version: 66.04
glider: 167
mission: 2
dive: 327
start: 7 18 109 0 39 42
data:
$ID,167
$MISSION,2
$DIVE,327
$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,-11766.285
$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,48
$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
$GPS1,003301,2504.274,12424.908,42,1.0,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-61.3
$GPS2,003920,2504.402,12424.987,12,1.5,12,-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,221.7,5100,-24.8,-13.043
$D_GRID,1980
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-30.23,0.000,2,0.000,0.000,140,2464,2318
$GC,50,-1.25,-121.7,3.1,-2.0,5,120,8.12,2.17,-56.65,0.000,4,0.233,0.038,2138,1024,3989
$GC,244,-0.87,-121.7,35.5,-22.8,38,252,0.47,2.10,0.00,0.000,6,0.168,0.029,2262,2433,3990
$GC,591,-0.96,-121.7,88.9,-12.5,99,597,0.00,2.03,0.00,0.000,4,0.000,0.046,2260,3757,3992
$GC,822,-1.05,-121.7,118.9,-13.0,140,829,0.15,1.88,0.00,0.000,6,0.071,0.022,2194,2415,3992
$GC,1167,-1.05,-121.7,166.3,-14.4,201,1173,0.00,2.05,0.00,0.000,4,0.000,0.042,2192,3756,3994
$GC,1180,-1.05,-121.7,168.0,-13.0,203,1186,0.00,1.83,0.00,0.000,6,0.000,0.021,2192,2433,3994
$GC,1526,-1.05,-121.7,209.0,-12.6,264,1532,0.00,2.03,0.00,0.000,4,0.000,0.043,2186,3758,3996
$GC,1628,-1.05,-121.7,223.8,-14.8,282,1635,0.00,1.83,0.00,0.000,6,0.000,0.022,2187,2442,3996
$GC,1974,-1.12,-121.7,263.4,-11.7,343,1980,0.00,2.00,0.00,0.000,4,0.000,0.043,2179,3751,3996
$GC,2117,-1.12,-121.7,280.8,-11.8,368,2123,0.00,1.77,0.00,0.000,6,0.000,0.022,2179,2477,3996
$GC,2452,-1.18,-121.7,318.5,-11.8,414,2456,0.00,1.98,0.00,0.000,4,0.000,0.044,2178,3764,3996
$GC,2555,-1.18,-121.7,331.5,-12.7,423,2559,0.00,1.80,0.00,0.000,6,0.000,0.023,2178,2479,3997
$GC,2890,-1.26,-121.7,371.6,-12.6,454,2897,0.12,0.00,0.00,0.000,6,0.077,0.000,2126,2478,3996
$GC,3215,-1.18,-121.7,415.5,-12.2,485,3217,0.15,0.00,0.00,0.000,6,0.163,0.000,2164,2478,3996
$GC,3537,-1.23,-121.7,447.8,-9.9,515,3540,0.00,2.00,0.00,0.000,4,0.000,0.048,2164,3769,3995
$GC,3676,-1.23,-121.7,464.7,-12.4,527,3682,0.00,1.77,0.00,0.000,6,0.000,0.025,2164,2515,3995
$GC,4012,-1.30,-121.7,503.4,-11.4,558,4016,0.12,1.92,0.00,0.000,4,0.079,0.046,2110,3756,3993
$GC,4171,-1.09,-121.7,524.8,-13.6,565,4176,0.30,1.75,0.00,0.000,6,0.167,0.025,2192,2534,3993
$GC,4506,-1.32,-121.7,555.6,-9.0,581,4510,0.17,1.90,0.00,0.000,4,0.073,0.047,2111,3754,3991
$GC,4648,-1.14,-121.7,574.9,-14.9,587,4653,0.25,1.70,0.00,0.000,6,0.168,0.026,2178,2567,3990
$GC,4978,-1.29,-121.7,611.4,-10.9,603,4983,0.15,1.85,0.00,0.000,4,0.077,0.047,2112,3759,3988
$GC,5131,-1.13,-121.7,633.3,-14.0,609,5138,0.25,1.70,0.00,0.000,6,0.168,0.027,2179,2575,3987
$GC,5448,-1.30,-121.7,665.7,-11.2,625,5453,0.15,1.85,0.00,0.000,4,0.077,0.048,2116,3760,3985
$GC,5571,-1.16,-121.7,683.3,-14.1,630,5576,0.20,1.67,0.00,0.000,6,0.173,0.027,2168,2598,3983
$GC,5894,-1.27,-121.7,718.1,-10.4,646,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2598,3982
$GC,6202,-1.40,-121.7,748.2,-10.0,661,6206,0.17,1.83,0.00,0.000,4,0.074,0.051,2094,3758,3979
$GC,6236,-1.20,-121.7,752.8,-14.7,662,6241,0.25,1.67,0.00,0.000,6,0.179,0.028,2159,2603,3979
$GC,6558,-1.29,-121.7,789.7,-11.6,678,6562,0.00,2.25,0.00,0.000,4,0.000,0.028,2159,1065,3976
$GC,6631,-1.42,-121.7,798.5,-11.9,681,6636,0.20,2.30,0.00,0.000,6,0.072,0.037,2085,2572,3976
$GC,6947,-1.25,-121.7,844.5,-15.1,696,6951,0.17,1.83,0.00,0.000,4,0.202,0.048,2125,3748,3974
$GC,7054,-1.16,-121.7,859.7,-13.6,700,7061,0.17,1.67,0.00,0.000,6,0.181,0.028,2169,2616,3973
$GC,7371,-1.30,-121.7,895.4,-10.9,716,7375,0.12,1.80,0.00,0.000,4,0.086,0.051,2118,3756,3971
$GC,7416,-1.20,-121.7,901.0,-12.9,718,7420,0.15,1.67,0.00,0.000,6,0.179,0.028,2154,2606,3970
$GC,7751,-1.28,-121.7,936.7,-10.4,734,7754,0.00,1.80,0.00,0.000,4,0.000,0.053,2151,3745,3968
$GC,7784,-1.28,-121.7,940.8,-11.2,735,7788,0.00,1.62,0.00,0.000,6,0.000,0.028,2152,2629,3968
$GC,8107,-1.36,-121.7,973.1,-10.0,751,8111,0.12,1.77,0.00,0.000,4,0.087,0.051,2098,3750,3967
$GC,8170,-1.19,-121.7,981.1,-13.1,753,8176,0.25,1.62,0.00,0.000,6,0.185,0.028,2162,2639,3966
$STATE,8256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8256,begin apogee
$GC,8262,-0.22,0.0,990.2,9.9,758,8364,1.02,0.00,93.00,1.386,6,0.156,0.000,2468,2541,3532
$STATE,8364,end apogee,CONTROL_FINISHED_OK
$STATE,8364,begin climb
$GC,8368,1.25,121.7,994.3,0.0,763,8480,1.38,2.30,103.82,1.366,4,0.065,0.030,2955,1093,3035
$GC,8567,0.72,143.1,989.6,11.5,772,8594,0.70,2.22,18.88,1.279,6,0.212,0.035,2781,2498,2948
$GC,8906,0.71,186.7,956.0,9.9,789,8950,0.00,2.20,36.62,1.328,4,0.000,0.030,2789,1096,2769
$GC,9034,0.73,205.1,941.1,11.7,794,9055,0.00,2.22,16.48,1.258,6,0.000,0.036,2789,2509,2695
$GC,9373,0.76,227.7,902.2,11.4,811,9397,0.00,2.20,20.08,1.279,4,0.000,0.032,2793,1093,2602
$GC,9449,0.82,243.8,892.9,11.9,814,9470,0.00,2.20,14.45,1.226,6,0.000,0.035,2793,2498,2536
$GC,9795,0.84,259.2,852.3,11.9,831,9816,0.00,2.17,13.57,1.220,4,0.000,0.031,2800,1105,2475
$GC,9907,0.91,265.4,837.6,12.6,836,9921,0.12,2.15,7.03,1.072,6,0.087,0.036,2846,2486,2449
$GC,10240,0.82,265.4,790.6,14.0,852,10245,0.15,2.10,0.00,0.000,4,0.186,0.029,2815,1096,2445
$GC,10307,0.83,267.3,781.6,12.9,855,10310,0.00,2.10,0.00,0.000,6,0.000,0.035,2815,2462,2445
$GC,10635,0.85,289.0,742.7,11.5,871,10660,0.00,2.10,20.98,1.222,4,0.000,0.031,2815,1095,2352
$GC,10770,0.92,289.0,725.7,13.5,877,10774,0.00,2.08,0.00,0.000,6,0.000,0.034,2815,2448,2349
$GC,11097,0.97,289.0,680.1,15.0,893,11101,0.12,2.05,0.00,0.000,4,0.087,0.030,2870,1098,2347
$GC,11153,0.88,289.0,670.7,17.1,895,11158,0.17,2.05,0.00,0.000,6,0.189,0.035,2828,2437,2347
$GC,11474,0.88,289.0,623.2,14.2,911,11478,0.00,2.08,0.00,0.000,4,0.000,0.051,2828,3765,2346
$GC,11490,0.88,289.0,620.5,14.5,911,11496,0.00,1.98,0.00,0.000,6,0.000,0.026,2828,2430,2346
$GC,11808,0.91,309.7,580.9,11.6,927,11830,0.00,2.05,17.15,1.112,4,0.000,0.033,2828,1103,2268
$GC,11908,1.00,328.0,568.8,11.7,931,11930,0.12,2.05,16.30,1.085,6,0.088,0.035,2875,2436,2195
$GC,12248,0.94,328.0,523.3,13.3,948,12252,0.00,2.03,0.00,0.000,4,0.000,0.030,2884,1090,2190
$GC,12343,0.96,343.7,510.6,11.9,952,12363,0.12,2.03,13.68,1.032,6,0.189,0.033,2854,2418,2132
$GC,12687,0.96,343.7,467.2,13.6,980,12691,0.00,1.98,0.00,0.000,4,0.000,0.030,2863,1101,2129
$GC,12736,0.96,343.7,460.7,13.1,984,12742,0.00,1.98,0.00,0.000,6,0.000,0.033,2862,2398,2129
$GC,13066,0.96,343.7,416.9,13.9,1015,13069,0.00,1.95,0.00,0.000,4,0.000,0.030,2869,1089,2129
$GC,13115,0.96,343.7,409.6,13.9,1019,13121,0.00,1.98,0.00,0.000,6,0.000,0.034,2869,2392,2128
$GC,13445,0.97,356.2,367.4,12.1,1050,13471,0.00,1.98,13.75,0.802,4,0.000,0.030,2871,1100,2079
$GC,13499,1.03,356.2,359.8,13.2,1055,13505,0.00,1.90,0.00,0.000,6,0.000,0.031,2871,2359,2078
$GC,13827,1.09,362.2,320.7,12.6,1086,13836,0.00,0.00,6.50,0.778,6,0.000,0.000,2871,2359,2055
$GC,14162,1.18,371.4,278.8,12.4,1132,14181,0.15,1.92,9.38,0.807,4,0.081,0.031,2928,1101,2016
$GC,14297,1.12,371.4,258.1,17.4,1155,14302,0.00,1.88,0.00,0.000,6,0.000,0.031,2928,2341,2016
$GC,14641,1.07,375.5,208.8,12.8,1216,14654,0.15,1.88,4.80,0.624,4,0.174,0.028,2897,1103,2001
$GC,14678,1.14,381.4,204.1,12.6,1222,14692,0.00,1.83,6.60,0.690,6,0.000,0.030,2897,2323,1976
$GC,15032,1.28,408.2,161.1,11.1,1284,15062,0.17,1.85,23.30,0.765,4,0.078,0.028,2980,1087,1865
$GC,15287,1.28,408.2,124.8,13.7,1329,15293,0.00,1.92,0.00,0.000,6,0.000,0.031,2980,2368,1862
$GC,15631,1.32,446.9,84.6,10.3,1390,15667,0.00,0.00,31.23,0.692,6,0.000,0.000,2980,2368,1708
$GC,16005,1.46,485.0,44.1,10.3,1456,16040,0.10,2.25,29.95,0.640,4,0.096,0.044,3016,3774,1554
$GC,16134,1.38,485.0,26.5,16.4,1478,16142,0.15,2.17,0.00,0.000,6,0.186,0.021,2991,2272,1552
$STATE,16325,end climb,SURFACE_DEPTH_REACHED
$STATE,16325,begin surface coast
$FINISH,1.8,1.012633
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16433,0.00,0.000,0,0,1548,486.68
$SM_GC,2.72,7.65,0.00,0.00,0.054,0.000,0.000,140,2443,1548,-7.50,0.45,486.68
$IRIDIUM_FIX,2453.69,12427.57,111098,202011
$TT8_MAMPS,0.029146
$HUMID,1605
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.4,57.902
$10V_AH,10.7,32.442
$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,24.550,133.550,517.525,0.000,0.000,22.205,32.192,182.924,8.000,0.000,0.000,12.341,2702.954,10099.364,650.346,2736.054,611.344,0.000,2042.993,0.000,2671.486,0.000,57.085,0.000
$DEVICE_MAMPS,233.168,67.496,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.607,1052.024,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82087,1517
$CAP_FILE_SIZE,172587,0
$CFSIZE,260165632,198561792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.206, 56.5,1
$GPS,180709,051457,2504.458,12425.198,27,3.2,47,-3.8