version: 66.04
glider: 167
mission: 2
dive: 350
start: 7 22 109 13 29 6
data:
$ID,167
$MISSION,2
$DIVE,350
$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,-12289.151
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,36
$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
$GPS1,132124,2455.448,12420.822,39,1.6,40,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-66.1
$GPS2,132846,2455.398,12420.911,11,99.0,30,-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,167.0,81413,-24.8,-13.043
$D_GRID,1327
$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,-121.7,0.0,0.0,0,53,0.00,0.00,-35.15,0.000,2,0.000,0.000,141,2489,2396
$GC,56,-1.25,-121.7,3.3,-2.6,6,122,8.25,2.03,-47.83,0.000,4,0.237,0.057,2131,3766,3989
$GC,220,-0.73,-121.7,33.1,-25.6,34,227,0.62,1.88,0.00,0.000,6,0.173,0.021,2305,2437,3989
$GC,566,-1.02,-121.7,77.2,-10.8,95,572,0.22,2.05,0.00,0.000,4,0.058,0.043,2200,3767,3990
$GC,693,-0.90,-121.7,95.5,-15.1,117,699,0.20,1.75,0.00,0.000,6,0.161,0.021,2255,2513,3990
$GC,1038,-1.12,-121.7,136.5,-12.5,178,1045,0.17,1.92,0.00,0.000,4,0.061,0.041,2166,3771,3992
$GC,1136,-0.96,-121.7,152.3,-16.2,195,1142,0.25,1.73,0.00,0.000,6,0.160,0.022,2234,2536,3992
$GC,1483,-1.12,-121.7,192.7,-10.0,256,1490,0.15,1.88,0.00,0.000,4,0.068,0.042,2165,3762,3993
$GC,1572,-0.97,-121.7,204.2,-13.8,271,1578,0.22,1.67,0.00,0.000,6,0.160,0.023,2226,2557,3993
$GC,1919,-1.32,-121.7,239.0,-10.7,332,1927,0.28,1.85,0.00,0.000,4,0.058,0.043,2109,3767,3994
$GC,1945,-1.32,-121.7,242.7,-13.2,336,1953,0.00,1.67,0.00,0.000,6,0.000,0.022,2109,2555,3994
$GC,2292,-1.09,-121.7,299.7,-16.9,397,2299,0.28,1.85,0.00,0.000,4,0.170,0.041,2182,3767,3994
$GC,2344,-1.09,-121.7,307.6,-13.4,402,2350,0.00,1.70,0.00,0.000,6,0.000,0.021,2182,2559,3994
$GC,2672,-1.18,-121.7,343.0,-9.4,433,2675,0.00,1.85,0.00,0.000,4,0.000,0.044,2179,3768,3994
$GC,2764,-1.18,-121.7,353.4,-11.3,441,2767,0.00,1.65,0.00,0.000,6,0.000,0.022,2179,2579,3994
$GC,3097,-1.26,-121.7,387.3,-10.3,472,3104,0.12,0.00,0.00,0.000,6,0.081,0.000,2126,2579,3994
$GC,3423,-1.19,-121.7,432.5,-14.5,503,3427,0.15,1.83,0.00,0.000,4,0.171,0.043,2157,3769,3994
$GC,3491,-1.19,-121.7,441.9,-12.9,509,3495,0.00,1.65,0.00,0.000,6,0.000,0.023,2157,2588,3994
$GC,3822,-1.26,-121.7,476.5,-9.4,540,3826,0.00,2.12,0.00,0.000,4,0.000,0.025,2157,1099,3994
$GC,3856,-1.32,-121.7,479.9,-10.2,543,3860,0.00,2.22,0.00,0.000,6,0.000,0.031,2153,2587,3993
$GC,4180,-1.32,-121.7,513.7,-10.1,567,4184,0.00,1.80,0.00,0.000,4,0.000,0.047,2153,3754,3992
$GC,4297,-1.32,-121.7,526.7,-10.2,572,4301,0.00,1.60,0.00,0.000,6,0.000,0.025,2152,2623,3992
$GC,4626,-1.38,-121.7,556.3,-9.1,588,4628,0.15,0.00,0.00,0.000,6,0.078,0.000,2092,2622,3991
$GC,4934,-1.24,-121.7,595.5,-13.7,603,4938,0.17,1.77,0.00,0.000,4,0.182,0.047,2137,3764,3989
$GC,5009,-1.24,-121.7,605.0,-12.7,606,5012,0.00,1.60,0.00,0.000,6,0.000,0.026,2137,2639,3989
$GC,5336,-1.24,-121.7,641.5,-11.4,622,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2639,3986
$GC,5645,-1.24,-121.7,678.8,-12.4,637,5649,0.00,2.22,0.00,0.000,4,0.000,0.027,2137,1117,3983
$GC,5692,-1.29,-121.7,684.4,-12.0,639,5696,0.00,2.33,0.00,0.000,6,0.000,0.035,2137,2632,3983
$GC,6019,-1.29,-121.7,724.2,-12.2,655,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2633,3980
$GC,6329,-1.29,-121.7,759.3,-11.3,670,6333,0.00,2.25,0.00,0.000,4,0.000,0.027,2136,1106,3978
$GC,6402,-1.35,-121.7,768.2,-12.1,673,6407,0.00,2.30,0.00,0.000,6,0.000,0.035,2129,2619,3977
$GC,6718,-1.35,-121.7,806.8,-12.4,688,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2619,3975
$GC,7028,-1.35,-121.7,842.9,-11.6,703,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2619,3972
$GC,7337,-1.35,-121.7,878.8,-11.5,718,7340,0.00,2.22,0.00,0.000,4,0.000,0.028,2128,1126,3970
$GC,7364,-1.35,-121.7,882.1,-12.1,719,7368,0.00,2.30,0.00,0.000,6,0.000,0.038,2125,2614,3970
$GC,7686,-1.35,-121.7,921.9,-12.4,735,7690,0.00,1.80,0.00,0.000,4,0.000,0.054,2125,3751,3967
$GC,7828,-1.29,-121.7,939.4,-12.5,741,7831,0.00,1.62,0.00,0.000,6,0.000,0.028,2125,2657,3967
$GC,8159,-1.29,-121.7,975.0,-10.6,757,8163,0.00,2.28,0.00,0.000,4,0.000,0.029,2125,1110,3965
$GC,8214,-1.29,-121.7,981.9,-11.5,759,8220,0.00,2.33,0.00,0.000,6,0.000,0.038,2125,2618,3964
$STATE,8280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8280,begin apogee
$GC,8287,-0.22,0.0,990.1,12.3,763,8384,1.17,0.00,91.05,1.403,6,0.166,0.000,2466,2429,3531
$STATE,8385,end apogee,CONTROL_FINISHED_OK
$STATE,8385,begin climb
$GC,8388,1.25,121.7,996.2,0.0,768,8498,1.35,2.30,103.00,1.364,4,0.065,0.049,2945,3755,3035
$GC,8681,0.56,145.3,983.1,11.4,781,8707,0.88,2.08,20.27,1.287,6,0.216,0.026,2732,2383,2938
$GC,9031,0.75,226.0,957.1,7.3,798,9104,0.17,2.20,67.10,1.345,4,0.081,0.034,2802,997,2610
$GC,9169,0.76,230.3,942.4,12.7,804,9178,0.00,2.20,4.70,0.908,6,0.000,0.036,2802,2394,2592
$GC,9495,0.78,243.7,902.1,12.1,820,9509,0.00,0.00,11.93,1.213,6,0.000,0.000,2802,2394,2538
$GC,9805,0.78,250.9,863.6,12.5,835,9819,0.00,2.22,7.07,1.091,4,0.000,0.053,2802,3760,2509
$GC,9877,0.67,250.9,852.8,16.2,838,9882,0.20,2.08,0.00,0.000,6,0.185,0.027,2760,2371,2508
$GC,10200,0.86,277.7,815.6,11.1,854,10230,0.17,2.12,23.88,1.265,4,0.078,0.035,2832,1012,2398
$GC,10314,0.86,277.7,799.8,13.4,859,10317,0.00,2.12,0.00,0.000,6,0.000,0.035,2832,2380,2395
$GC,10640,0.86,277.7,756.2,13.7,875,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2379,2393
$GC,10951,0.86,277.7,711.4,15.6,890,10954,0.00,2.10,0.00,0.000,4,0.000,0.035,2832,998,2392
$GC,11023,0.86,277.7,700.0,15.5,893,11027,0.00,2.12,0.00,0.000,6,0.000,0.037,2832,2376,2391
$GC,11350,0.89,296.7,655.8,11.7,909,11372,0.00,2.20,16.20,1.160,4,0.000,0.053,2832,3758,2321
$GC,11407,0.79,296.7,647.9,14.6,911,11412,0.12,2.08,0.00,0.000,6,0.201,0.027,2804,2370,2320
$GC,11723,0.95,333.8,613.4,10.4,926,11760,0.12,2.15,31.65,1.158,4,0.091,0.034,2854,1012,2170
$GC,11795,0.95,334.5,604.3,13.0,928,11799,0.00,2.15,0.00,0.000,6,0.000,0.035,2854,2386,2167
$GC,12116,0.95,334.8,562.4,13.0,944,12120,0.00,2.10,0.00,0.000,4,0.000,0.034,2854,1009,2163
$GC,12162,0.96,343.5,556.5,12.4,946,12176,0.00,2.10,8.70,1.001,6,0.000,0.035,2855,2375,2131
$GC,12493,0.96,343.5,514.0,13.0,962,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2375,2128
$GC,12807,0.96,343.5,474.0,13.6,986,12811,0.00,2.08,0.00,0.000,4,0.000,0.033,2855,1004,2127
$GC,12843,1.05,343.5,469.1,14.5,989,12847,0.00,2.05,0.00,0.000,6,0.000,0.035,2855,2350,2126
$GC,13174,1.14,364.8,425.8,11.5,1020,13198,0.15,2.12,18.65,0.995,4,0.081,0.031,2921,992,2043
$GC,13239,1.05,364.8,417.3,13.4,1025,13245,0.15,2.05,0.00,0.000,6,0.177,0.036,2884,2319,2042
$GC,13564,1.07,384.2,380.0,11.7,1056,13585,0.00,0.00,16.62,0.943,6,0.000,0.000,2883,2319,1965
$GC,13904,1.12,384.2,334.1,13.6,1088,13907,0.00,2.25,0.00,0.000,4,0.000,0.051,2884,3755,1961
$GC,13950,1.12,384.2,327.4,15.3,1092,13954,0.00,2.15,0.00,0.000,6,0.000,0.025,2892,2315,1960
$GC,14283,1.21,400.1,283.0,11.9,1134,14303,0.12,2.38,14.23,0.846,4,0.087,0.049,2939,3768,1900
$GC,14355,1.01,400.1,272.6,14.9,1146,14363,0.30,2.12,0.00,0.000,6,0.176,0.025,2869,2336,1898
$GC,14703,1.27,442.6,238.3,10.0,1207,14745,0.20,2.00,35.53,0.831,4,0.072,0.031,2956,1002,1727
$GC,14853,1.27,442.6,217.7,13.8,1233,14860,0.00,2.10,0.00,0.000,6,0.000,0.031,2957,2378,1723
$GC,15198,1.27,442.6,166.6,15.0,1294,15204,0.00,2.05,0.00,0.000,4,0.000,0.029,2965,1005,1721
$GC,15289,1.27,442.6,152.4,14.4,1310,15295,0.00,2.03,0.00,0.000,6,0.000,0.031,2965,2351,1721
$GC,15632,1.30,460.1,106.4,11.8,1371,15652,0.00,2.10,15.12,0.684,4,0.000,0.031,2969,992,1655
$GC,15704,1.38,474.3,97.9,12.0,1383,15723,0.00,2.05,12.55,0.658,6,0.000,0.030,2969,2350,1597
$GC,16064,1.51,476.6,53.5,12.9,1446,16071,0.17,2.17,0.00,0.000,4,0.074,0.045,3040,3760,1595
$GC,16151,1.33,476.6,39.8,14.7,1461,16158,0.28,2.17,0.00,0.000,6,0.184,0.023,2978,2254,1594
$STATE,16470,end climb,SURFACE_DEPTH_REACHED
$STATE,16471,begin surface coast
$FINISH,1.7,1.008738
$STATE,16494,end surface coast,CONTROL_FINISHED_OK
$STATE,16496,begin surface
$SM_CCo,16574,0.00,0.000,0,0,1593,475.64
$SM_GC,2.80,7.60,0.00,0.00,0.056,0.000,0.000,138,2495,1593,-7.51,0.34,475.64
$IRIDIUM_FIX,2446.56,12422.92,161098,080825
$TT8_MAMPS,0.028379
$HUMID,1641
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,62.188
$10V_AH,10.7,34.598
$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,24.425,130.525,498.250,0.000,0.000,29.881,37.317,204.452,8.000,0.000,0.000,31.530,2704.919,10385.224,597.116,2661.159,652.705,0.000,1951.894,0.000,2580.930,0.000,54.444,0.000
$DEVICE_MAMPS,237.003,56.758,1402.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.088,1051.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82115,1522
$CAP_FILE_SIZE,167229,0
$CFSIZE,260165632,196554752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,116.7,1
$GPS,220709,180636,2453.458,12421.633,35,1.5,42,-3.7