version: 66.04
glider: 167
mission: 2
dive: 425
start: 7 30 109 15 7 5
data:
$ID,167
$MISSION,2
$DIVE,425
$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,-14080.511
$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,67
$R_STBD_OVSHOOT,44
$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
$GPS1,145431,2447.738,12419.103,41,1.1,41,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-58.3
$GPS2,150644,2447.688,12419.160,13,1.1,13,-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,264.5,58804,-24.8,-13.043
$D_GRID,920
$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,16,-1.25,-121.7,0.0,0.0,0,89,0.00,0.00,-70.75,0.000,2,0.000,0.000,142,2486,2218
$GC,93,-1.25,-121.7,3.1,-1.5,12,168,8.15,1.98,-58.58,0.000,4,0.235,0.054,2128,3755,3989
$GC,422,-0.89,-121.7,59.7,-20.4,69,430,0.45,1.85,0.00,0.000,6,0.160,0.021,2256,2434,3991
$GC,770,-1.29,-121.7,98.7,-10.1,130,777,0.32,2.03,0.00,0.000,4,0.051,0.041,2111,3755,3991
$GC,796,-1.29,-121.7,102.2,-13.0,134,802,0.00,1.75,0.00,0.000,6,0.000,0.021,2111,2480,3991
$GC,1140,-1.07,-121.7,154.3,-14.4,195,1147,0.28,1.95,0.00,0.000,4,0.160,0.039,2184,3764,3991
$GC,1160,-0.91,-121.7,157.2,-14.4,198,1167,0.22,1.73,0.00,0.000,6,0.152,0.021,2247,2511,3991
$GC,1507,-1.29,-121.7,189.0,-9.3,259,1513,0.30,1.98,0.00,0.000,4,0.054,0.021,2119,1109,3991
$GC,1559,-1.15,-121.7,195.4,-13.3,268,1566,0.22,2.08,0.00,0.000,6,0.161,0.027,2172,2524,3991
$GC,1907,-1.33,-121.7,232.8,-10.3,329,1915,0.17,2.03,0.00,0.000,4,0.064,0.021,2092,1107,3991
$GC,1968,-1.10,-121.7,241.0,-14.1,339,1974,0.38,2.03,0.00,0.000,6,0.157,0.027,2191,2496,3991
$GC,2316,-1.40,-121.7,276.6,-10.0,400,2322,0.25,0.00,0.00,0.000,6,0.059,0.000,2081,2497,3991
$GC,2657,-1.28,-121.7,321.7,-13.1,447,2659,0.20,0.00,0.00,0.000,6,0.160,0.000,2136,2497,3991
$GC,2976,-1.40,-121.7,355.9,-10.5,477,2980,0.12,2.00,0.00,0.000,4,0.075,0.023,2081,1113,3991
$GC,3021,-1.20,-121.7,361.6,-13.1,481,3026,0.30,2.05,0.00,0.000,6,0.158,0.028,2158,2496,3991
$GC,3347,-1.41,-121.7,393.9,-9.6,511,3351,0.20,2.00,0.00,0.000,4,0.067,0.022,2070,1123,3991
$GC,3416,-1.18,-121.7,402.5,-13.4,517,3421,0.32,2.03,0.00,0.000,6,0.160,0.030,2162,2471,3990
$GC,3742,-1.40,-121.7,438.4,-11.1,547,3746,0.20,1.98,0.00,0.000,4,0.063,0.023,2076,1110,3989
$GC,3769,-1.40,-121.7,442.1,-13.3,549,3776,0.00,2.03,0.00,0.000,6,0.000,0.029,2070,2471,3989
$GC,4095,-1.24,-121.7,482.0,-11.4,580,4099,0.22,1.95,0.00,0.000,4,0.166,0.042,2130,3756,3988
$GC,4152,-1.24,-121.7,488.3,-10.9,585,4155,0.00,1.80,0.00,0.000,6,0.000,0.023,2130,2473,3988
$GC,4491,-1.37,-121.7,519.1,-9.1,607,4494,0.00,1.95,0.00,0.000,4,0.000,0.025,2130,1106,3985
$GC,4569,-1.37,-121.7,527.7,-11.2,610,4573,0.00,2.00,0.00,0.000,6,0.000,0.028,2126,2458,3985
$GC,4893,-1.49,-121.7,562.3,-10.6,626,4897,0.17,1.98,0.00,0.000,4,0.073,0.023,2056,1103,3982
$GC,4932,-1.29,-121.7,567.2,-12.0,627,4939,0.28,2.03,0.00,0.000,6,0.166,0.030,2128,2455,3981
$GC,5253,-1.48,-121.7,601.6,-10.3,643,5257,0.17,1.98,0.00,0.000,4,0.072,0.023,2054,1095,3979
$GC,5298,-1.27,-121.7,607.6,-11.9,645,5303,0.32,2.00,0.00,0.000,6,0.166,0.029,2137,2441,3979
$GC,5634,-1.46,-121.7,642.5,-10.3,661,5639,0.17,1.95,0.00,0.000,4,0.070,0.024,2061,1104,3976
$GC,5691,-1.28,-121.7,650.1,-13.1,663,5696,0.28,1.98,0.00,0.000,6,0.164,0.031,2132,2428,3976
$GC,6009,-1.46,-121.7,678.9,-8.2,678,6013,0.17,1.92,0.00,0.000,4,0.074,0.024,2058,1106,3973
$GC,6044,-1.30,-121.7,682.5,-10.8,679,6048,0.25,1.92,0.00,0.000,6,0.168,0.032,2125,2392,3973
$GC,6365,-1.48,-121.7,709.6,-8.4,695,6369,0.17,1.88,0.00,0.000,4,0.073,0.024,2057,1101,3970
$GC,6395,-1.38,-121.7,712.6,-10.6,696,6399,0.17,1.92,0.00,0.000,6,0.175,0.032,2101,2388,3970
$GC,6721,-1.38,-121.7,744.0,-9.3,712,6725,0.00,2.10,0.00,0.000,4,0.000,0.046,2098,3753,3968
$GC,6818,-1.26,-121.7,755.4,-12.6,716,6822,0.15,1.95,0.00,0.000,6,0.169,0.022,2135,2383,3967
$GC,7147,-1.41,-121.7,786.9,-9.6,732,7152,0.15,2.15,0.00,0.000,4,0.073,0.047,2071,3752,3965
$GC,7225,-1.19,-121.7,796.8,-12.7,735,7230,0.32,1.92,0.00,0.000,6,0.170,0.024,2160,2410,3964
$GC,7545,-1.51,-121.7,827.7,-10.0,750,7547,0.28,0.00,0.00,0.000,6,0.064,0.000,2056,2410,3962
$GC,7851,-1.34,-121.7,862.6,-10.8,765,7853,0.22,0.00,0.00,0.000,6,0.179,0.000,2115,2410,3961
$GC,8161,-1.42,-121.7,890.8,-8.9,780,8165,0.00,2.12,0.00,0.000,4,0.000,0.049,2110,3758,3959
$GC,8240,-1.37,-121.7,899.1,-10.4,783,8244,0.00,1.95,0.00,0.000,6,0.000,0.025,2111,2400,3958
$STATE,8456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8456,begin apogee
$GC,8464,-0.22,0.0,920.9,9.8,794,8559,1.20,0.00,89.10,1.344,6,0.157,0.000,2465,2399,3532
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8563,1.25,121.7,927.1,0.0,799,8674,1.33,2.30,102.53,1.307,4,0.062,0.046,2943,3755,3034
$GC,8810,0.60,171.2,921.6,9.5,810,8858,0.80,2.00,41.20,1.277,6,0.210,0.023,2746,2416,2834
$GC,9180,0.80,261.4,896.6,6.6,828,9264,0.17,2.28,74.38,1.289,4,0.084,0.048,2818,3754,2464
$GC,9320,0.65,261.4,882.0,13.1,834,9325,0.28,2.03,0.00,0.000,6,0.183,0.022,2756,2393,2460
$GC,9642,0.92,315.3,852.1,9.2,850,9694,0.20,2.15,45.20,1.262,4,0.073,0.029,2846,1027,2245
$GC,9723,0.92,315.3,841.3,14.8,853,9729,0.00,2.17,0.00,0.000,6,0.000,0.031,2846,2424,2242
$GC,10039,0.92,315.3,796.7,14.2,869,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2424,2237
$GC,10350,0.87,316.6,754.7,12.9,884,10353,0.00,2.08,0.00,0.000,4,0.000,0.051,2846,3754,2236
$GC,10405,0.73,316.6,746.4,14.0,886,10410,0.28,1.98,0.00,0.000,6,0.186,0.024,2782,2397,2235
$GC,10721,0.99,376.9,716.0,8.7,901,10779,0.20,2.28,50.92,1.212,4,0.074,0.049,2865,3754,1994
$GC,10803,0.90,376.9,705.8,15.5,904,10809,0.15,2.00,0.00,0.000,6,0.189,0.023,2840,2420,1991
$GC,11119,1.00,378.7,664.7,12.9,920,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2419,1985
$GC,11430,1.11,384.9,624.3,12.6,935,11443,0.17,2.17,6.47,0.959,4,0.079,0.031,2920,1004,1962
$GC,11466,0.99,384.9,618.0,16.2,936,11473,0.20,2.17,0.00,0.000,6,0.188,0.031,2870,2434,1961
$GC,11782,0.99,384.9,567.9,15.7,952,11786,0.00,2.15,0.00,0.000,4,0.000,0.031,2871,1009,1959
$GC,11851,0.99,384.9,557.9,14.6,955,11855,0.00,2.17,0.00,0.000,6,0.000,0.031,2871,2438,1959
$GC,12185,1.01,403.7,516.5,11.7,971,12207,0.00,2.12,17.38,1.053,4,0.000,0.049,2871,3754,1886
$GC,12242,1.03,420.3,509.6,11.8,973,12262,0.00,1.92,15.32,1.022,6,0.000,0.024,2881,2439,1818
$GC,12586,1.28,474.1,475.3,9.2,1002,12642,0.20,2.20,45.33,1.039,4,0.074,0.048,2963,3757,1597
$GC,12650,1.12,474.1,467.1,13.8,1007,12656,0.25,1.88,0.00,0.000,6,0.188,0.025,2910,2502,1596
$GC,12975,1.31,474.1,421.4,14.0,1038,12979,0.17,2.20,0.00,0.000,4,0.075,0.028,2980,1021,1591
$GC,13010,1.24,474.1,416.0,15.4,1041,13015,0.15,2.22,0.00,0.000,6,0.193,0.032,2945,2485,1590
$GC,13340,1.24,474.1,366.0,14.3,1072,13344,0.00,2.22,0.00,0.000,4,0.000,0.029,2954,1014,1589
$GC,13470,1.24,474.1,347.8,13.6,1083,13477,0.00,2.15,0.00,0.000,6,0.000,0.031,2954,2431,1588
$GC,13797,1.24,474.1,299.6,14.7,1114,13804,0.00,2.08,0.00,0.000,4,0.000,0.048,2954,3765,1587
$GC,13897,1.11,474.1,283.6,15.8,1131,13903,0.22,2.03,0.00,0.000,6,0.182,0.024,2905,2378,1587
$GC,14245,1.41,491.5,239.9,11.8,1192,14266,0.22,2.25,14.30,0.805,4,0.069,0.048,3001,3765,1527
$GC,14355,1.19,491.5,222.0,15.7,1210,14363,0.32,2.17,0.00,0.000,6,0.187,0.023,2927,2279,1526
$GC,14703,1.51,513.8,178.5,11.4,1271,14729,0.25,1.95,19.67,0.765,4,0.064,0.030,3034,997,1437
$GC,14867,1.38,513.8,153.9,16.0,1299,14873,0.17,2.10,0.00,0.000,6,0.178,0.029,2992,2393,1433
$GC,15213,1.44,513.8,104.7,14.1,1360,15218,0.00,2.08,0.00,0.000,4,0.000,0.028,2999,990,1433
$GC,15310,1.49,513.8,91.4,14.1,1377,15316,0.00,2.03,0.00,0.000,6,0.000,0.028,2999,2346,1432
$GC,15656,1.68,554.7,48.8,10.1,1438,15698,0.20,2.22,33.75,0.653,4,0.071,0.044,3086,3754,1269
$GC,15735,1.47,554.7,38.3,15.3,1451,15741,0.28,2.08,0.00,0.000,6,0.189,0.021,3024,2336,1267
$STATE,16014,end climb,SURFACE_DEPTH_REACHED
$STATE,16014,begin surface coast
$FINISH,1.8,1.003932
$STATE,16038,end surface coast,CONTROL_FINISHED_OK
$STATE,16038,begin surface
$SM_CCo,16118,0.00,0.000,0,0,1264,556.34
$SM_GC,2.67,7.68,0.00,0.00,0.050,0.000,0.000,144,2489,1264,-7.49,0.17,556.34
$IRIDIUM_FIX,2439.44,12418.28,241098,151549
$TT8_MAMPS,0.028379
$HUMID,1702
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,5
$24V_AH,23.5,72.467
$10V_AH,10.7,39.341
$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,30.725,138.950,555.550,0.000,0.000,55.269,61.306,391.165,8.500,0.000,0.000,13.597,2668.941,9922.228,685.438,2606.451,954.907,0.000,2051.376,0.000,2545.075,0.000,51.485,0.000
$DEVICE_MAMPS,234.702,54.457,1343.784,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.007,1046.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81952,1505
$CAP_FILE_SIZE,177376,0
$CFSIZE,260165632,192200704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,115.0,1
$GPS,300709,193701,2447.227,12418.218,42,1.3,43,-3.7