version: 66.04
glider: 167
mission: 2
dive: 305
start: 7 13 109 16 28 15
data:
$ID,167
$MISSION,2
$DIVE,305
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-11314.388
$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,79
$R_STBD_OVSHOOT,55
$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
$GPS1,162055,2456.905,12416.952,39,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-64.6
$GPS2,162754,2456.950,12417.081,17,1.6,33,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,203.4,18124,-23.2,-12.000
$D_GRID,1846
$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,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-22.58,0.000,2,0.000,0.000,138,2468,2081
$GC,43,-1.18,-121.7,3.1,-2.8,4,124,8.32,2.08,-64.35,0.000,4,0.236,0.036,2156,1021,3983
$GC,136,-0.60,-121.7,12.3,-25.1,19,144,0.70,2.10,-0.12,0.000,6,0.172,0.030,2346,2423,3989
$GC,484,-0.85,-121.7,59.2,-10.9,80,492,0.17,2.05,0.00,0.000,4,0.065,0.044,2261,3761,3989
$GC,745,-0.85,-121.7,96.9,-10.8,126,751,0.00,1.88,0.00,0.000,6,0.000,0.023,2262,2423,3991
$GC,1091,-0.97,-121.7,137.7,-11.5,187,1097,0.00,2.05,0.00,0.000,4,0.000,0.044,2261,3758,3992
$GC,1232,-1.05,-121.7,155.3,-12.6,212,1240,0.15,1.80,0.00,0.000,6,0.071,0.023,2193,2470,3992
$GC,1580,-0.98,-121.7,202.6,-13.0,273,1586,0.12,1.98,0.00,0.000,4,0.160,0.041,2220,3760,3994
$GC,1700,-0.98,-121.7,218.2,-13.1,294,1706,0.00,1.80,0.00,0.000,6,0.000,0.023,2220,2479,3994
$GC,2045,-1.06,-121.7,258.8,-10.4,355,2051,0.00,1.95,0.00,0.000,4,0.000,0.044,2217,3752,3994
$GC,2260,-1.06,-121.7,284.1,-11.9,393,2266,0.00,1.75,0.00,0.000,6,0.000,0.024,2217,2506,3994
$GC,2593,-1.15,-121.7,321.8,-10.8,436,2595,0.12,0.00,0.00,0.000,6,0.077,0.000,2162,2506,3994
$GC,2912,-1.06,-121.7,361.6,-12.8,466,2916,0.15,1.92,0.00,0.000,4,0.163,0.043,2193,3759,3994
$GC,3074,-1.06,-121.7,383.4,-13.0,480,3081,0.00,1.75,0.00,0.000,6,0.000,0.025,2193,2520,3993
$GC,3403,-1.12,-121.7,422.0,-10.4,511,3407,0.00,1.90,0.00,0.000,4,0.000,0.046,2192,3754,3994
$GC,3517,-1.12,-121.7,435.6,-11.4,521,3520,0.00,1.73,0.00,0.000,6,0.000,0.025,2192,2538,3993
$GC,3851,-1.18,-121.7,471.9,-11.2,552,3854,0.00,1.88,0.00,0.000,4,0.000,0.047,2192,3751,3992
$GC,3918,-1.18,-121.7,480.0,-11.3,558,3922,0.00,1.73,0.00,0.000,6,0.000,0.025,2192,2543,3992
$GC,4248,-1.27,-121.7,515.2,-10.0,582,4252,0.15,1.88,0.00,0.000,4,0.077,0.045,2125,3754,3991
$GC,4378,-1.05,-121.7,532.2,-12.4,587,4384,0.30,1.70,0.00,0.000,6,0.163,0.027,2207,2568,3991
$GC,4695,-1.22,-121.7,563.3,-9.8,603,4699,0.17,1.85,0.00,0.000,4,0.072,0.047,2125,3761,3989
$GC,4733,-1.01,-121.7,568.6,-14.3,604,4741,0.32,1.70,0.00,0.000,6,0.164,0.027,2215,2576,3988
$GC,5049,-1.39,-121.7,598.7,-8.8,620,5054,0.30,2.20,0.00,0.000,4,0.060,0.026,2094,1056,3987
$GC,5211,-1.17,-121.7,620.1,-13.1,627,5216,0.28,2.22,0.00,0.000,6,0.171,0.035,2160,2533,3985
$GC,5527,-1.17,-121.7,656.9,-11.9,642,5531,0.00,1.88,0.00,0.000,4,0.000,0.049,2153,3756,3982
$GC,5784,-1.08,-121.7,690.9,-12.5,653,5788,0.15,1.70,0.00,0.000,6,0.166,0.028,2190,2581,3980
$GC,6107,-1.20,-121.7,725.0,-10.4,669,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2581,3978
$GC,6415,-1.31,-121.7,756.2,-10.0,684,6417,0.20,0.00,0.00,0.000,6,0.071,0.000,2117,2581,3976
$GC,6724,-1.17,-121.7,795.2,-12.4,699,6728,0.17,1.85,0.00,0.000,4,0.179,0.051,2164,3751,3974
$GC,6802,-1.17,-121.7,803.9,-11.7,702,6805,0.00,1.70,0.00,0.000,6,0.000,0.028,2164,2581,3973
$GC,7123,-1.17,-121.7,836.5,-10.1,718,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2581,3972
$GC,7434,-1.17,-121.7,866.2,-9.7,733,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2581,3969
$GC,7742,-1.17,-121.7,897.1,-10.1,748,7745,0.00,1.85,0.00,0.000,4,0.000,0.054,2163,3749,3967
$GC,7859,-1.17,-121.7,908.9,-10.5,753,7862,0.00,1.73,0.00,0.000,6,0.000,0.029,2162,2573,3966
$GC,8187,-1.17,-121.7,941.4,-10.2,769,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2573,3965
$GC,8495,-1.17,-121.7,974.0,-10.8,784,8498,0.00,1.88,0.00,0.000,4,0.000,0.054,2162,3755,3963
$GC,8546,-1.17,-121.7,979.9,-11.8,786,8550,0.00,1.75,0.00,0.000,6,0.000,0.031,2162,2586,3962
$STATE,8643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8643,begin apogee
$GC,8649,-0.22,0.0,991.1,11.0,791,8749,1.05,0.00,91.90,1.391,6,0.161,0.000,2470,2586,3532
$STATE,8750,end apogee,CONTROL_FINISHED_OK
$STATE,8750,begin climb
$GC,8753,1.18,121.7,995.7,0.0,796,8864,1.30,2.03,103.20,1.371,4,0.064,0.049,2926,3747,3034
$GC,9106,0.44,121.7,970.1,12.6,812,9111,0.95,1.80,0.00,0.000,6,0.212,0.027,2690,2527,3030
$GC,9423,0.66,206.9,949.3,6.4,827,9498,0.20,2.22,69.68,1.348,4,0.081,0.031,2774,1112,2687
$GC,9549,0.67,216.8,935.8,11.3,832,9567,0.00,2.20,9.55,1.160,6,0.000,0.037,2774,2494,2648
$GC,9875,0.67,216.8,896.6,12.2,848,9879,0.00,2.10,0.00,0.000,4,0.000,0.032,2775,1111,2643
$GC,9970,0.69,227.0,885.7,11.3,852,9987,0.00,2.12,9.60,1.176,6,0.000,0.038,2775,2482,2605
$GC,10295,0.70,237.0,849.2,11.3,868,10310,0.00,2.10,9.52,1.170,4,0.000,0.032,2775,1113,2565
$GC,10396,0.77,248.3,837.9,11.3,872,10412,0.00,2.10,10.77,1.186,6,0.000,0.036,2775,2468,2518
$GC,10740,0.78,257.2,798.4,11.4,889,10751,0.00,0.00,8.60,1.134,6,0.000,0.000,2775,2468,2483
$GC,11050,0.83,257.2,761.4,12.3,904,11054,0.10,2.05,0.00,0.000,4,0.094,0.031,2815,1119,2480
$GC,11117,0.83,257.2,752.1,13.8,907,11121,0.00,2.08,0.00,0.000,6,0.000,0.038,2815,2458,2480
$GC,11450,0.76,257.2,704.3,13.9,923,11454,0.00,2.00,0.00,0.000,4,0.000,0.031,2820,1115,2479
$GC,11528,0.70,257.2,693.9,12.4,926,11532,0.17,2.03,0.00,0.000,6,0.176,0.036,2776,2442,2479
$GC,11849,0.79,268.1,657.1,11.3,942,11864,0.00,2.08,10.30,1.112,4,0.000,0.051,2776,3765,2437
$GC,11920,0.79,268.1,647.5,14.1,944,11924,0.00,1.95,0.00,0.000,6,0.000,0.027,2784,2430,2436
$GC,12242,0.84,268.1,609.0,12.2,960,12245,0.00,1.95,0.00,0.000,4,0.000,0.034,2785,1114,2435
$GC,12275,0.93,268.1,604.5,12.5,961,12279,0.17,2.05,0.00,0.000,6,0.077,0.036,2850,2453,2434
$GC,12591,0.78,268.1,562.0,12.7,976,12593,0.20,0.00,0.00,0.000,6,0.183,0.000,2799,2455,2434
$GC,12902,0.83,305.0,530.6,9.6,991,12938,0.00,2.08,30.80,1.098,4,0.000,0.051,2799,3764,2288
$GC,12994,0.83,305.0,519.9,12.3,994,12998,0.00,1.98,0.00,0.000,6,0.000,0.027,2802,2457,2285
$GC,13321,0.93,325.2,485.6,10.7,1016,13345,0.12,2.03,17.10,1.026,4,0.088,0.031,2858,1106,2206
$GC,13481,0.88,325.2,464.2,13.3,1030,13485,0.12,2.08,0.00,0.000,6,0.179,0.037,2830,2442,2203
$GC,13811,0.91,353.0,426.3,10.2,1061,13844,0.00,2.10,23.67,0.992,4,0.000,0.032,2830,1098,2092
$GC,13973,1.06,380.4,409.4,10.2,1075,14003,0.17,2.03,23.42,0.966,6,0.076,0.033,2895,2420,1981
$GC,14321,0.98,380.4,357.7,15.6,1108,14325,0.15,2.00,0.00,0.000,4,0.185,0.029,2865,1093,1974
$GC,14377,0.98,380.4,349.9,13.1,1113,14381,0.00,2.00,0.00,0.000,6,0.000,0.033,2865,2407,1974
$GC,14711,1.03,380.4,304.1,14.2,1144,14714,0.00,1.95,0.00,0.000,4,0.000,0.031,2870,1100,1973
$GC,14796,1.09,380.4,291.8,14.0,1156,14803,0.00,1.92,0.00,0.000,6,0.000,0.033,2870,2377,1973
$GC,15142,1.16,389.0,248.5,11.4,1217,15155,0.12,1.98,7.45,0.743,4,0.085,0.029,2926,1086,1946
$GC,15207,1.05,389.0,239.9,13.4,1228,15215,0.17,1.92,0.00,0.000,6,0.172,0.035,2880,2359,1945
$GC,15555,1.11,389.0,195.2,13.8,1289,15560,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2359,1945
$GC,15898,1.21,410.4,152.5,10.6,1350,15924,0.15,2.25,19.12,0.743,4,0.079,0.049,2937,3765,1857
$GC,15948,1.08,410.4,146.0,14.0,1358,15955,0.20,2.12,0.00,0.000,6,0.179,0.025,2895,2325,1856
$GC,16293,1.19,410.4,105.0,12.4,1419,16299,0.00,2.25,0.00,0.000,4,0.000,0.044,2895,3767,1855
$GC,16333,1.19,410.4,99.2,14.3,1426,16339,0.00,2.08,0.00,0.000,6,0.000,0.023,2903,2340,1855
$GC,16677,1.42,463.1,63.4,8.5,1487,16726,0.22,1.90,42.05,0.674,4,0.066,0.028,3008,1088,1643
$GC,16784,1.42,463.1,50.5,13.9,1505,16790,0.00,1.92,0.00,0.000,6,0.000,0.030,3008,2366,1640
$GC,17128,1.42,463.1,7.8,13.1,1566,17135,0.00,1.88,0.00,0.000,4,0.000,0.027,3016,1085,1637
$STATE,17167,end climb,SURFACE_DEPTH_REACHED
$STATE,17167,begin surface coast
$FINISH,1.8,1.021215
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17196,begin surface
$SM_CCo,17276,0.00,0.000,0,0,1635,465.58
$SM_GC,2.76,7.60,0.00,0.00,0.047,0.000,0.000,139,2462,1635,-7.51,1.02,465.58
$IRIDIUM_FIX,2446.56,12417.66,071098,111150
$TT8_MAMPS,0.028379
$HUMID,1609
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,53.874
$10V_AH,10.8,30.375
$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,25.000,129.575,486.750,0.000,0.000,28.623,39.015,187.543,8.000,0.000,0.000,35.400,2816.916,10762.149,614.803,2874.674,612.367,0.000,2044.627,0.000,2787.139,0.000,54.429,0.000
$DEVICE_MAMPS,236.236,54.457,1390.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.242,1095.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85307,1578
$CAP_FILE_SIZE,174290,0
$CFSIZE,260165632,200478720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 67.0,1
$GPS,130709,211731,2455.919,12416.980,39,1.6,46,-3.7