version: 66.04
glider: 167
mission: 2
dive: 431
start: 7 31 109 17 35 40
data:
$ID,167
$MISSION,2
$DIVE,431
$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,475
$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,-14208.753
$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,20.75
$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,66
$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
$GPS1,172801,2446.911,12415.048,42,0.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-63.5
$GPS2,173519,2446.920,12414.970,7,0.9,12,-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,267.2,51611,-24.8,-13.043
$D_GRID,839
$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,16,-1.34,-121.7,0.0,0.0,0,57,0.00,0.00,-39.40,0.000,2,0.000,0.000,140,2497,2221
$GC,62,-1.34,-121.7,3.0,-1.5,7,136,8.25,1.95,-59.35,0.000,4,0.239,0.054,2094,3761,3988
$GC,362,-0.87,-121.7,54.9,-20.2,59,370,0.60,1.85,0.00,0.000,6,0.163,0.021,2264,2444,3990
$GC,710,-1.27,-121.7,93.8,-10.2,120,717,0.32,2.03,0.00,0.000,4,0.053,0.041,2124,3760,3991
$GC,753,-1.05,-121.7,99.2,-14.3,127,761,0.30,1.75,0.00,0.000,6,0.163,0.021,2206,2498,3991
$GC,1101,-1.30,-121.7,138.5,-11.0,188,1108,0.20,1.98,0.00,0.000,4,0.061,0.022,2118,1103,3992
$GC,1155,-1.10,-121.7,145.4,-12.6,197,1161,0.28,2.05,0.00,0.000,6,0.157,0.026,2185,2503,3992
$GC,1502,-1.30,-121.7,180.1,-9.6,258,1508,0.17,1.88,0.00,0.000,4,0.062,0.041,2100,3750,3993
$GC,1600,-0.96,-121.7,194.3,-17.0,275,1607,0.47,1.73,0.00,0.000,6,0.163,0.021,2234,2500,3993
$GC,1949,-1.37,-121.7,230.2,-9.4,336,1956,0.35,1.98,0.00,0.000,4,0.052,0.022,2085,1100,3994
$GC,1987,-1.20,-121.7,234.7,-12.2,342,1993,0.28,2.03,0.00,0.000,6,0.160,0.028,2160,2481,3993
$GC,2333,-1.40,-121.7,268.2,-9.3,403,2340,0.17,0.00,0.00,0.000,6,0.067,0.000,2079,2483,3994
$GC,2679,-1.18,-121.7,314.0,-15.0,456,2683,0.28,1.92,0.00,0.000,4,0.164,0.041,2152,3757,3994
$GC,2714,-1.18,-121.7,319.0,-13.0,459,2718,0.00,1.83,0.00,0.000,6,0.000,0.021,2152,2443,3994
$GC,3045,-1.37,-121.7,356.7,-10.4,490,3047,0.15,0.00,0.00,0.000,6,0.072,0.000,2088,2443,3994
$GC,3367,-1.24,-121.7,391.8,-11.4,520,3372,0.17,0.00,0.00,0.000,6,0.160,0.000,2140,2443,3994
$GC,3695,-1.41,-121.7,421.6,-9.3,551,3700,0.15,1.90,0.00,0.000,4,0.072,0.024,2078,1107,3993
$GC,3713,-1.48,-121.7,423.8,-9.8,552,3719,0.00,2.00,0.00,0.000,6,0.000,0.028,2071,2461,3993
$GC,4040,-1.31,-121.7,462.2,-11.6,583,4044,0.20,1.98,0.00,0.000,4,0.166,0.043,2124,3760,3992
$GC,4090,-1.23,-121.7,468.3,-11.3,587,4098,0.00,1.83,0.00,0.000,6,0.000,0.023,2125,2461,3993
$GC,4418,-1.34,-121.7,500.4,-9.8,618,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2460,3992
$GC,4725,-1.43,-121.7,531.2,-10.0,633,4729,0.12,1.95,0.00,0.000,4,0.078,0.024,2071,1096,3990
$GC,4759,-1.29,-121.7,535.4,-12.3,634,4764,0.20,2.08,0.00,0.000,6,0.165,0.031,2123,2486,3990
$GC,5077,-1.44,-121.7,570.8,-11.1,649,5081,0.12,2.00,0.00,0.000,4,0.081,0.023,2073,1115,3989
$GC,5116,-1.32,-121.7,575.6,-12.2,650,5122,0.17,2.00,0.00,0.000,6,0.162,0.030,2117,2452,3988
$GC,5434,-1.44,-121.7,609.2,-10.5,666,5438,0.12,2.00,0.00,0.000,4,0.080,0.046,2067,3753,3986
$GC,5473,-1.23,-121.7,614.1,-11.8,667,5481,0.28,1.88,0.00,0.000,6,0.163,0.023,2143,2437,3985
$GC,5791,-1.46,-121.7,642.7,-8.5,683,5795,0.17,1.92,0.00,0.000,4,0.071,0.024,2067,1096,3983
$GC,5841,-1.32,-121.7,648.1,-11.2,685,5846,0.22,2.00,0.00,0.000,6,0.162,0.030,2118,2437,3983
$GC,6165,-1.49,-121.7,678.3,-9.6,701,6169,0.15,2.05,0.00,0.000,4,0.074,0.047,2057,3764,3980
$GC,6189,-1.43,-121.7,681.1,-11.1,702,6193,0.00,1.92,0.00,0.000,6,0.000,0.023,2057,2411,3979
$GC,6522,-1.36,-121.7,718.0,-11.0,718,6524,0.17,0.00,0.00,0.000,6,0.167,0.000,2103,2410,3977
$GC,6833,-1.47,-121.7,749.1,-10.1,733,6836,0.00,1.90,0.00,0.000,4,0.000,0.026,2104,1089,3975
$GC,6905,-1.47,-121.7,757.2,-11.2,736,6909,0.00,2.00,0.00,0.000,6,0.000,0.031,2099,2427,3974
$GC,7235,-1.57,-121.7,792.9,-11.1,752,7239,0.17,1.95,0.00,0.000,4,0.080,0.026,2026,1101,3972
$GC,7280,-1.32,-121.7,799.4,-14.6,754,7286,0.38,1.98,0.00,0.000,6,0.179,0.033,2119,2413,3972
$GC,7616,-1.51,-121.7,835.8,-10.3,770,7620,0.17,1.92,0.00,0.000,4,0.071,0.025,2046,1091,3970
$STATE,7640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7640,begin apogee
$GC,7650,-0.24,0.0,839.5,13.1,771,7752,1.45,0.00,92.85,1.255,6,0.178,0.000,2454,2400,3532
$STATE,7753,end apogee,CONTROL_FINISHED_OK
$STATE,7753,begin climb
$GC,7756,1.34,121.7,846.9,0.0,776,7864,1.45,2.22,100.82,1.239,4,0.064,0.027,2981,1022,3034
$GC,7949,0.85,202.0,847.5,7.3,784,8022,0.62,2.15,65.62,1.223,6,0.209,0.033,2824,2411,2707
$GC,8352,0.80,241.3,808.2,10.2,804,8393,0.00,2.20,32.22,1.198,4,0.000,0.029,2829,1028,2547
$GC,8421,0.83,269.5,800.2,11.0,807,8452,0.00,2.12,24.38,1.167,6,0.000,0.031,2829,2399,2432
$GC,8769,0.84,277.4,757.2,12.5,824,8783,0.00,2.20,7.30,1.000,4,0.000,0.049,2829,3760,2401
$GC,8808,0.74,277.4,751.8,14.9,825,8815,0.17,2.00,0.00,0.000,6,0.190,0.024,2786,2408,2400
$GC,9125,0.98,320.4,717.6,10.0,841,9168,0.20,2.20,36.40,1.182,4,0.075,0.048,2870,3758,2224
$GC,9233,0.77,320.4,703.1,14.7,845,9239,0.32,2.00,0.00,0.000,6,0.186,0.025,2795,2415,2221
$GC,9549,1.10,371.1,672.7,9.4,861,9599,0.25,2.25,42.42,1.160,4,0.071,0.048,2897,3756,2018
$GC,9676,0.91,371.1,654.6,16.3,866,9682,0.25,1.92,0.00,0.000,6,0.186,0.025,2841,2460,2013
$GC,9992,1.15,384.7,615.6,12.1,882,10009,0.20,2.12,11.40,1.045,4,0.071,0.049,2923,3754,1962
$GC,10079,0.93,384.7,601.2,18.1,885,10083,0.32,1.85,0.00,0.000,6,0.186,0.025,2846,2496,1960
$GC,10412,1.19,412.3,560.0,11.1,901,10442,0.20,2.05,24.48,1.081,4,0.074,0.051,2926,3759,1850
$GC,10519,0.98,412.3,544.6,15.4,905,10525,0.28,1.77,0.00,0.000,6,0.184,0.026,2864,2546,1846
$GC,10835,1.25,423.9,506.0,12.2,921,10851,0.20,1.92,10.30,0.976,4,0.077,0.050,2946,3759,1803
$GC,10862,1.20,423.9,502.2,14.4,921,10866,0.00,1.90,0.00,0.000,6,0.000,0.025,2954,2468,1802
$GC,11197,1.04,423.9,451.0,14.3,951,11202,0.25,2.17,0.00,0.000,4,0.190,0.029,2893,1007,1800
$GC,11219,0.99,423.9,447.4,13.4,952,11226,0.12,2.17,0.00,0.000,6,0.183,0.031,2864,2444,1799
$GC,11545,1.31,465.6,413.9,10.1,983,11589,0.25,2.25,35.58,0.989,4,0.069,0.030,2974,1009,1632
$GC,11690,1.19,465.6,392.1,16.6,995,11698,0.17,2.08,0.00,0.000,6,0.187,0.031,2933,2365,1627
$GC,12015,1.28,465.6,344.0,13.7,1026,12019,0.00,2.15,0.00,0.000,4,0.000,0.048,2933,3751,1624
$GC,12078,1.28,465.6,334.4,15.2,1031,12085,0.00,2.00,0.00,0.000,6,0.000,0.024,2940,2387,1623
$GC,12405,1.28,466.5,291.9,13.0,1067,12412,0.00,2.05,0.00,0.000,4,0.000,0.029,2949,993,1623
$GC,12510,1.28,471.7,278.6,12.7,1085,12523,0.00,2.05,4.82,0.663,6,0.000,0.030,2949,2358,1609
$GC,12862,1.28,471.7,229.8,14.4,1147,12869,0.00,2.03,0.00,0.000,4,0.000,0.028,2955,994,1608
$GC,12943,1.28,471.7,218.1,14.3,1161,12949,0.00,2.03,0.00,0.000,6,0.000,0.029,2955,2343,1608
$GC,13288,1.40,513.0,175.5,10.1,1222,13330,0.12,2.05,35.85,0.779,4,0.084,0.028,3013,991,1440
$GC,13373,1.34,513.0,164.3,14.7,1236,13380,0.15,2.03,0.00,0.000,6,0.173,0.029,2978,2328,1436
$GC,13720,1.50,538.7,115.4,11.2,1297,13750,0.15,2.05,21.67,0.709,4,0.078,0.029,3039,996,1334
$GC,13908,1.50,542.1,89.1,12.8,1330,13921,0.00,1.95,4.10,0.484,6,0.000,0.028,3039,2300,1320
$GC,14260,1.50,543.5,44.2,12.9,1392,14266,0.00,1.92,0.00,0.000,4,0.000,0.028,3047,995,1319
$GC,14397,1.51,550.0,26.4,12.6,1416,14410,0.00,1.88,7.90,0.565,6,0.000,0.027,3047,2259,1288
$STATE,14582,end climb,SURFACE_DEPTH_REACHED
$STATE,14582,begin surface coast
$FINISH,1.7,1.008304
$STATE,14612,end surface coast,CONTROL_FINISHED_OK
$STATE,14612,begin surface
$SM_CCo,14691,0.00,0.000,0,0,1286,550.94
$SM_GC,2.59,7.80,0.00,0.00,0.056,0.000,0.000,142,2504,1286,-7.50,0.62,550.94
$IRIDIUM_FIX,2432.32,12147.49,251098,121219
$TT8_MAMPS,0.029146
$HUMID,1712
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,3
$24V_AH,22.7,73.633
$10V_AH,10.7,39.893
$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,29.775,128.275,558.125,0.000,0.000,30.890,33.952,209.635,7.250,0.000,0.000,14.905,2561.280,8699.652,676.804,2488.937,683.931,0.000,1980.991,0.000,2428.352,0.000,44.432,0.000
$DEVICE_MAMPS,239.304,54.457,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,977.404,1024.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78946,1454
$CAP_FILE_SIZE,163758,0
$CFSIZE,260165632,191709184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,103.7,1
$GPS,310709,214156,2446.647,12414.579,30,2.4,49,-3.7