version: 66.04
glider: 167
mission: 2
dive: 429
start: 7 31 109 8 27 18
data:
$ID,167
$MISSION,2
$DIVE,429
$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,475
$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,-14178.32
$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,20.75
$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,88
$R_STBD_OVSHOOT,33
$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
$GPS1,081506,2446.869,12416.863,30,1.2,31,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-63.6
$GPS2,082658,2446.922,12416.745,12,2.2,31,-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,274.3,54534,-24.8,-13.043
$D_GRID,783
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.34,-121.7,0.0,0.0,0,63,0.00,0.00,-41.72,0.000,2,0.000,0.000,143,2491,2249
$GC,67,-1.34,-121.7,3.1,-2.2,7,139,8.18,2.00,-55.83,0.000,4,0.236,0.054,2101,3758,3990
$GC,394,-0.90,-121.7,60.0,-19.5,64,401,0.52,1.80,0.00,0.000,6,0.159,0.021,2251,2469,3990
$GC,740,-1.27,-121.7,96.7,-9.1,125,748,0.30,2.00,0.00,0.000,4,0.051,0.041,2112,3774,3991
$GC,766,-1.27,-121.7,99.7,-10.8,129,773,0.00,1.83,0.00,0.000,6,0.000,0.021,2112,2450,3991
$GC,1114,-1.04,-121.7,147.7,-14.7,190,1121,0.30,2.03,0.00,0.000,4,0.157,0.038,2193,3778,3992
$GC,1150,-1.04,-121.7,152.8,-12.2,196,1156,0.00,1.77,0.00,0.000,6,0.000,0.021,2192,2489,3993
$GC,1496,-1.28,-121.7,190.0,-11.0,257,1504,0.17,1.95,0.00,0.000,4,0.064,0.021,2117,1106,3994
$GC,1533,-1.19,-121.7,194.8,-13.3,263,1540,0.17,2.05,0.00,0.000,6,0.161,0.027,2156,2501,3994
$GC,1882,-1.34,-121.7,231.2,-9.7,324,1889,0.12,2.00,0.00,0.000,4,0.076,0.021,2104,1107,3994
$GC,1920,-1.19,-121.7,235.4,-11.6,330,1927,0.22,2.00,0.00,0.000,6,0.158,0.027,2160,2473,3994
$GC,2267,-1.38,-121.7,270.2,-10.5,391,2273,0.17,1.95,0.00,0.000,4,0.067,0.021,2078,1114,3993
$GC,2292,-1.38,-121.7,273.4,-12.1,395,2298,0.12,1.95,0.00,0.000,6,0.174,0.026,2100,2449,3994
$GC,2630,-1.27,-121.7,315.0,-10.8,444,2634,0.12,1.95,0.00,0.000,4,0.170,0.040,2125,3758,3994
$GC,2783,-1.15,-121.7,332.8,-10.5,457,2791,0.17,1.80,0.00,0.000,6,0.156,0.021,2172,2463,3994
$GC,3109,-1.39,-121.7,361.4,-8.7,488,3113,0.20,1.92,0.00,0.000,4,0.064,0.021,2084,1106,3994
$GC,3181,-1.20,-121.7,368.8,-10.8,494,3185,0.28,1.98,0.00,0.000,6,0.158,0.029,2160,2442,3994
$GC,3506,-1.44,-121.7,398.8,-9.5,524,3508,0.22,0.00,0.00,0.000,6,0.063,0.000,2068,2443,3992
$GC,3825,-1.27,-121.7,440.2,-12.3,554,3826,0.22,0.00,0.00,0.000,6,0.165,0.000,2130,2443,3992
$GC,4144,-1.40,-121.7,470.7,-9.4,584,4149,0.12,1.92,0.00,0.000,4,0.080,0.025,2079,1105,3991
$GC,4236,-1.24,-121.7,481.5,-11.4,592,4240,0.25,1.98,0.00,0.000,6,0.156,0.030,2141,2436,3990
$GC,4577,-1.44,-121.7,511.5,-9.2,618,4581,0.17,1.92,0.00,0.000,4,0.071,0.024,2062,1112,3989
$GC,4639,-1.24,-121.7,519.3,-12.1,620,4646,0.30,1.92,0.00,0.000,6,0.162,0.030,2141,2409,3988
$GC,4958,-1.46,-121.7,552.1,-10.0,636,4962,0.20,2.08,0.00,0.000,4,0.068,0.045,2054,3760,3985
$GC,5003,-1.17,-121.7,558.0,-13.2,638,5008,0.40,1.92,0.00,0.000,6,0.166,0.023,2166,2405,3985
$GC,5327,-1.47,-121.7,584.3,-7.6,654,5332,0.25,1.85,0.00,0.000,4,0.064,0.025,2060,1117,3983
$GC,5368,-1.30,-121.7,588.4,-10.5,655,5375,0.25,1.92,0.00,0.000,6,0.166,0.031,2124,2408,3982
$GC,5685,-1.47,-121.7,616.7,-9.2,671,5689,0.15,1.90,0.00,0.000,4,0.075,0.025,2064,1103,3980
$GC,5742,-1.31,-121.7,623.1,-11.2,673,5747,0.17,1.92,0.00,0.000,6,0.151,0.031,2120,2375,3979
$GC,6066,-1.47,-121.7,653.9,-9.5,689,6070,0.15,1.85,0.00,0.000,4,0.074,0.025,2061,1106,3977
$GC,6106,-1.31,-121.7,658.8,-12.3,690,6113,0.22,1.88,0.00,0.000,6,0.164,0.031,2118,2363,3977
$GC,6424,-1.46,-121.7,693.4,-10.7,706,6428,0.12,1.83,0.00,0.000,4,0.081,0.025,2069,1113,3974
$GC,6449,-1.46,-121.7,696.3,-12.3,707,6453,0.00,1.85,0.00,0.000,6,0.000,0.032,2068,2342,3974
$GC,6784,-1.34,-121.7,734.3,-10.6,723,6788,0.17,2.17,0.00,0.000,4,0.173,0.045,2111,3750,3972
$GC,6920,-1.29,-121.7,747.7,-9.0,729,6924,0.00,1.98,0.00,0.000,6,0.000,0.024,2111,2364,3971
$GC,7249,-1.42,-121.7,774.1,-8.1,745,7253,0.00,1.80,0.00,0.000,4,0.000,0.028,2111,1113,3969
$GC,7295,-1.42,-121.7,778.3,-8.5,747,7299,0.00,1.88,0.00,0.000,6,0.000,0.032,2110,2357,3969
$STATE,7357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7357,begin apogee
$GC,7364,-0.24,0.0,784.1,8.8,750,7464,1.17,0.00,91.85,1.212,6,0.148,0.000,2466,2359,3532
$STATE,7465,end apogee,CONTROL_FINISHED_OK
$STATE,7465,begin climb
$GC,7469,1.34,121.7,789.7,0.0,755,7578,1.42,2.08,100.07,1.197,4,0.062,0.027,2986,1037,3034
$GC,7747,0.84,196.7,781.7,7.7,767,7813,0.68,2.10,59.80,1.185,6,0.211,0.034,2815,2409,2730
$GC,8129,0.83,250.8,746.5,9.2,786,8180,0.00,2.22,43.90,1.171,4,0.000,0.049,2815,3745,2509
$GC,8199,0.78,269.3,738.9,11.7,789,8220,0.00,1.98,16.75,1.094,6,0.000,0.023,2824,2414,2434
$GC,8544,0.82,298.9,700.6,10.9,806,8575,0.00,2.15,25.05,1.137,4,0.000,0.031,2830,1027,2312
$GC,8668,0.90,323.5,686.2,11.3,811,8694,0.00,2.08,20.90,1.114,6,0.000,0.031,2830,2382,2213
$GC,9008,1.02,343.2,647.0,11.6,827,9027,0.12,0.00,17.33,1.095,6,0.081,0.000,2881,2382,2132
$GC,9334,0.96,343.2,603.0,13.3,843,9338,0.00,2.15,0.00,0.000,4,0.000,0.050,2880,3758,2127
$GC,9382,0.81,343.2,596.5,14.5,845,9386,0.30,2.03,0.00,0.000,6,0.184,0.025,2808,2377,2125
$GC,9709,1.14,381.6,562.9,10.3,861,9751,0.25,2.30,31.58,1.093,4,0.071,0.050,2912,3761,1975
$GC,9867,0.97,381.6,540.6,14.9,868,9872,0.25,2.00,0.00,0.000,6,0.183,0.025,2856,2406,1970
$GC,10197,1.18,407.8,503.4,11.2,884,10226,0.17,2.22,22.60,1.037,4,0.076,0.048,2929,3752,1867
$GC,10286,1.00,407.8,489.9,16.4,890,10290,0.25,1.90,0.00,0.000,6,0.186,0.024,2874,2457,1865
$GC,10619,1.25,434.7,449.7,11.1,921,10647,0.17,2.08,23.10,0.997,4,0.077,0.047,2948,3753,1758
$GC,10682,1.04,434.7,440.2,17.6,926,10687,0.30,1.85,0.00,0.000,6,0.186,0.023,2879,2489,1755
$GC,11014,1.25,434.7,395.9,13.5,957,11019,0.17,2.00,0.00,0.000,4,0.079,0.048,2953,3754,1752
$GC,11094,1.07,434.7,382.3,17.4,964,11099,0.28,1.92,0.00,0.000,6,0.186,0.023,2890,2426,1752
$GC,11425,1.38,455.4,341.3,11.6,995,11449,0.22,2.17,17.88,0.906,4,0.068,0.029,2994,1005,1674
$GC,11506,1.22,455.4,328.7,16.1,1002,11511,0.22,2.20,0.00,0.000,6,0.192,0.031,2939,2447,1672
$GC,11839,1.22,455.4,278.9,14.2,1044,11845,0.00,2.15,0.00,0.000,4,0.000,0.028,2947,1006,1669
$GC,11959,1.23,469.1,263.3,12.1,1065,11978,0.00,2.12,11.85,0.816,6,0.000,0.030,2947,2420,1618
$GC,12316,1.23,469.1,217.5,14.2,1128,12322,0.00,2.10,0.00,0.000,4,0.000,0.028,2956,1006,1615
$GC,12363,1.23,469.1,211.2,13.9,1136,12369,0.00,2.12,0.00,0.000,6,0.000,0.029,2956,2422,1615
$GC,12706,1.23,469.1,163.1,14.0,1197,12712,0.00,2.10,0.00,0.000,4,0.000,0.028,2965,1003,1615
$GC,12821,1.25,484.1,148.6,12.0,1217,12840,0.00,2.08,13.38,0.729,6,0.000,0.029,2965,2396,1557
$GC,13181,1.48,498.5,106.5,12.0,1280,13201,0.15,2.12,13.35,0.689,4,0.077,0.027,3033,1009,1498
$GC,13248,1.39,498.5,96.5,15.6,1291,13255,0.15,2.03,0.00,0.000,6,0.166,0.029,2996,2361,1496
$GC,13593,1.54,523.5,54.2,11.2,1352,13623,0.12,2.20,21.70,0.656,4,0.085,0.045,3043,3756,1396
$GC,13671,1.42,523.5,44.2,14.2,1365,13677,0.20,2.00,0.00,0.000,6,0.183,0.021,3000,2372,1394
$GC,14018,1.64,564.1,7.5,10.1,1426,14057,0.17,2.17,33.12,0.607,3,0.075,0.042,3079,3731,1231
$STATE,14058,end climb,SURFACE_DEPTH_REACHED
$STATE,14058,begin surface coast
$FINISH,1.8,1.021372
$STATE,14080,end surface coast,CONTROL_FINISHED_OK
$STATE,14080,begin surface
$SM_CCo,14160,0.00,0.000,0,0,1226,565.42
$SM_GC,2.60,7.95,0.00,0.00,0.054,0.000,0.000,142,2465,1226,-7.49,-0.48,565.42
$IRIDIUM_FIX,2439.44,12418.28,251098,030347
$TT8_MAMPS,0.029146
$HUMID,1696
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.6,73.227
$10V_AH,10.7,39.703
$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,29.225,128.025,564.200,0.000,0.000,92.260,111.577,205.063,6.250,0.000,0.000,32.944,2551.002,8293.666,662.590,2522.704,826.136,0.000,1961.977,0.000,2444.941,0.000,41.084,0.000
$DEVICE_MAMPS,236.236,54.457,1211.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,965.279,1017.696,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75722,1436
$CAP_FILE_SIZE,164078,0
$CFSIZE,260165632,191885312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,114.9,1
$GPS,310709,122436,2446.811,12416.169,41,1.0,42,-3.7