version: 66.04
glider: 167
mission: 2
dive: 319
start: 7 16 109 11 18 17
data:
$ID,167
$MISSION,2
$DIVE,319
$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,-11595.903
$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,76
$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
$GPS1,111015,2450.231,12420.863,43,2.2,62,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-64.6
$GPS2,111758,2450.271,12420.922,13,2.3,32,-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,327.1,22706,-24.8,-13.043
$D_GRID,1283
$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,16,-1.25,-121.7,0.0,0.0,0,46,0.00,0.00,-27.58,0.000,2,0.000,0.000,140,2425,2122
$GC,49,-1.25,-121.7,3.0,-1.5,4,128,8.27,2.08,-63.88,0.000,4,0.239,0.054,2130,3769,3989
$GC,382,-0.72,-121.7,76.8,-24.6,62,390,0.62,1.95,0.00,0.000,6,0.166,0.021,2309,2386,3990
$GC,729,-1.26,-121.7,119.3,-10.8,123,735,0.43,2.12,0.00,0.000,4,0.048,0.043,2124,3765,3992
$GC,838,-0.89,-121.7,137.7,-17.3,142,845,0.45,1.88,0.00,0.000,6,0.163,0.021,2252,2421,3992
$GC,1185,-1.08,-121.7,176.8,-12.0,203,1191,0.15,2.08,0.00,0.000,4,0.068,0.042,2188,3773,3993
$GC,1414,-1.01,-121.7,210.6,-13.9,243,1421,0.12,1.83,0.00,0.000,6,0.159,0.023,2220,2468,3994
$GC,1763,-1.13,-121.7,250.9,-9.3,304,1769,0.12,2.00,0.00,0.000,4,0.074,0.042,2162,3774,3994
$GC,1827,-1.02,-121.7,259.1,-13.0,315,1834,0.20,1.85,0.00,0.000,6,0.156,0.023,2217,2450,3994
$GC,2173,-1.20,-121.7,297.9,-11.3,376,2179,0.17,2.03,0.00,0.000,4,0.064,0.043,2137,3767,3994
$GC,2242,-1.00,-121.7,308.4,-16.0,384,2246,0.30,1.80,0.00,0.000,6,0.157,0.022,2221,2486,3994
$GC,2574,-1.30,-121.7,344.7,-9.9,415,2578,0.22,1.98,0.00,0.000,4,0.059,0.043,2124,3770,3994
$GC,2601,-1.25,-121.7,348.3,-13.3,417,2607,0.00,1.80,0.00,0.000,6,0.000,0.022,2124,2478,3994
$GC,2926,-1.11,-121.7,393.6,-12.8,448,2930,0.20,1.98,0.00,0.000,4,0.168,0.042,2178,3763,3994
$GC,3051,-1.11,-121.7,407.4,-11.2,459,3055,0.00,1.77,0.00,0.000,6,0.000,0.024,2178,2496,3994
$GC,3384,-1.20,-121.7,443.2,-10.9,490,3387,0.00,1.95,0.00,0.000,4,0.000,0.045,2177,3760,3993
$GC,3475,-1.20,-121.7,454.4,-12.5,498,3479,0.00,1.75,0.00,0.000,6,0.000,0.025,2177,2520,3993
$GC,3808,-1.28,-121.7,491.4,-9.9,529,3812,0.12,1.92,0.00,0.000,4,0.081,0.045,2124,3767,3992
$GC,3950,-1.13,-121.7,508.7,-12.8,539,3954,0.20,1.75,0.00,0.000,6,0.167,0.024,2177,2531,3991
$GC,4277,-1.25,-121.7,543.3,-11.3,555,4281,0.00,1.92,0.00,0.000,4,0.000,0.048,2177,3772,3990
$GC,4426,-1.32,-121.7,559.6,-10.1,561,4430,0.17,1.75,0.00,0.000,6,0.069,0.026,2108,2548,3989
$GC,4746,-1.19,-121.7,598.4,-13.4,577,4748,0.20,0.00,0.00,0.000,6,0.173,0.000,2161,2548,3987
$GC,5057,-1.27,-121.7,636.0,-12.1,592,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2548,3985
$GC,5366,-1.35,-121.7,672.3,-11.1,607,5370,0.15,1.90,0.00,0.000,4,0.079,0.048,2098,3764,3982
$GC,5411,-1.13,-121.7,678.4,-13.8,609,5415,0.30,1.75,0.00,0.000,6,0.175,0.026,2178,2552,3982
$GC,5746,-1.28,-121.7,708.9,-8.9,625,5747,0.15,0.00,0.00,0.000,6,0.078,0.000,2122,2552,3980
$GC,6052,-1.23,-121.7,744.2,-11.6,640,6056,0.00,1.90,0.00,0.000,4,0.000,0.049,2113,3768,3977
$GC,6154,-1.08,-121.7,758.2,-14.0,644,6158,0.30,1.77,0.00,0.000,6,0.170,0.026,2194,2541,3976
$GC,6475,-1.29,-121.7,792.8,-10.7,660,6479,0.20,1.92,0.00,0.000,4,0.073,0.049,2110,3764,3974
$GC,6533,-1.14,-121.7,800.6,-14.6,662,6537,0.25,1.75,0.00,0.000,6,0.172,0.026,2177,2557,3973
$GC,6855,-1.30,-121.7,832.9,-9.2,678,6859,0.15,1.90,0.00,0.000,4,0.079,0.049,2112,3764,3970
$GC,6946,-1.15,-121.7,844.6,-14.9,682,6950,0.22,1.75,0.00,0.000,6,0.172,0.027,2171,2564,3970
$GC,7280,-1.29,-121.7,878.3,-9.8,698,7282,0.12,0.00,0.00,0.000,6,0.082,0.000,2125,2563,3968
$GC,7588,-1.29,-121.7,914.6,-11.7,713,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2564,3966
$GC,7896,-1.29,-121.7,949.3,-11.3,728,7900,0.00,1.90,0.00,0.000,4,0.000,0.054,2123,3761,3964
$GC,8049,-1.20,-121.7,968.2,-13.2,734,8056,0.12,1.77,0.00,0.000,6,0.180,0.028,2152,2548,3962
$STATE,8258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8259,begin apogee
$GC,8265,-0.22,0.0,991.3,11.0,745,8361,1.08,0.00,89.82,1.407,6,0.160,0.000,2471,2548,3531
$STATE,8362,end apogee,CONTROL_FINISHED_OK
$STATE,8362,begin climb
$GC,8365,1.25,121.7,996.8,0.0,750,8476,1.33,2.12,102.93,1.368,4,0.064,0.048,2944,3768,3034
$GC,8533,0.56,148.9,996.9,11.1,757,8567,0.88,1.90,23.92,1.299,6,0.212,0.025,2734,2521,2923
$GC,8876,0.73,221.6,971.1,7.8,774,8939,0.15,0.00,60.65,1.348,6,0.084,0.000,2788,2520,2627
$GC,9244,0.76,243.1,928.1,11.5,792,9264,0.00,0.00,18.02,1.272,6,0.000,0.000,2788,2520,2539
$GC,9573,0.86,287.1,892.6,9.9,808,9615,0.00,2.25,37.42,1.312,4,0.000,0.032,2788,1110,2361
$GC,9695,0.99,296.6,878.6,12.4,813,9710,0.22,2.20,9.38,1.148,6,0.073,0.035,2871,2512,2321
$GC,10039,0.85,296.6,822.6,16.5,830,10043,0.20,2.12,0.00,0.000,4,0.190,0.030,2825,1103,2317
$GC,10156,0.85,296.6,804.7,14.4,835,10160,0.00,2.15,0.00,0.000,6,0.000,0.035,2825,2498,2315
$GC,10483,0.85,296.6,761.7,13.3,851,10487,0.00,2.10,0.00,0.000,4,0.000,0.031,2831,1105,2314
$GC,10551,0.85,297.6,752.7,13.0,854,10555,0.00,2.12,0.00,0.000,6,0.000,0.036,2831,2485,2314
$GC,10884,0.85,297.6,701.3,14.8,870,10888,0.00,2.08,0.00,0.000,4,0.000,0.032,2836,1103,2313
$GC,11042,0.85,297.6,680.1,13.4,877,11045,0.00,2.08,0.00,0.000,6,0.000,0.037,2836,2456,2312
$GC,11375,0.85,297.6,635.1,15.0,893,11378,0.00,2.00,0.00,0.000,4,0.000,0.031,2842,1119,2311
$GC,11498,0.85,297.6,616.7,14.7,898,11502,0.00,2.03,0.00,0.000,6,0.000,0.035,2842,2447,2311
$GC,11819,0.85,297.6,572.5,14.4,914,11823,0.00,2.00,0.00,0.000,4,0.000,0.031,2846,1106,2311
$GC,11869,0.85,297.6,565.2,14.2,916,11873,0.00,2.03,0.00,0.000,6,0.000,0.037,2845,2440,2311
$GC,12197,0.85,297.6,520.5,13.4,932,12201,0.00,1.98,0.00,0.000,4,0.000,0.030,2853,1113,2310
$GC,12270,0.86,304.6,510.8,12.5,935,12281,0.12,2.00,6.20,0.911,6,0.182,0.035,2824,2427,2289
$GC,12597,1.00,342.6,474.6,10.3,960,12632,0.12,0.00,32.03,1.055,6,0.087,0.000,2872,2427,2135
$GC,12947,1.00,342.6,428.2,13.5,993,12950,0.00,1.98,0.00,0.000,4,0.000,0.031,2881,1117,2129
$GC,13048,1.04,381.8,416.2,10.2,1002,13085,0.00,1.98,32.30,0.994,6,0.000,0.035,2881,2410,1974
$GC,13411,1.08,409.2,373.7,11.1,1036,13444,0.00,2.05,23.27,0.937,4,0.000,0.031,2882,1109,1862
$GC,13473,1.22,434.8,366.5,11.2,1041,13502,0.15,1.98,22.27,0.916,6,0.081,0.034,2937,2386,1759
$GC,13819,1.22,434.8,313.2,17.3,1074,13823,0.00,1.92,0.00,0.000,4,0.000,0.031,2937,1108,1752
$GC,13960,1.22,434.8,288.6,16.9,1092,13966,0.00,1.85,0.00,0.000,6,0.000,0.034,2937,2326,1751
$GC,14304,1.24,453.9,237.3,11.7,1153,14328,0.00,2.28,16.25,0.805,4,0.000,0.048,2937,3753,1680
$GC,14369,1.19,453.9,228.8,13.9,1164,14375,0.00,2.15,0.00,0.000,6,0.000,0.024,2946,2301,1679
$GC,14713,1.24,453.9,175.4,17.6,1225,14719,0.00,2.30,0.00,0.000,4,0.000,0.045,2947,3767,1677
$GC,14731,1.24,453.9,172.1,17.3,1228,14737,0.00,2.10,0.00,0.000,6,0.000,0.024,2956,2321,1678
$GC,15076,1.30,453.9,123.9,15.2,1289,15082,0.00,2.25,0.00,0.000,4,0.000,0.044,2956,3767,1677
$GC,15133,1.30,453.9,114.2,16.9,1299,15139,0.00,2.17,0.00,0.000,6,0.000,0.024,2966,2256,1677
$GC,15478,1.47,503.2,74.2,9.5,1360,15520,0.15,0.00,39.70,0.672,6,0.077,0.000,3022,2252,1479
$GC,15860,1.54,503.2,18.2,14.7,1427,15866,0.00,1.65,0.00,0.000,4,0.000,0.028,3029,1104,1474
$GC,15890,1.59,508.6,14.1,12.7,1432,15902,0.00,1.80,5.22,0.482,6,0.000,0.029,3029,2318,1457
$STATE,15975,end climb,SURFACE_DEPTH_REACHED
$STATE,15975,begin surface coast
$FINISH,1.8,1.013483
$STATE,16000,end surface coast,CONTROL_FINISHED_OK
$STATE,16001,begin surface
$SM_CCo,16079,0.00,0.000,0,0,1455,509.73
$SM_GC,2.70,7.95,0.00,0.00,0.068,0.000,0.000,141,2453,1455,-7.49,0.74,509.73
$IRIDIUM_FIX,2439.44,12420.24,101098,060609
$TT8_MAMPS,0.028379
$HUMID,1609
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.5,56.415
$10V_AH,10.8,31.694
$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,26.300,118.250,519.400,0.000,0.000,23.799,35.389,241.800,8.000,0.000,0.000,33.950,2580.880,10051.633,629.375,2622.656,644.884,0.000,1943.765,0.000,2542.292,0.000,56.008,0.000
$DEVICE_MAMPS,239.304,62.894,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,978.311,988.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78892,1451
$CAP_FILE_SIZE,162386,0
$CFSIZE,260165632,199270400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 79.4,1
$GPS,160709,154751,2452.270,12422.024,40,3.7,60,-3.7