version: 66.04
glider: 167
mission: 2
dive: 13
start: 5 23 109 3 54 48
data:
$ID,167
$MISSION,2
$DIVE,13
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-4132.812
$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,25
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,034830,2534.761,12254.770,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.5
$GPS2,035426,2534.922,12254.800,14,1.9,14,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,324.1,12354,-16.8,-10.000
$D_GRID,821
$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,-0.88,-170.3,0.0,0.0,0,59,0.00,0.00,-42.28,0.000,2,0.000,0.000,147,2297,2888
$GC,62,-0.88,-170.3,3.3,-3.7,5,106,9.25,2.12,-29.83,0.000,4,0.271,0.046,2255,905,3989
$GC,323,-0.30,-170.3,72.7,-30.3,47,332,0.65,2.15,0.00,0.000,6,0.186,0.037,2437,2302,3991
$GC,681,-0.56,-170.3,115.8,-7.7,108,689,0.17,0.00,0.00,0.000,6,0.071,0.000,2359,2305,3992
$GC,1036,-0.56,-170.3,158.6,-11.6,169,1045,0.00,2.17,0.00,0.000,4,0.000,0.049,2351,3717,3993
$GC,1088,-0.56,-170.3,163.7,-9.5,177,1096,0.00,2.08,0.00,0.000,6,0.000,0.028,2349,2289,3993
$GC,1445,-0.67,-170.3,199.8,-9.1,238,1458,0.00,2.22,0.00,0.000,4,0.000,0.050,2346,3716,3994
$GC,1496,-0.77,-170.3,203.9,-8.2,245,1502,0.15,2.03,0.00,0.000,6,0.076,0.028,2282,2296,3994
$GC,1851,-0.57,-170.3,251.5,-13.6,306,1860,0.22,0.00,0.00,0.000,6,0.162,0.000,2352,2296,3995
$GC,2205,-0.78,-170.3,283.0,-8.9,367,2212,0.17,2.17,0.00,0.000,4,0.069,0.050,2275,3714,3995
$GC,2289,-0.67,-170.3,293.8,-14.5,381,2296,0.17,2.00,0.00,0.000,6,0.155,0.028,2325,2309,3996
$GC,2619,-0.79,-170.3,323.4,-8.1,416,2624,0.10,2.15,0.00,0.000,4,0.087,0.051,2278,3715,3996
$GC,2693,-0.73,-170.3,331.3,-11.4,422,2697,0.12,2.03,0.00,0.000,6,0.162,0.028,2311,2295,3995
$GC,3026,-0.81,-170.3,361.9,-8.9,453,3029,0.00,2.00,0.00,0.000,4,0.000,0.035,2311,908,3996
$GC,3133,-0.91,-170.3,371.1,-7.9,462,3143,0.12,2.12,0.00,0.000,6,0.066,0.038,2249,2315,3996
$GC,3460,-0.79,-170.3,408.1,-11.4,493,3465,0.15,2.12,0.00,0.000,4,0.180,0.052,2288,3710,3995
$GC,3592,-0.79,-170.3,421.7,-10.4,504,3596,0.00,2.00,0.00,0.000,6,0.000,0.031,2288,2304,3996
$GC,3925,-0.79,-170.3,455.6,-10.0,535,3928,0.00,2.17,0.00,0.000,4,0.000,0.054,2288,3710,3993
$GC,3996,-0.85,-170.3,462.5,-9.5,541,4000,0.00,2.03,0.00,0.000,6,0.000,0.031,2287,2292,3993
$GC,4326,-0.90,-170.3,494.1,-9.7,572,4331,0.10,2.17,0.00,0.000,4,0.094,0.054,2245,3707,3991
$GC,4440,-0.78,-170.3,507.9,-12.5,579,4445,0.17,2.03,0.00,0.000,6,0.168,0.031,2293,2302,3990
$GC,4765,-0.88,-170.3,534.8,-7.4,595,4769,0.00,2.20,0.00,0.000,4,0.000,0.057,2289,3718,3989
$GC,4799,-0.98,-170.3,537.9,-8.4,596,4804,0.17,2.05,0.00,0.000,6,0.078,0.033,2219,2303,3988
$GC,5121,-0.80,-170.3,575.6,-11.9,611,5126,0.20,2.20,0.00,0.000,4,0.172,0.055,2275,3717,3986
$GC,5193,-0.80,-170.3,583.3,-9.2,614,5197,0.00,2.05,0.00,0.000,6,0.000,0.033,2275,2308,3986
$GC,5516,-0.87,-170.3,611.0,-8.4,630,5519,0.00,2.20,0.00,0.000,4,0.000,0.058,2275,3711,3984
$GC,5658,-0.93,-170.3,623.0,-7.8,636,5662,0.00,2.05,0.00,0.000,6,0.000,0.035,2275,2307,3982
$GC,5987,-1.00,-170.3,647.8,-7.2,652,5991,0.15,2.20,0.00,0.000,4,0.087,0.058,2209,3714,3980
$GC,6042,-0.79,-170.3,653.7,-11.0,654,6052,0.22,2.10,0.00,0.000,6,0.172,0.036,2279,2307,3979
$GC,6359,-0.88,-170.3,672.0,-5.4,670,6363,0.00,2.20,0.00,0.000,4,0.000,0.059,2275,3711,3977
$GC,6421,-0.95,-170.3,675.7,-6.1,672,6429,0.08,2.10,0.00,0.000,6,0.083,0.035,2235,2297,3977
$GC,6741,-0.86,-170.3,701.4,-8.9,688,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2299,3975
$GC,7050,-0.78,-170.3,732.0,-9.8,703,7054,0.17,2.22,0.00,0.000,4,0.174,0.058,2288,3713,3973
$GC,7169,-0.93,-170.3,740.8,-6.3,708,7174,0.12,2.08,0.00,0.000,6,0.094,0.035,2239,2298,3972
$GC,7491,-0.87,-170.3,767.4,-8.6,723,7494,0.00,2.20,0.00,0.000,4,0.000,0.058,2234,3705,3970
$GC,7586,-0.78,-170.3,776.2,-9.6,727,7591,0.20,2.08,0.00,0.000,6,0.171,0.035,2287,2295,3970
$GC,7917,-0.92,-170.3,797.3,-5.8,743,7922,0.12,2.20,0.00,0.000,4,0.092,0.059,2245,3706,3970
$GC,7995,-0.87,-170.3,804.5,-9.3,746,8005,0.00,2.08,0.00,0.000,6,0.000,0.032,2244,2302,3968
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8190,-0.20,0.0,821.0,8.6,756,8279,0.77,0.00,85.93,1.347,6,0.168,0.000,2480,2401,3533
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8280,begin climb
$GC,8282,0.88,170.3,823.5,0.0,760,8431,0.98,2.30,140.15,1.373,4,0.065,0.041,2835,1013,2836
$GC,8487,0.35,170.3,816.8,15.4,769,8492,0.68,2.20,0.00,0.000,6,0.207,0.042,2664,2388,2834
$GC,8818,0.39,203.1,787.8,8.7,785,8849,0.00,2.25,26.38,1.335,4,0.000,0.060,2663,3765,2704
$GC,8968,0.30,205.1,772.1,9.9,792,8972,0.00,2.10,0.00,0.000,6,0.000,0.035,2667,2402,2701
$GC,9301,0.33,233.5,740.8,8.9,808,9332,0.00,2.28,25.55,1.337,4,0.000,0.061,2666,3750,2580
$GC,9391,0.33,233.5,731.6,10.8,812,9394,0.00,2.10,0.00,0.000,6,0.000,0.035,2666,2391,2578
$GC,9723,0.43,265.9,700.5,8.7,828,9755,0.00,2.30,26.83,1.332,4,0.000,0.059,2667,3752,2448
$GC,9807,0.43,265.9,692.3,10.7,831,9813,0.00,2.12,0.00,0.000,6,0.000,0.036,2668,2382,2445
$GC,10126,0.55,281.4,662.3,9.4,847,10148,0.17,2.30,12.93,1.217,4,0.085,0.061,2731,3762,2388
$GC,10174,0.39,281.4,656.2,14.0,849,10179,0.22,2.12,0.00,0.000,6,0.185,0.036,2676,2377,2387
$GC,10510,0.49,281.4,620.6,10.7,865,10513,0.00,2.20,0.00,0.000,4,0.000,0.058,2675,3755,2385
$GC,10558,0.49,281.4,614.8,12.3,867,10562,0.00,2.08,0.00,0.000,6,0.000,0.035,2679,2386,2384
$GC,10895,0.58,281.4,579.9,10.9,883,10899,0.15,2.20,0.00,0.000,4,0.091,0.058,2735,3768,2383
$GC,11029,0.40,281.4,559.5,15.5,889,11034,0.25,2.08,0.00,0.000,6,0.184,0.036,2676,2383,2383
$GC,11359,0.53,301.2,526.3,9.2,905,11382,0.12,2.28,17.10,1.139,4,0.100,0.059,2720,3755,2305
$GC,11468,0.43,301.2,512.3,12.8,909,11475,0.17,2.08,0.00,0.000,6,0.182,0.035,2684,2387,2299
$GC,11789,0.56,301.2,478.2,11.2,934,11791,0.12,0.00,0.00,0.000,6,0.097,0.000,2729,2386,2301
$GC,12107,0.56,301.2,433.4,14.4,964,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2386,2300
$GC,12426,0.56,301.2,390.0,13.4,994,12430,0.00,2.17,0.00,0.000,4,0.000,0.060,2729,3764,2300
$GC,12521,0.46,301.2,375.7,15.6,1002,12532,0.10,2.10,0.00,0.000,6,0.178,0.037,2702,2378,2299
$GC,12849,0.66,364.8,344.4,7.5,1033,12909,0.17,2.35,50.00,1.013,4,0.086,0.060,2768,3764,2043
$GC,13092,0.54,364.8,309.5,16.2,1054,13097,0.20,2.10,0.00,0.000,6,0.186,0.035,2724,2384,2036
$GC,13440,0.70,364.8,270.1,10.8,1107,13446,0.15,0.00,0.00,0.000,6,0.085,0.000,2780,2383,2034
$GC,13788,0.70,364.8,219.8,15.5,1168,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2383,2034
$GC,14143,0.70,364.8,170.6,14.0,1229,14151,0.00,2.20,0.00,0.000,4,0.000,0.057,2780,3764,2034
$GC,14258,0.70,364.8,154.3,13.2,1248,14267,0.00,2.08,0.00,0.000,6,0.000,0.033,2788,2383,2034
$GC,14615,0.77,364.8,114.9,10.8,1309,14623,0.00,2.10,0.00,0.000,4,0.000,0.039,2792,982,2034
$GC,14736,0.90,364.8,101.7,10.4,1329,14744,0.08,2.15,0.00,0.000,6,0.079,0.037,2832,2401,2035
$GC,15092,0.90,364.8,54.2,12.0,1390,15102,0.00,2.12,0.00,0.000,4,0.000,0.035,2838,979,2036
$GC,15167,0.90,364.8,45.5,11.1,1402,15175,0.00,2.12,0.00,0.000,6,0.000,0.036,2838,2386,2037
$GC,15523,1.03,364.8,6.8,10.1,1463,15532,0.10,2.10,0.00,0.000,4,0.090,0.051,2882,3754,2040
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,1.0,1.005935
$STATE,15580,end surface coast,CONTROL_FINISHED_OK
$STATE,15580,begin surface
$SM_CCo,15599,40.75,0.640,0,0,1802,425.10
$SM_GC,2.28,0.00,0.00,40.75,0.000,0.000,0.640,147,2293,1802,-7.50,-0.25,425.10
$IRIDIUM_FIX,2524.66,12257.03,160898,232317
$TT8_MAMPS,0.032214
$HUMID,1485
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,28.30
$XPDR_PINGS,2
$24V_AH,23.8,6.321
$10V_AH,10.7,3.927
$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,24.725,132.825,384.850,40.750,0.000,29.328,34.064,171.173,6.750,0.000,0.000,14.664,2656.627,7083.080,511.004,5158.731,582.557,0.000,1931.151,0.000,5162.293,0.000,45.811,0.000
$DEVICE_MAMPS,270.751,77.467,1372.930,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.503,1017.161,3753.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78931,1472
$CAP_FILE_SIZE,200469,0
$CFSIZE,260165632,224083968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,307.6,1
$GPS,230509,081637,2537.143,12252.577,32,1.2,33,-3.8