version: 66.04
glider: 167
mission: 2
dive: 48
start: 5 29 109 19 52 43
data:
$ID,167
$MISSION,2
$DIVE,48
$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,-4
$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,-4697.291
$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,77
$R_STBD_OVSHOOT,35
$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
$GPS1,194630,2517.058,12319.566,38,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-68.6
$GPS2,195220,2517.009,12319.473,15,1.2,15,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,340.2,45808,-18.3,-12.000
$D_GRID,1496
$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,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.42,0.000,2,0.000,0.000,144,2413,2666
$GC,54,-1.05,-194.7,3.3,-3.3,6,108,8.60,2.17,-39.28,0.000,4,0.258,0.059,2187,3766,3989
$GC,149,0.01,-194.7,22.7,-39.5,22,156,1.35,1.95,0.00,0.000,6,0.215,0.025,2543,2418,3990
$GC,493,-0.94,-194.7,65.2,-12.7,83,500,0.82,2.10,0.00,0.000,4,0.091,0.049,2247,3768,3991
$GC,546,-0.40,-194.7,73.7,-19.7,92,553,0.57,1.92,0.00,0.000,6,0.186,0.026,2408,2427,3991
$GC,890,-0.61,-194.7,116.7,-10.8,153,898,0.17,2.08,0.00,0.000,4,0.067,0.048,2329,3770,3993
$GC,1028,-0.42,-194.7,138.6,-18.4,177,1036,0.28,1.90,0.00,0.000,6,0.159,0.026,2407,2430,3993
$GC,1375,-0.79,-194.7,167.3,-7.5,238,1381,0.30,2.05,0.00,0.000,4,0.056,0.048,2275,3763,3995
$GC,1410,-0.61,-194.7,172.1,-15.7,244,1417,0.25,1.88,0.00,0.000,6,0.158,0.027,2347,2445,3995
$GC,1756,-0.76,-194.7,206.8,-8.8,305,1762,0.15,0.00,0.00,0.000,6,0.074,0.000,2282,2445,3996
$GC,2100,-0.62,-194.7,254.3,-15.2,366,2106,0.17,2.03,0.00,0.000,4,0.166,0.048,2330,3764,3996
$GC,2203,-0.76,-194.7,266.7,-10.3,384,2209,0.00,1.85,0.00,0.000,6,0.000,0.028,2330,2464,3997
$GC,2547,-0.93,-194.7,296.4,-6.8,445,2554,0.20,2.00,0.00,0.000,4,0.069,0.050,2233,3764,3997
$GC,2610,-0.66,-194.7,303.8,-13.8,453,2618,0.32,1.85,0.00,0.000,6,0.163,0.027,2329,2462,3997
$GC,2935,-0.84,-194.7,331.6,-8.4,484,2937,0.17,0.00,0.00,0.000,6,0.071,0.000,2257,2462,3997
$GC,3256,-0.72,-194.7,371.5,-13.3,514,3261,0.20,2.05,0.00,0.000,4,0.163,0.029,2319,1034,3997
$GC,3318,-0.91,-194.7,378.4,-9.6,519,3323,0.20,2.12,0.00,0.000,6,0.072,0.036,2233,2462,3997
$GC,3643,-0.75,-194.7,422.4,-12.3,549,3645,0.25,0.00,0.00,0.000,6,0.164,0.000,2304,2462,3997
$GC,3963,-0.90,-194.7,445.9,-8.6,579,3968,0.15,2.05,0.00,0.000,4,0.081,0.031,2245,1046,3996
$GC,4047,-0.83,-194.7,455.8,-12.3,586,4053,0.12,2.10,0.00,0.000,6,0.173,0.038,2277,2446,3996
$GC,4372,-0.89,-194.7,488.7,-8.2,617,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2447,3994
$GC,4696,-0.96,-194.7,515.3,-10.1,640,4700,0.12,2.08,0.00,0.000,4,0.089,0.032,2227,1036,3994
$GC,4774,-0.89,-194.7,525.4,-13.2,643,4781,0.12,2.12,0.00,0.000,6,0.171,0.039,2259,2449,3993
$GC,5090,-0.89,-194.7,562.4,-10.6,659,5093,0.00,2.03,0.00,0.000,4,0.000,0.055,2259,3768,3992
$GC,5140,-0.89,-194.7,567.5,-10.6,661,5144,0.00,1.90,0.00,0.000,6,0.000,0.030,2259,2453,3991
$GC,5467,-0.94,-194.7,599.1,-10.4,677,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2452,3989
$GC,5776,-0.98,-194.7,631.1,-10.3,692,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2452,3987
$GC,6085,-1.05,-194.7,661.0,-9.5,707,6090,0.15,2.08,0.00,0.000,4,0.084,0.034,2201,1030,3984
$GC,6135,-0.92,-194.7,667.1,-12.6,709,6140,0.17,2.15,0.00,0.000,6,0.173,0.041,2243,2452,3984
$GC,6451,-0.92,-194.7,702.5,-11.0,724,6455,0.00,2.00,0.00,0.000,4,0.000,0.057,2242,3759,3982
$GC,6557,-0.92,-194.7,714.2,-11.3,728,6563,0.00,1.90,0.00,0.000,6,0.000,0.033,2242,2463,3981
$GC,6873,-0.92,-194.7,746.4,-9.9,744,6876,0.00,2.10,0.00,0.000,4,0.000,0.035,2242,1025,3979
$GC,6919,-0.92,-194.7,750.9,-10.4,746,6923,0.00,2.20,0.00,0.000,6,0.000,0.041,2242,2472,3979
$GC,7246,-0.92,-194.7,782.0,-9.8,762,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2472,3976
$GC,7554,-0.92,-194.7,812.2,-9.8,777,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2472,3975
$GC,7864,-0.92,-194.7,841.6,-9.2,792,7867,0.00,2.00,0.00,0.000,4,0.000,0.061,2241,3760,3973
$GC,7897,-0.92,-194.7,844.9,-9.9,793,7901,0.00,1.92,0.00,0.000,6,0.000,0.035,2241,2458,3973
$GC,8218,-0.92,-194.7,872.6,-8.7,809,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2456,3971
$GC,8528,-0.92,-194.7,902.2,-10.5,824,8532,0.00,2.10,0.00,0.000,4,0.000,0.037,2241,1030,3970
$GC,8642,-0.98,-194.7,914.1,-10.7,829,8646,0.00,2.20,0.00,0.000,6,0.000,0.044,2241,2466,3970
$GC,8969,-0.98,-194.7,946.1,-10.1,845,8972,0.00,2.03,0.00,0.000,4,0.000,0.060,2241,3768,3968
$GC,9030,-0.98,-194.7,952.3,-9.4,847,9036,0.00,1.95,0.00,0.000,6,0.000,0.035,2241,2446,3968
$GC,9346,-1.03,-194.7,980.7,-8.3,863,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2445,3967
$STATE,9466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9466,begin apogee
$GC,9473,-0.22,0.0,991.1,8.4,869,9564,0.75,0.00,87.97,1.447,6,0.160,0.000,2471,2520,3531
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9567,1.05,194.7,993.3,0.0,873,9735,1.15,2.12,160.18,1.400,4,0.063,0.061,2882,3758,2737
$GC,9990,0.32,194.7,927.6,21.7,892,9996,0.93,1.90,0.00,0.000,6,0.219,0.032,2652,2507,2730
$GC,10312,0.56,310.3,900.8,7.2,908,10410,0.20,0.00,94.72,1.341,6,0.084,0.000,2727,2505,2266
$GC,10705,0.56,310.3,853.1,12.6,927,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2506,2256
$GC,11014,0.56,310.3,810.8,14.6,942,11018,0.00,2.03,0.00,0.000,4,0.000,0.062,2728,3761,2255
$GC,11065,0.51,310.3,802.6,16.3,944,11068,0.00,1.90,0.00,0.000,6,0.000,0.035,2733,2504,2255
$GC,11391,0.51,310.3,755.0,15.5,960,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2502,2253
$GC,11700,0.51,310.3,712.8,12.0,975,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2502,2253
$GC,12010,0.51,310.3,674.9,12.2,990,12014,0.00,2.00,0.00,0.000,4,0.000,0.061,2733,3755,2252
$GC,12105,0.46,310.3,662.7,12.2,994,12109,0.15,1.88,0.00,0.000,6,0.183,0.035,2695,2509,2251
$GC,12432,0.64,336.3,629.2,10.9,1010,12457,0.17,2.17,19.67,1.176,4,0.085,0.040,2762,1090,2161
$GC,12485,0.64,336.3,621.5,14.3,1012,12489,0.00,2.22,0.00,0.000,6,0.000,0.043,2761,2510,2159
$GC,12806,0.64,336.3,574.2,14.2,1028,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2510,2156
$GC,13115,0.64,336.3,534.5,13.6,1043,13119,0.00,2.15,0.00,0.000,4,0.000,0.040,2761,1101,2156
$GC,13171,0.70,336.3,526.8,13.2,1045,13175,0.00,2.17,0.00,0.000,6,0.000,0.043,2761,2506,2155
$GC,13496,0.70,336.3,474.0,15.5,1068,13500,0.00,2.12,0.00,0.000,4,0.000,0.039,2762,1101,2155
$GC,13532,0.76,336.3,469.2,13.5,1071,13536,0.00,2.15,0.00,0.000,6,0.000,0.042,2761,2498,2155
$GC,13864,0.76,336.3,425.8,13.5,1102,13868,0.00,1.98,0.00,0.000,4,0.000,0.060,2761,3775,2154
$GC,14016,0.69,336.3,403.0,14.6,1115,14023,0.00,1.92,0.00,0.000,6,0.000,0.032,2762,2483,2154
$GC,14343,0.69,336.3,358.0,12.1,1146,14344,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2482,2154
$GC,14659,0.69,336.3,317.5,14.6,1176,14662,0.00,2.05,0.00,0.000,4,0.000,0.037,2762,1097,2154
$GC,14727,0.80,336.3,308.7,12.1,1182,14732,0.12,2.15,0.00,0.000,6,0.094,0.040,2810,2515,2154
$GC,15067,0.70,336.3,254.6,18.1,1237,15074,0.15,0.00,0.00,0.000,6,0.176,0.000,2773,2518,2154
$GC,15411,0.70,336.3,208.3,13.6,1298,15417,0.00,2.12,0.00,0.000,4,0.000,0.038,2773,1091,2154
$GC,15463,0.82,339.7,201.9,11.9,1307,15470,0.10,2.17,0.00,0.000,6,0.097,0.041,2812,2528,2155
$GC,15808,0.76,339.7,149.0,14.9,1368,15821,0.00,1.92,4.12,0.555,4,0.000,0.054,2812,3759,2146
$GC,15937,0.67,339.7,127.6,15.6,1390,15943,0.20,1.83,0.00,0.000,6,0.174,0.030,2764,2501,2145
$GC,16283,1.10,511.5,94.0,4.9,1451,16423,0.32,2.10,129.70,0.713,4,0.062,0.051,2899,3751,1444
$GC,16510,1.10,511.5,55.1,25.8,1490,16516,0.00,1.83,0.00,0.000,6,0.000,0.028,2908,2526,1439
$STATE,16783,end climb,SURFACE_DEPTH_REACHED
$STATE,16783,begin surface coast
$FINISH,1.6,1.009087
$STATE,16803,end surface coast,CONTROL_FINISHED_OK
$STATE,16803,begin surface
$SM_CCo,16881,0.00,0.000,0,0,1434,514.64
$SM_GC,2.34,7.53,0.00,0.00,0.063,0.000,0.000,144,2429,1434,-7.50,0.06,514.64
$IRIDIUM_FIX,2507.97,12320.91,230898,151503
$TT8_MAMPS,0.028379
$HUMID,1540
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,12.415
$10V_AH,10.7,8.107
$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,26.650,109.925,496.375,0.000,0.000,30.716,32.539,165.132,8.000,0.000,0.000,15.755,2697.201,10811.381,594.747,2620.763,502.926,0.000,1917.751,0.000,2567.966,0.000,54.416,0.000
$DEVICE_MAMPS,257.712,90.506,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.568,1056.659,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82018,1542
$CAP_FILE_SIZE,161496,0
$CFSIZE,260165632,221089792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 54.0,1
$GPS,300509,003507,2519.956,12319.036,28,1.3,29,-3.7