version: 66.04
glider: 167
mission: 2
dive: 310
start: 7 14 109 17 9 34
data:
$ID,167
$MISSION,2
$DIVE,310
$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,-11443.482
$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,74
$R_STBD_OVSHOOT,52
$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
$GPS1,165931,2451.213,12417.928,38,1.1,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-66.9
$GPS2,170913,2451.161,12418.086,15,1.1,15,-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,213.7,7337,-23.2,-12.000
$D_GRID,1496
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,51,0.00,0.00,-31.77,0.000,2,0.000,0.000,143,2448,2337
$GC,54,-1.18,-121.7,3.1,-2.2,5,123,8.32,2.15,-51.38,0.000,4,0.237,0.038,2155,1024,3989
$GC,221,-0.75,-121.7,33.8,-24.1,33,229,0.52,2.10,0.00,0.000,6,0.168,0.030,2295,2430,3991
$GC,568,-0.86,-121.7,81.6,-12.7,94,574,0.00,2.03,0.00,0.000,4,0.000,0.044,2287,3758,3991
$GC,757,-0.98,-121.7,106.8,-13.6,127,764,0.17,1.88,0.00,0.000,6,0.066,0.023,2210,2423,3991
$GC,1102,-0.90,-121.7,158.1,-13.0,188,1108,0.15,2.05,0.00,0.000,4,0.157,0.043,2242,3757,3993
$GC,1273,-0.96,-121.7,180.7,-13.2,218,1279,0.00,1.75,0.00,0.000,6,0.000,0.023,2241,2493,3994
$GC,1618,-1.11,-121.7,218.6,-9.7,279,1624,0.15,1.92,0.00,0.000,4,0.070,0.043,2168,3751,3994
$GC,1789,-0.93,-121.7,242.0,-14.6,309,1796,0.28,1.70,0.00,0.000,6,0.156,0.024,2246,2538,3995
$GC,2138,-1.13,-121.7,278.0,-9.5,370,2144,0.20,1.88,0.00,0.000,4,0.061,0.044,2152,3758,3995
$GC,2179,-0.96,-121.7,283.6,-14.1,377,2186,0.28,1.70,0.00,0.000,6,0.155,0.024,2229,2549,3995
$GC,2514,-1.14,-121.7,321.9,-11.0,420,2518,0.15,2.15,0.00,0.000,4,0.070,0.025,2164,1045,3995
$GC,2558,-1.06,-121.7,327.7,-13.3,423,2565,0.15,2.22,0.00,0.000,6,0.166,0.031,2200,2539,3995
$GC,2884,-1.14,-121.7,362.6,-10.8,454,2888,0.00,1.85,0.00,0.000,4,0.000,0.045,2192,3763,3995
$GC,2941,-1.14,-121.7,369.5,-12.0,459,2944,0.00,1.73,0.00,0.000,6,0.000,0.025,2193,2552,3995
$GC,3272,-1.21,-121.7,407.4,-10.9,490,3276,0.12,1.85,0.00,0.000,4,0.081,0.045,2138,3749,3994
$GC,3362,-1.00,-121.7,419.6,-14.1,498,3367,0.30,1.67,0.00,0.000,6,0.161,0.025,2221,2567,3994
$GC,3694,-1.35,-121.7,450.8,-9.4,529,3699,0.28,2.17,0.00,0.000,4,0.058,0.025,2108,1060,3993
$GC,3712,-1.53,-121.7,452.8,-10.4,530,3717,0.12,2.22,0.00,0.000,6,0.083,0.031,2052,2551,3992
$GC,4038,-1.11,-121.7,507.5,-16.8,558,4042,0.45,1.85,0.00,0.000,4,0.189,0.044,2170,3764,3992
$GC,4150,-1.11,-121.7,521.3,-10.6,563,4153,0.00,1.67,0.00,0.000,6,0.000,0.025,2170,2586,3991
$GC,4477,-1.11,-121.7,552.9,-9.7,579,4480,0.00,2.20,0.00,0.000,4,0.000,0.026,2169,1071,3990
$GC,4533,-1.17,-121.7,558.2,-9.0,581,4537,0.00,2.22,0.00,0.000,6,0.000,0.034,2166,2540,3989
$GC,4849,-1.17,-121.7,587.8,-8.8,596,4853,0.00,1.88,0.00,0.000,4,0.000,0.050,2165,3763,3987
$GC,4917,-1.17,-121.7,594.3,-9.5,599,4920,0.00,1.73,0.00,0.000,6,0.000,0.027,2165,2567,3986
$GC,5250,-1.17,-121.7,629.7,-11.4,615,5254,0.00,2.20,0.00,0.000,4,0.000,0.028,2165,1058,3984
$GC,5345,-1.17,-121.7,640.8,-10.6,619,5349,0.00,2.25,0.00,0.000,6,0.000,0.035,2165,2535,3983
$GC,5666,-1.17,-121.7,677.5,-11.1,635,5669,0.00,1.88,0.00,0.000,4,0.000,0.052,2162,3749,3981
$GC,5762,-1.17,-121.7,688.1,-10.6,639,5765,0.00,1.67,0.00,0.000,6,0.000,0.028,2163,2588,3980
$GC,6088,-1.17,-121.7,721.4,-9.9,655,6092,0.00,1.83,0.00,0.000,4,0.000,0.051,2162,3751,3978
$GC,6129,-1.17,-121.7,725.2,-10.1,656,6135,0.00,1.67,0.00,0.000,6,0.000,0.028,2162,2593,3977
$GC,6445,-1.17,-121.7,753.4,-9.1,672,6448,0.00,2.25,0.00,0.000,4,0.000,0.028,2161,1064,3975
$GC,6506,-1.23,-121.7,759.4,-10.0,674,6512,0.00,2.28,0.00,0.000,6,0.000,0.036,2162,2544,3974
$GC,6823,-1.23,-121.7,788.5,-8.9,690,6827,0.00,1.90,0.00,0.000,4,0.000,0.051,2155,3751,3972
$GC,6861,-1.23,-121.7,792.5,-10.2,691,6867,0.00,1.70,0.00,0.000,6,0.000,0.028,2155,2582,3972
$GC,7177,-1.23,-121.7,822.0,-9.3,707,7180,0.00,2.22,0.00,0.000,4,0.000,0.028,2154,1069,3969
$GC,7212,-1.23,-121.7,825.1,-8.8,708,7216,0.00,2.28,0.00,0.000,6,0.000,0.038,2153,2547,3969
$GC,7527,-1.23,-121.7,857.5,-11.1,723,7531,0.00,1.88,0.00,0.000,4,0.000,0.054,2152,3750,3968
$GC,7577,-1.23,-121.7,863.5,-11.5,725,7581,0.00,1.70,0.00,0.000,6,0.000,0.028,2152,2583,3967
$GC,7905,-1.23,-121.7,899.6,-10.3,741,7913,0.00,2.22,0.00,0.000,4,0.000,0.029,2151,1067,3965
$GC,8025,-1.23,-121.7,912.6,-10.6,746,8029,0.00,2.25,0.00,0.000,6,0.000,0.039,2152,2529,3964
$GC,8348,-1.23,-121.7,943.2,-9.8,762,8352,0.00,1.92,0.00,0.000,4,0.000,0.055,2152,3755,3962
$GC,8404,-1.23,-121.7,949.2,-10.2,764,8407,0.00,1.75,0.00,0.000,6,0.000,0.029,2152,2567,3962
$GC,8725,-1.23,-121.7,980.8,-9.9,780,8728,0.00,2.22,0.00,0.000,4,0.000,0.031,2151,1066,3961
$GC,8753,-1.23,-121.7,983.7,-11.6,781,8757,0.00,2.28,0.00,0.000,6,0.000,0.039,2152,2533,3960
$STATE,8823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8823,begin apogee
$GC,8829,-0.22,0.0,991.1,10.2,785,8927,1.08,0.00,89.47,1.408,6,0.161,0.000,2467,2534,3531
$STATE,8928,end apogee,CONTROL_FINISHED_OK
$STATE,8928,begin climb
$GC,8930,1.18,121.7,994.7,0.0,790,9041,1.27,2.08,103.15,1.371,4,0.062,0.051,2924,3745,3035
$GC,9294,0.44,121.7,967.6,13.0,806,9299,0.95,1.80,0.00,0.000,6,0.212,0.026,2688,2525,3030
$GC,9610,0.69,217.4,947.8,5.7,821,9696,0.20,2.22,78.60,1.353,4,0.077,0.032,2773,1120,2643
$GC,9780,0.70,230.0,930.2,11.2,828,9796,0.00,2.17,11.32,1.197,6,0.000,0.037,2773,2490,2594
$GC,10114,0.70,230.0,889.6,12.2,845,10118,0.00,2.08,0.00,0.000,4,0.000,0.031,2776,1124,2589
$GC,10175,0.70,230.0,882.1,12.0,847,10181,0.00,2.12,0.00,0.000,6,0.000,0.037,2777,2495,2588
$GC,10490,0.70,230.0,844.1,12.2,863,10494,0.00,2.08,0.00,0.000,4,0.000,0.032,2776,1122,2587
$GC,10541,0.70,230.4,838.1,12.0,865,10545,0.00,2.08,0.00,0.000,6,0.000,0.036,2776,2473,2587
$GC,10868,0.70,230.4,797.6,12.1,881,10871,0.00,2.03,0.00,0.000,4,0.000,0.054,2776,3764,2586
$GC,10923,0.58,230.4,790.2,13.7,883,10928,0.12,1.90,0.00,0.000,6,0.175,0.027,2731,2488,2585
$GC,11246,0.80,281.0,760.3,8.7,899,11293,0.17,2.10,41.00,1.262,4,0.077,0.031,2813,1112,2387
$GC,11327,0.80,281.0,750.6,12.8,903,11331,0.00,2.17,0.00,0.000,6,0.000,0.038,2813,2481,2384
$GC,11660,0.82,292.4,711.6,11.2,919,11676,0.00,2.10,10.98,1.134,4,0.000,0.031,2815,1114,2338
$GC,11754,0.82,292.4,700.0,12.6,922,11758,0.00,2.08,0.00,0.000,6,0.000,0.035,2815,2451,2336
$GC,12077,0.82,292.4,659.9,12.5,938,12080,0.00,2.08,0.00,0.000,4,0.000,0.054,2815,3767,2335
$GC,12149,0.67,292.4,649.9,13.3,941,12153,0.22,1.92,0.00,0.000,6,0.187,0.027,2762,2461,2334
$GC,12476,0.85,312.6,614.8,10.7,957,12500,0.17,2.08,17.15,1.134,4,0.077,0.032,2833,1118,2256
$GC,12596,0.85,312.6,598.4,14.5,962,12599,0.00,2.05,0.00,0.000,6,0.000,0.037,2833,2440,2254
$GC,12923,0.85,312.6,551.4,13.8,978,12927,0.00,2.00,0.00,0.000,4,0.000,0.031,2842,1112,2253
$GC,12985,0.85,312.6,542.9,12.8,980,12991,0.00,2.05,0.00,0.000,6,0.000,0.037,2841,2444,2252
$GC,13300,0.85,312.6,502.1,12.6,996,13304,0.00,2.00,0.00,0.000,4,0.000,0.031,2841,1115,2252
$GC,13446,0.87,327.2,485.1,11.0,1008,13469,0.00,1.98,12.90,1.016,6,0.000,0.035,2841,2410,2196
$GC,13786,0.87,327.2,443.8,12.5,1040,13790,0.00,2.12,0.00,0.000,4,0.000,0.051,2841,3762,2194
$GC,13832,0.76,327.2,437.7,13.4,1044,13836,0.22,2.03,0.00,0.000,6,0.182,0.026,2790,2386,2194
$GC,14158,1.00,364.0,406.6,9.6,1074,14193,0.20,1.90,30.67,0.985,4,0.073,0.031,2882,1115,2048
$GC,14247,1.00,364.0,395.3,14.7,1082,14251,0.00,2.00,0.00,0.000,6,0.000,0.034,2881,2406,2046
$GC,14580,0.94,364.0,345.2,15.2,1113,14584,0.12,2.12,0.00,0.000,4,0.186,0.049,2852,3764,2043
$GC,14626,0.89,364.0,338.4,13.9,1117,14630,0.00,2.05,0.00,0.000,6,0.000,0.026,2854,2376,2043
$GC,14962,0.95,374.6,301.3,11.3,1148,14980,0.00,1.90,9.70,0.819,4,0.000,0.033,2855,1121,2003
$GC,14993,1.04,391.6,297.2,10.9,1152,15012,0.00,1.92,15.27,0.844,6,0.000,0.032,2855,2394,1935
$GC,15352,1.16,391.6,253.6,12.0,1215,15358,0.17,1.92,0.00,0.000,4,0.073,0.028,2937,1101,1932
$GC,15452,1.05,391.6,237.9,15.7,1232,15458,0.20,1.90,0.00,0.000,6,0.175,0.032,2885,2360,1932
$GC,15797,1.09,391.6,191.3,13.0,1293,15804,0.00,2.17,0.00,0.000,4,0.000,0.048,2885,3764,1932
$GC,15839,1.05,391.6,185.1,14.4,1300,15845,0.00,2.05,0.00,0.000,6,0.000,0.024,2893,2358,1932
$GC,16183,1.15,403.8,144.5,11.2,1361,16201,0.00,2.25,11.43,0.703,4,0.000,0.047,2894,3764,1885
$GC,16224,1.16,412.4,139.7,11.4,1368,16239,0.00,2.03,8.57,0.663,6,0.000,0.025,2898,2371,1850
$GC,16580,1.36,436.9,102.7,10.4,1430,16606,0.20,1.92,20.67,0.692,4,0.070,0.029,2993,1099,1750
$GC,16722,1.28,436.9,84.4,12.3,1454,16728,0.15,1.92,0.00,0.000,6,0.186,0.030,2957,2383,1747
$GC,17067,1.41,473.2,48.0,9.6,1515,17102,0.12,1.90,28.98,0.644,4,0.077,0.028,3014,1112,1602
$GC,17311,1.41,473.2,16.2,13.1,1558,17317,0.00,1.88,0.00,0.000,6,0.000,0.031,3014,2362,1599
$STATE,17411,end climb,SURFACE_DEPTH_REACHED
$STATE,17411,begin surface coast
$FINISH,1.7,1.008257
$STATE,17442,end surface coast,CONTROL_FINISHED_OK
$STATE,17442,begin surface
$SM_CCo,17521,0.00,0.000,0,0,1596,474.90
$SM_GC,2.74,7.70,0.00,0.00,0.054,0.000,0.000,141,2447,1596,-7.50,0.57,474.90
$IRIDIUM_FIX,2444.18,12418.28,081098,171736
$TT8_MAMPS,0.029146
$HUMID,1597
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.4,54.795
$10V_AH,10.8,30.862
$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,24.950,168.150,489.875,0.000,0.000,57.711,64.043,248.399,8.000,0.000,0.000,15.206,2847.063,10986.363,616.345,2887.753,751.308,0.000,2096.167,0.000,2815.353,0.000,54.443,0.000
$DEVICE_MAMPS,237.003,81.302,1408.212,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.539,1086.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85235,1581
$CAP_FILE_SIZE,185013,0
$CFSIZE,260165632,200015872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,102.0,1
$GPS,140709,220237,2449.397,12418.522,26,1.2,27,-3.7