version: 66.04
glider: 167
mission: 2
dive: 347
start: 7 21 109 23 13 22
data:
$ID,167
$MISSION,2
$DIVE,347
$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,-12228.87
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,56
$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
$GPS1,230606,2459.128,12418.968,32,1.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-61.8
$GPS2,231301,2459.224,12419.001,10,1.2,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,176.2,89194,-24.8,-13.043
$D_GRID,1925
$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,-29.95,0.000,2,0.000,0.000,139,2515,2251
$GC,51,-1.25,-121.7,3.0,-1.4,5,126,8.25,1.92,-57.53,0.000,4,0.237,0.058,2129,3739,3989
$GC,266,-0.77,-121.7,42.2,-23.0,42,273,0.57,1.80,0.00,0.000,6,0.170,0.022,2291,2455,3991
$GC,612,-1.21,-121.7,87.1,-10.0,103,618,0.35,2.00,0.00,0.000,4,0.050,0.043,2139,3751,3992
$GC,636,-1.21,-121.7,90.1,-12.0,107,642,0.00,1.75,0.00,0.000,6,0.000,0.022,2139,2485,3992
$GC,981,-0.99,-121.7,147.8,-17.4,168,987,0.28,0.00,0.00,0.000,6,0.166,0.000,2220,2485,3992
$GC,1326,-1.09,-121.7,192.0,-12.3,229,1332,0.00,1.92,0.00,0.000,4,0.000,0.044,2217,3741,3994
$GC,1514,-1.16,-121.7,216.6,-12.1,262,1520,0.12,1.65,0.00,0.000,6,0.074,0.023,2161,2557,3995
$GC,1859,-1.10,-121.7,263.4,-14.1,323,1865,0.00,1.80,0.00,0.000,4,0.000,0.042,2152,3740,3995
$GC,2019,-0.96,-121.7,287.9,-15.3,351,2026,0.30,1.62,0.00,0.000,6,0.160,0.023,2236,2575,3995
$GC,2351,-1.37,-121.7,320.3,-9.6,391,2355,0.32,1.80,0.00,0.000,4,0.055,0.044,2096,3749,3995
$GC,2446,-1.06,-121.7,335.2,-16.0,399,2453,0.38,1.60,0.00,0.000,6,0.168,0.023,2201,2599,3996
$GC,2772,-1.23,-121.7,370.1,-8.9,430,2776,0.15,1.75,0.00,0.000,4,0.069,0.044,2137,3740,3995
$GC,2800,-1.23,-121.7,373.0,-10.8,432,2807,0.00,1.60,0.00,0.000,6,0.000,0.024,2137,2590,3995
$GC,3125,-1.18,-121.7,412.1,-13.5,463,3129,0.12,2.10,0.00,0.000,4,0.171,0.024,2168,1120,3995
$GC,3170,-1.26,-121.7,417.8,-12.6,466,3176,0.00,2.17,0.00,0.000,6,0.000,0.031,2165,2578,3995
$GC,3496,-1.34,-121.7,456.0,-10.7,497,3500,0.15,1.77,0.00,0.000,4,0.075,0.044,2097,3751,3995
$GC,3658,-1.10,-121.7,478.0,-13.5,511,3662,0.32,1.60,0.00,0.000,6,0.168,0.025,2186,2642,3994
$GC,3998,-1.42,-121.7,510.7,-9.9,538,4002,0.25,2.20,0.00,0.000,4,0.059,0.025,2083,1112,3994
$GC,4054,-1.27,-121.7,518.1,-13.3,540,4062,0.22,2.17,0.00,0.000,6,0.170,0.031,2134,2570,3994
$GC,4369,-1.27,-121.7,555.5,-11.8,556,4373,0.00,1.77,0.00,0.000,4,0.000,0.045,2126,3743,3993
$GC,4443,-1.17,-121.7,564.5,-12.3,559,4448,0.12,1.65,0.00,0.000,6,0.165,0.025,2164,2605,3993
$GC,4773,-1.27,-121.7,598.5,-10.4,575,4776,0.00,2.15,0.00,0.000,4,0.000,0.026,2164,1116,3990
$GC,4806,-1.40,-121.7,602.2,-10.4,576,4811,0.20,2.17,0.00,0.000,6,0.070,0.033,2089,2561,3990
$GC,5124,-1.25,-121.7,640.8,-12.1,591,5128,0.17,1.80,0.00,0.000,4,0.189,0.045,2130,3739,3988
$GC,5192,-1.17,-121.7,648.7,-10.7,594,5196,0.15,1.62,0.00,0.000,6,0.173,0.026,2168,2607,3988
$GC,5527,-1.35,-121.7,678.2,-9.0,610,5531,0.17,1.77,0.00,0.000,4,0.071,0.048,2098,3744,3985
$GC,5550,-1.35,-121.7,681.0,-10.8,611,5554,0.00,1.65,0.00,0.000,6,0.000,0.026,2098,2619,3985
$GC,5884,-1.23,-121.7,722.7,-12.5,627,5886,0.17,0.00,0.00,0.000,6,0.182,0.000,2142,2618,3982
$GC,6193,-1.28,-121.7,753.9,-9.6,642,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2618,3980
$GC,6502,-1.32,-121.7,784.4,-10.4,657,6506,0.00,1.77,0.00,0.000,4,0.000,0.051,2137,3731,3978
$GC,6537,-1.32,-121.7,788.5,-11.5,658,6540,0.00,1.60,0.00,0.000,6,0.000,0.028,2137,2622,3977
$GC,6859,-1.32,-121.7,826.4,-12.2,674,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2621,3975
$GC,7169,-1.32,-121.7,865.2,-12.4,689,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2622,3973
$GC,7477,-1.32,-121.7,902.4,-11.9,704,7481,0.00,1.77,0.00,0.000,4,0.000,0.053,2137,3743,3971
$GC,7523,-1.32,-121.7,908.1,-12.1,706,7526,0.00,1.62,0.00,0.000,6,0.000,0.028,2137,2629,3971
$GC,7856,-1.32,-121.7,948.2,-12.1,722,7860,0.00,2.20,0.00,0.000,4,0.000,0.029,2137,1127,3968
$GC,7884,-1.37,-121.7,951.9,-13.5,723,7888,0.00,2.22,0.00,0.000,6,0.000,0.038,2137,2575,3968
$STATE,8202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8202,begin apogee
$GC,8208,-0.22,0.0,991.7,12.4,739,8310,1.15,0.00,93.18,1.382,6,0.166,0.000,2470,2453,3532
$STATE,8311,end apogee,CONTROL_FINISHED_OK
$STATE,8311,begin climb
$GC,8315,1.25,121.7,998.4,0.0,744,8427,1.33,2.22,103.28,1.368,4,0.065,0.048,2942,3737,3034
$GC,8670,0.57,148.9,981.1,11.1,759,8700,0.85,1.92,22.88,1.305,6,0.213,0.025,2732,2437,2924
$GC,9008,0.76,230.4,956.8,7.2,776,9082,0.17,2.25,68.18,1.348,4,0.078,0.031,2811,1009,2591
$GC,9178,0.76,230.4,937.4,13.5,784,9182,0.00,2.15,0.00,0.000,6,0.000,0.035,2811,2380,2586
$GC,9510,0.79,249.2,897.5,11.7,800,9531,0.00,0.00,15.12,1.246,6,0.000,0.000,2811,2380,2515
$GC,9840,0.81,268.9,858.4,11.6,816,9864,0.00,2.17,17.70,1.254,4,0.000,0.034,2816,1014,2434
$GC,9920,0.82,274.8,848.5,12.6,819,9932,0.00,2.15,6.40,1.039,6,0.000,0.036,2816,2397,2411
$GC,10241,0.82,275.3,807.2,13.0,835,10244,0.00,2.15,0.00,0.000,4,0.000,0.052,2816,3759,2408
$GC,10259,0.82,275.3,804.8,13.2,835,10265,0.00,2.05,0.00,0.000,6,0.000,0.026,2825,2379,2408
$GC,10575,0.82,275.3,760.7,13.7,851,10578,0.00,2.05,0.00,0.000,4,0.000,0.034,2833,1001,2407
$GC,10597,0.82,275.3,757.5,14.1,852,10601,0.00,2.17,0.00,0.000,6,0.000,0.036,2833,2417,2407
$GC,10931,0.84,289.3,713.3,12.0,868,10953,0.00,2.20,13.27,1.170,4,0.000,0.034,2833,1009,2351
$GC,11004,0.86,311.3,704.4,11.5,871,11028,0.00,2.12,19.65,1.185,6,0.000,0.035,2833,2389,2262
$GC,11352,0.86,311.3,657.4,14.3,888,11356,0.00,2.17,0.00,0.000,4,0.000,0.051,2833,3767,2257
$GC,11368,0.86,311.3,654.6,14.7,888,11376,0.00,2.10,0.00,0.000,6,0.000,0.027,2833,2356,2257
$GC,11684,0.87,320.0,612.0,12.4,904,11698,0.00,2.28,7.90,1.022,4,0.000,0.051,2833,3751,2226
$GC,11705,0.87,320.0,609.3,13.3,905,11709,0.00,2.08,0.00,0.000,6,0.000,0.026,2833,2355,2226
$GC,12040,0.97,336.3,569.5,11.9,921,12062,0.00,2.03,15.35,1.087,4,0.000,0.035,2833,1010,2159
$GC,12112,1.11,368.4,561.1,10.7,924,12146,0.20,2.10,27.77,1.100,6,0.077,0.034,2907,2374,2030
$GC,12458,1.03,368.4,507.5,16.4,940,12462,0.12,2.08,0.00,0.000,4,0.195,0.030,2886,1016,2023
$GC,12497,1.03,368.4,500.8,15.2,941,12503,0.00,2.03,0.00,0.000,6,0.000,0.034,2886,2331,2023
$GC,12826,1.03,368.4,453.0,15.1,971,12829,0.00,2.25,0.00,0.000,4,0.000,0.051,2886,3764,2022
$GC,12876,0.97,368.4,444.1,16.8,975,12882,0.15,2.10,0.00,0.000,6,0.187,0.026,2858,2351,2021
$GC,13201,1.08,377.0,402.6,12.4,1006,13213,0.00,2.08,7.12,0.858,4,0.000,0.031,2866,993,1995
$GC,13241,1.18,377.0,397.4,13.1,1009,13248,0.17,2.08,0.00,0.000,6,0.081,0.034,2932,2355,1995
$GC,13566,1.09,377.0,348.5,13.4,1040,13570,0.15,2.05,0.00,0.000,4,0.183,0.030,2903,997,1993
$GC,13750,1.10,384.4,325.1,12.5,1056,13762,0.00,2.00,7.65,0.813,6,0.000,0.034,2903,2311,1964
$GC,14092,1.11,387.7,276.7,12.8,1101,14104,0.00,2.30,4.28,0.621,4,0.000,0.050,2903,3758,1951
$GC,14133,1.03,387.7,271.2,14.7,1108,14141,0.12,2.20,0.00,0.000,6,0.186,0.025,2881,2267,1950
$GC,14480,1.21,420.3,232.3,10.7,1169,14516,0.15,2.40,28.35,0.820,4,0.081,0.048,2939,3764,1817
$GC,14546,1.12,420.3,223.5,13.9,1180,14554,0.17,2.22,0.00,0.000,6,0.179,0.024,2905,2261,1815
$GC,14894,1.27,443.8,181.6,11.4,1241,14920,0.15,2.42,20.05,0.756,4,0.080,0.045,2964,3754,1721
$GC,14967,1.13,443.8,170.2,18.0,1253,14973,0.25,2.20,0.00,0.000,6,0.183,0.023,2910,2272,1719
$GC,15313,1.36,466.3,126.9,11.4,1314,15338,0.17,1.95,19.05,0.706,4,0.075,0.031,2993,995,1630
$GC,15407,1.36,466.3,112.9,16.5,1330,15413,0.00,1.92,0.00,0.000,6,0.000,0.031,2993,2269,1628
$GC,15752,1.37,473.2,65.2,12.5,1391,15765,0.00,1.90,6.53,0.565,4,0.000,0.029,3000,985,1602
$GC,15951,1.46,485.6,39.3,12.2,1426,15970,0.00,1.90,11.70,0.602,6,0.000,0.028,3000,2267,1551
$STATE,16243,end climb,SURFACE_DEPTH_REACHED
$STATE,16244,begin surface coast
$FINISH,1.7,1.005690
$STATE,16273,end surface coast,CONTROL_FINISHED_OK
$STATE,16273,begin surface
$SM_CCo,16351,0.00,0.000,0,0,1546,487.17
$SM_GC,2.69,7.80,0.00,0.00,0.064,0.000,0.000,140,2497,1546,-7.49,0.40,487.17
$IRIDIUM_FIX,2451.31,12417.66,151098,181830
$TT8_MAMPS,0.028379
$HUMID,1615
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,1
$24V_AH,23.4,61.626
$10V_AH,10.7,34.318
$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,25.925,135.975,515.400,0.000,0.000,25.668,37.044,200.518,8.250,0.000,0.000,15.541,2630.465,10241.416,643.036,2592.194,646.239,0.000,1979.234,0.000,2531.323,0.000,54.432,0.000
$DEVICE_MAMPS,237.003,57.525,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.731,1020.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78907,1483
$CAP_FILE_SIZE,168285,0
$CFSIZE,260165632,196812800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082, 47.6,1
$GPS,220709,034706,2457.972,12419.639,37,0.9,38,-3.7