version: 66.04
glider: 167
mission: 2
dive: 51
start: 5 30 109 10 19 28
data:
$ID,167
$MISSION,2
$DIVE,51
$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,-4773.1606
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,101237,2526.050,12318.259,25,1.4,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-68.1
$GPS2,101906,2526.079,12318.219,11,1.7,27,-3.8
$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,320.9,28938,-18.3,-12.000
$D_GRID,1185
$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,-194.7,0.0,0.0,0,57,0.00,0.00,-39.72,0.000,2,0.000,0.000,144,2419,2710
$GC,60,-1.05,-194.7,3.4,-2.9,7,114,8.68,2.15,-36.95,0.000,4,0.260,0.061,2186,3782,3990
$GC,172,0.01,-194.7,29.9,-40.6,26,179,1.30,2.00,0.00,0.000,6,0.204,0.026,2539,2403,3991
$GC,517,-0.88,-194.7,68.4,-10.0,87,524,0.75,0.00,0.00,0.000,6,0.083,0.000,2262,2403,3993
$GC,861,-0.43,-194.7,152.0,-23.2,148,868,0.45,0.00,0.00,0.000,6,0.176,0.000,2397,2403,3992
$GC,1207,-0.75,-194.7,180.8,-6.7,209,1213,0.22,0.00,0.00,0.000,6,0.062,0.000,2298,2403,3995
$GC,1550,-0.62,-194.7,229.4,-14.6,270,1557,0.17,2.10,0.00,0.000,4,0.159,0.048,2344,3767,3996
$GC,1580,-0.62,-194.7,232.9,-11.2,275,1586,0.00,1.92,0.00,0.000,6,0.000,0.027,2344,2413,3996
$GC,1924,-0.79,-194.7,265.0,-8.8,336,1932,0.15,1.98,0.00,0.000,4,0.072,0.029,2279,1035,3996
$GC,1972,-0.75,-194.7,270.5,-12.2,344,1979,0.00,2.08,0.00,0.000,6,0.000,0.035,2275,2435,3996
$GC,2316,-0.65,-194.7,316.3,-13.1,395,2318,0.20,0.00,0.00,0.000,6,0.156,0.000,2333,2435,3997
$GC,2637,-0.86,-194.7,346.5,-9.3,425,2641,0.17,2.03,0.00,0.000,4,0.071,0.030,2253,1040,3997
$GC,2693,-0.79,-194.7,353.4,-13.1,430,2697,0.15,2.05,0.00,0.000,6,0.163,0.035,2288,2423,3997
$GC,3018,-0.85,-194.7,386.6,-8.9,460,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2424,3997
$GC,3338,-0.92,-194.7,417.0,-9.5,490,3342,0.12,2.00,0.00,0.000,4,0.085,0.030,2236,1046,3997
$GC,3376,-0.83,-194.7,421.9,-12.6,493,3383,0.17,2.03,0.00,0.000,6,0.162,0.038,2282,2405,3996
$GC,3701,-0.90,-194.7,453.7,-9.7,524,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2405,3996
$GC,4022,-1.00,-194.7,484.0,-9.3,554,4024,0.17,0.00,0.00,0.000,6,0.076,0.000,2212,2407,3994
$GC,4332,-0.82,-194.7,523.8,-12.7,575,4336,0.20,2.00,0.00,0.000,4,0.175,0.032,2273,1049,3993
$GC,4372,-0.89,-194.7,528.1,-10.3,576,4379,0.00,2.05,0.00,0.000,6,0.000,0.040,2273,2409,3993
$GC,4688,-0.97,-194.7,554.8,-8.6,592,4692,0.12,2.08,0.00,0.000,4,0.087,0.054,2222,3758,3991
$GC,4720,-0.85,-194.7,558.5,-12.2,593,4727,0.17,1.95,0.00,0.000,6,0.166,0.031,2271,2416,3991
$GC,5037,-0.94,-194.7,585.5,-7.5,609,5040,0.00,2.00,0.00,0.000,4,0.000,0.033,2270,1034,3988
$GC,5138,-1.04,-194.7,594.3,-8.9,613,5142,0.17,2.05,0.00,0.000,6,0.078,0.040,2203,2398,3988
$GC,5455,-0.88,-194.7,632.5,-11.8,628,5459,0.17,2.03,0.00,0.000,4,0.179,0.033,2255,1029,3985
$GC,5501,-0.93,-194.7,637.6,-9.6,630,5505,0.00,2.08,0.00,0.000,6,0.000,0.041,2255,2397,3985
$GC,5833,-0.93,-194.7,671.9,-10.7,646,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2397,3983
$GC,6143,-0.98,-194.7,698.2,-8.4,661,6147,0.00,2.03,0.00,0.000,4,0.000,0.035,2255,1027,3981
$GC,6205,-1.06,-194.7,703.6,-7.9,663,6212,0.15,2.08,0.00,0.000,6,0.081,0.041,2199,2403,3980
$GC,6521,-0.91,-194.7,740.9,-13.0,679,6525,0.17,2.10,0.00,0.000,4,0.182,0.056,2246,3757,3978
$GC,6570,-0.91,-194.7,746.9,-11.0,681,6574,0.00,2.00,0.00,0.000,6,0.000,0.033,2246,2394,3978
$GC,6892,-0.91,-194.7,781.0,-10.4,697,6896,0.00,2.00,0.00,0.000,4,0.000,0.036,2246,1027,3976
$GC,6971,-0.96,-194.7,789.2,-9.6,700,6974,0.00,2.08,0.00,0.000,6,0.000,0.041,2246,2398,3975
$GC,7292,-0.96,-194.7,820.6,-9.5,716,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2398,3973
$GC,7601,-0.96,-194.7,847.6,-8.9,731,7605,0.00,2.12,0.00,0.000,4,0.000,0.061,2246,3760,3972
$GC,7647,-0.96,-194.7,851.7,-9.0,733,7651,0.00,2.03,0.00,0.000,6,0.000,0.035,2246,2390,3971
$GC,7980,-0.96,-194.7,881.2,-8.9,749,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2388,3970
$GC,8289,-1.01,-194.7,907.0,-8.4,764,8292,0.00,2.00,0.00,0.000,4,0.000,0.039,2245,1030,3969
$GC,8339,-1.01,-194.7,911.2,-9.0,766,8342,0.00,2.08,0.00,0.000,6,0.000,0.044,2245,2392,3968
$GC,8666,-1.01,-194.7,939.5,-8.6,782,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2392,3967
$GC,8975,-1.01,-194.7,964.9,-8.0,797,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2392,3965
$GC,9285,-1.06,-194.7,989.0,-7.9,812,9289,0.12,2.15,0.00,0.000,4,0.092,0.062,2192,3761,3964
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9300,begin apogee
$GC,9307,-0.22,0.0,990.4,7.7,813,9402,0.93,0.00,87.72,1.451,6,0.169,0.000,2471,2498,3531
$STATE,9403,end apogee,CONTROL_FINISHED_OK
$STATE,9403,begin climb
$GC,9405,1.05,194.7,992.8,0.0,818,9578,1.15,2.28,160.02,1.401,4,0.062,0.041,2885,1105,2737
$GC,9781,0.48,194.7,941.8,20.5,835,9787,0.68,2.25,0.00,0.000,6,0.206,0.045,2707,2514,2731
$GC,10109,0.41,194.7,897.6,12.9,851,10112,0.00,2.00,0.00,0.000,4,0.000,0.061,2707,3767,2729
$GC,10215,0.21,194.7,881.8,15.5,855,10221,0.32,1.90,0.00,0.000,6,0.188,0.035,2619,2510,2728
$GC,10531,0.56,288.6,853.9,8.1,871,10614,0.30,2.15,76.68,1.333,4,0.074,0.060,2730,3750,2354
$GC,10659,0.45,288.6,835.0,17.4,877,10663,0.15,1.92,0.00,0.000,6,0.186,0.035,2697,2518,2350
$GC,10987,0.54,290.6,793.7,11.9,893,10990,0.00,2.03,0.00,0.000,4,0.000,0.060,2697,3768,2345
$GC,11137,0.54,290.6,773.0,14.5,899,11143,0.00,1.90,0.00,0.000,6,0.000,0.036,2697,2536,2345
$GC,11453,0.65,314.8,737.0,11.0,915,11477,0.17,0.00,20.90,1.239,6,0.082,0.000,2763,2534,2248
$GC,11783,0.55,314.8,688.8,14.4,931,11787,0.15,1.98,0.00,0.000,4,0.183,0.060,2726,3758,2242
$GC,11905,0.55,314.8,671.4,13.8,936,11909,0.00,1.88,0.00,0.000,6,0.000,0.038,2731,2540,2242
$GC,12226,0.55,314.8,628.7,13.8,952,12230,0.00,1.95,0.00,0.000,4,0.000,0.061,2731,3758,2241
$GC,12304,0.55,314.8,617.1,14.4,955,12308,0.00,1.83,0.00,0.000,6,0.000,0.036,2732,2562,2241
$GC,12625,0.55,314.8,573.0,13.8,971,12629,0.00,2.20,0.00,0.000,4,0.000,0.041,2732,1100,2241
$GC,12675,0.64,314.8,566.3,12.4,973,12679,0.00,2.25,0.00,0.000,6,0.000,0.044,2732,2557,2240
$GC,12995,0.64,314.8,522.3,13.8,989,12999,0.00,1.90,0.00,0.000,4,0.000,0.061,2732,3764,2240
$GC,13063,0.64,314.8,512.1,15.9,992,13066,0.00,1.83,0.00,0.000,6,0.000,0.035,2732,2543,2240
$GC,13395,0.69,314.8,467.2,12.2,1019,13401,0.10,0.00,0.00,0.000,6,0.100,0.000,2770,2541,2239
$GC,13722,0.63,314.8,421.5,14.0,1050,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2541,2239
$GC,14040,0.57,314.8,376.2,13.4,1080,14044,0.15,1.92,0.00,0.000,4,0.179,0.058,2732,3761,2239
$GC,14066,0.57,314.8,372.1,13.6,1082,14072,0.00,1.85,0.00,0.000,6,0.000,0.038,2732,2543,2239
$GC,14393,0.70,338.8,332.2,11.0,1113,14418,0.12,2.22,18.85,0.948,4,0.089,0.040,2787,1106,2150
$GC,14434,0.70,338.8,326.7,13.0,1116,14441,0.00,2.22,0.00,0.000,6,0.000,0.042,2786,2540,2149
$GC,14766,0.65,338.8,281.1,13.8,1159,14773,0.12,1.92,0.00,0.000,4,0.183,0.058,2756,3770,2146
$GC,14858,0.65,338.8,268.1,14.0,1175,14864,0.00,1.85,0.00,0.000,6,0.000,0.034,2759,2523,2146
$GC,15202,0.77,365.8,227.4,10.9,1236,15231,0.00,2.03,22.00,0.845,4,0.000,0.055,2759,3762,2039
$GC,15322,0.83,365.8,213.9,12.3,1257,15329,0.15,1.80,0.00,0.000,6,0.082,0.033,2816,2556,2037
$GC,15667,0.83,365.8,165.3,13.5,1318,15673,0.00,2.15,0.00,0.000,4,0.000,0.036,2821,1107,2036
$GC,15702,0.84,373.0,160.9,11.7,1324,15715,0.00,2.20,6.75,0.676,6,0.000,0.038,2820,2553,2011
$GC,16053,0.84,373.0,115.3,14.6,1386,16059,0.00,1.88,0.00,0.000,4,0.000,0.056,2820,3765,2009
$GC,16267,0.84,373.0,82.9,14.4,1424,16273,0.00,1.75,0.00,0.000,6,0.000,0.031,2828,2561,2010
$GC,16613,1.08,462.7,49.6,8.3,1485,16689,0.17,0.00,68.82,0.667,6,0.071,0.000,2908,2558,1643
$STATE,16900,end climb,SURFACE_DEPTH_REACHED
$STATE,16900,begin surface coast
$FINISH,1.5,1.022228
$STATE,16919,end surface coast,CONTROL_FINISHED_OK
$STATE,16919,begin surface
$SM_CCo,16996,0.00,0.000,0,0,1635,465.33
$SM_GC,2.45,7.50,0.00,0.00,0.061,0.000,0.000,146,2436,1635,-7.49,0.25,465.33
$IRIDIUM_FIX,2512.73,12316.93,240898,050548
$TT8_MAMPS,0.028379
$HUMID,1510
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.9,12.937
$10V_AH,10.8,8.384
$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,26.200,117.275,461.750,0.000,0.000,25.593,33.806,187.372,8.000,0.000,0.000,29.330,2716.679,10882.940,591.645,2667.356,517.344,0.000,1925.988,0.000,2592.071,0.000,54.415,0.000
$DEVICE_MAMPS,260.013,62.127,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.416,1041.749,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82093,1539
$CAP_FILE_SIZE,165907,0
$CFSIZE,260165632,220827648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 80.5,1
$GPS,300509,150400,2528.128,12317.282,36,1.0,42,-3.8