version: 66.04
glider: 167
mission: 2
dive: 37
start: 5 27 109 16 55 52
data:
$ID,167
$MISSION,2
$DIVE,37
$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,275
$T_MISSION,330
$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,200
$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,-4517.5479
$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,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,29
$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
$GPS1,164907,2523.443,12324.161,29,1.2,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.9
$GPS2,165530,2523.472,12324.236,11,1.6,15,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,245.2,13928,-18.3,-12.000
$D_GRID,1255
$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,14,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.88,0.000,2,0.000,0.000,146,2442,2642
$GC,55,-1.05,-194.7,3.3,-3.0,6,110,8.65,2.12,-39.75,0.000,4,0.259,0.060,2186,3771,3989
$GC,307,-0.11,-194.7,93.0,-37.3,50,315,1.15,2.00,0.00,0.000,6,0.206,0.027,2501,2405,3991
$GC,654,-1.01,-194.7,125.7,-10.0,111,661,0.77,2.10,0.00,0.000,4,0.089,0.048,2218,3764,3992
$GC,679,-1.30,-194.7,128.7,-12.3,115,686,0.25,1.95,0.00,0.000,6,0.065,0.028,2119,2402,3993
$GC,1024,-0.49,-194.7,237.3,-27.3,176,1031,0.90,1.95,0.00,0.000,4,0.197,0.028,2377,1043,3993
$GC,1174,-0.84,-194.7,250.6,-6.9,202,1181,0.28,2.05,0.00,0.000,6,0.056,0.034,2253,2431,3994
$GC,1518,-0.62,-194.7,303.8,-17.2,261,1522,0.28,2.03,0.00,0.000,4,0.167,0.048,2331,3763,3995
$GC,1591,-0.79,-194.7,312.3,-9.6,267,1596,0.12,1.95,0.00,0.000,6,0.079,0.029,2274,2403,3995
$GC,1924,-0.72,-194.7,350.1,-12.0,298,1928,0.12,1.98,0.00,0.000,4,0.163,0.031,2307,1030,3995
$GC,1981,-0.82,-194.7,356.1,-9.4,303,1985,0.00,2.05,0.00,0.000,6,0.000,0.035,2303,2412,3995
$GC,2312,-0.91,-194.7,387.7,-9.0,334,2314,0.15,0.00,0.00,0.000,6,0.076,0.000,2238,2414,3995
$GC,2630,-0.78,-194.7,426.5,-11.1,364,2634,0.17,2.05,0.00,0.000,4,0.166,0.052,2288,3751,3995
$GC,2680,-0.87,-194.7,430.9,-8.2,368,2686,0.00,1.95,0.00,0.000,6,0.000,0.031,2288,2395,3995
$GC,3005,-0.97,-194.7,455.4,-7.2,399,3010,0.15,2.12,0.00,0.000,4,0.077,0.052,2220,3766,3994
$GC,3112,-0.79,-194.7,468.4,-12.6,408,3116,0.22,1.98,0.00,0.000,6,0.162,0.030,2283,2417,3993
$GC,3442,-0.88,-194.7,502.5,-10.8,438,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2417,3992
$GC,3751,-0.99,-194.7,534.3,-9.3,453,3755,0.17,2.08,0.00,0.000,4,0.075,0.055,2205,3751,3991
$GC,3790,-0.81,-194.7,539.2,-13.9,455,3794,0.25,1.92,0.00,0.000,6,0.166,0.032,2277,2428,3990
$GC,4124,-0.91,-194.7,569.3,-9.0,471,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2428,3989
$GC,4432,-1.02,-194.7,599.3,-10.1,486,4436,0.17,2.08,0.00,0.000,4,0.075,0.056,2205,3755,3986
$GC,4510,-0.85,-194.7,610.5,-14.6,489,4514,0.22,1.92,0.00,0.000,6,0.168,0.033,2268,2438,3986
$GC,4832,-0.93,-194.7,641.3,-8.2,505,4836,0.00,2.05,0.00,0.000,4,0.000,0.035,2268,1035,3983
$GC,4911,-1.05,-194.7,647.4,-7.1,508,4916,0.17,2.08,0.00,0.000,6,0.077,0.041,2194,2414,3982
$GC,5226,-0.87,-194.7,684.8,-12.2,523,5231,0.22,2.10,0.00,0.000,4,0.188,0.058,2259,3764,3980
$GC,5289,-0.95,-194.7,690.8,-8.9,526,5293,0.00,2.00,0.00,0.000,6,0.000,0.034,2259,2406,3979
$GC,5622,-1.02,-194.7,719.9,-8.8,542,5624,0.12,0.00,0.00,0.000,6,0.088,0.000,2211,2405,3977
$GC,5931,-0.92,-194.7,754.3,-11.1,557,5936,0.15,2.03,0.00,0.000,4,0.185,0.036,2248,1028,3975
$GC,6004,-0.98,-194.7,761.4,-9.6,560,6008,0.00,2.10,0.00,0.000,6,0.000,0.041,2247,2413,3974
$GC,6331,-0.98,-194.7,791.1,-9.0,576,6335,0.00,2.10,0.00,0.000,4,0.000,0.061,2245,3760,3972
$GC,6392,-0.98,-194.7,797.1,-9.7,578,6398,0.00,2.00,0.00,0.000,6,0.000,0.035,2246,2403,3972
$GC,6708,-0.98,-194.7,823.5,-8.2,594,6712,0.00,2.10,0.00,0.000,4,0.000,0.058,2246,3754,3970
$GC,6770,-0.98,-194.7,828.5,-8.2,596,6776,0.00,1.98,0.00,0.000,6,0.000,0.036,2246,2419,3970
$GC,7086,-0.98,-194.7,851.5,-7.6,612,7090,0.00,2.12,0.00,0.000,4,0.000,0.061,2245,3764,3968
$GC,7119,-0.98,-194.7,854.6,-9.4,613,7123,0.00,2.00,0.00,0.000,6,0.000,0.035,2245,2411,3968
$GC,7440,-0.98,-194.7,881.0,-8.7,629,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2410,3967
$GC,7750,-0.98,-194.7,904.4,-6.9,644,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2410,3966
$GC,8062,-1.03,-194.7,926.0,-6.7,659,8066,0.00,2.12,0.00,0.000,4,0.000,0.060,2245,3754,3964
$GC,8168,-1.08,-194.7,933.8,-7.7,663,8175,0.15,1.95,0.00,0.000,6,0.087,0.036,2188,2438,3964
$GC,8485,-0.91,-194.7,964.7,-10.2,679,8489,0.20,2.10,0.00,0.000,4,0.179,0.038,2247,1020,3963
$GC,8534,-1.00,-194.7,968.9,-7.3,681,8538,0.00,2.15,0.00,0.000,6,0.000,0.044,2247,2425,3963
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8838,-0.22,0.0,991.0,7.5,696,8928,0.73,0.00,86.95,1.457,6,0.157,0.000,2471,2507,3532
$STATE,8929,end apogee,CONTROL_FINISHED_OK
$STATE,8929,begin climb
$GC,8931,1.05,194.7,992.4,0.0,700,9102,1.15,2.30,161.20,1.417,4,0.058,0.039,2896,1113,2737
$GC,9216,0.46,194.7,961.9,21.8,714,9222,0.77,2.25,0.00,0.000,6,0.210,0.043,2696,2520,2732
$GC,9544,0.52,240.9,925.3,10.1,730,9584,0.00,0.00,38.25,1.366,6,0.000,0.000,2696,2520,2549
$GC,9892,0.62,319.2,892.2,8.8,747,9960,0.15,0.00,65.00,1.365,6,0.087,0.000,2750,2520,2230
$GC,10265,0.56,319.2,839.7,15.2,765,10269,0.00,2.00,0.00,0.000,4,0.000,0.064,2750,3757,2222
$GC,10371,0.44,319.2,821.1,17.0,769,10379,0.28,1.90,0.00,0.000,6,0.183,0.036,2686,2508,2220
$GC,10687,0.63,336.1,784.9,11.3,785,10710,0.17,2.10,13.93,1.250,4,0.084,0.062,2750,3762,2161
$GC,10744,0.53,336.1,776.0,17.7,787,10748,0.15,1.90,0.00,0.000,6,0.189,0.036,2722,2518,2159
$GC,11065,0.60,336.1,733.4,12.7,803,11069,0.00,2.15,0.00,0.000,4,0.000,0.041,2729,1097,2156
$GC,11149,0.72,345.6,722.9,11.6,806,11164,0.15,2.20,8.90,1.151,6,0.086,0.044,2785,2512,2122
$GC,11487,0.60,345.6,664.7,17.2,823,11492,0.17,1.98,0.00,0.000,4,0.184,0.060,2735,3762,2120
$GC,11593,0.60,345.6,647.1,14.8,827,11599,0.00,1.90,0.00,0.000,6,0.000,0.035,2741,2521,2119
$GC,11909,0.60,345.6,599.7,15.4,843,11912,0.00,2.12,0.00,0.000,4,0.000,0.041,2745,1105,2118
$GC,11970,0.70,345.6,590.9,14.1,845,11977,0.00,2.17,0.00,0.000,6,0.000,0.042,2745,2515,2118
$GC,12286,0.75,345.6,543.1,15.2,861,12290,0.12,1.98,0.00,0.000,4,0.091,0.063,2792,3767,2118
$GC,12324,0.55,345.6,536.2,19.5,862,12331,0.28,1.90,0.00,0.000,6,0.189,0.035,2727,2494,2117
$GC,12640,0.66,345.6,496.5,12.3,879,12644,0.00,2.03,0.00,0.000,4,0.000,0.060,2727,3765,2116
$GC,12769,0.71,345.6,478.5,13.6,890,12775,0.15,1.88,0.00,0.000,6,0.082,0.036,2784,2510,2116
$GC,13094,0.65,345.6,424.2,15.7,921,13098,0.00,2.00,0.00,0.000,4,0.000,0.061,2784,3768,2116
$GC,13196,0.50,345.6,405.4,19.3,930,13200,0.30,1.85,0.00,0.000,6,0.183,0.035,2708,2521,2116
$GC,13526,0.82,423.0,370.8,8.8,961,13594,0.25,2.20,60.72,1.008,4,0.071,0.039,2814,1104,1808
$GC,13685,0.87,423.0,346.5,16.2,975,13689,0.00,2.22,0.00,0.000,6,0.000,0.042,2814,2512,1802
$GC,14012,0.87,423.0,289.3,17.6,1010,14018,0.00,2.15,0.00,0.000,4,0.000,0.038,2815,1107,1798
$GC,14047,0.92,423.0,283.0,17.2,1016,14053,0.00,2.15,0.00,0.000,6,0.000,0.041,2815,2500,1798
$GC,14390,0.92,423.0,218.5,16.6,1077,14397,0.00,1.98,0.00,0.000,4,0.000,0.057,2815,3762,1797
$GC,14477,0.88,423.0,203.0,17.7,1092,14483,0.00,1.88,0.00,0.000,6,0.000,0.031,2821,2489,1797
$GC,14820,0.88,423.0,156.7,12.7,1153,14827,0.00,2.00,0.00,0.000,4,0.000,0.055,2821,3755,1797
$GC,14839,0.88,423.0,154.3,12.9,1156,14844,0.00,1.83,0.00,0.000,6,0.000,0.031,2828,2507,1797
$GC,15182,0.96,423.0,102.4,14.6,1217,15189,0.00,2.05,0.00,0.000,4,0.000,0.036,2828,1110,1797
$GC,15207,1.09,423.0,98.9,14.9,1221,15215,0.20,2.12,0.00,0.000,6,0.070,0.038,2911,2519,1797
$GC,15553,0.99,423.0,36.4,16.4,1282,15560,0.17,2.10,0.00,0.000,4,0.177,0.033,2866,1100,1799
$GC,15578,0.99,423.0,32.7,14.8,1286,15584,0.00,2.12,0.00,0.000,6,0.000,0.037,2866,2526,1799
$STATE,15801,end climb,SURFACE_DEPTH_REACHED
$STATE,15801,begin surface coast
$FINISH,1.6,1.021843
$STATE,15831,end surface coast,CONTROL_FINISHED_OK
$STATE,15831,begin surface
$SM_CCo,15908,0.00,0.000,0,0,1799,425.10
$SM_GC,2.49,7.25,0.00,0.00,0.061,0.000,0.000,144,2424,1799,-7.50,-0.06,425.10
$IRIDIUM_FIX,2512.73,12325.53,210898,111102
$TT8_MAMPS,0.028379
$HUMID,1543
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.8,10.486
$10V_AH,10.8,7.130
$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,27.525,130.850,434.950,0.000,0.000,26.479,30.903,191.339,8.000,0.000,0.000,15.752,2424.773,10378.828,568.669,2389.856,515.721,0.000,1789.362,0.000,2330.738,0.000,54.416,0.000
$DEVICE_MAMPS,259.246,94.341,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,901.811,879.116,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72756,1331
$CAP_FILE_SIZE,160101,0
$CFSIZE,260165632,222023680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270, 83.9,1
$GPS,270509,212207,2522.518,12324.479,32,1.6,33,-3.7