version: 66.04
glider: 167
mission: 2
dive: 311
start: 7 14 109 22 9 47
data:
$ID,167
$MISSION,2
$DIVE,311
$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,-11457.361
$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,70
$R_STBD_OVSHOOT,42
$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
$GPS1,220237,2449.397,12418.522,26,1.2,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-66.9
$GPS2,220926,2449.362,12418.643,11,1.2,11,-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,241.3,4148,-23.2,-12.000
$D_GRID,1170
$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,-1.18,-121.7,0.0,0.0,0,47,0.00,0.00,-30.40,0.000,2,0.000,0.000,141,2447,2375
$GC,51,-1.18,-121.7,3.3,-2.5,5,115,8.30,2.12,-48.25,0.000,4,0.236,0.039,2158,1030,3989
$GC,180,-0.75,-121.7,23.9,-23.8,27,186,0.52,2.10,0.00,0.000,6,0.168,0.030,2299,2432,3990
$GC,524,-0.86,-121.7,75.7,-13.2,88,531,0.00,2.03,0.00,0.000,4,0.000,0.045,2290,3757,3992
$GC,702,-0.97,-121.7,98.3,-12.6,119,709,0.17,1.90,0.00,0.000,6,0.065,0.024,2214,2405,3992
$GC,1048,-0.92,-121.7,149.9,-11.9,180,1055,0.12,2.08,0.00,0.000,4,0.157,0.043,2238,3754,3993
$GC,1147,-0.92,-121.7,162.1,-12.5,197,1153,0.00,1.80,0.00,0.000,6,0.000,0.023,2238,2456,3994
$GC,1495,-1.03,-121.7,205.2,-12.8,258,1500,0.00,2.00,0.00,0.000,4,0.000,0.043,2233,3763,3995
$GC,1580,-1.03,-121.7,216.7,-12.3,273,1586,0.00,1.83,0.00,0.000,6,0.000,0.023,2233,2457,3995
$GC,1926,-1.18,-121.7,250.5,-9.8,334,1932,0.20,2.00,0.00,0.000,4,0.061,0.044,2137,3758,3996
$GC,2017,-0.90,-121.7,263.6,-15.7,350,2024,0.40,1.80,0.00,0.000,6,0.161,0.024,2251,2476,3996
$GC,2364,-1.32,-121.7,301.4,-10.0,410,2368,0.32,2.05,0.00,0.000,4,0.054,0.025,2112,1037,3996
$GC,2421,-1.06,-121.7,309.8,-16.0,415,2426,0.35,2.10,0.00,0.000,6,0.163,0.031,2204,2455,3996
$GC,2748,-1.14,-121.7,344.5,-8.7,445,2751,0.00,1.98,0.00,0.000,4,0.000,0.045,2204,3757,3996
$GC,2812,-1.19,-121.7,350.0,-8.5,450,2818,0.12,1.85,0.00,0.000,6,0.074,0.024,2151,2446,3996
$GC,3139,-1.10,-121.7,386.2,-10.9,481,3143,0.15,2.03,0.00,0.000,4,0.165,0.043,2181,3764,3996
$GC,3228,-1.10,-121.7,396.5,-12.0,489,3232,0.00,1.85,0.00,0.000,6,0.000,0.025,2182,2460,3996
$GC,3559,-1.10,-121.7,436.7,-12.9,520,3563,0.00,2.00,0.00,0.000,4,0.000,0.046,2179,3755,3995
$GC,3649,-1.10,-121.7,449.2,-14.3,528,3653,0.00,1.83,0.00,0.000,6,0.000,0.025,2179,2471,3995
$GC,3981,-1.10,-121.7,486.6,-10.1,559,3985,0.00,2.00,0.00,0.000,4,0.000,0.048,2179,3757,3993
$GC,4083,-1.10,-121.7,497.1,-9.8,568,4086,0.00,1.85,0.00,0.000,6,0.000,0.025,2178,2488,3993
$GC,4405,-1.15,-121.7,532.7,-11.7,585,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2489,3992
$GC,4715,-1.23,-121.7,566.4,-10.4,600,4719,0.00,1.98,0.00,0.000,4,0.000,0.049,2178,3757,3990
$GC,4838,-1.23,-121.7,579.4,-10.0,605,4842,0.00,1.80,0.00,0.000,6,0.000,0.027,2177,2505,3989
$GC,5161,-1.30,-121.7,611.7,-10.9,621,5166,0.15,2.12,0.00,0.000,4,0.077,0.027,2117,1043,3987
$GC,5194,-1.15,-121.7,616.1,-12.6,622,5199,0.22,2.20,0.00,0.000,6,0.170,0.034,2170,2502,3986
$GC,5511,-1.20,-121.7,647.6,-9.3,637,5515,0.00,2.12,0.00,0.000,4,0.000,0.026,2170,1053,3985
$GC,5558,-1.27,-121.7,652.2,-9.5,639,5562,0.00,2.20,0.00,0.000,6,0.000,0.035,2166,2504,3985
$GC,5893,-1.27,-121.7,688.0,-10.7,655,5897,0.00,1.92,0.00,0.000,4,0.000,0.051,2166,3751,3982
$GC,6100,-1.27,-121.7,710.9,-9.6,664,6103,0.00,1.77,0.00,0.000,6,0.000,0.027,2166,2526,3980
$GC,6427,-1.27,-121.7,743.3,-9.5,680,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2526,3978
$GC,6737,-1.27,-121.7,773.4,-9.8,695,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2526,3976
$GC,7045,-1.27,-121.7,804.0,-10.1,710,7049,0.00,1.95,0.00,0.000,4,0.000,0.053,2165,3758,3973
$GC,7095,-1.27,-121.7,809.4,-11.5,712,7099,0.00,1.80,0.00,0.000,6,0.000,0.028,2166,2529,3973
$GC,7423,-1.27,-121.7,845.7,-11.5,728,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2529,3971
$GC,7731,-1.27,-121.7,882.9,-12.1,743,7734,0.00,1.95,0.00,0.000,4,0.000,0.054,2166,3759,3969
$GC,7792,-1.27,-121.7,890.9,-13.0,745,7798,0.00,1.83,0.00,0.000,6,0.000,0.028,2165,2534,3969
$GC,8109,-1.32,-121.7,929.9,-12.2,761,8114,0.15,2.17,0.00,0.000,4,0.081,0.028,2109,1056,3967
$GC,8143,-1.20,-121.7,934.8,-14.6,762,8150,0.20,2.22,0.00,0.000,6,0.171,0.038,2152,2508,3967
$GC,8460,-1.20,-121.7,970.6,-11.0,778,8463,0.00,1.95,0.00,0.000,4,0.000,0.055,2152,3751,3965
$GC,8487,-1.20,-121.7,973.8,-11.4,779,8491,0.00,1.83,0.00,0.000,6,0.000,0.028,2152,2532,3965
$STATE,8646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8647,begin apogee
$GC,8652,-0.22,0.0,991.1,10.8,787,8753,1.08,0.00,92.22,1.384,6,0.160,0.000,2468,2531,3532
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8754,begin climb
$GC,8757,1.18,121.7,996.1,0.0,792,8869,1.27,2.15,103.10,1.369,4,0.065,0.051,2919,3754,3034
$GC,9112,0.49,151.8,977.3,10.0,807,9143,0.85,1.85,25.17,1.316,6,0.212,0.027,2710,2511,2913
$GC,9467,0.71,253.3,957.2,5.3,825,9557,0.17,2.20,83.88,1.351,4,0.078,0.032,2776,1123,2499
$GC,9607,0.79,280.8,944.1,10.2,831,9637,0.00,2.20,24.73,1.280,6,0.000,0.036,2776,2501,2386
$GC,9967,0.85,285.2,903.3,11.7,849,9976,0.12,2.12,4.38,0.884,4,0.084,0.032,2829,1120,2369
$GC,10039,0.79,285.2,893.2,14.7,852,10044,0.12,2.15,0.00,0.000,6,0.183,0.036,2800,2506,2367
$GC,10360,0.79,285.2,850.3,14.0,868,10363,0.00,2.10,0.00,0.000,4,0.000,0.031,2803,1117,2366
$GC,10400,0.79,285.2,844.7,13.8,869,10407,0.00,2.10,0.00,0.000,6,0.000,0.035,2803,2482,2366
$GC,10718,0.79,285.2,797.2,15.2,885,10721,0.00,2.05,0.00,0.000,4,0.000,0.032,2803,1120,2364
$GC,10795,0.79,285.2,785.1,14.7,888,10799,0.00,2.05,0.00,0.000,6,0.000,0.036,2803,2456,2363
$GC,11118,0.79,285.2,740.4,13.3,904,11121,0.00,2.03,0.00,0.000,4,0.000,0.032,2803,1107,2363
$GC,11230,0.79,285.2,724.9,13.3,909,11234,0.00,2.05,0.00,0.000,6,0.000,0.037,2803,2445,2363
$GC,11562,0.79,288.0,683.0,11.8,925,11566,0.00,2.08,0.00,0.000,4,0.000,0.054,2803,3768,2362
$GC,11602,0.68,288.0,677.7,14.0,926,11608,0.17,1.98,0.00,0.000,6,0.186,0.026,2767,2418,2362
$GC,11918,0.85,322.4,647.3,9.7,942,11954,0.15,1.98,30.88,1.183,4,0.081,0.031,2829,1113,2216
$GC,11972,0.85,322.4,640.8,12.3,943,11977,0.00,2.08,0.00,0.000,6,0.000,0.036,2829,2440,2214
$GC,12287,0.85,322.4,598.7,13.4,959,12290,0.00,2.00,0.00,0.000,4,0.000,0.031,2831,1116,2210
$GC,12399,0.85,322.4,583.1,12.2,964,12403,0.00,2.00,0.00,0.000,6,0.000,0.034,2831,2423,2210
$GC,12732,0.85,322.4,538.7,12.6,980,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2423,2208
$GC,13041,0.85,322.4,499.6,12.2,995,13044,0.00,2.00,0.00,0.000,4,0.000,0.032,2832,1117,2208
$GC,13086,0.87,339.8,494.6,10.9,999,13108,0.00,2.00,14.75,1.032,6,0.000,0.035,2831,2429,2145
$GC,13426,0.90,360.3,456.6,10.6,1031,13449,0.00,2.17,17.95,1.008,4,0.000,0.051,2831,3764,2062
$GC,13477,0.90,362.6,450.8,11.8,1035,13483,0.00,2.03,0.00,0.000,6,0.000,0.026,2841,2401,2060
$GC,13805,0.97,379.2,415.9,10.9,1066,13824,0.00,0.00,16.45,0.962,6,0.000,0.000,2841,2400,1985
$GC,14141,1.08,379.2,378.7,12.6,1098,14145,0.15,1.92,0.00,0.000,4,0.080,0.031,2900,1106,1982
$GC,14203,1.01,379.2,369.4,15.2,1103,14209,0.12,2.03,0.00,0.000,6,0.182,0.035,2871,2432,1981
$GC,14528,1.01,379.2,322.0,14.0,1134,14532,0.00,1.98,0.00,0.000,4,0.000,0.030,2876,1104,1981
$GC,14567,1.01,379.2,316.5,13.2,1137,14574,0.00,2.00,0.00,0.000,6,0.000,0.034,2877,2423,1981
$GC,14904,1.01,379.2,272.3,13.9,1186,14910,0.00,2.10,0.00,0.000,4,0.000,0.051,2877,3771,1981
$GC,14967,0.94,379.2,262.8,15.0,1197,14975,0.15,1.92,0.00,0.000,6,0.184,0.024,2847,2442,1981
$GC,15314,1.13,410.6,225.3,9.9,1258,15346,0.17,2.03,26.38,0.813,4,0.071,0.030,2930,1118,1857
$GC,15583,1.13,410.6,189.3,12.9,1305,15590,0.00,1.98,0.00,0.000,6,0.000,0.031,2929,2425,1853
$GC,15929,1.15,421.9,145.7,11.3,1366,15946,0.00,2.00,9.98,0.685,4,0.000,0.028,2936,1106,1811
$GC,15987,1.18,447.0,139.2,10.3,1376,16013,0.00,2.00,21.90,0.720,6,0.000,0.031,2936,2435,1709
$GC,16353,1.28,447.0,94.6,12.9,1440,16359,0.00,1.95,0.00,0.000,4,0.000,0.027,2939,1109,1704
$GC,16438,1.40,453.7,84.0,11.6,1455,16451,0.15,1.92,6.43,0.571,6,0.073,0.029,2997,2401,1682
$GC,16791,1.40,453.7,39.5,12.3,1517,16798,0.00,1.90,0.00,0.000,4,0.000,0.027,3006,1101,1681
$GC,16867,1.43,481.7,31.1,10.1,1530,16897,0.00,1.92,23.10,0.621,6,0.000,0.029,3006,2399,1567
$STATE,17086,end climb,SURFACE_DEPTH_REACHED
$STATE,17086,begin surface coast
$FINISH,1.7,1.010498
$STATE,17110,end surface coast,CONTROL_FINISHED_OK
$STATE,17110,begin surface
$SM_CCo,17188,0.00,0.000,0,0,1563,483.00
$SM_GC,2.86,7.75,0.00,0.00,0.059,0.000,0.000,140,2406,1563,-7.50,-0.59,483.00
$IRIDIUM_FIX,2441.81,12418.28,081098,171743
$TT8_MAMPS,0.028379
$HUMID,1589
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.4,54.979
$10V_AH,10.7,30.958
$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,23.850,144.000,501.275,0.000,0.000,25.167,39.023,195.012,8.000,0.000,0.000,13.250,2795.976,10746.778,604.346,2793.802,640.607,0.000,2035.279,0.000,2731.771,0.000,54.432,0.000
$DEVICE_MAMPS,236.236,55.224,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.522,1076.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85189,1573
$CAP_FILE_SIZE,173249,0
$CFSIZE,260165632,199938048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158, 87.4,1
$GPS,150709,025731,2448.886,12418.180,40,1.6,41,-3.7