version: 66.04
glider: 167
mission: 2
dive: 416
start: 7 28 109 19 58 35
data:
$ID,167
$MISSION,2
$DIVE,416
$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,-13911.08
$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,61
$R_STBD_OVSHOOT,54
$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
$GPS1,195037,2445.583,12426.529,36,1.4,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-65.3
$GPS2,195814,2445.630,12426.633,17,1.3,17,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,249.8,70582,-24.8,-13.043
$D_GRID,776
$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,-121.7,0.0,0.0,0,56,0.00,0.00,-38.97,0.000,2,0.000,0.000,143,2503,2356
$GC,61,-1.25,-121.7,3.2,-1.9,7,127,8.32,2.12,-50.62,0.000,4,0.237,0.038,2134,1063,3989
$GC,157,-0.93,-121.7,14.0,-20.7,23,165,0.43,2.12,0.00,0.000,6,0.164,0.028,2244,2479,3990
$GC,505,-1.19,-121.7,52.9,-10.5,84,510,0.20,0.00,0.00,0.000,6,0.064,0.000,2155,2481,3992
$GC,849,-1.08,-121.7,100.3,-12.8,145,856,0.15,1.95,0.00,0.000,4,0.168,0.041,2192,3766,3992
$GC,891,-1.03,-121.7,106.0,-13.4,152,897,0.00,1.88,0.00,0.000,6,0.000,0.021,2191,2410,3992
$GC,1236,-1.23,-121.7,143.6,-11.1,213,1241,0.12,0.00,0.00,0.000,6,0.072,0.000,2136,2410,3994
$GC,1581,-1.23,-121.7,184.9,-10.4,274,1587,0.00,2.05,0.00,0.000,4,0.000,0.040,2125,3760,3995
$GC,1737,-1.00,-121.7,204.4,-14.0,301,1744,0.32,1.85,0.00,0.000,6,0.158,0.021,2216,2438,3995
$GC,2083,-1.40,-121.7,238.7,-9.1,362,2089,0.30,0.00,0.00,0.000,6,0.055,0.000,2087,2437,3996
$GC,2426,-1.22,-121.7,281.2,-12.5,423,2434,0.20,2.00,0.00,0.000,4,0.165,0.039,2138,3758,3996
$GC,2543,-1.11,-121.7,296.1,-13.5,443,2550,0.17,1.77,0.00,0.000,6,0.160,0.021,2184,2488,3996
$GC,2879,-1.42,-121.7,327.7,-8.1,477,2883,0.25,1.98,0.00,0.000,4,0.058,0.022,2075,1115,3996
$GC,2925,-1.21,-121.7,332.6,-11.1,481,2929,0.30,2.05,0.00,0.000,6,0.166,0.028,2151,2481,3996
$GC,3250,-1.33,-121.7,367.2,-10.2,511,3254,0.00,1.92,0.00,0.000,4,0.000,0.044,2151,3757,3996
$GC,3308,-1.44,-121.7,373.6,-11.0,516,3313,0.20,1.80,0.00,0.000,6,0.064,0.021,2071,2469,3996
$GC,3640,-1.26,-121.7,411.9,-10.3,547,3644,0.20,1.95,0.00,0.000,4,0.165,0.040,2124,3754,3996
$GC,3701,-1.18,-121.7,417.6,-8.7,552,3708,0.15,1.77,0.00,0.000,6,0.166,0.022,2162,2494,3996
$GC,4028,-1.46,-121.7,450.5,-11.1,583,4032,0.22,2.00,0.00,0.000,4,0.064,0.024,2066,1094,3995
$GC,4049,-1.46,-121.7,453.6,-12.8,584,4055,0.00,2.10,0.00,0.000,6,0.000,0.029,2057,2510,3995
$GC,4378,-1.26,-121.7,494.0,-12.3,615,4382,0.25,1.90,0.00,0.000,4,0.175,0.043,2124,3757,3994
$GC,4494,-1.21,-121.7,507.7,-11.8,623,4498,0.08,1.83,0.00,0.000,6,0.166,0.023,2147,2493,3994
$GC,4830,-1.46,-121.7,540.1,-9.3,639,4834,0.20,1.98,0.00,0.000,4,0.064,0.045,2057,3763,3993
$GC,4863,-1.23,-121.7,544.3,-12.0,640,4867,0.32,1.80,0.00,0.000,6,0.173,0.023,2145,2497,3992
$GC,5186,-1.47,-121.7,573.1,-9.2,656,5190,0.20,1.95,0.00,0.000,4,0.064,0.045,2057,3751,3991
$GC,5214,-1.36,-121.7,576.5,-12.0,657,5218,0.20,1.77,0.00,0.000,6,0.177,0.023,2109,2501,3990
$GC,5543,-1.46,-121.7,609.7,-9.7,673,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2501,3988
$GC,5852,-1.57,-121.7,639.6,-9.6,688,5856,0.17,2.03,0.00,0.000,4,0.073,0.025,2037,1115,3986
$GC,6049,-1.34,-121.7,664.0,-12.5,696,6056,0.30,2.10,0.00,0.000,6,0.188,0.031,2109,2496,3984
$GC,6366,-1.43,-121.7,692.5,-8.6,712,6370,0.00,1.95,0.00,0.000,4,0.000,0.047,2102,3766,3982
$GC,6417,-1.33,-121.7,697.8,-11.1,714,6420,0.00,1.83,0.00,0.000,6,0.000,0.024,2101,2484,3982
$GC,6745,-1.33,-121.7,733.4,-11.2,730,6749,0.00,2.00,0.00,0.000,4,0.000,0.048,2098,3763,3980
$GC,6928,-1.22,-121.7,755.8,-12.2,738,6932,0.20,1.77,0.00,0.000,6,0.175,0.026,2149,2542,3978
$STATE,7154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7154,begin apogee
$GC,7162,-0.22,0.0,777.5,8.5,749,7258,1.02,0.00,90.82,1.231,6,0.142,0.000,2466,2420,3531
$STATE,7258,end apogee,CONTROL_FINISHED_OK
$STATE,7258,begin climb
$GC,7261,1.25,121.7,782.9,0.0,754,7370,1.35,2.20,99.68,1.194,4,0.062,0.047,2948,3754,3034
$GC,7622,0.63,187.8,764.9,8.3,770,7682,0.80,2.03,52.53,1.177,6,0.213,0.023,2752,2371,2766
$GC,7991,0.84,262.0,737.9,7.7,788,8058,0.17,2.33,59.95,1.174,4,0.082,0.048,2825,3757,2463
$GC,8148,0.70,268.2,718.8,12.6,795,8159,0.22,1.98,6.07,0.905,6,0.189,0.024,2777,2426,2438
$GC,8473,0.96,334.3,689.5,8.3,810,8537,0.17,2.25,54.67,1.156,4,0.080,0.032,2860,1016,2168
$GC,8619,0.97,341.7,672.1,12.5,816,8631,0.00,2.15,7.07,0.940,6,0.000,0.032,2861,2406,2138
$GC,8940,0.97,341.7,627.6,14.5,832,8944,0.00,2.10,0.00,0.000,4,0.000,0.031,2868,1015,2132
$GC,9035,0.97,341.7,612.7,15.7,836,9039,0.00,2.05,0.00,0.000,6,0.000,0.033,2868,2361,2132
$GC,9364,0.98,354.6,569.3,12.1,852,9379,0.00,2.20,10.93,1.022,4,0.000,0.049,2869,3762,2087
$GC,9430,0.88,354.6,560.0,14.7,854,9435,0.20,2.05,0.00,0.000,6,0.184,0.024,2827,2368,2086
$GC,9758,1.12,376.3,523.9,11.5,870,9783,0.17,2.25,19.35,1.051,4,0.076,0.048,2902,3773,1996
$GC,9824,0.97,376.3,513.6,16.6,873,9829,0.20,2.03,0.00,0.000,6,0.184,0.025,2859,2418,1993
$GC,10147,1.09,397.1,470.6,11.6,899,10171,0.10,2.20,17.95,1.007,4,0.094,0.031,2908,992,1912
$GC,10256,1.11,407.6,456.7,12.3,908,10273,0.00,2.12,10.25,0.933,6,0.000,0.031,2908,2385,1869
$GC,10592,1.11,409.1,415.2,12.9,940,10596,0.00,2.10,0.00,0.000,4,0.000,0.030,2916,989,1865
$GC,10671,1.11,409.1,404.5,13.2,947,10675,0.00,2.05,0.00,0.000,6,0.000,0.030,2916,2346,1865
$GC,11004,1.11,409.1,362.6,13.1,978,11008,0.00,2.03,0.00,0.000,4,0.000,0.029,2925,990,1864
$GC,11118,1.11,409.1,348.4,13.3,988,11121,0.00,2.00,0.00,0.000,6,0.000,0.029,2925,2320,1864
$GC,11451,1.11,409.1,305.5,13.8,1019,11455,0.00,1.98,0.00,0.000,4,0.000,0.029,2931,993,1863
$GC,11508,1.11,409.1,297.4,13.8,1025,11514,0.00,1.98,0.00,0.000,6,0.000,0.030,2931,2310,1863
$GC,11853,1.11,412.3,251.8,12.8,1086,11865,0.00,2.00,4.57,0.639,4,0.000,0.029,2938,999,1850
$GC,11890,1.13,424.1,247.2,12.2,1092,11909,0.12,1.92,11.23,0.798,6,0.179,0.030,2909,2291,1802
$GC,12251,1.33,431.6,202.1,12.5,1155,12265,0.17,2.28,8.02,0.721,4,0.072,0.048,2983,3753,1771
$GC,12324,1.12,431.6,191.6,14.3,1167,12332,0.32,2.12,0.00,0.000,6,0.186,0.022,2908,2300,1769
$GC,12672,1.45,481.2,158.7,9.5,1228,12720,0.25,2.38,40.92,0.760,4,0.065,0.044,3010,3755,1569
$GC,12792,1.27,481.2,141.7,15.8,1248,12798,0.25,2.08,0.00,0.000,6,0.177,0.023,2956,2352,1566
$GC,13138,1.52,517.1,98.3,10.5,1309,13174,0.17,2.08,29.98,0.692,4,0.074,0.028,3039,992,1422
$GC,13327,1.52,517.1,73.2,13.1,1342,13333,0.00,2.03,0.00,0.000,6,0.000,0.028,3039,2339,1418
$GC,13671,1.52,523.0,22.8,12.6,1403,13685,0.00,2.03,5.75,0.513,4,0.000,0.028,3047,1004,1398
$STATE,13857,end climb,SURFACE_DEPTH_REACHED
$STATE,13857,begin surface coast
$FINISH,1.8,1.006430
$STATE,13880,end surface coast,CONTROL_FINISHED_OK
$STATE,13881,begin surface
$SM_CCo,13962,0.00,0.000,0,0,1395,524.21
$SM_GC,2.64,7.72,0.00,0.00,0.051,0.000,0.000,140,2503,1395,-7.50,0.57,524.21
$IRIDIUM_FIX,2434.69,12422.20,221098,151516
$TT8_MAMPS,0.029146
$HUMID,1677
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.5,70.526
$10V_AH,10.7,38.444
$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,26.925,117.550,529.750,0.000,0.000,27.548,33.777,233.190,6.000,0.000,0.000,18.094,2536.537,8003.717,611.863,2561.390,689.877,0.000,1920.917,0.000,2499.521,0.000,41.082,0.000
$DEVICE_MAMPS,237.003,54.457,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,968.224,1031.561,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75871,1440
$CAP_FILE_SIZE,157188,0
$CFSIZE,260165632,193040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 48.6,1
$GPS,280709,235231,2446.081,12426.232,39,1.0,39,-3.7