version: 66.04
glider: 167
mission: 2
dive: 351
start: 7 22 109 18 13 53
data:
$ID,167
$MISSION,2
$DIVE,351
$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,-12320.105
$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,65
$R_STBD_OVSHOOT,47
$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
$GPS1,180636,2453.458,12421.633,35,1.5,42,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-68.2
$GPS2,181334,2453.416,12421.718,10,2.2,29,-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,165.5,77519,-24.8,-13.043
$D_GRID,1143
$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,13,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,49,0.00,0.00,-31.65,0.000,2,0.000,0.000,138,2495,2394
$GC,52,-1.25,-121.7,3.3,-2.5,5,114,8.20,2.00,-46.55,0.000,4,0.235,0.055,2126,3750,3990
$GC,207,-0.78,-121.7,31.3,-22.9,31,214,0.57,1.85,0.00,0.000,6,0.167,0.022,2288,2445,3991
$GC,553,-1.12,-121.7,72.8,-9.3,92,559,0.25,2.03,0.00,0.000,4,0.056,0.044,2175,3753,3992
$GC,662,-0.96,-121.7,88.3,-15.3,111,668,0.20,1.73,0.00,0.000,6,0.160,0.022,2229,2520,3992
$GC,1007,-1.09,-121.7,136.7,-12.5,172,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2519,3994
$GC,1350,-1.25,-121.7,177.4,-13.0,233,1357,0.20,1.90,0.00,0.000,4,0.063,0.043,2137,3757,3995
$GC,1490,-1.03,-121.7,201.2,-18.3,257,1497,0.28,1.73,0.00,0.000,6,0.162,0.023,2213,2518,3995
$GC,1836,-1.16,-121.7,248.5,-11.5,318,1844,0.12,1.90,0.00,0.000,4,0.073,0.042,2152,3758,3996
$GC,1960,-1.03,-121.7,265.3,-12.9,339,1966,0.22,1.67,0.00,0.000,6,0.159,0.023,2213,2555,3995
$GC,2305,-1.31,-121.7,298.7,-10.4,400,2312,0.22,2.08,0.00,0.000,4,0.062,0.024,2115,1099,3996
$GC,2514,-1.16,-121.7,329.6,-13.6,419,2521,0.22,2.12,0.00,0.000,6,0.163,0.031,2171,2532,3996
$GC,2840,-1.22,-121.7,365.3,-10.6,450,2843,0.00,1.85,0.00,0.000,4,0.000,0.045,2166,3754,3996
$GC,2980,-1.22,-121.7,380.8,-10.7,462,2987,0.00,1.67,0.00,0.000,6,0.000,0.025,2166,2567,3996
$GC,3308,-1.30,-121.7,417.8,-11.5,493,3312,0.12,1.85,0.00,0.000,4,0.077,0.045,2111,3764,3996
$GC,3367,-1.13,-121.7,425.5,-13.1,498,3371,0.25,1.70,0.00,0.000,6,0.168,0.025,2178,2565,3996
$GC,3697,-1.27,-121.7,460.1,-10.3,529,3702,0.12,2.10,0.00,0.000,4,0.075,0.024,2127,1096,3996
$GC,3709,-1.38,-121.7,461.4,-10.2,529,3715,0.00,2.20,0.00,0.000,6,0.000,0.031,2126,2571,3996
$GC,4036,-1.38,-121.7,502.5,-12.1,559,4040,0.00,1.80,0.00,0.000,4,0.000,0.046,2124,3760,3995
$GC,4128,-1.28,-121.7,513.9,-12.3,563,4131,0.00,1.70,0.00,0.000,6,0.000,0.025,2124,2564,3995
$GC,4463,-1.28,-121.7,552.7,-12.6,579,4466,0.00,1.88,0.00,0.000,4,0.000,0.048,2124,3751,3993
$GC,4554,-1.19,-121.7,565.7,-14.6,583,4558,0.15,1.67,0.00,0.000,6,0.170,0.025,2161,2580,3992
$GC,4892,-1.35,-121.7,601.7,-10.4,599,4897,0.15,2.12,0.00,0.000,4,0.074,0.026,2102,1109,3991
$GC,4942,-1.27,-121.7,609.1,-13.9,601,4946,0.15,2.20,0.00,0.000,6,0.170,0.035,2135,2568,3991
$GC,5257,-1.27,-121.7,647.1,-11.6,616,5261,0.00,1.83,0.00,0.000,4,0.000,0.049,2136,3759,3989
$GC,5297,-1.27,-121.7,651.9,-12.2,617,5303,0.00,1.70,0.00,0.000,6,0.000,0.026,2136,2575,3988
$GC,5613,-1.27,-121.7,687.2,-11.7,633,5616,0.00,2.12,0.00,0.000,4,0.000,0.027,2136,1106,3986
$GC,5691,-1.33,-121.7,697.2,-13.3,636,5695,0.00,2.17,0.00,0.000,6,0.000,0.035,2135,2541,3986
$GC,6008,-1.33,-121.7,735.8,-11.9,651,6012,0.00,1.88,0.00,0.000,4,0.000,0.051,2136,3754,3983
$GC,6070,-1.33,-121.7,743.5,-12.4,653,6076,0.00,1.73,0.00,0.000,6,0.000,0.028,2135,2569,3982
$GC,6387,-1.33,-121.7,776.0,-9.0,669,6391,0.00,2.12,0.00,0.000,4,0.000,0.028,2135,1110,3980
$GC,6478,-1.39,-121.7,785.4,-10.0,673,6483,0.12,2.17,0.00,0.000,6,0.081,0.038,2088,2532,3979
$GC,6809,-1.25,-121.7,825.8,-12.2,689,6813,0.17,1.92,0.00,0.000,4,0.195,0.050,2128,3769,3976
$GC,6860,-1.19,-121.7,833.1,-13.9,691,6864,0.12,1.75,0.00,0.000,6,0.179,0.028,2158,2570,3976
$GC,7189,-1.31,-121.7,863.6,-8.2,707,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2570,3974
$GC,7497,-1.45,-121.7,898.5,-12.7,722,7501,0.20,2.15,0.00,0.000,4,0.077,0.028,2080,1105,3971
$GC,7586,-1.33,-121.7,911.6,-14.5,726,7591,0.17,2.22,0.00,0.000,6,0.179,0.038,2116,2555,3971
$GC,7908,-1.33,-121.7,947.8,-9.8,742,7912,0.00,1.88,0.00,0.000,4,0.000,0.053,2111,3758,3969
$GC,8004,-1.23,-121.7,958.5,-11.5,746,8009,0.10,1.75,0.00,0.000,6,0.177,0.030,2139,2596,3968
$STATE,8329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8329,begin apogee
$GC,8336,-0.22,0.0,990.4,10.4,762,8439,1.10,0.00,93.60,1.380,6,0.160,0.000,2465,2443,3531
$STATE,8439,end apogee,CONTROL_FINISHED_OK
$STATE,8439,begin climb
$GC,8442,1.25,121.7,995.5,0.0,767,8553,1.35,2.25,103.38,1.365,4,0.061,0.051,2948,3758,3035
$GC,8739,0.63,207.7,988.7,6.9,780,8818,0.80,2.08,71.40,1.351,6,0.216,0.026,2755,2374,2684
$GC,9146,0.87,331.0,968.0,4.2,800,9255,0.17,2.35,102.80,1.350,4,0.081,0.053,2825,3757,2181
$GC,9317,0.78,331.0,949.9,14.7,808,9322,0.12,2.08,0.00,0.000,6,0.198,0.028,2801,2406,2175
$GC,9640,0.89,339.7,913.2,12.4,824,9653,0.00,2.20,7.18,1.095,4,0.000,0.035,2803,996,2147
$GC,9693,1.04,339.7,905.5,14.5,826,9698,0.22,2.17,0.00,0.000,6,0.074,0.036,2886,2402,2146
$GC,10010,0.89,341.4,855.5,12.9,841,10015,0.17,2.12,0.00,0.000,4,0.193,0.031,2845,998,2143
$GC,10060,0.94,382.8,849.5,10.1,843,10104,0.00,2.12,37.25,1.292,6,0.000,0.036,2845,2384,1971
$GC,10423,0.94,382.8,797.0,18.3,861,10427,0.00,2.12,0.00,0.000,4,0.000,0.033,2849,995,1963
$GC,10484,0.94,382.8,783.4,20.8,863,10490,0.00,2.10,0.00,0.000,6,0.000,0.036,2849,2353,1963
$GC,10800,0.94,382.8,724.1,15.9,879,10804,0.00,2.22,0.00,0.000,4,0.000,0.054,2849,3759,1962
$GC,10834,0.89,382.8,718.6,16.4,880,10837,0.00,2.10,0.00,0.000,6,0.000,0.027,2858,2355,1961
$GC,11156,0.89,382.8,663.1,19.4,896,11159,0.00,2.05,0.00,0.000,4,0.000,0.035,2859,988,1960
$GC,11189,0.94,382.8,656.4,19.4,897,11193,0.00,2.08,0.00,0.000,6,0.000,0.035,2859,2350,1960
$GC,11512,1.00,393.0,610.1,12.3,913,11522,0.00,0.00,8.57,1.042,6,0.000,0.000,2859,2350,1929
$GC,11838,1.08,393.0,565.9,14.7,929,11842,0.00,2.05,0.00,0.000,4,0.000,0.034,2861,994,1927
$GC,11888,1.17,393.0,558.2,14.5,931,11893,0.17,2.08,0.00,0.000,6,0.081,0.035,2926,2351,1927
$GC,12210,1.04,393.0,504.5,15.7,947,12215,0.17,2.05,0.00,0.000,4,0.181,0.030,2884,995,1926
$GC,12238,1.04,393.0,500.1,14.3,948,12241,0.00,2.03,0.00,0.000,6,0.000,0.033,2884,2320,1926
$GC,12568,1.05,399.6,458.6,12.6,978,12582,0.00,2.25,7.10,0.904,4,0.000,0.050,2884,3764,1901
$GC,12633,1.00,399.6,449.4,13.1,983,12639,0.00,2.15,0.00,0.000,6,0.000,0.026,2894,2308,1900
$GC,12960,1.00,399.6,405.4,14.3,1014,12964,0.00,1.95,0.00,0.000,4,0.000,0.035,2894,993,1900
$GC,13044,1.05,399.6,393.2,13.9,1021,13050,0.00,2.00,0.00,0.000,6,0.000,0.034,2895,2313,1900
$GC,13372,1.15,426.2,352.1,11.1,1052,13397,0.00,0.00,23.17,0.930,6,0.000,0.000,2894,2313,1794
$GC,13712,1.28,430.4,310.0,12.7,1084,13724,0.17,2.28,4.68,0.660,4,0.077,0.050,2969,3761,1776
$GC,13777,1.06,430.4,299.3,17.5,1089,13783,0.35,2.17,0.00,0.000,6,0.186,0.025,2887,2281,1776
$GC,14122,1.24,434.7,257.1,12.7,1150,14136,0.17,2.38,5.47,0.667,4,0.075,0.048,2964,3761,1759
$GC,14159,1.10,434.7,250.9,17.6,1156,14166,0.28,2.10,0.00,0.000,6,0.184,0.025,2901,2332,1758
$GC,14506,1.30,468.3,213.6,10.6,1217,14541,0.17,0.00,29.12,0.789,6,0.074,0.000,2977,2330,1620
$GC,14880,1.30,468.3,152.4,15.6,1283,14886,0.00,1.98,0.00,0.000,4,0.000,0.031,2982,987,1617
$GC,14999,1.30,471.5,134.8,12.8,1304,15005,0.00,2.03,0.00,0.000,6,0.000,0.030,2983,2338,1616
$GC,15343,1.35,471.8,93.1,13.0,1365,15356,0.00,2.05,3.78,0.450,4,0.000,0.031,2984,996,1607
$GC,15520,1.46,490.1,70.1,11.7,1396,15544,0.00,1.98,16.60,0.644,6,0.000,0.029,2984,2325,1532
$GC,15885,1.63,524.9,32.5,10.6,1460,15920,0.20,2.22,28.95,0.622,4,0.073,0.042,3069,3764,1390
$STATE,16060,end climb,SURFACE_DEPTH_REACHED
$STATE,16060,begin surface coast
$FINISH,1.8,1.021492
$STATE,16066,end surface coast,CONTROL_FINISHED_OK
$STATE,16066,begin surface
$SM_CCo,16147,0.00,0.000,0,0,1385,526.66
$SM_GC,2.64,7.88,0.00,0.00,0.054,0.000,0.000,140,2458,1385,-7.50,-0.71,526.66
$IRIDIUM_FIX,2448.93,12419.62,161098,131343
$TT8_MAMPS,0.029146
$HUMID,1608
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,950.1,65.7
$24V_AH,22.8,62.389
$10V_AH,10.7,34.691
$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,25.875,137.050,543.050,0.000,0.000,24.497,34.343,193.669,8.500,0.000,0.000,30.324,2660.911,9923.680,635.240,2706.194,624.622,0.000,2013.984,0.000,2615.026,0.000,61.601,0.000
$DEVICE_MAMPS,235.469,55.224,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.559,1025.407,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78978,1492
$CAP_FILE_SIZE,170145,0
$CFSIZE,260165632,196468736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056, 41.5,1
$GPS,220709,224406,2452.287,12422.350,31,1.6,32,-3.7