version: 66.04
glider: 167
mission: 2
dive: 49
start: 5 30 109 0 41 36
data:
$ID,167
$MISSION,2
$DIVE,49
$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,-4709.5703
$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,65
$R_STBD_OVSHOOT,34
$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
$GPS1,003507,2519.956,12319.036,28,1.3,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-63.2
$GPS2,004114,2519.940,12318.946,11,1.6,11,-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,336.8,40311,-18.3,-12.000
$D_GRID,1333
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-47.30,0.000,2,0.000,0.000,144,2429,2619
$GC,67,-1.05,-194.7,3.1,-2.4,8,127,8.65,2.10,-43.05,0.000,4,0.260,0.062,2190,3762,3989
$GC,189,0.08,-194.7,31.6,-42.1,29,196,1.40,1.98,0.00,0.000,6,0.214,0.025,2565,2400,3991
$GC,533,-0.84,-194.7,69.0,-11.2,90,540,0.80,2.12,0.00,0.000,4,0.091,0.048,2278,3772,3991
$GC,733,-0.23,-194.7,115.7,-27.6,125,740,0.65,1.92,0.00,0.000,6,0.164,0.026,2470,2421,3992
$GC,1079,-1.07,-194.7,144.8,-8.4,186,1086,0.73,2.08,0.00,0.000,4,0.087,0.047,2205,3771,3993
$GC,1166,-0.45,-194.7,159.2,-23.8,201,1172,0.65,1.90,0.00,0.000,6,0.173,0.026,2395,2432,3993
$GC,1510,-0.83,-194.7,185.9,-5.7,262,1516,0.30,0.00,0.00,0.000,6,0.057,0.000,2263,2432,3995
$GC,1854,-0.58,-194.7,239.0,-15.5,323,1861,0.28,2.05,0.00,0.000,4,0.165,0.048,2344,3765,3995
$GC,1918,-0.73,-194.7,246.9,-9.9,334,1924,0.00,1.88,0.00,0.000,6,0.000,0.028,2344,2444,3996
$GC,2262,-0.93,-194.7,275.5,-7.3,395,2269,0.25,2.03,0.00,0.000,4,0.061,0.048,2224,3764,3996
$GC,2326,-0.62,-194.7,284.5,-16.7,406,2333,0.40,1.85,0.00,0.000,6,0.160,0.027,2345,2462,3996
$GC,2662,-0.85,-194.7,314.9,-9.2,452,2666,0.17,2.05,0.00,0.000,4,0.069,0.028,2263,1042,3995
$GC,2700,-0.79,-194.7,319.6,-12.7,455,2708,0.00,2.12,0.00,0.000,6,0.000,0.035,2261,2461,3996
$GC,3025,-0.68,-194.7,361.7,-13.7,486,3030,0.17,2.08,0.00,0.000,4,0.168,0.028,2317,1033,3995
$GC,3101,-0.86,-194.7,369.6,-10.7,492,3105,0.15,2.10,0.00,0.000,6,0.077,0.036,2254,2442,3995
$GC,3425,-0.78,-194.7,413.3,-13.4,522,3430,0.15,2.00,0.00,0.000,4,0.165,0.051,2288,3768,3995
$GC,3463,-0.78,-194.7,418.2,-12.2,525,3469,0.00,1.90,0.00,0.000,6,0.000,0.028,2289,2437,3996
$GC,3789,-0.87,-194.7,451.2,-9.7,556,3793,0.00,2.03,0.00,0.000,4,0.000,0.051,2288,3763,3995
$GC,3846,-0.97,-194.7,456.9,-10.7,561,3851,0.17,1.88,0.00,0.000,6,0.074,0.029,2216,2455,3995
$GC,4186,-0.77,-194.7,510.1,-15.2,590,4190,0.22,2.05,0.00,0.000,4,0.163,0.031,2287,1037,3993
$GC,4341,-0.89,-194.7,526.7,-10.4,597,4345,0.00,2.10,0.00,0.000,6,0.000,0.038,2287,2438,3993
$GC,4669,-1.00,-194.7,556.0,-8.7,613,4673,0.17,2.03,0.00,0.000,4,0.077,0.053,2209,3762,3991
$GC,4724,-0.81,-194.7,563.4,-14.2,615,4732,0.25,1.90,0.00,0.000,6,0.160,0.030,2282,2447,3991
$GC,5040,-0.93,-194.7,590.7,-7.8,631,5044,0.12,2.03,0.00,0.000,4,0.084,0.032,2231,1039,3990
$GC,5078,-0.89,-194.7,594.6,-11.1,632,5084,0.00,2.12,0.00,0.000,6,0.000,0.039,2231,2449,3990
$GC,5394,-0.81,-194.7,632.4,-12.1,648,5398,0.17,2.03,0.00,0.000,4,0.169,0.054,2278,3768,3987
$GC,5428,-0.89,-194.7,636.1,-10.3,649,5431,0.00,1.92,0.00,0.000,6,0.000,0.031,2277,2441,3987
$GC,5749,-1.01,-194.7,661.5,-7.8,665,5754,0.17,2.08,0.00,0.000,4,0.077,0.056,2194,3767,3984
$GC,5793,-0.79,-194.7,666.7,-12.5,667,5798,0.32,1.92,0.00,0.000,6,0.166,0.031,2289,2444,3983
$GC,6122,-0.96,-194.7,692.5,-8.1,683,6126,0.15,2.08,0.00,0.000,4,0.081,0.058,2230,3765,3982
$GC,6161,-0.88,-194.7,696.7,-11.3,684,6167,0.12,1.92,0.00,0.000,6,0.171,0.033,2262,2450,3982
$GC,6480,-0.96,-194.7,725.5,-9.3,700,6484,0.00,2.05,0.00,0.000,4,0.000,0.058,2261,3766,3979
$GC,6571,-1.03,-194.7,734.8,-10.3,704,6575,0.15,1.92,0.00,0.000,6,0.084,0.033,2202,2455,3979
$GC,6905,-0.88,-194.7,774.9,-12.0,720,6911,0.20,2.08,0.00,0.000,4,0.167,0.034,2261,1024,3976
$GC,7025,-0.99,-194.7,787.5,-10.2,725,7030,0.12,2.17,0.00,0.000,6,0.090,0.041,2213,2456,3976
$GC,7347,-0.90,-194.7,828.3,-13.0,741,7349,0.15,0.00,0.00,0.000,6,0.180,0.000,2251,2457,3974
$GC,7656,-0.96,-194.7,863.7,-11.3,756,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2457,3972
$GC,7964,-1.03,-194.7,893.2,-8.2,771,7968,0.12,2.03,0.00,0.000,4,0.091,0.059,2205,3758,3970
$GC,8035,-0.90,-194.7,900.1,-11.1,774,8040,0.17,1.95,0.00,0.000,6,0.178,0.035,2250,2442,3970
$GC,8370,-0.97,-194.7,926.3,-7.4,790,8374,0.00,2.08,0.00,0.000,4,0.000,0.061,2246,3757,3969
$GC,8403,-0.97,-194.7,929.5,-8.6,791,8407,0.00,1.95,0.00,0.000,6,0.000,0.035,2246,2436,3968
$GC,8725,-1.02,-194.7,959.4,-10.2,807,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2435,3967
$STATE,9031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9031,begin apogee
$GC,9037,-0.22,0.0,991.1,9.9,822,9128,0.73,0.00,87.93,1.440,6,0.156,0.000,2470,2507,3532
$STATE,9129,end apogee,CONTROL_FINISHED_OK
$STATE,9129,begin climb
$GC,9132,1.05,194.7,994.7,0.0,826,9303,1.15,2.20,160.00,1.395,4,0.064,0.059,2882,3761,2736
$GC,9559,0.32,194.7,937.2,19.8,846,9564,0.90,1.92,0.00,0.000,6,0.218,0.032,2657,2494,2731
$GC,9880,0.52,282.1,908.3,8.4,862,9958,0.17,2.20,71.28,1.347,4,0.088,0.062,2719,3753,2380
$GC,10082,0.45,282.1,879.0,17.2,871,10086,0.00,1.92,0.00,0.000,6,0.000,0.032,2720,2501,2374
$GC,10408,0.45,282.1,825.8,16.2,887,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2500,2372
$GC,10718,0.45,282.1,776.4,16.2,902,10722,0.00,2.03,0.00,0.000,4,0.000,0.059,2720,3767,2371
$GC,10818,0.39,282.1,758.7,16.3,906,10823,0.20,1.90,0.00,0.000,6,0.182,0.034,2669,2495,2370
$GC,11140,0.58,316.4,720.8,10.6,922,11174,0.17,2.20,26.73,1.239,4,0.084,0.039,2736,1105,2242
$GC,11236,0.64,316.4,707.2,14.4,926,11240,0.00,2.22,0.00,0.000,6,0.000,0.041,2736,2519,2239
$GC,11551,0.64,316.4,663.8,13.8,941,11555,0.00,1.98,0.00,0.000,4,0.000,0.061,2736,3770,2237
$GC,11596,0.58,316.4,656.9,16.7,943,11600,0.00,1.90,0.00,0.000,6,0.000,0.034,2736,2529,2236
$GC,11927,0.58,316.4,603.7,16.7,959,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2528,2235
$GC,12237,0.58,316.4,558.6,13.4,974,12240,0.00,1.95,0.00,0.000,4,0.000,0.058,2736,3758,2234
$GC,12292,0.53,316.4,550.2,15.4,976,12296,0.00,1.85,0.00,0.000,6,0.000,0.034,2736,2514,2234
$GC,12614,0.53,316.4,505.5,13.8,992,12617,0.00,2.10,0.00,0.000,4,0.000,0.039,2736,1109,2234
$GC,12715,0.64,316.4,492.6,12.3,999,12719,0.00,2.17,0.00,0.000,6,0.000,0.041,2736,2524,2233
$GC,13047,0.70,316.4,448.7,12.1,1030,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2524,2233
$GC,13366,0.76,316.4,408.5,13.4,1060,13371,0.15,1.90,0.00,0.000,4,0.084,0.056,2792,3759,2233
$GC,13414,0.54,316.4,400.5,18.3,1064,13418,0.28,1.85,0.00,0.000,6,0.185,0.034,2725,2511,2233
$GC,13744,0.72,366.3,364.7,9.9,1095,13789,0.15,2.20,38.85,0.983,4,0.085,0.037,2789,1107,2037
$GC,13859,0.77,366.3,348.5,14.5,1105,13863,0.00,2.25,0.00,0.000,6,0.000,0.041,2789,2541,2034
$GC,14185,0.77,366.3,292.2,15.3,1139,14193,0.00,2.17,0.00,0.000,4,0.000,0.037,2790,1109,2031
$GC,14221,0.77,366.3,286.6,15.0,1145,14227,0.00,2.20,0.00,0.000,6,0.000,0.040,2790,2539,2031
$GC,14564,0.77,366.3,235.5,14.6,1206,14570,0.00,1.90,0.00,0.000,4,0.000,0.058,2790,3756,2031
$GC,14622,0.68,366.3,226.3,16.5,1216,14628,0.00,1.83,0.00,0.000,6,0.000,0.031,2791,2521,2031
$GC,14966,0.68,366.3,176.0,13.6,1277,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2520,2030
$GC,15309,0.81,374.4,129.5,11.7,1338,15321,0.00,0.00,6.75,0.657,6,0.000,0.000,2791,2520,2005
$GC,15660,0.95,374.4,91.7,13.2,1400,15667,0.17,2.10,0.00,0.000,4,0.074,0.035,2871,1092,2005
$GC,15695,0.95,374.4,86.2,15.2,1406,15701,0.00,2.17,0.00,0.000,6,0.000,0.037,2871,2538,2005
$GC,16039,0.89,374.4,39.4,13.2,1467,16047,0.15,1.85,0.00,0.000,4,0.176,0.051,2833,3755,2006
$GC,16143,0.89,374.4,26.5,12.3,1485,16149,0.00,1.75,0.00,0.000,6,0.000,0.028,2836,2528,2007
$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
$FINISH,1.7,1.022159
$STATE,16395,end surface coast,CONTROL_FINISHED_OK
$STATE,16395,begin surface
$SM_CCo,16412,37.67,0.634,0,0,1798,425.10
$SM_GC,2.84,0.00,0.00,37.67,0.000,0.000,0.634,144,2431,1798,-7.50,0.11,425.10
$IRIDIUM_FIX,2507.97,12317.61,230898,191911
$TT8_MAMPS,0.028379
$HUMID,1523
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,12.584
$10V_AH,10.8,8.199
$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,29.025,129.350,391.525,37.675,0.000,28.244,33.685,180.935,8.000,0.000,0.000,11.650,2748.700,10269.150,566.926,2694.011,532.526,0.000,1928.551,0.000,2634.216,0.000,55.932,0.000
$DEVICE_MAMPS,260.013,90.506,1439.659,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.145,1068.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82131,1530
$CAP_FILE_SIZE,170163,0
$CFSIZE,260165632,220995584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 40.3,1
$GPS,300509,051706,2523.052,12318.301,38,1.1,44,-3.7