version: 66.04
glider: 167
mission: 2
dive: 354
start: 7 23 109 8 38 24
data:
$ID,167
$MISSION,2
$DIVE,354
$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,-12408.688
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,083100,2448.013,12424.902,37,1.6,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-67.4
$GPS2,083802,2448.007,12425.084,15,1.7,15,-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,178.3,66019,-24.8,-13.043
$D_GRID,1211
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-34.85,0.000,2,0.000,0.000,142,2489,2391
$GC,55,-1.25,-121.7,3.1,-2.2,6,117,8.12,2.03,-48.62,0.000,4,0.231,0.054,2122,3763,3989
$GC,280,-0.77,-121.7,46.1,-22.9,45,287,0.60,1.88,0.00,0.000,6,0.173,0.021,2289,2433,3991
$GC,626,-1.25,-121.7,82.4,-9.6,106,634,0.38,2.05,0.00,0.000,4,0.051,0.042,2124,3764,3992
$GC,759,-0.90,-121.7,105.5,-18.7,129,766,0.45,1.80,0.00,0.000,6,0.169,0.022,2250,2476,3992
$GC,1105,-1.13,-121.7,145.2,-10.8,190,1113,0.20,1.98,0.00,0.000,4,0.061,0.042,2153,3764,3993
$GC,1267,-0.94,-121.7,168.9,-15.5,218,1275,0.30,1.75,0.00,0.000,6,0.160,0.022,2236,2508,3994
$GC,1615,-1.12,-121.7,209.8,-10.8,279,1622,0.15,1.90,0.00,0.000,4,0.067,0.041,2166,3754,3994
$GC,1791,-1.00,-121.7,233.4,-13.4,310,1798,0.20,1.70,0.00,0.000,6,0.166,0.023,2219,2537,3995
$GC,2139,-1.21,-121.7,267.9,-8.7,371,2147,0.17,1.88,0.00,0.000,4,0.065,0.042,2137,3764,3995
$GC,2165,-1.21,-121.7,271.2,-11.5,375,2171,0.00,1.73,0.00,0.000,6,0.000,0.022,2137,2512,3995
$GC,2508,-1.11,-121.7,323.3,-14.7,423,2512,0.17,1.90,0.00,0.000,4,0.166,0.042,2178,3753,3995
$GC,2649,-1.11,-121.7,341.8,-12.4,435,2655,0.00,1.67,0.00,0.000,6,0.000,0.024,2178,2556,3995
$GC,2978,-1.35,-121.7,375.0,-11.0,466,2983,0.20,2.05,0.00,0.000,4,0.067,0.023,2090,1104,3995
$GC,3062,-1.17,-121.7,387.7,-15.3,473,3068,0.30,2.12,0.00,0.000,6,0.163,0.030,2167,2537,3995
$GC,3387,-1.24,-121.7,422.3,-10.0,504,3391,0.00,1.85,0.00,0.000,4,0.000,0.045,2165,3758,3995
$GC,3493,-1.24,-121.7,434.6,-11.6,513,3499,0.00,1.70,0.00,0.000,6,0.000,0.024,2165,2549,3995
$GC,3823,-1.32,-121.7,473.5,-12.9,544,3829,0.15,0.00,0.00,0.000,6,0.075,0.000,2101,2549,3995
$GC,4158,-1.20,-121.7,517.5,-10.8,569,4159,0.20,0.00,0.00,0.000,6,0.171,0.000,2153,2549,3994
$GC,4465,-1.25,-121.7,551.2,-10.7,584,4468,0.00,1.85,0.00,0.000,4,0.000,0.047,2149,3757,3993
$GC,4665,-1.25,-121.7,574.9,-12.6,592,4672,0.00,1.73,0.00,0.000,6,0.000,0.025,2149,2545,3993
$GC,4981,-1.36,-121.7,609.6,-10.7,608,4986,0.12,1.88,0.00,0.000,4,0.080,0.045,2093,3751,3990
$GC,5010,-1.25,-121.7,613.2,-12.8,609,5014,0.17,1.73,0.00,0.000,6,0.179,0.025,2137,2543,3990
$GC,5338,-1.25,-121.7,651.5,-12.6,625,5342,0.00,1.88,0.00,0.000,4,0.000,0.047,2130,3753,3989
$GC,5371,-1.19,-121.7,656.3,-14.0,626,5375,0.12,1.73,0.00,0.000,6,0.174,0.025,2159,2548,3988
$GC,5694,-1.34,-121.7,689.5,-9.9,642,5698,0.15,1.90,0.00,0.000,4,0.074,0.048,2098,3763,3986
$GC,5722,-1.25,-121.7,693.1,-13.0,643,5726,0.17,1.73,0.00,0.000,6,0.178,0.026,2142,2565,3985
$GC,6052,-1.31,-121.7,733.3,-11.9,659,6056,0.00,1.85,0.00,0.000,4,0.000,0.050,2137,3750,3983
$GC,6239,-1.31,-121.7,760.3,-13.2,667,6242,0.00,1.67,0.00,0.000,6,0.000,0.027,2137,2586,3981
$GC,6568,-1.36,-121.7,796.8,-10.0,683,6571,0.00,2.12,0.00,0.000,4,0.000,0.027,2137,1122,3979
$GC,6596,-1.41,-121.7,799.9,-10.5,684,6601,0.15,2.17,0.00,0.000,6,0.076,0.035,2081,2558,3979
$GC,6923,-1.26,-121.7,839.5,-13.3,700,6927,0.17,1.85,0.00,0.000,4,0.196,0.048,2124,3750,3976
$GC,6979,-1.19,-121.7,846.7,-12.9,702,6984,0.10,1.70,0.00,0.000,6,0.173,0.027,2154,2600,3975
$GC,7303,-1.30,-121.7,882.9,-11.7,718,7307,0.00,2.15,0.00,0.000,4,0.000,0.027,2154,1125,3973
$GC,7366,-1.45,-121.7,890.7,-12.0,720,7372,0.22,2.17,0.00,0.000,6,0.072,0.035,2072,2555,3973
$GC,7682,-1.28,-121.7,936.3,-14.4,736,7686,0.20,1.88,0.00,0.000,4,0.198,0.050,2118,3757,3971
$GC,7820,-1.21,-121.7,953.2,-12.4,742,7824,0.15,1.70,0.00,0.000,6,0.179,0.028,2154,2595,3970
$GC,8154,-1.31,-121.7,984.9,-10.2,758,8158,0.00,1.85,0.00,0.000,4,0.000,0.053,2152,3747,3968
$STATE,8203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8203,begin apogee
$GC,8213,-0.22,0.0,990.6,11.0,760,8309,1.02,0.00,91.62,1.397,6,0.156,0.000,2462,2420,3532
$STATE,8310,end apogee,CONTROL_FINISHED_OK
$STATE,8310,begin climb
$GC,8313,1.25,121.7,996.0,0.0,765,8425,1.38,2.30,102.80,1.360,4,0.060,0.048,2949,3750,3034
$GC,8663,0.58,160.0,976.8,10.3,781,8707,0.88,2.00,31.90,1.318,6,0.213,0.025,2735,2397,2878
$GC,9016,0.79,242.7,952.6,7.1,798,9091,0.17,2.28,68.47,1.341,4,0.074,0.051,2808,3755,2541
$GC,9151,0.64,242.7,937.6,13.6,804,9156,0.25,2.03,0.00,0.000,6,0.183,0.026,2752,2414,2536
$GC,9472,0.86,277.4,903.3,10.6,820,9507,0.17,2.22,28.77,1.295,4,0.077,0.051,2825,3745,2401
$GC,9553,0.73,277.4,892.7,14.1,823,9560,0.20,1.98,0.00,0.000,6,0.191,0.026,2783,2445,2397
$GC,9870,0.93,340.8,861.8,8.5,839,9933,0.17,2.33,53.65,1.296,4,0.076,0.033,2861,992,2141
$GC,9997,0.93,340.8,842.8,16.3,844,10003,0.00,2.28,0.00,0.000,6,0.000,0.037,2861,2430,2137
$GC,10312,0.93,340.8,790.9,16.8,860,10316,0.00,2.12,0.00,0.000,4,0.000,0.054,2861,3768,2132
$GC,10341,0.81,340.8,785.6,18.7,861,10346,0.25,2.03,0.00,0.000,6,0.184,0.026,2805,2412,2131
$GC,10664,0.96,342.9,742.6,12.9,877,10666,0.15,0.00,0.00,0.000,6,0.084,0.000,2862,2411,2130
$GC,10971,0.96,342.9,697.2,14.9,892,10974,0.00,2.10,0.00,0.000,4,0.000,0.033,2868,1000,2129
$GC,11005,0.96,342.9,692.2,14.6,893,11009,0.00,2.20,0.00,0.000,6,0.000,0.035,2869,2440,2129
$GC,11320,0.96,342.9,649.2,13.1,908,11324,0.00,2.17,0.00,0.000,4,0.000,0.032,2875,997,2128
$GC,11416,0.96,342.9,636.5,14.1,912,11420,0.00,2.15,0.00,0.000,6,0.000,0.035,2875,2407,2127
$GC,11744,0.96,342.9,583.4,16.1,928,11748,0.00,2.12,0.00,0.000,4,0.000,0.052,2875,3765,2127
$GC,11760,0.90,342.9,580.7,14.9,928,11767,0.20,2.05,0.00,0.000,6,0.184,0.026,2833,2369,2127
$GC,12078,1.05,372.6,543.3,10.9,944,12108,0.15,2.05,25.10,1.085,4,0.078,0.031,2899,1013,2013
$GC,12136,1.06,378.7,535.5,12.6,946,12147,0.00,2.12,6.57,0.893,6,0.000,0.033,2899,2388,1988
$GC,12471,1.01,378.7,484.1,16.4,967,12475,0.12,2.10,0.00,0.000,4,0.196,0.031,2878,1002,1983
$GC,12526,1.05,378.7,474.5,15.8,971,12532,0.00,2.12,0.00,0.000,6,0.000,0.033,2878,2397,1983
$GC,12853,1.12,393.5,427.0,12.0,1002,12875,0.00,2.17,13.40,0.956,4,0.000,0.031,2882,1003,1926
$GC,12922,1.24,415.8,418.6,11.4,1008,12948,0.17,2.12,20.17,0.964,6,0.076,0.032,2946,2398,1835
$GC,13274,1.17,415.8,363.3,14.9,1041,13278,0.00,2.12,0.00,0.000,4,0.000,0.048,2947,3758,1829
$GC,13333,1.00,415.8,353.7,16.8,1046,13338,0.32,2.05,0.00,0.000,6,0.183,0.025,2870,2376,1829
$GC,13659,1.22,440.6,315.4,11.3,1076,13685,0.20,2.05,20.50,0.879,4,0.073,0.031,2957,998,1736
$GC,13792,1.22,440.6,296.0,14.5,1090,13799,0.00,2.12,0.00,0.000,6,0.000,0.033,2957,2383,1733
$GC,14137,1.22,440.6,245.3,14.8,1151,14143,0.00,2.08,0.00,0.000,4,0.000,0.029,2966,995,1731
$GC,14240,1.22,440.6,228.7,15.6,1169,14246,0.00,2.03,0.00,0.000,6,0.000,0.032,2966,2337,1731
$GC,14584,1.22,440.6,179.7,14.2,1230,14591,0.00,2.00,0.00,0.000,4,0.000,0.029,2974,988,1731
$GC,14604,1.22,440.6,177.1,13.7,1233,14611,0.15,2.03,0.00,0.000,6,0.184,0.029,2938,2342,1732
$GC,14950,1.34,466.3,139.1,11.2,1294,14975,0.12,0.00,22.20,0.716,6,0.074,0.000,2987,2342,1631
$GC,15316,1.37,485.1,90.9,11.7,1358,15340,0.00,2.22,16.35,0.657,4,0.000,0.045,2987,3754,1552
$GC,15437,1.31,485.1,74.3,13.2,1379,15443,0.00,2.10,0.00,0.000,6,0.000,0.023,2997,2310,1551
$GC,15782,1.44,503.3,29.7,11.7,1440,15802,0.00,1.98,15.90,0.604,4,0.000,0.029,3006,999,1479
$GC,15884,1.55,515.5,17.6,12.2,1457,15903,0.10,1.98,11.05,0.569,6,0.094,0.029,3044,2324,1430
$STATE,15986,end climb,SURFACE_DEPTH_REACHED
$STATE,15986,begin surface coast
$FINISH,1.7,1.021413
$STATE,16004,end surface coast,CONTROL_FINISHED_OK
$STATE,16004,begin surface
$SM_CCo,16082,0.00,0.000,0,0,1427,516.60
$SM_GC,2.68,7.68,0.00,0.00,0.046,0.000,0.000,142,2495,1427,-7.50,0.34,516.60
$IRIDIUM_FIX,2441.81,12421.58,171098,030322
$TT8_MAMPS,0.028379
$HUMID,1617
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,3
$24V_AH,22.8,62.978
$10V_AH,10.7,34.977
$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,27.225,139.475,528.475,0.000,0.000,29.335,45.384,189.468,8.750,0.000,0.000,17.429,2655.958,9863.377,627.514,2684.474,660.451,0.000,2017.817,0.000,2619.248,0.000,54.461,0.000
$DEVICE_MAMPS,230.867,54.457,1396.707,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.149,1030.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78811,1478
$CAP_FILE_SIZE,171802,0
$CFSIZE,260165632,196206592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 67.3,1
$GPS,230709,130736,2446.509,12424.912,35,1.2,36,-3.7