version: 66.04
glider: 167
mission: 2
dive: 307
start: 7 14 109 2 28 26
data:
$ID,167
$MISSION,2
$DIVE,307
$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,-11377.828
$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,70
$R_STBD_OVSHOOT,38
$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
$GPS1,022057,2454.947,12417.098,37,2.6,57,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-64.6
$GPS2,022806,2454.910,12417.237,13,1.3,29,-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,204.4,14336,-23.2,-12.000
$D_GRID,1666
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.10,0.000,2,0.000,0.000,141,2448,2166
$GC,44,-1.18,-121.7,3.1,-3.2,4,118,8.25,0.00,-62.08,0.000,6,0.234,0.000,2161,2449,3989
$GC,457,-0.78,-121.7,88.3,-23.9,76,463,0.40,2.03,0.00,0.000,4,0.163,0.042,2275,3767,3991
$GC,492,-0.78,-121.7,94.7,-15.5,82,499,0.00,1.95,0.00,0.000,6,0.000,0.021,2275,2371,3991
$GC,839,-1.15,-121.7,134.8,-11.1,143,846,0.25,2.12,0.00,0.000,4,0.057,0.042,2162,3758,3992
$GC,1099,-0.89,-121.7,177.8,-16.3,189,1106,0.32,1.88,0.00,0.000,6,0.156,0.023,2254,2419,3993
$GC,1444,-1.07,-121.7,216.3,-10.3,250,1451,0.17,2.05,0.00,0.000,4,0.061,0.042,2172,3757,3994
$GC,1633,-0.90,-121.7,242.7,-13.3,283,1640,0.28,1.80,0.00,0.000,6,0.156,0.024,2250,2474,3994
$GC,1978,-1.27,-121.7,274.9,-9.7,344,1986,0.28,1.98,0.00,0.000,4,0.057,0.044,2126,3760,3994
$GC,2044,-0.98,-121.7,284.2,-16.1,355,2050,0.35,1.75,0.00,0.000,6,0.163,0.023,2224,2508,3994
$GC,2379,-1.14,-121.7,319.9,-8.4,397,2383,0.15,1.92,0.00,0.000,4,0.071,0.043,2153,3764,3994
$GC,2493,-0.97,-121.7,333.0,-12.0,407,2497,0.28,1.77,0.00,0.000,6,0.156,0.024,2229,2506,3995
$GC,2823,-1.17,-121.7,363.3,-9.9,438,2825,0.17,0.00,0.00,0.000,6,0.065,0.000,2158,2506,3994
$GC,3142,-1.10,-121.7,402.5,-11.9,468,3146,0.12,1.95,0.00,0.000,4,0.172,0.045,2188,3768,3994
$GC,3281,-1.10,-121.7,419.3,-12.7,480,3287,0.00,1.80,0.00,0.000,6,0.000,0.024,2188,2520,3994
$GC,3607,-1.17,-121.7,455.3,-10.8,511,3611,0.00,1.92,0.00,0.000,4,0.000,0.046,2184,3769,3992
$GC,3699,-1.17,-121.7,465.4,-10.6,519,3702,0.00,1.75,0.00,0.000,6,0.000,0.025,2184,2538,3992
$GC,4031,-1.23,-121.7,499.1,-10.4,550,4035,0.00,1.90,0.00,0.000,4,0.000,0.047,2179,3766,3992
$GC,4100,-1.23,-121.7,507.1,-11.6,554,4103,0.00,1.75,0.00,0.000,6,0.000,0.025,2179,2541,3991
$GC,4433,-1.28,-121.7,546.5,-11.9,570,4437,0.12,1.90,0.00,0.000,4,0.084,0.047,2125,3762,3990
$GC,4511,-1.06,-121.7,557.8,-14.3,573,4515,0.28,1.70,0.00,0.000,6,0.167,0.026,2199,2576,3989
$GC,4833,-1.23,-121.7,587.4,-8.1,589,4837,0.15,1.85,0.00,0.000,4,0.074,0.048,2138,3762,3987
$GC,4916,-1.09,-121.7,596.8,-12.1,592,4924,0.20,1.67,0.00,0.000,6,0.168,0.027,2190,2597,3987
$GC,5233,-1.20,-121.7,624.5,-9.4,608,5238,0.00,2.25,0.00,0.000,4,0.000,0.027,2190,1048,3985
$GC,5272,-1.32,-121.7,628.1,-8.9,609,5278,0.20,2.30,0.00,0.000,6,0.067,0.034,2115,2572,3984
$GC,5588,-1.17,-121.7,668.7,-13.4,625,5590,0.20,0.00,0.00,0.000,6,0.186,0.000,2166,2572,3982
$GC,5896,-1.17,-121.7,706.7,-11.8,640,5900,0.00,2.25,0.00,0.000,4,0.000,0.027,2166,1043,3980
$GC,5947,-1.23,-121.7,713.0,-11.9,642,5951,0.00,2.30,0.00,0.000,6,0.000,0.036,2165,2556,3980
$GC,6264,-1.23,-121.7,747.0,-10.4,657,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2556,3977
$GC,6572,-1.23,-121.7,778.6,-9.7,672,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2556,3975
$GC,6882,-1.23,-121.7,810.5,-10.6,687,6886,0.00,1.88,0.00,0.000,4,0.000,0.054,2165,3760,3973
$GC,6955,-1.23,-121.7,819.0,-12.0,690,6959,0.00,1.70,0.00,0.000,6,0.000,0.029,2165,2594,3973
$GC,7284,-1.28,-121.7,854.4,-11.1,706,7287,0.00,2.25,0.00,0.000,4,0.000,0.028,2164,1066,3970
$GC,7359,-1.35,-121.7,862.9,-11.5,709,7364,0.15,2.30,0.00,0.000,6,0.083,0.038,2108,2557,3970
$GC,7681,-1.19,-121.7,909.3,-15.1,725,7683,0.20,0.00,0.00,0.000,6,0.191,0.000,2157,2558,3968
$GC,7990,-1.19,-121.7,947.1,-11.4,740,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2558,3966
$GC,8299,-1.19,-121.7,979.7,-10.4,755,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2558,3965
$STATE,8398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8399,begin apogee
$GC,8404,-0.22,0.0,990.4,10.3,760,8501,1.08,0.00,90.20,1.407,6,0.168,0.000,2470,2558,3532
$STATE,8502,end apogee,CONTROL_FINISHED_OK
$STATE,8502,begin climb
$GC,8505,1.18,121.7,994.6,0.0,765,8616,1.27,2.05,103.03,1.368,4,0.065,0.051,2924,3750,3034
$GC,8762,0.44,121.7,980.6,13.2,777,8768,0.95,1.85,0.00,0.000,6,0.214,0.027,2692,2511,3031
$GC,9091,0.65,197.1,957.5,7.0,793,9155,0.17,0.00,61.30,1.348,6,0.084,0.000,2763,2511,2728
$GC,9466,0.65,197.1,911.5,12.4,811,9469,0.00,2.08,0.00,0.000,4,0.000,0.030,2769,1118,2722
$GC,9522,0.65,197.1,904.2,12.1,813,9526,0.00,2.17,0.00,0.000,6,0.000,0.037,2769,2521,2722
$GC,9843,0.68,220.4,868.0,10.5,829,9867,0.00,2.17,19.83,1.275,4,0.000,0.032,2775,1117,2633
$GC,9941,0.69,236.5,856.9,10.9,833,9961,0.00,2.17,14.62,1.228,6,0.000,0.037,2775,2507,2567
$GC,10284,0.69,236.5,816.6,12.2,850,10287,0.00,2.10,0.00,0.000,4,0.000,0.031,2776,1122,2562
$GC,10385,0.76,243.8,804.1,11.5,854,10398,0.00,2.10,6.72,1.065,6,0.000,0.037,2775,2482,2538
$GC,10706,0.77,259.2,768.2,11.0,870,10729,0.00,2.08,13.93,1.201,4,0.000,0.054,2775,3761,2475
$GC,10785,0.69,259.2,757.9,14.5,873,10789,0.00,1.92,0.00,0.000,6,0.000,0.028,2782,2459,2473
$GC,11107,0.70,266.0,720.1,11.6,889,11120,0.00,2.08,7.12,1.055,4,0.000,0.032,2789,1109,2447
$GC,11161,0.75,266.0,713.6,12.0,891,11164,0.00,2.15,0.00,0.000,6,0.000,0.037,2788,2497,2446
$GC,11482,0.78,289.0,678.5,10.5,907,11508,0.00,2.12,20.85,1.187,4,0.000,0.032,2789,1122,2353
$GC,11601,0.88,306.9,665.6,10.8,912,11622,0.12,2.12,16.12,1.144,6,0.086,0.035,2835,2487,2280
$GC,11940,0.81,306.9,618.6,14.5,929,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2487,2274
$GC,12248,0.76,306.9,572.9,14.4,944,12252,0.17,2.08,0.00,0.000,4,0.173,0.030,2797,1119,2273
$GC,12343,0.87,316.3,561.1,11.4,948,12359,0.00,2.12,8.18,0.999,6,0.000,0.036,2798,2491,2242
$GC,12670,0.99,344.0,527.4,10.2,964,12697,0.17,0.00,24.33,1.079,6,0.076,0.000,2866,2493,2129
$GC,13003,0.90,344.0,481.4,14.0,986,13008,0.12,2.10,0.00,0.000,4,0.189,0.030,2845,1106,2124
$GC,13211,0.90,344.0,454.3,12.5,1004,13215,0.00,2.15,0.00,0.000,6,0.000,0.036,2845,2499,2122
$GC,13543,0.90,344.0,411.8,13.5,1035,13546,0.00,2.08,0.00,0.000,4,0.000,0.031,2851,1110,2122
$GC,13603,0.90,344.0,402.8,14.7,1040,13610,0.00,2.10,0.00,0.000,6,0.000,0.035,2851,2485,2122
$GC,13931,0.90,344.0,359.1,12.1,1071,13934,0.00,2.05,0.00,0.000,4,0.000,0.031,2855,1113,2122
$GC,14056,0.92,356.0,344.3,11.2,1082,14072,0.00,2.05,10.40,0.869,6,0.000,0.034,2856,2460,2080
$GC,14398,0.93,370.3,305.3,11.1,1114,14416,0.00,2.03,13.35,0.856,4,0.000,0.029,2855,1117,2021
$GC,14509,1.03,381.7,292.9,11.2,1128,14528,0.00,1.98,10.30,0.813,6,0.000,0.031,2856,2421,1976
$GC,14868,1.15,382.2,248.9,12.0,1191,14874,0.17,1.95,0.00,0.000,4,0.074,0.028,2936,1109,1973
$GC,15023,1.03,382.2,226.8,14.5,1218,15031,0.22,1.92,0.00,0.000,6,0.170,0.034,2875,2387,1973
$GC,15371,1.11,382.2,183.3,13.1,1279,15377,0.00,1.88,0.00,0.000,4,0.000,0.028,2883,1113,1973
$GC,15468,1.20,382.2,170.5,12.6,1296,15474,0.15,1.88,0.00,0.000,6,0.080,0.031,2941,2365,1973
$GC,15812,1.13,382.2,123.4,12.7,1357,15819,0.12,2.15,0.00,0.000,4,0.173,0.044,2911,3768,1973
$GC,15865,1.07,382.2,116.0,13.6,1366,15872,0.00,2.00,0.00,0.000,6,0.000,0.022,2920,2362,1974
$GC,16211,1.22,426.5,81.4,9.1,1427,16252,0.00,1.90,36.50,0.688,4,0.000,0.028,2924,1114,1792
$GC,16286,1.42,477.7,74.9,8.6,1440,16334,0.22,1.95,40.75,0.671,6,0.066,0.029,3009,2407,1583
$GC,16676,1.42,477.7,24.3,13.7,1508,16682,0.00,2.10,0.00,0.000,4,0.000,0.046,3010,3762,1577
$GC,16762,1.29,477.7,11.0,17.4,1523,16768,0.22,2.03,0.00,0.000,6,0.173,0.021,2960,2360,1576
$STATE,16829,end climb,SURFACE_DEPTH_REACHED
$STATE,16829,begin surface coast
$FINISH,1.9,1.021192
$STATE,16853,end surface coast,CONTROL_FINISHED_OK
$STATE,16853,begin surface
$SM_CCo,16931,0.00,0.000,0,0,1574,480.30
$SM_GC,2.79,7.45,0.00,0.00,0.048,0.000,0.000,140,2485,1574,-7.50,1.64,480.30
$IRIDIUM_FIX,2446.56,12417.66,071098,212135
$TT8_MAMPS,0.029146
$HUMID,1607
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.5,54.237
$10V_AH,10.8,30.570
$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,25.175,124.425,497.525,0.000,0.000,28.778,36.748,201.806,8.000,0.000,0.000,29.336,2727.522,10665.796,607.407,2722.059,621.409,0.000,1981.488,0.000,2645.938,0.000,56.976,0.000
$DEVICE_MAMPS,233.935,65.195,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.538,1044.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81978,1539
$CAP_FILE_SIZE,169830,0
$CFSIZE,260165632,200302592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 67.1,1
$GPS,140709,071154,2453.847,12416.908,25,1.0,43,-3.7