version: 66.04
glider: 167
mission: 2
dive: 318
start: 7 16 109 6 37 34
data:
$ID,167
$MISSION,2
$DIVE,318
$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,253
$T_MISSION,304
$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,-11561.325
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,063006,2448.923,12419.756,36,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-65.9
$GPS2,063714,2448.984,12419.758,9,1.3,9,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2502.400,12422.900
$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,330.7,25400,-24.8,-13.043
$D_GRID,1527
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-34.42,0.000,2,0.000,0.000,142,2399,2429
$GC,55,-1.25,-121.7,3.4,-3.0,6,115,8.15,2.12,-45.08,0.000,4,0.235,0.053,2126,3777,3988
$GC,369,-0.75,-121.7,77.5,-22.4,61,376,0.62,1.98,0.00,0.000,6,0.172,0.021,2302,2373,3989
$GC,714,-1.20,-121.7,120.5,-10.3,122,722,0.35,2.15,0.00,0.000,4,0.051,0.041,2150,3773,3991
$GC,976,-0.93,-121.7,167.5,-17.9,168,984,0.32,1.90,0.00,0.000,6,0.156,0.021,2242,2414,3992
$GC,1322,-1.10,-121.7,211.4,-12.1,229,1329,0.15,2.08,0.00,0.000,4,0.068,0.043,2175,3767,3993
$GC,1479,-0.98,-121.7,233.3,-13.2,256,1486,0.20,1.80,0.00,0.000,6,0.154,0.021,2230,2469,3993
$GC,1827,-1.17,-121.7,271.0,-10.6,317,1833,0.17,2.00,0.00,0.000,4,0.064,0.041,2141,3778,3994
$GC,1862,-1.00,-121.7,276.3,-15.5,323,1869,0.28,1.83,0.00,0.000,6,0.156,0.021,2218,2464,3994
$GC,2206,-1.19,-121.7,316.3,-11.5,372,2210,0.17,2.00,0.00,0.000,4,0.064,0.041,2138,3771,3994
$GC,2267,-1.04,-121.7,325.4,-15.7,377,2274,0.25,1.80,0.00,0.000,6,0.156,0.021,2207,2480,3994
$GC,2592,-1.18,-121.7,359.7,-10.2,408,2594,0.12,0.00,0.00,0.000,6,0.075,0.000,2153,2480,3994
$GC,2913,-1.18,-121.7,398.4,-11.6,438,2917,0.00,1.98,0.00,0.000,4,0.000,0.045,2149,3761,3994
$GC,2952,-1.09,-121.7,403.4,-11.7,441,2959,0.15,1.80,0.00,0.000,6,0.160,0.023,2188,2480,3993
$GC,3278,-1.23,-121.7,434.8,-9.7,472,3282,0.12,1.98,0.00,0.000,4,0.073,0.045,2137,3761,3993
$GC,3351,-1.10,-121.7,444.3,-13.6,478,3359,0.20,1.80,0.00,0.000,6,0.160,0.024,2190,2483,3993
$GC,3678,-1.27,-121.7,479.7,-9.8,509,3682,0.15,1.98,0.00,0.000,4,0.070,0.045,2124,3761,3992
$GC,3819,-1.12,-121.7,497.5,-12.8,521,3826,0.22,1.77,0.00,0.000,6,0.163,0.025,2186,2511,3992
$GC,4138,-1.27,-121.7,529.7,-10.9,538,4143,0.15,1.95,0.00,0.000,4,0.067,0.046,2124,3768,3990
$GC,4155,-1.27,-121.7,532.2,-11.5,538,4161,0.00,1.77,0.00,0.000,6,0.000,0.025,2124,2515,3991
$GC,4471,-1.21,-121.7,576.3,-13.3,554,4473,0.12,0.00,0.00,0.000,6,0.175,0.000,2154,2515,3989
$GC,4781,-1.26,-121.7,609.3,-10.2,569,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2515,3987
$GC,5089,-1.33,-121.7,642.5,-11.0,584,5091,0.12,0.00,0.00,0.000,6,0.084,0.000,2107,2515,3985
$GC,5399,-1.23,-121.7,681.3,-12.3,599,5404,0.15,1.95,0.00,0.000,4,0.176,0.048,2137,3760,3982
$GC,5472,-1.18,-121.7,690.2,-11.9,602,5476,0.00,1.83,0.00,0.000,6,0.000,0.027,2137,2512,3981
$GC,5800,-1.18,-121.7,727.9,-11.4,618,5804,0.00,2.10,0.00,0.000,4,0.000,0.027,2137,1063,3979
$GC,5873,-1.18,-121.7,736.8,-12.5,621,5876,0.00,2.17,0.00,0.000,6,0.000,0.036,2137,2495,3978
$GC,6200,-1.18,-121.7,774.4,-11.6,637,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3976
$GC,6509,-1.18,-121.7,810.5,-11.7,652,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3973
$GC,6818,-1.18,-121.7,847.7,-11.8,667,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3971
$GC,7127,-1.18,-121.7,883.1,-11.3,682,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3969
$GC,7438,-1.18,-121.7,918.8,-12.0,697,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3967
$GC,7746,-1.18,-121.7,954.3,-11.4,712,7749,0.00,2.00,0.00,0.000,4,0.000,0.055,2137,3767,3965
$GC,7784,-1.18,-121.7,959.1,-11.3,713,7790,0.00,1.83,0.00,0.000,6,0.000,0.027,2137,2523,3964
$STATE,8076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8076,begin apogee
$GC,8083,-0.22,0.0,991.1,11.2,728,8180,1.12,0.00,89.97,1.406,6,0.163,0.000,2465,2522,3531
$STATE,8181,end apogee,CONTROL_FINISHED_OK
$STATE,8181,begin climb
$GC,8183,1.25,121.7,995.7,0.0,733,8294,1.33,2.12,102.53,1.366,4,0.056,0.049,2945,3753,3034
$GC,8547,0.55,139.2,970.9,11.8,749,8568,0.88,1.83,14.98,1.259,6,0.215,0.026,2730,2517,2964
$GC,8886,0.73,218.0,946.7,7.4,766,8954,0.15,0.00,65.18,1.344,6,0.081,0.000,2784,2517,2643
$GC,9276,0.74,232.8,901.8,12.0,785,9295,0.00,0.00,13.05,1.225,6,0.000,0.000,2784,2517,2581
$GC,9606,0.77,251.7,862.3,11.7,801,9624,0.00,0.00,16.23,1.246,6,0.000,0.000,2784,2517,2505
$GC,9934,0.85,263.4,822.4,12.2,817,9950,0.00,2.10,10.88,1.182,4,0.000,0.032,2786,1125,2457
$GC,10035,0.96,268.5,809.6,12.7,820,10047,0.20,2.15,6.15,1.025,6,0.074,0.037,2861,2510,2436
$GC,10377,0.82,268.5,757.2,15.9,837,10381,0.20,2.10,0.00,0.000,4,0.189,0.030,2815,1117,2434
$GC,10432,0.83,279.6,749.3,12.2,839,10447,0.00,2.12,10.43,1.147,6,0.000,0.035,2815,2498,2392
$GC,10769,0.83,279.6,702.9,14.1,856,10773,0.00,2.08,0.00,0.000,4,0.000,0.031,2820,1123,2390
$GC,10914,0.86,297.6,684.9,11.7,862,10935,0.00,2.05,16.42,1.169,6,0.000,0.035,2820,2460,2317
$GC,11252,0.86,297.6,642.2,13.2,879,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2460,2315
$GC,11560,0.90,297.6,599.9,13.2,894,11564,0.00,2.03,0.00,0.000,4,0.000,0.031,2828,1109,2313
$GC,11634,0.98,315.9,591.0,11.7,897,11654,0.00,2.05,15.68,1.109,6,0.000,0.036,2828,2448,2243
$GC,11978,1.07,340.7,549.8,11.3,914,12005,0.17,2.10,21.50,1.094,4,0.076,0.029,2910,1110,2142
$GC,12069,0.94,340.7,536.4,14.6,918,12073,0.25,2.05,0.00,0.000,6,0.186,0.038,2847,2428,2139
$GC,12393,0.99,340.7,489.3,15.0,937,12397,0.00,1.98,0.00,0.000,4,0.000,0.031,2854,1112,2135
$GC,12439,1.04,340.7,482.7,13.4,941,12443,0.00,2.00,0.00,0.000,6,0.000,0.037,2854,2414,2136
$GC,12772,1.05,351.6,441.6,12.3,972,12788,0.00,2.00,9.65,0.944,4,0.000,0.031,2860,1121,2097
$GC,12823,1.13,352.3,434.7,13.0,976,12830,0.15,1.98,0.00,0.000,6,0.082,0.033,2916,2418,2096
$GC,13148,1.00,352.3,382.6,16.4,1007,13152,0.17,2.10,0.00,0.000,4,0.183,0.048,2866,3764,2096
$GC,13180,0.93,352.3,377.2,16.7,1009,13186,0.00,2.00,0.00,0.000,6,0.000,0.025,2874,2411,2095
$GC,13509,0.95,369.1,335.6,11.8,1040,13532,0.00,1.95,15.52,0.901,4,0.000,0.031,2882,1123,2026
$GC,13670,1.01,377.6,315.2,12.4,1054,13685,0.00,1.92,8.62,0.813,6,0.000,0.033,2882,2391,1990
$GC,14018,1.08,381.5,270.1,12.8,1106,14030,0.00,1.95,4.47,0.628,4,0.000,0.030,2882,1114,1976
$GC,14183,1.19,381.5,248.7,13.3,1135,14190,0.12,1.88,0.00,0.000,6,0.084,0.032,2931,2356,1976
$GC,14527,1.19,381.5,199.3,13.2,1196,14534,0.00,2.17,0.00,0.000,4,0.000,0.048,2931,3764,1975
$GC,14665,1.07,381.5,179.1,13.8,1220,14672,0.20,2.00,0.00,0.000,6,0.179,0.024,2887,2386,1975
$GC,15011,1.29,425.2,142.0,9.9,1281,15053,0.20,1.95,36.15,0.742,4,0.070,0.029,2983,1107,1797
$GC,15200,1.29,425.2,114.3,15.2,1314,15206,0.00,1.95,0.00,0.000,6,0.000,0.031,2983,2402,1794
$GC,15544,1.30,435.9,72.4,12.3,1375,15558,0.00,2.17,9.50,0.617,4,0.000,0.046,2983,3772,1754
$GC,15583,1.23,435.9,67.5,14.0,1381,15590,0.20,2.03,0.00,0.000,6,0.180,0.022,2942,2377,1754
$GC,15930,1.54,515.2,33.9,7.4,1442,16000,0.25,1.88,62.58,0.631,4,0.066,0.028,3050,1113,1429
$GC,16096,1.54,515.2,11.6,14.3,1471,16102,0.00,1.98,0.00,0.000,6,0.000,0.031,3050,2419,1426
$STATE,16162,end climb,SURFACE_DEPTH_REACHED
$STATE,16162,begin surface coast
$FINISH,1.7,1.008102
$STATE,16186,end surface coast,CONTROL_FINISHED_OK
$STATE,16186,begin surface
$SM_CCo,16264,0.00,0.000,0,0,1422,517.58
$SM_GC,2.58,7.75,0.00,0.00,0.048,0.000,0.000,140,2425,1422,-7.50,-0.06,517.58
$IRIDIUM_FIX,2439.44,12416.95,101098,020206
$TT8_MAMPS,0.028379
$HUMID,1607
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.5,56.223
$10V_AH,10.7,31.602
$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,25.550,107.200,529.475,0.000,0.000,29.305,32.538,230.513,8.000,0.000,0.000,10.050,2603.974,10274.240,617.964,2552.420,630.711,0.000,1916.185,0.000,2492.367,0.000,54.433,0.000
$DEVICE_MAMPS,234.702,55.224,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.484,1016.721,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78866,1487
$CAP_FILE_SIZE,160372,0
$CFSIZE,260165632,199356416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184,105.1,1
$GPS,160709,111015,2450.231,12420.863,43,2.2,62,-3.7