version: 66.04
glider: 167
mission: 2
dive: 308
start: 7 14 109 7 22 27
data:
$ID,167
$MISSION,2
$DIVE,308
$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,-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,-11409.556
$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,72
$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
$GPS1,071154,2453.847,12416.908,25,1.0,43,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.4
$GPS2,072207,2453.788,12417.112,14,1.0,31,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,196.9,12292,-23.2,-12.000
$D_GRID,1902
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,48,0.00,0.00,-29.45,0.000,2,0.000,0.000,140,2485,2327
$GC,52,-1.18,-121.7,3.1,-1.8,5,119,8.43,2.20,-52.53,0.000,4,0.242,0.037,2160,1024,3989
$GC,194,-0.77,-121.7,25.5,-23.7,29,201,0.50,2.12,0.00,0.000,6,0.170,0.030,2292,2442,3991
$GC,539,-0.81,-121.7,81.6,-15.4,90,545,0.00,2.00,0.00,0.000,4,0.000,0.046,2287,3753,3992
$GC,799,-0.96,-121.7,114.9,-12.3,136,805,0.15,1.85,0.00,0.000,6,0.069,0.023,2220,2434,3992
$GC,1143,-0.96,-121.7,158.2,-12.1,197,1149,0.00,2.03,0.00,0.000,4,0.000,0.043,2218,3756,3994
$GC,1346,-0.96,-121.7,186.3,-14.0,233,1352,0.00,1.80,0.00,0.000,6,0.000,0.023,2218,2470,3995
$GC,1690,-0.96,-121.7,226.7,-11.4,294,1696,0.00,1.98,0.00,0.000,4,0.000,0.043,2209,3764,3995
$GC,1749,-0.96,-121.7,233.4,-11.4,304,1755,0.00,1.77,0.00,0.000,6,0.000,0.023,2209,2490,3995
$GC,2093,-0.96,-121.7,270.5,-10.4,365,2098,0.00,1.95,0.00,0.000,4,0.000,0.044,2205,3764,3995
$GC,2144,-0.96,-121.7,276.3,-10.9,374,2150,0.10,1.75,0.00,0.000,6,0.163,0.024,2229,2518,3995
$GC,2483,-1.12,-121.7,311.2,-9.8,425,2487,0.12,1.90,0.00,0.000,4,0.074,0.044,2175,3754,3995
$GC,2510,-1.12,-121.7,314.5,-11.7,427,2518,0.00,1.73,0.00,0.000,6,0.000,0.024,2175,2527,3995
$GC,2835,-1.12,-121.7,354.1,-11.8,458,2838,0.00,1.88,0.00,0.000,4,0.000,0.044,2167,3756,3995
$GC,2885,-1.01,-121.7,360.5,-13.3,462,2891,0.17,1.73,0.00,0.000,6,0.158,0.025,2213,2532,3995
$GC,3211,-1.16,-121.7,393.7,-9.6,493,3213,0.12,0.00,0.00,0.000,6,0.077,0.000,2161,2532,3994
$GC,3528,-1.10,-121.7,433.6,-13.2,523,3532,0.12,1.90,0.00,0.000,4,0.171,0.047,2191,3757,3994
$GC,3623,-1.10,-121.7,445.3,-11.7,531,3630,0.00,1.73,0.00,0.000,6,0.000,0.025,2191,2544,3993
$GC,3949,-1.19,-121.7,479.2,-9.6,562,3952,0.00,1.88,0.00,0.000,4,0.000,0.047,2191,3755,3992
$GC,3989,-1.23,-121.7,483.3,-10.1,565,3995,0.12,1.70,0.00,0.000,6,0.078,0.025,2140,2561,3992
$GC,4321,-1.13,-121.7,522.6,-12.4,588,4325,0.15,2.17,0.00,0.000,4,0.173,0.025,2178,1054,3991
$GC,4372,-1.20,-121.7,528.8,-10.9,590,4376,0.00,2.25,0.00,0.000,6,0.000,0.034,2178,2551,3990
$GC,4693,-1.25,-121.7,564.0,-10.6,606,4695,0.12,0.00,0.00,0.000,6,0.084,0.000,2128,2553,3989
$GC,5002,-1.14,-121.7,602.8,-12.6,621,5007,0.17,2.20,0.00,0.000,4,0.171,0.025,2179,1052,3987
$GC,5053,-1.23,-121.7,608.5,-10.9,623,5057,0.00,2.25,0.00,0.000,6,0.000,0.034,2179,2542,3986
$GC,5369,-1.29,-121.7,642.4,-11.2,638,5373,0.15,1.88,0.00,0.000,4,0.081,0.048,2112,3764,3984
$GC,5448,-1.06,-121.7,653.4,-14.5,641,5452,0.32,1.73,0.00,0.000,6,0.169,0.027,2200,2569,3983
$GC,5769,-1.23,-121.7,684.3,-9.0,657,5774,0.15,2.20,0.00,0.000,4,0.074,0.028,2142,1060,3980
$GC,5848,-1.23,-121.7,693.4,-11.7,660,5854,0.00,2.22,0.00,0.000,6,0.000,0.035,2138,2526,3980
$GC,6164,-1.16,-121.7,732.0,-13.2,676,6168,0.12,1.90,0.00,0.000,4,0.185,0.049,2165,3753,3978
$GC,6235,-1.16,-121.7,741.2,-12.1,679,6239,0.00,1.77,0.00,0.000,6,0.000,0.027,2165,2556,3977
$GC,6564,-1.16,-121.7,779.6,-11.6,695,6567,0.00,2.17,0.00,0.000,4,0.000,0.028,2165,1060,3974
$GC,6664,-1.21,-121.7,791.2,-11.0,699,6668,0.00,2.22,0.00,0.000,6,0.000,0.037,2165,2516,3974
$GC,6988,-1.21,-121.7,822.8,-9.3,715,6992,0.00,2.15,0.00,0.000,4,0.000,0.028,2164,1065,3972
$GC,7022,-1.26,-121.7,826.4,-10.4,716,7026,0.00,2.22,0.00,0.000,6,0.000,0.038,2163,2518,3971
$GC,7337,-1.26,-121.7,860.3,-11.9,731,7341,0.00,1.92,0.00,0.000,4,0.000,0.054,2162,3753,3969
$GC,7438,-1.26,-121.7,872.9,-12.8,735,7442,0.00,1.75,0.00,0.000,6,0.000,0.028,2162,2558,3968
$GC,7760,-1.26,-121.7,909.4,-11.2,751,7763,0.00,2.20,0.00,0.000,4,0.000,0.029,2161,1064,3966
$GC,7800,-1.31,-121.7,914.0,-11.0,752,7806,0.12,2.25,0.00,0.000,6,0.086,0.038,2115,2521,3965
$GC,8116,-1.17,-121.7,955.6,-13.8,768,8120,0.17,1.92,0.00,0.000,4,0.186,0.051,2156,3753,3964
$GC,8170,-1.17,-121.7,963.0,-13.4,770,8174,0.00,1.77,0.00,0.000,6,0.000,0.030,2157,2572,3964
$STATE,8406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8406,begin apogee
$GC,8413,-0.22,0.0,990.5,11.8,782,8509,1.05,0.00,90.12,1.413,6,0.160,0.000,2466,2571,3531
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8510,begin climb
$GC,8512,1.18,121.7,996.0,0.0,787,8623,1.30,2.05,103.00,1.374,4,0.061,0.050,2925,3750,3034
$GC,8774,0.43,121.7,985.3,12.4,799,8779,0.95,1.83,0.00,0.000,6,0.211,0.027,2689,2525,3032
$GC,9096,0.64,209.8,965.5,6.2,815,9175,0.17,0.00,72.47,1.362,6,0.081,0.000,2754,2524,2675
$GC,9485,0.67,232.9,924.7,10.5,834,9509,0.00,2.17,19.70,1.288,4,0.000,0.032,2759,1110,2582
$GC,9529,0.77,250.9,920.0,10.8,836,9551,0.00,2.20,15.98,1.249,6,0.000,0.037,2759,2502,2509
$GC,9862,0.87,272.5,883.7,10.6,852,9883,0.17,0.00,18.85,1.272,6,0.081,0.000,2824,2501,2421
$GC,10190,0.76,272.5,836.5,14.7,868,10194,0.12,2.00,0.00,0.000,4,0.187,0.051,2795,3770,2417
$GC,10212,0.65,272.5,833.0,15.3,869,10216,0.17,1.90,0.00,0.000,6,0.186,0.027,2758,2485,2416
$GC,10546,0.79,282.2,795.8,11.4,885,10560,0.12,2.08,9.25,1.154,4,0.087,0.031,2813,1100,2381
$GC,10634,0.79,282.2,783.3,13.9,889,10638,0.00,2.15,0.00,0.000,6,0.000,0.036,2813,2486,2379
$GC,10968,0.74,282.2,735.7,14.5,905,10971,0.00,2.08,0.00,0.000,4,0.000,0.031,2817,1106,2378
$GC,11006,0.74,282.2,729.6,14.1,906,11013,0.12,2.10,0.00,0.000,6,0.183,0.038,2789,2468,2378
$GC,11322,0.74,287.7,690.2,11.6,922,11329,0.00,0.00,5.93,0.997,6,0.000,0.000,2789,2468,2359
$GC,11632,0.85,322.8,657.7,9.7,937,11667,0.00,2.10,29.95,1.196,4,0.000,0.034,2791,1120,2216
$GC,11782,0.99,334.3,642.3,11.2,943,11798,0.20,2.05,11.18,1.091,6,0.075,0.035,2866,2438,2168
$GC,12123,0.86,334.3,592.7,14.9,960,12128,0.17,2.10,0.00,0.000,4,0.188,0.051,2823,3767,2163
$GC,12185,0.77,334.3,583.1,14.2,963,12189,0.15,1.98,0.00,0.000,6,0.191,0.028,2792,2453,2162
$GC,12518,0.90,334.3,542.1,12.3,979,12522,0.12,1.98,0.00,0.000,4,0.085,0.031,2841,1117,2161
$GC,12657,0.90,334.3,522.8,13.3,985,12661,0.00,1.98,0.00,0.000,6,0.000,0.035,2841,2417,2161
$GC,12978,0.90,334.3,482.0,12.1,1007,12982,0.00,2.10,0.00,0.000,4,0.000,0.051,2841,3759,2161
$GC,13001,0.84,335.5,479.1,11.9,1009,13005,0.12,2.00,0.00,0.000,6,0.189,0.027,2820,2400,2160
$GC,13333,0.95,361.3,444.6,10.3,1040,13357,0.00,0.00,22.23,1.018,6,0.000,0.000,2821,2398,2059
$GC,13673,1.07,361.3,403.8,13.1,1072,13674,0.20,0.00,0.00,0.000,6,0.074,0.000,2897,2397,2055
$GC,13993,0.94,361.3,356.4,14.0,1102,13999,0.20,0.00,0.00,0.000,6,0.188,0.000,2846,2397,2055
$GC,14320,1.02,367.8,317.5,11.6,1133,14332,0.00,1.95,6.68,0.785,4,0.000,0.031,2853,1109,2032
$GC,14395,1.10,374.6,308.9,11.5,1139,14407,0.12,1.95,7.30,0.788,6,0.084,0.033,2901,2401,2003
$GC,14742,1.02,374.6,263.9,12.7,1194,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2401,2002
$GC,15085,1.02,374.6,217.5,12.9,1255,15092,0.00,2.12,0.00,0.000,4,0.000,0.049,2901,3772,2002
$GC,15139,0.86,374.6,209.4,15.8,1264,15145,0.32,2.05,0.00,0.000,6,0.172,0.024,2821,2370,2002
$GC,15484,1.16,416.7,172.3,9.2,1325,15527,0.22,1.85,34.67,0.782,4,0.064,0.028,2925,1118,1831
$GC,15584,1.16,416.7,158.9,13.4,1342,15589,0.00,1.92,0.00,0.000,6,0.000,0.031,2924,2388,1829
$GC,15929,1.21,416.7,115.2,15.1,1403,15936,0.00,2.12,0.00,0.000,4,0.000,0.046,2924,3764,1826
$GC,15984,1.15,416.7,107.7,13.5,1412,15990,0.00,2.03,0.00,0.000,6,0.000,0.023,2934,2362,1826
$GC,16329,1.34,477.8,74.5,8.0,1473,16382,0.12,1.90,47.60,0.681,4,0.079,0.028,2993,1118,1583
$GC,16411,1.35,480.3,65.6,11.8,1487,16418,0.00,1.88,0.00,0.000,6,0.000,0.030,2993,2357,1581
$GC,16756,1.35,480.3,19.1,12.4,1548,16762,0.00,1.83,0.00,0.000,4,0.000,0.028,3000,1113,1578
$STATE,16884,end climb,SURFACE_DEPTH_REACHED
$STATE,16884,begin surface coast
$FINISH,1.7,1.009393
$STATE,16914,end surface coast,CONTROL_FINISHED_OK
$STATE,16914,begin surface
$SM_CCo,16993,0.00,0.000,0,0,1576,479.81
$SM_GC,2.76,7.55,0.00,0.00,0.048,0.000,0.000,140,2465,1576,-7.50,1.07,479.81
$IRIDIUM_FIX,2446.56,12416.32,081098,070757
$TT8_MAMPS,0.028379
$HUMID,1591
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.4,54.427
$10V_AH,10.7,30.667
$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,25.075,135.500,494.900,0.000,0.000,57.935,64.786,263.727,8.000,0.000,0.000,31.101,2782.913,10690.141,636.890,2733.219,749.494,0.000,2007.198,0.000,2655.397,0.000,54.429,0.000
$DEVICE_MAMPS,241.605,53.690,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.247,1086.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85085,1576
$CAP_FILE_SIZE,173724,0
$CFSIZE,260165632,200212480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 77.8,1
$GPS,140709,120655,2452.356,12417.738,39,1.2,40,-3.7