version: 66.04
glider: 167
mission: 2
dive: 325
start: 7 17 109 15 14 0
data:
$ID,167
$MISSION,2
$DIVE,325
$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,-11739.787
$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,75
$R_STBD_OVSHOOT,63
$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
$GPS1,145955,2502.329,12425.043,44,1.6,44,-3.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-60.2
$GPS2,151338,2502.668,12425.304,14,1.6,14,-3.8
$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,237.5,4063,-24.8,-13.043
$D_GRID,1973
$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,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-35.25,0.000,2,0.000,0.000,139,2469,2501
$GC,56,-1.25,-121.7,3.4,-2.5,6,112,8.30,2.17,-40.72,0.000,4,0.239,0.038,2135,1029,3989
$GC,259,-0.92,-121.7,44.9,-20.1,41,266,0.43,2.08,0.00,0.000,6,0.163,0.028,2246,2425,3991
$GC,605,-1.01,-121.7,95.3,-12.6,102,612,0.00,2.03,0.00,0.000,4,0.000,0.053,2238,3750,3991
$GC,708,-1.01,-121.7,108.6,-12.6,120,714,0.00,1.90,0.00,0.000,6,0.000,0.022,2238,2388,3992
$GC,1053,-1.12,-121.7,149.7,-12.5,181,1059,0.15,2.10,0.00,0.000,4,0.067,0.041,2165,3757,3993
$GC,1161,-0.92,-121.7,168.0,-17.2,200,1168,0.28,1.83,0.00,0.000,6,0.158,0.022,2242,2443,3993
$GC,1508,-1.18,-121.7,209.0,-10.1,261,1514,0.20,2.00,0.00,0.000,4,0.062,0.043,2149,3749,3994
$GC,1672,-1.03,-121.7,232.1,-13.8,290,1680,0.22,1.80,0.00,0.000,6,0.159,0.022,2210,2455,3994
$GC,2020,-1.18,-121.7,268.8,-11.2,351,2026,0.15,1.98,0.00,0.000,4,0.069,0.041,2139,3750,3994
$GC,2154,-1.01,-121.7,289.4,-15.4,374,2161,0.28,1.77,0.00,0.000,6,0.160,0.023,2216,2480,3994
$GC,2491,-1.22,-121.7,326.6,-9.7,412,2495,0.20,1.95,0.00,0.000,4,0.064,0.043,2124,3750,3994
$GC,2673,-1.03,-121.7,351.9,-14.6,428,2677,0.30,1.75,0.00,0.000,6,0.163,0.023,2207,2499,3994
$GC,3005,-1.30,-121.7,383.9,-9.1,459,3009,0.20,1.92,0.00,0.000,4,0.065,0.044,2113,3751,3994
$GC,3032,-1.30,-121.7,387.3,-12.0,461,3038,0.00,1.77,0.00,0.000,6,0.000,0.024,2113,2487,3994
$GC,3358,-1.15,-121.7,429.9,-13.7,492,3362,0.17,1.95,0.00,0.000,4,0.174,0.044,2162,3748,3993
$GC,3475,-1.15,-121.7,445.0,-12.2,502,3482,0.00,1.75,0.00,0.000,6,0.000,0.024,2162,2501,3993
$GC,3801,-1.22,-121.7,478.8,-10.3,533,3805,0.00,2.08,0.00,0.000,4,0.000,0.025,2162,1055,3992
$GC,3840,-1.30,-121.7,483.4,-10.5,536,3846,0.00,2.15,0.00,0.000,6,0.000,0.031,2155,2499,3992
$GC,4171,-1.30,-121.7,518.9,-11.4,560,4174,0.00,1.92,0.00,0.000,4,0.000,0.047,2152,3761,3991
$GC,4223,-1.30,-121.7,525.2,-12.5,562,4226,0.00,1.75,0.00,0.000,6,0.000,0.025,2152,2526,3990
$GC,4550,-1.35,-121.7,565.2,-11.9,578,4554,0.12,1.90,0.00,0.000,4,0.084,0.046,2098,3750,3988
$GC,4618,-1.13,-121.7,574.8,-14.6,581,4624,0.30,1.73,0.00,0.000,6,0.172,0.025,2179,2545,3988
$GC,4953,-1.28,-121.7,608.2,-9.1,597,4957,0.15,1.88,0.00,0.000,4,0.077,0.047,2111,3750,3986
$GC,5095,-1.13,-121.7,626.0,-13.0,603,5099,0.25,1.70,0.00,0.000,6,0.167,0.027,2179,2568,3984
$GC,5425,-1.29,-121.7,655.9,-9.4,619,5427,0.15,0.00,0.00,0.000,6,0.077,0.000,2122,2568,3982
$GC,5733,-1.24,-121.7,692.9,-12.2,634,5736,0.00,1.85,0.00,0.000,4,0.000,0.049,2113,3754,3980
$GC,5811,-1.09,-121.7,703.8,-14.1,637,5815,0.28,1.73,0.00,0.000,6,0.170,0.028,2187,2562,3978
$GC,6132,-1.30,-121.7,736.8,-9.7,653,6137,0.17,2.20,0.00,0.000,4,0.069,0.028,2114,1060,3975
$GC,6195,-1.25,-121.7,744.4,-12.6,656,6200,0.12,2.22,0.00,0.000,6,0.177,0.036,2141,2518,3975
$GC,6530,-1.25,-121.7,782.4,-11.8,672,6533,0.00,2.15,0.00,0.000,4,0.000,0.028,2141,1063,3973
$GC,6558,-1.30,-121.7,786.2,-12.6,673,6562,0.00,2.22,0.00,0.000,6,0.000,0.037,2139,2519,3972
$GC,6880,-1.30,-121.7,824.7,-11.9,689,6884,0.00,1.92,0.00,0.000,4,0.000,0.053,2140,3757,3970
$GC,6957,-1.30,-121.7,834.4,-12.3,692,6961,0.00,1.75,0.00,0.000,6,0.000,0.028,2140,2558,3969
$GC,7279,-1.30,-121.7,869.2,-10.5,708,7283,0.00,2.20,0.00,0.000,4,0.000,0.028,2139,1063,3967
$GC,7354,-1.30,-121.7,876.9,-11.0,711,7358,0.00,2.22,0.00,0.000,6,0.000,0.038,2137,2508,3967
$GC,7676,-1.30,-121.7,910.7,-10.8,727,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3965
$GC,7984,-1.30,-121.7,945.7,-11.6,742,7988,0.00,1.98,0.00,0.000,4,0.000,0.054,2137,3767,3962
$GC,8029,-1.30,-121.7,951.4,-13.0,744,8033,0.00,1.80,0.00,0.000,6,0.000,0.028,2137,2545,3962
$STATE,8359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8359,begin apogee
$GC,8366,-0.22,0.0,990.8,11.7,760,8462,1.12,0.00,90.05,1.405,6,0.163,0.000,2465,2544,3531
$STATE,8463,end apogee,CONTROL_FINISHED_OK
$STATE,8463,begin climb
$GC,8465,1.25,121.7,996.2,0.0,765,8577,1.38,2.10,102.97,1.368,4,0.061,0.050,2950,3744,3034
$GC,8749,0.55,149.9,984.1,11.0,778,8780,0.93,1.80,24.05,1.305,6,0.216,0.026,2725,2523,2920
$GC,9106,0.78,249.2,962.1,5.9,795,9194,0.20,2.20,81.90,1.348,4,0.077,0.031,2812,1129,2515
$GC,9289,0.78,249.2,941.7,13.1,803,9293,0.00,2.15,0.00,0.000,6,0.000,0.036,2812,2492,2510
$GC,9611,0.78,249.2,899.0,13.8,819,9615,0.00,2.08,0.00,0.000,4,0.000,0.031,2815,1123,2506
$GC,9667,0.78,249.2,891.1,14.4,821,9670,0.00,2.10,0.00,0.000,6,0.000,0.035,2815,2488,2507
$GC,9988,0.78,249.2,844.3,14.9,837,9991,0.00,2.05,0.00,0.000,4,0.000,0.031,2815,1127,2505
$GC,10119,0.78,249.2,826.2,13.8,842,10125,0.00,2.05,0.00,0.000,6,0.000,0.036,2815,2465,2504
$GC,10434,0.78,249.2,783.6,13.1,858,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2465,2503
$GC,10743,0.79,258.7,745.1,12.4,873,10757,0.00,2.08,7.20,1.073,4,0.000,0.031,2816,1127,2477
$GC,10865,0.81,270.8,730.0,12.2,878,10881,0.00,2.03,11.82,1.160,6,0.000,0.037,2815,2455,2428
$GC,11203,0.83,289.5,689.1,11.7,895,11225,0.00,2.15,17.08,1.174,4,0.000,0.052,2815,3768,2351
$GC,11243,0.83,289.5,683.5,14.6,896,11249,0.00,1.95,0.00,0.000,6,0.000,0.025,2815,2474,2350
$GC,11558,0.89,301.5,643.1,12.2,912,11574,0.00,2.12,11.50,1.103,4,0.000,0.033,2815,1103,2301
$GC,11622,1.01,307.7,635.2,12.6,914,11635,0.15,2.10,6.65,0.974,6,0.084,0.035,2871,2456,2277
$GC,11953,0.91,307.7,586.2,14.8,930,11957,0.12,2.05,0.00,0.000,4,0.193,0.050,2842,3761,2273
$GC,11980,0.81,307.7,581.8,16.0,931,11984,0.17,1.98,0.00,0.000,6,0.189,0.027,2807,2423,2273
$GC,12308,0.97,336.2,544.0,11.0,947,12338,0.15,2.03,24.15,1.095,4,0.087,0.032,2868,1109,2160
$GC,12366,0.97,336.2,535.9,14.3,949,12372,0.00,2.10,0.00,0.000,6,0.000,0.036,2868,2458,2159
$GC,12684,0.97,336.2,493.4,13.4,967,12688,0.00,2.05,0.00,0.000,4,0.000,0.031,2868,1097,2155
$GC,12798,0.97,336.2,477.1,15.5,977,12802,0.00,2.03,0.00,0.000,6,0.000,0.035,2868,2425,2155
$GC,13131,0.97,336.2,425.8,14.5,1008,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2425,2155
$GC,13448,0.98,350.2,383.7,12.0,1038,13469,0.00,2.12,12.15,0.923,4,0.000,0.051,2868,3752,2104
$GC,13485,0.98,350.2,378.4,14.3,1041,13491,0.00,2.08,0.00,0.000,6,0.000,0.025,2878,2361,2103
$GC,13814,0.99,355.2,338.4,12.7,1072,13826,0.00,1.88,5.70,0.758,4,0.000,0.031,2884,1092,2084
$GC,13894,0.99,355.2,327.5,13.2,1079,13898,0.00,1.95,0.00,0.000,6,0.000,0.033,2884,2378,2083
$GC,14227,0.99,357.2,280.1,12.9,1122,14234,0.00,1.90,0.00,0.000,4,0.000,0.030,2885,1098,2083
$GC,14285,1.05,357.2,272.5,13.6,1132,14291,0.00,1.88,0.00,0.000,6,0.000,0.031,2885,2348,2083
$GC,14629,1.05,360.3,226.2,12.8,1193,14642,0.00,2.20,6.22,0.698,4,0.000,0.046,2885,3772,2062
$GC,14811,1.05,360.3,202.1,13.1,1225,14817,0.00,2.08,0.00,0.000,6,0.000,0.023,2892,2354,2061
$GC,15156,1.18,390.2,164.1,10.9,1286,15187,0.00,1.90,25.00,0.763,4,0.000,0.029,2897,1101,1940
$GC,15262,1.39,420.7,152.7,10.9,1304,15292,0.28,1.90,25.33,0.741,6,0.066,0.031,3000,2365,1817
$GC,15633,1.28,420.7,100.6,13.4,1369,15639,0.17,2.17,0.00,0.000,4,0.195,0.044,2954,3772,1811
$GC,15675,1.22,420.7,94.5,14.6,1376,15681,0.00,2.12,0.00,0.000,6,0.000,0.021,2962,2314,1810
$GC,16020,1.34,444.5,51.6,11.3,1437,16044,0.00,1.85,19.77,0.644,4,0.000,0.028,2969,1084,1718
$GC,16165,1.55,466.8,36.4,11.4,1462,16190,0.22,1.85,18.80,0.622,6,0.072,0.029,3050,2324,1627
$STATE,16402,end climb,SURFACE_DEPTH_REACHED
$STATE,16402,begin surface coast
$FINISH,1.8,1.021897
$STATE,16421,end surface coast,CONTROL_FINISHED_OK
$STATE,16421,begin surface
$SM_CCo,16499,0.00,0.000,0,0,1620,469.01
$SM_GC,2.84,7.78,0.00,0.00,0.051,0.000,0.000,141,2482,1620,-7.49,1.55,469.01
$IRIDIUM_FIX,2451.31,12424.27,111098,151501
$TT8_MAMPS,0.028379
$HUMID,1620
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,23.4,57.535
$10V_AH,10.7,32.255
$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,25.100,139.300,490.350,0.000,0.000,86.780,202.590,257.376,8.500,0.000,0.000,14.807,2685.552,10412.365,592.375,2694.975,926.117,0.000,1970.007,0.000,2630.564,0.000,54.453,0.000
$DEVICE_MAMPS,238.537,59.826,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.715,1038.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82138,1507
$CAP_FILE_SIZE,171877,0
$CFSIZE,260165632,198742016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244, 31.6,1
$GPS,170709,195007,2503.736,12424.829,33,1.4,34,-3.8