version: 66.04
glider: 167
mission: 2
dive: 44
start: 5 29 109 1 54 0
data:
$ID,167
$MISSION,2
$DIVE,44
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4637.2788
$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,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,36
$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
$GPS1,014637,2520.071,12323.396,31,1.6,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-65.3
$GPS2,015338,2520.083,12323.354,13,1.7,13,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,255.8,8009,-18.3,-12.000
$D_GRID,1481
$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,-1.05,-194.7,0.0,0.0,0,47,0.00,0.00,-30.23,0.000,2,0.000,0.000,145,2419,2563
$GC,50,-1.05,-194.7,3.1,-2.8,5,115,8.40,2.12,-46.62,0.000,4,0.249,0.060,2190,3755,3989
$GC,222,0.04,-194.7,53.6,-48.3,35,229,1.33,1.95,0.00,0.000,6,0.206,0.026,2549,2426,3990
$GC,567,-0.81,-194.7,93.4,-8.5,96,574,0.73,2.05,0.00,0.000,4,0.087,0.029,2284,1008,3992
$GC,598,-1.03,-194.7,96.4,-9.3,101,606,0.17,2.12,0.00,0.000,6,0.069,0.033,2204,2436,3991
$GC,945,-0.36,-194.7,188.7,-26.7,162,951,0.73,2.08,0.00,0.000,4,0.185,0.027,2418,1011,3992
$GC,1009,-0.78,-194.7,194.5,-4.0,173,1017,0.35,2.08,0.00,0.000,6,0.058,0.034,2275,2414,3993
$GC,1356,-0.65,-194.7,240.8,-14.4,234,1363,0.17,2.03,0.00,0.000,4,0.156,0.028,2331,1020,3995
$GC,1404,-0.78,-194.7,246.4,-10.3,242,1411,0.12,2.03,0.00,0.000,6,0.079,0.034,2278,2392,3995
$GC,1750,-0.71,-194.7,287.0,-10.7,303,1757,0.15,2.08,0.00,0.000,4,0.163,0.049,2316,3753,3995
$GC,1786,-0.77,-194.7,291.0,-9.9,309,1793,0.00,1.98,0.00,0.000,6,0.000,0.028,2316,2367,3995
$GC,2118,-0.89,-194.7,324.7,-10.2,348,2126,0.17,2.15,0.00,0.000,4,0.072,0.050,2232,3760,3995
$GC,2145,-0.82,-194.7,328.1,-13.1,350,2149,0.17,1.98,0.00,0.000,6,0.160,0.028,2280,2377,3995
$GC,2475,-0.82,-194.7,367.2,-11.7,381,2478,0.00,1.92,0.00,0.000,4,0.000,0.031,2281,1033,3996
$GC,2582,-0.87,-194.7,379.5,-11.1,390,2588,0.00,2.03,0.00,0.000,6,0.000,0.036,2278,2398,3995
$GC,2906,-0.87,-194.7,414.0,-11.0,421,2910,0.00,1.98,0.00,0.000,4,0.000,0.031,2278,1041,3995
$GC,3020,-0.93,-194.7,426.0,-10.5,431,3024,0.00,2.00,0.00,0.000,6,0.000,0.035,2275,2387,3995
$GC,3351,-0.93,-194.7,459.1,-9.3,462,3354,0.00,2.10,0.00,0.000,4,0.000,0.053,2275,3761,3994
$GC,3378,-0.93,-194.7,462.0,-10.0,464,3384,0.00,2.00,0.00,0.000,6,0.000,0.029,2275,2367,3994
$GC,3705,-0.98,-194.7,493.9,-10.3,495,3709,0.12,2.15,0.00,0.000,4,0.081,0.052,2221,3754,3993
$GC,3727,-0.91,-194.7,496.7,-11.3,496,3733,0.00,1.98,0.00,0.000,6,0.000,0.030,2221,2379,3993
$GC,4043,-0.76,-194.7,534.5,-11.0,513,4047,0.22,1.95,0.00,0.000,4,0.165,0.032,2291,1036,3992
$GC,4094,-0.91,-194.7,538.9,-7.3,515,4098,0.12,2.03,0.00,0.000,6,0.085,0.038,2236,2382,3992
$GC,4423,-0.85,-194.7,574.9,-11.6,531,4428,0.12,2.10,0.00,0.000,4,0.178,0.054,2261,3751,3990
$GC,4456,-0.85,-194.7,579.1,-11.0,532,4460,0.00,2.00,0.00,0.000,6,0.000,0.031,2261,2370,3990
$GC,4777,-0.85,-194.7,609.5,-8.5,548,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2368,3987
$GC,5087,-0.90,-194.7,633.0,-7.7,563,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2368,3985
$GC,5397,-0.96,-194.7,659.8,-8.8,578,5400,0.00,2.17,0.00,0.000,4,0.000,0.058,2262,3755,3983
$GC,5465,-1.02,-194.7,666.5,-9.4,581,5470,0.12,2.00,0.00,0.000,6,0.089,0.032,2211,2379,3982
$GC,5799,-0.90,-194.7,705.9,-11.8,597,5801,0.15,0.00,0.00,0.000,6,0.171,0.000,2250,2378,3981
$GC,6106,-0.90,-194.7,734.7,-9.5,612,6110,0.00,1.95,0.00,0.000,4,0.000,0.035,2251,1039,3978
$GC,6168,-0.98,-194.7,740.8,-10.3,614,6174,0.00,2.03,0.00,0.000,6,0.000,0.040,2250,2380,3978
$GC,6484,-0.98,-194.7,770.9,-10.1,630,6487,0.00,2.15,0.00,0.000,4,0.000,0.059,2246,3764,3976
$GC,6517,-0.98,-194.7,774.5,-10.4,631,6521,0.00,2.03,0.00,0.000,6,0.000,0.032,2246,2379,3976
$GC,6838,-0.98,-194.7,804.9,-9.4,647,6842,0.00,2.17,0.00,0.000,4,0.000,0.058,2246,3763,3974
$GC,6861,-0.98,-194.7,807.1,-9.6,648,6865,0.00,2.03,0.00,0.000,6,0.000,0.033,2246,2383,3974
$GC,7193,-0.98,-194.7,834.5,-8.1,664,7197,0.00,2.15,0.00,0.000,4,0.000,0.058,2246,3752,3972
$GC,7240,-1.03,-194.7,838.1,-8.0,666,7243,0.00,2.00,0.00,0.000,6,0.000,0.033,2246,2390,3972
$GC,7573,-1.08,-194.7,864.1,-8.4,682,7575,0.15,0.00,0.00,0.000,6,0.087,0.000,2188,2389,3970
$GC,7882,-0.92,-194.7,900.2,-12.0,697,7884,0.22,0.00,0.00,0.000,6,0.176,0.000,2249,2388,3969
$GC,8191,-0.99,-194.7,928.9,-8.9,712,8195,0.00,2.15,0.00,0.000,4,0.000,0.059,2245,3753,3968
$GC,8219,-1.05,-194.7,931.5,-9.3,713,8223,0.12,2.00,0.00,0.000,6,0.092,0.035,2199,2395,3967
$GC,8545,-0.93,-194.7,970.2,-12.3,729,8549,0.17,2.00,0.00,0.000,4,0.179,0.036,2249,1035,3966
$GC,8602,-1.03,-194.7,976.2,-9.8,731,8606,0.00,2.08,0.00,0.000,6,0.000,0.042,2247,2398,3966
$STATE,8735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8735,begin apogee
$GC,8741,-0.22,0.0,990.4,10.0,738,8832,0.73,0.00,87.60,1.455,6,0.155,0.000,2472,2514,3532
$STATE,8833,end apogee,CONTROL_FINISHED_OK
$STATE,8833,begin climb
$GC,8835,1.05,194.7,993.5,0.0,742,9006,1.15,2.17,159.62,1.408,4,0.061,0.060,2885,3757,2737
$GC,9174,0.29,194.7,953.6,23.1,758,9179,0.90,1.95,0.00,0.000,6,0.216,0.033,2643,2507,2731
$GC,9496,0.52,289.1,925.9,8.1,774,9582,0.20,2.20,77.28,1.361,4,0.082,0.061,2721,3755,2352
$GC,9650,0.44,289.1,904.8,16.6,781,9654,0.15,1.92,0.00,0.000,6,0.189,0.035,2690,2518,2347
$GC,9982,0.54,289.1,862.6,12.6,797,9986,0.00,2.03,0.00,0.000,4,0.000,0.060,2690,3767,2343
$GC,10020,0.54,289.1,856.9,14.8,798,10027,0.00,1.92,0.00,0.000,6,0.000,0.035,2692,2516,2343
$GC,10337,0.64,289.1,818.1,12.8,814,10341,0.17,2.00,0.00,0.000,4,0.082,0.059,2765,3761,2341
$GC,10490,0.40,289.1,788.6,19.9,820,10497,0.35,1.85,0.00,0.000,6,0.185,0.036,2677,2527,2341
$GC,10806,0.56,289.1,749.1,12.1,836,10810,0.15,1.98,0.00,0.000,4,0.088,0.061,2732,3763,2340
$GC,10896,0.46,289.1,734.8,16.8,840,10900,0.08,1.85,0.00,0.000,6,0.186,0.037,2698,2552,2340
$GC,11228,0.56,296.1,693.3,11.7,856,11235,0.00,0.00,5.07,0.965,6,0.000,0.000,2698,2551,2324
$GC,11537,0.69,315.2,658.3,11.2,871,11560,0.20,2.03,16.77,1.192,4,0.081,0.062,2777,3758,2246
$GC,11696,0.48,315.2,629.1,20.2,878,11701,0.30,1.80,0.00,0.000,6,0.185,0.036,2705,2571,2243
$GC,12029,0.60,315.2,586.3,12.7,894,12033,0.10,1.90,0.00,0.000,4,0.096,0.059,2741,3766,2242
$GC,12051,0.60,315.2,582.9,14.5,895,12055,0.00,1.80,0.00,0.000,6,0.000,0.037,2746,2568,2242
$GC,12383,0.60,315.2,534.7,13.9,911,12387,0.00,1.90,0.00,0.000,4,0.000,0.058,2746,3764,2241
$GC,12422,0.53,315.2,528.6,15.7,912,12428,0.00,1.77,0.00,0.000,6,0.000,0.035,2746,2575,2241
$GC,12740,0.53,315.2,488.4,12.6,932,12743,0.00,1.90,0.00,0.000,4,0.000,0.061,2746,3768,2241
$GC,12801,0.48,315.2,479.7,14.4,937,12809,0.17,1.75,0.00,0.000,6,0.179,0.035,2701,2588,2240
$GC,13126,0.72,379.8,448.3,9.3,968,13184,0.17,1.98,51.20,1.070,4,0.081,0.058,2773,3755,1982
$GC,13224,0.72,379.8,433.4,17.0,977,13228,0.00,1.77,0.00,0.000,6,0.000,0.035,2775,2601,1977
$GC,13556,0.72,379.8,376.2,16.3,1008,13559,0.00,1.88,0.00,0.000,4,0.000,0.060,2775,3761,1973
$GC,13594,0.67,379.8,368.9,18.0,1011,13600,0.00,1.73,0.00,0.000,6,0.000,0.035,2775,2612,1972
$GC,13921,0.67,379.8,323.4,13.1,1042,13925,0.00,1.83,0.00,0.000,4,0.000,0.058,2775,3758,1972
$GC,13959,0.67,379.8,317.4,14.6,1045,13967,0.00,1.73,0.00,0.000,6,0.000,0.033,2775,2616,1971
$GC,14294,0.68,384.7,275.0,11.8,1093,14301,0.00,2.25,0.00,0.000,4,0.000,0.037,2776,1106,1972
$GC,14342,0.86,414.6,269.7,10.8,1101,14375,0.15,2.33,27.17,0.890,6,0.083,0.040,2834,2627,1841
$GC,14715,0.79,414.6,200.6,20.4,1166,14721,0.12,1.77,0.00,0.000,4,0.173,0.055,2803,3765,1835
$GC,14812,0.79,414.6,180.4,18.7,1183,14818,0.00,1.70,0.00,0.000,6,0.000,0.031,2803,2611,1834
$GC,15156,0.86,414.6,132.9,13.0,1244,15162,0.00,2.25,0.00,0.000,4,0.000,0.035,2803,1092,1834
$GC,15202,1.07,446.7,127.7,10.7,1252,15233,0.25,2.35,25.45,0.749,6,0.067,0.036,2901,2644,1711
$GC,15573,0.99,446.7,60.1,20.7,1317,15580,0.15,1.73,0.00,0.000,4,0.182,0.051,2863,3768,1706
$GC,15654,0.99,446.7,45.5,16.0,1331,15660,0.00,1.67,0.00,0.000,6,0.000,0.028,2868,2612,1706
$STATE,15939,end climb,SURFACE_DEPTH_REACHED
$STATE,15939,begin surface coast
$FINISH,1.7,1.010399
$STATE,15957,end surface coast,CONTROL_FINISHED_OK
$STATE,15957,begin surface
$SM_CCo,16034,0.00,0.000,0,0,1704,448.41
$SM_GC,2.61,7.40,0.00,0.00,0.069,0.000,0.000,146,2419,1704,-7.49,-0.23,448.41
$IRIDIUM_FIX,2512.73,12325.53,220898,212101
$TT8_MAMPS,0.029146
$HUMID,1579
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,11.724
$10V_AH,10.8,7.762
$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,26.950,139.825,450.175,0.000,0.000,30.938,32.069,233.873,8.000,0.000,0.000,13.575,2502.570,10343.281,566.160,2470.777,564.155,0.000,1846.349,0.000,2407.012,0.000,54.435,0.000
$DEVICE_MAMPS,249.275,79.001,1454.999,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.075,911.890,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75741,1385
$CAP_FILE_SIZE,165791,0
$CFSIZE,260165632,221417472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 73.5,1
$GPS,290509,062230,2519.501,12322.466,37,1.0,43,-3.7