,995.6,0.0,768,8650,1.38,2.30,103.68,1.365,4,0.063,0.028,2958,1146,3034
$GC,8698,0.75,172.0,997.0,9.4,775,8748,0.68,2.17,43.05,1.328,6,0.215,0.035,2793,2512,2830
$GC,9059,0.73,214.1,960.8,10.0,793,9101,0.00,2.12,35.05,1.319,4,0.000,0.029,2801,1151,2658
$GC,9152,0.76,237.1,950.2,11.4,797,9178,0.00,2.12,20.38,1.269,6,0.000,0.038,2800,2497,2565
$GC,9495,0.77,247.1,908.6,12.3,814,9506,0.00,0.00,8.98,1.154,6,0.000,0.000,2800,2497,2524
$GC,9802,0.78,253.4,869.9,12.6,829,9813,0.00,2.10,6.47,1.063,4,0.000,0.031,2805,1154,2499
$GC,9898,0.78,253.4,857.3,13.2,833,9901,0.00,2.08,0.00,0.000,6,0.000,0.038,2805,2493,2498
$GC,10219,0.79,263.4,816.1,12.3,849,10231,0.00,0.00,9.80,1.164,6,0.000,0.000,2805,2493,2458
$GC,10530,0.82,285.5,778.4,11.5,864,10554,0.00,2.08,20.20,1.237,4,0.000,0.031,2813,1151,2368
$GC,10634,0.90,299.0,765.2,12.1,868,10653,0.00,2.10,12.80,1.168,6,0.000,0.037,2813,2495,2313
$GC,10973,0.98,312.2,724.4,12.1,885,10994,0.15,2.10,12.00,1.147,4,0.079,0.031,2876,1154,2258
$GC,11068,0.89,312.2,709.2,16.1,889,11072,0.17,2.05,0.00,0.000,6,0.190,0.038,2834,2470,2256
$GC,11389,0.89,312.2,665.4,13.3,905,11392,0.00,1.98,0.00,0.000,4,0.000,0.030,2842,1154,2254
$GC,11444,0.89,312.2,657.4,13.6,907,11448,0.00,2.00,0.00,0.000,6,0.000,0.036,2842,2457,2254
$GC,11765,0.89,312.2,614.5,13.3,923,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2457,2254
$GC,12076,0.89,312.2,572.9,13.6,938,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2456,2253
$GC,12384,0.89,315.5,531.2,12.8,953,12388,0.00,1.95,0.00,0.000,4,0.000,0.031,2849,1146,2252
$GC,12417,0.91,333.5,526.9,11.7,954,12442,0.00,2.00,18.33,1.077,6,0.000,0.035,2849,2459,2171
$GC,12765,0.93,347.3,484.0,12.1,977,12786,0.00,2.05,12.45,1.008,4,0.000,0.030,2856,1144,2116
$GC,12859,1.02,358.9,472.3,12.2,985,12876,0.00,1.98,11.27,0.978,6,0.000,0.034,2855,2432,2068
$GC,13194,1.11,368.8,431.7,12.3,1017,13206,0.12,0.00,9.48,0.930,6,0.084,0.000,2907,2432,2028
$GC,13524,1.05,368.8,387.4,13.1,1048,13528,0.00,1.92,0.00,0.000,4,0.000,0.030,2915,1145,2025
$GC,13642,0.99,368.8,369.9,14.9,1058,13648,0.20,2.00,0.00,0.000,6,0.176,0.034,2863,2459,2025
$GC,13967,1.13,384.5,329.4,11.9,1089,13989,0.15,2.00,13.77,0.890,4,0.077,0.028,2927,1149,1963
$GC,14028,1.13,384.5,320.6,14.7,1094,14034,0.00,2.00,0.00,0.000,6,0.000,0.035,2927,2454,1962
$GC,14364,1.08,388.0,273.4,12.8,1142,14374,0.12,2.00,4.18,0.611,4,0.181,0.028,2902,1151,1950
$GC,14426,1.14,392.4,265.5,12.7,1152,14438,0.00,1.95,5.65,0.698,6,0.000,0.034,2902,2431,1932
$GC,14778,1.21,397.4,218.7,12.7,1214,14791,0.00,2.05,5.68,0.666,4,0.000,0.048,2903,3761,1913
$GC,14810,1.21,397.4,214.2,14.3,1219,14817,0.00,1.88,0.00,0.000,6,0.000,0.024,2911,2463,1913
$GC,15157,1.32,422.9,173.6,11.2,1280,15187,0.17,2.00,22.50,0.766,4,0.074,0.028,2993,1130,1806
$GC,15230,1.18,422.9,163.0,14.5,1292,15236,0.28,2.00,0.00,0.000,6,0.192,0.032,2925,2448,1805
$GC,15576,1.29,431.4,118.4,12.4,1353,15589,0.10,2.10,8.05,0.642,4,0.088,0.048,2967,3766,1772
$GC,15759,1.17,431.4,91.5,13.8,1385,15766,0.20,2.00,0.00,0.000,6,0.178,0.022,2925,2381,1771
$GC,16104,1.49,488.6,57.8,8.9,1446,16157,0.25,1.88,46.08,0.663,4,0.064,0.028,3034,1116,1538
$GC,16259,1.50,492.9,37.7,12.7,1473,16271,0.00,1.90,4.65,0.470,6,0.000,0.030,3034,2375,1521
$STATE,16509,end climb,SURFACE_DEPTH_REACHED
$STATE,16509,begin surface coast
$FINISH,1.7,1.010010
$STATE,16533,end surface coast,CONTROL_FINISHED_OK
$STATE,16533,begin surface
$SM_CCo,16611,0.00,0.000,0,0,1516,494.52
$SM_GC,2.69,7.68,0.00,0.00,0.048,0.000,0.000,142,2434,1516,-7.49,0.20,494.52
$IRIDIUM_FIX,2451.31,12422.30,151098,090950
$TT8_MAMPS,0.029146
$HUMID,1643
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.4,61.251
$10V_AH,10.7,34.131
$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,23.700,128.400,525.425,0.000,0.000,25.477,40.643,193.242,8.250,0.000,0.000,14.484,2684.660,10418.150,644.944,2625.595,632.726,0.000,1989.350,0.000,2568.738,0.000,54.435,0.000
$DEVICE_MAMPS,236.236,150.332,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.632,1051.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81984,1522
$CAP_FILE_SIZE,167683,0
$CFSIZE,260165632,196988928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 63.8,1
$GPS,210709,182024,2500.183,12418.440,25,1.8,44,-3.7