version: 66.04
glider: 167
mission: 2
dive: 424
start: 7 30 109 10 43 5
data:
$ID,167
$MISSION,2
$DIVE,424
$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,770.97791
$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,-14066.285
$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,66
$R_STBD_OVSHOOT,55
$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
$GPS1,102706,2447.544,12420.132,27,1.0,28,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.0
$GPS2,104244,2447.535,12420.052,11,1.8,11,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,278.3,60214,-24.8,-13.043
$D_GRID,837
$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,16,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-33.95,0.000,2,0.000,0.000,143,2503,2173
$GC,55,-1.25,-121.7,3.0,-1.7,6,131,8.23,1.98,-61.97,0.000,4,0.234,0.054,2126,3751,3989
$GC,324,-0.84,-121.7,44.2,-18.1,52,331,0.52,1.83,0.00,0.000,6,0.166,0.021,2274,2445,3990
$GC,670,-1.27,-121.7,82.7,-9.2,113,677,0.35,2.00,0.00,0.000,4,0.100,0.041,2124,3741,3991
$GC,807,-0.99,-121.7,102.9,-14.2,137,814,0.35,1.73,0.00,0.000,6,0.160,0.021,2222,2494,3991
$GC,1152,-1.27,-121.7,138.3,-11.6,198,1160,0.22,1.98,0.00,0.000,4,0.058,0.022,2124,1097,3992
$GC,1208,-1.10,-121.7,146.0,-13.9,207,1215,0.25,2.03,0.00,0.000,6,0.156,0.027,2184,2485,3992
$GC,1555,-1.31,-121.7,184.6,-9.8,268,1561,0.17,1.90,0.00,0.000,4,0.064,0.041,2102,3749,3993
$GC,1575,-1.36,-121.7,186.8,-10.3,271,1581,0.00,1.77,0.00,0.000,6,0.000,0.020,2102,2451,3993
$GC,1920,-1.19,-121.7,232.5,-13.9,332,1927,0.17,2.00,0.00,0.000,4,0.161,0.040,2146,3763,3993
$GC,1962,-1.09,-121.7,238.1,-13.5,339,1969,0.17,1.75,0.00,0.000,6,0.160,0.022,2192,2499,3993
$GC,2307,-1.40,-121.7,270.1,-8.7,400,2313,0.25,1.98,0.00,0.000,4,0.058,0.023,2082,1104,3993
$GC,2349,-1.20,-121.7,274.8,-12.3,407,2357,0.30,2.03,0.00,0.000,6,0.157,0.028,2158,2485,3993
$GC,2697,-1.41,-121.7,312.1,-11.3,459,2699,0.20,0.00,0.00,0.000,6,0.065,0.000,2076,2487,3993
$GC,3018,-1.23,-121.7,351.0,-11.4,489,3024,0.22,0.00,0.00,0.000,6,0.166,0.000,2142,2487,3993
$GC,3347,-1.36,-121.7,381.2,-9.9,520,3351,0.12,2.00,0.00,0.000,4,0.077,0.023,2090,1106,3992
$GC,3420,-1.23,-121.7,390.1,-12.0,526,3428,0.22,2.05,0.00,0.000,6,0.159,0.029,2146,2485,3992
$GC,3745,-1.42,-121.7,422.3,-9.6,557,3749,0.17,2.00,0.00,0.000,4,0.068,0.024,2075,1103,3991
$GC,3764,-1.47,-121.7,424.1,-9.1,558,3771,0.00,2.05,0.00,0.000,6,0.000,0.030,2071,2476,3991
$GC,4090,-1.32,-121.7,460.2,-11.6,589,4094,0.17,1.95,0.00,0.000,4,0.168,0.042,2110,3761,3990
$GC,4163,-1.20,-121.7,468.6,-11.4,595,4171,0.17,1.83,0.00,0.000,6,0.161,0.024,2156,2471,3989
$GC,4488,-1.46,-121.7,499.9,-9.4,626,4494,0.20,2.00,0.00,0.000,4,0.067,0.045,2069,3758,3987
$GC,4512,-1.46,-121.7,502.8,-11.8,628,4516,0.00,1.80,0.00,0.000,6,0.000,0.023,2069,2485,3986
$GC,4846,-1.32,-121.7,541.3,-10.9,644,4848,0.17,0.00,0.00,0.000,6,0.170,0.000,2115,2483,3984
$GC,5155,-1.44,-121.7,571.1,-9.4,659,5158,0.00,1.98,0.00,0.000,4,0.000,0.046,2111,3755,3981
$GC,5183,-1.44,-121.7,574.2,-10.3,660,5187,0.00,1.77,0.00,0.000,6,0.000,0.025,2111,2504,3981
$GC,5512,-1.56,-121.7,606.7,-9.6,676,5516,0.20,2.03,0.00,0.000,4,0.068,0.025,2027,1115,3979
$GC,5654,-1.30,-121.7,623.8,-11.7,682,5659,0.40,2.05,0.00,0.000,6,0.178,0.032,2127,2469,3978
$GC,5979,-1.49,-121.7,653.7,-9.0,698,5983,0.17,2.03,0.00,0.000,4,0.073,0.025,2060,1090,3975
$GC,6018,-1.33,-121.7,658.4,-11.9,699,6025,0.22,2.08,0.00,0.000,6,0.169,0.034,2117,2463,3975
$GC,6336,-1.47,-121.7,689.3,-10.1,715,6340,0.12,2.00,0.00,0.000,4,0.082,0.025,2069,1107,3972
$GC,6352,-1.56,-121.7,691.4,-10.6,715,6359,0.00,2.03,0.00,0.000,6,0.000,0.033,2066,2450,3972
$GC,6669,-1.43,-121.7,727.4,-12.0,731,6673,0.00,2.03,0.00,0.000,4,0.000,0.048,2057,3758,3970
$GC,6927,-1.16,-121.7,761.7,-14.0,742,6932,0.40,1.88,0.00,0.000,6,0.170,0.025,2168,2467,3968
$GC,7247,-1.51,-121.7,789.9,-8.7,757,7251,0.28,2.00,0.00,0.000,4,0.066,0.027,2057,1093,3966
$GC,7287,-1.35,-121.7,794.6,-11.5,759,7292,0.20,2.08,0.00,0.000,6,0.176,0.035,2106,2453,3966
$GC,7618,-1.47,-121.7,828.5,-10.2,775,7622,0.00,2.05,0.00,0.000,4,0.000,0.050,2098,3770,3964
$GC,7658,-1.38,-121.7,833.5,-12.0,776,7664,0.00,1.92,0.00,0.000,6,0.000,0.025,2098,2436,3964
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7710,-0.22,0.0,839.1,11.8,779,7810,1.25,0.00,91.47,1.254,6,0.160,0.000,2464,2435,3532
$STATE,7811,end apogee,CONTROL_FINISHED_OK
$STATE,7811,begin climb
$GC,7815,1.25,121.7,845.6,0.0,784,7924,1.33,2.28,100.85,1.241,4,0.062,0.047,2942,3772,3034
$GC,8003,0.63,184.9,845.7,8.5,792,8061,0.77,2.05,51.65,1.219,6,0.211,0.023,2754,2399,2778
$GC,8383,0.84,254.1,816.0,8.1,811,8448,0.17,2.25,56.40,1.220,4,0.081,0.049,2827,3757,2495
$GC,8519,0.66,254.1,800.0,14.0,817,8523,0.30,2.00,0.00,0.000,6,0.187,0.025,2758,2416,2491
$GC,8847,0.99,313.3,770.9,8.8,833,8902,0.28,2.25,49.03,1.207,4,0.071,0.049,2870,3755,2253
$GC,8979,0.76,313.3,752.0,16.5,839,8983,0.32,1.95,0.00,0.000,6,0.186,0.025,2795,2447,2248
$GC,9307,1.00,355.8,716.3,10.0,855,9351,0.20,2.25,35.38,1.175,4,0.077,0.032,2884,1015,2080
$GC,9488,0.94,355.8,690.5,13.4,863,9493,0.15,2.22,0.00,0.000,6,0.189,0.034,2847,2450,2075
$GC,9815,0.99,355.8,646.6,14.1,879,9818,0.00,2.05,0.00,0.000,4,0.000,0.051,2847,3758,2071
$GC,9833,0.99,355.8,644.0,14.0,879,9840,0.00,1.98,0.00,0.000,6,0.000,0.025,2855,2415,2071
$GC,10150,1.00,366.0,601.9,12.3,895,10164,0.00,2.15,8.62,1.006,4,0.000,0.032,2858,1008,2039
$GC,10199,1.06,366.0,595.1,13.7,897,10202,0.00,2.17,0.00,0.000,6,0.000,0.031,2858,2435,2038
$GC,10526,1.13,382.7,554.0,11.8,913,10548,0.15,2.08,14.95,1.055,4,0.084,0.048,2916,3755,1971
$GC,10573,0.93,382.7,547.4,15.5,915,10578,0.30,2.00,0.00,0.000,6,0.188,0.025,2847,2421,1968
$GC,10902,1.16,410.9,508.2,11.0,931,10934,0.17,2.20,24.88,1.052,4,0.077,0.031,2928,998,1856
$GC,10958,1.08,410.9,500.6,14.7,933,10962,0.12,2.20,0.00,0.000,6,0.183,0.033,2898,2421,1853
$GC,11283,1.08,410.9,458.3,13.8,963,11286,0.00,2.10,0.00,0.000,4,0.000,0.051,2898,3757,1848
$GC,11357,1.01,410.9,447.4,15.1,969,11363,0.15,1.98,0.00,0.000,6,0.186,0.025,2870,2404,1848
$GC,11683,1.34,438.3,409.9,11.1,1000,11715,0.25,2.22,22.88,0.976,4,0.069,0.048,2975,3759,1744
$GC,11803,1.07,438.3,391.9,15.1,1010,11810,0.35,2.03,0.00,0.000,6,0.193,0.025,2895,2381,1741
$GC,12130,1.26,458.2,354.5,11.6,1041,12150,0.17,0.00,17.60,0.913,6,0.076,0.000,2964,2379,1663
$GC,12467,1.17,458.2,302.8,15.3,1073,12471,0.17,2.03,0.00,0.000,4,0.189,0.029,2924,1024,1658
$GC,12588,1.26,463.1,287.0,12.7,1092,12599,0.00,2.10,4.82,0.667,6,0.000,0.031,2924,2411,1644
$GC,12941,1.51,499.0,245.9,10.5,1154,12979,0.25,2.17,30.75,0.838,4,0.063,0.047,3028,3757,1496
$GC,13031,1.24,499.0,230.8,18.2,1169,13037,0.35,1.98,0.00,0.000,6,0.187,0.024,2945,2430,1493
$GC,13379,1.41,510.5,183.5,12.2,1230,13398,0.15,2.12,10.43,0.727,4,0.078,0.046,3003,3748,1449
$GC,13446,1.27,510.5,173.1,15.7,1241,13452,0.22,2.05,0.00,0.000,6,0.187,0.022,2956,2337,1448
$GC,13792,1.61,545.1,130.8,10.6,1302,13829,0.28,2.25,29.38,0.730,4,0.065,0.043,3072,3761,1307
$GC,13866,1.35,545.1,120.2,17.0,1314,13872,0.40,2.00,0.00,0.000,6,0.193,0.022,2978,2407,1305
$GC,14211,1.58,562.5,80.9,11.8,1375,14232,0.17,2.17,14.88,0.658,4,0.076,0.044,3053,3753,1238
$GC,14357,1.45,562.5,57.8,15.2,1400,14364,0.20,2.05,0.00,0.000,6,0.192,0.021,3012,2347,1236
$GC,14703,1.67,576.2,17.2,12.1,1461,14723,0.17,2.25,13.15,0.594,4,0.073,0.041,3089,3759,1181
$STATE,14800,end climb,SURFACE_DEPTH_REACHED
$STATE,14800,begin surface coast
$FINISH,1.7,1.006791
$STATE,14824,end surface coast,CONTROL_FINISHED_OK
$STATE,14824,begin surface
$SM_CCo,14845,150.27,0.592,2,0,389,770.98
$SM_GC,2.50,0.00,0.00,150.27,0.000,0.000,0.592,142,2485,389,-7.51,0.06,770.98
$IRIDIUM_FIX,2439.44,12423.54,241098,101052
$TT8_MAMPS,0.027612
$HUMID,1627
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,26.20
$XPDR_PINGS,2
$24V_AH,23.4,72.253
$10V_AH,10.7,39.245
$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,31.475,134.000,577.100,150.275,0.000,144.129,386.078,0.000,7.000,0.000,0.000,11.997,2627.030,8913.703,849.575,2575.014,965.518,0.000,2194.654,0.000,2518.367,0.000,44.441,0.000
$DEVICE_MAMPS,233.935,54.457,1254.045,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,996.367,1045.049,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78748,1482
$CAP_FILE_SIZE,169505,0
$CFSIZE,260165632,192266240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.043, 95.6,1
$GPS,300709,145431,2447.738,12419.103,41,1.1,41,-3.7