version: 66.04
glider: 167
mission: 2
dive: 312
start: 7 15 109 3 7 29
data:
$ID,167
$MISSION,2
$DIVE,312
$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,-11472.958
$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,34
$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
$GPS1,025731,2448.886,12418.180,40,1.6,41,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.8
$GPS2,030708,2448.869,12418.287,14,1.5,14,-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,230.5,3128,-23.2,-12.000
$D_GRID,1047
$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,-121.7,0.0,0.0,0,49,0.00,0.00,-30.62,0.000,2,0.000,0.000,140,2406,2345
$GC,53,-1.18,-121.7,3.1,-1.4,5,118,8.38,2.10,-50.78,0.000,4,0.239,0.040,2162,1026,3989
$GC,175,-0.77,-121.7,21.2,-23.4,26,182,0.50,2.12,0.00,0.000,6,0.165,0.031,2295,2441,3990
$GC,520,-0.89,-121.7,71.7,-14.0,87,526,0.12,2.03,0.00,0.000,4,0.076,0.044,2233,3764,3991
$GC,663,-0.71,-121.7,95.3,-19.0,112,671,0.28,1.92,0.00,0.000,6,0.156,0.023,2312,2395,3991
$GC,1011,-1.07,-121.7,137.0,-8.7,173,1017,0.28,2.10,0.00,0.000,4,0.054,0.044,2189,3757,3992
$GC,1209,-0.93,-121.7,165.6,-13.8,208,1217,0.20,1.80,0.00,0.000,6,0.153,0.023,2244,2466,3993
$GC,1557,-1.05,-121.7,205.6,-10.7,269,1563,0.12,1.98,0.00,0.000,4,0.072,0.044,2189,3756,3994
$GC,1616,-0.91,-121.7,212.9,-13.3,279,1623,0.15,1.80,0.00,0.000,6,0.153,0.023,2246,2494,3994
$GC,1962,-1.09,-121.7,249.8,-11.7,340,1973,0.15,1.95,0.00,0.000,4,0.069,0.044,2178,3761,3994
$GC,2036,-0.96,-121.7,260.2,-13.2,352,2043,0.20,1.77,0.00,0.000,6,0.157,0.024,2232,2493,3994
$GC,2382,-1.11,-121.7,294.3,-9.5,413,2388,0.12,1.95,0.00,0.000,4,0.076,0.045,2177,3757,3994
$GC,2536,-1.00,-121.7,315.8,-14.6,430,2543,0.17,1.73,0.00,0.000,6,0.158,0.024,2224,2528,3994
$GC,2862,-1.14,-121.7,349.6,-8.9,461,2868,0.12,1.90,0.00,0.000,4,0.074,0.045,2166,3764,3994
$GC,2931,-1.02,-121.7,357.4,-12.1,467,2936,0.15,1.75,0.00,0.000,6,0.154,0.025,2211,2546,3995
$GC,3262,-1.14,-121.7,389.3,-8.5,498,3266,0.00,1.85,0.00,0.000,4,0.000,0.045,2205,3753,3994
$GC,3322,-1.14,-121.7,394.9,-9.8,503,3325,0.00,1.67,0.00,0.000,6,0.000,0.025,2205,2558,3994
$GC,3652,-1.24,-121.7,429.1,-11.2,534,3657,0.17,1.85,0.00,0.000,4,0.065,0.044,2126,3758,3993
$GC,3748,-0.99,-121.7,443.8,-15.6,542,3755,0.35,1.67,0.00,0.000,6,0.162,0.025,2224,2572,3993
$GC,4074,-1.36,-121.7,476.8,-8.9,573,4079,0.30,2.20,0.00,0.000,4,0.059,0.025,2099,1045,3992
$GC,4249,-1.12,-121.7,500.6,-12.8,588,4254,0.30,2.22,0.00,0.000,6,0.169,0.033,2179,2526,3991
$GC,4579,-1.19,-121.7,534.6,-11.1,604,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2526,3990
$GC,4885,-1.26,-121.7,571.4,-11.1,619,4889,0.12,1.88,0.00,0.000,4,0.082,0.048,2126,3751,3988
$GC,4958,-1.06,-121.7,580.2,-12.4,622,4962,0.28,1.70,0.00,0.000,6,0.165,0.025,2201,2562,3988
$GC,5287,-1.25,-121.7,607.6,-9.1,638,5289,0.17,0.00,0.00,0.000,6,0.067,0.000,2134,2561,3986
$GC,5595,-1.16,-121.7,650.7,-14.4,653,5599,0.15,2.20,0.00,0.000,4,0.174,0.027,2171,1050,3983
$GC,5651,-1.24,-121.7,657.5,-12.0,655,5658,0.00,2.30,0.00,0.000,6,0.000,0.035,2168,2566,3982
$GC,5966,-1.24,-121.7,691.2,-10.4,671,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2566,3980
$GC,6276,-1.24,-121.7,722.3,-10.0,686,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2566,3978
$GC,6587,-1.28,-121.7,755.3,-10.5,701,6591,0.10,2.22,0.00,0.000,4,0.093,0.028,2129,1067,3976
$GC,6620,-1.21,-121.7,759.3,-11.4,702,6626,0.00,2.28,0.00,0.000,6,0.000,0.037,2126,2556,3975
$GC,6936,-1.11,-121.7,798.6,-12.6,718,6938,0.22,0.00,0.00,0.000,6,0.173,0.000,2186,2557,3973
$GC,7245,-1.24,-121.7,824.5,-7.5,733,7249,0.12,1.88,0.00,0.000,4,0.081,0.053,2139,3757,3970
$GC,7291,-1.13,-121.7,829.2,-11.7,735,7295,0.15,1.70,0.00,0.000,6,0.173,0.028,2176,2595,3970
$GC,7624,-1.22,-121.7,861.3,-9.7,751,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2594,3968
$GC,7932,-1.31,-121.7,892.3,-9.9,766,7937,0.17,2.25,0.00,0.000,4,0.074,0.027,2105,1064,3966
$GC,8075,-1.16,-121.7,910.9,-14.0,772,8080,0.28,2.28,0.00,0.000,6,0.174,0.037,2171,2547,3965
$GC,8391,-1.25,-121.7,945.7,-10.4,787,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2548,3963
$GC,8701,-1.33,-121.7,978.5,-10.5,802,8705,0.17,1.90,0.00,0.000,4,0.078,0.052,2098,3760,3962
$GC,8750,-1.09,-121.7,985.7,-14.9,804,8755,0.35,1.73,0.00,0.000,6,0.179,0.028,2191,2584,3961
$STATE,8806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8806,begin apogee
$GC,8813,-0.22,0.0,992.1,10.8,807,8909,0.90,0.00,89.85,1.410,6,0.149,0.000,2466,2583,3531
$STATE,8910,end apogee,CONTROL_FINISHED_OK
$STATE,8910,begin climb
$GC,8913,1.18,121.7,996.8,0.0,812,9023,1.33,2.00,102.70,1.372,4,0.062,0.050,2932,3741,3035
$GC,9204,0.42,121.7,980.7,12.6,825,9209,1.00,1.80,0.00,0.000,6,0.213,0.025,2684,2528,3031
$GC,9520,0.65,202.7,959.3,6.6,840,9593,0.17,2.25,66.07,1.353,4,0.081,0.031,2762,1124,2705
$GC,9644,0.65,202.7,946.2,12.0,845,9650,0.00,2.17,0.00,0.000,6,0.000,0.035,2762,2499,2701
$GC,9960,0.65,203.7,908.8,11.9,861,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2499,2698
$GC,10268,0.65,203.7,870.8,12.3,876,10272,0.00,2.08,0.00,0.000,4,0.000,0.032,2763,1122,2696
$GC,10337,0.66,206.0,862.5,11.8,879,10341,0.00,2.12,0.00,0.000,6,0.000,0.035,2763,2501,2696
$GC,10669,0.68,228.0,825.2,10.5,895,10694,0.00,2.12,21.02,1.272,4,0.000,0.031,2763,1119,2601
$GC,10758,0.77,242.1,815.6,11.1,899,10775,0.00,2.12,12.77,1.201,6,0.000,0.035,2763,2485,2544
$GC,11084,0.84,249.0,778.8,11.5,915,11096,0.15,2.15,6.47,1.050,4,0.078,0.030,2828,1108,2517
$GC,11129,0.74,249.0,772.0,15.4,917,11134,0.17,2.12,0.00,0.000,6,0.183,0.038,2785,2474,2516
$GC,11451,0.74,249.0,729.7,13.2,933,11455,0.00,2.05,0.00,0.000,4,0.000,0.031,2787,1116,2514
$GC,11478,0.74,249.0,725.9,12.3,934,11482,0.00,2.08,0.00,0.000,6,0.000,0.036,2786,2464,2514
$GC,11806,0.76,265.9,687.4,10.9,950,11826,0.00,2.12,15.18,1.177,4,0.000,0.053,2787,3770,2448
$GC,11865,0.70,265.9,679.8,13.8,952,11873,0.00,1.95,0.00,0.000,6,0.000,0.026,2786,2471,2446
$GC,12181,0.75,275.1,644.1,11.4,968,12195,0.00,2.10,9.02,1.077,4,0.000,0.035,2787,1101,2410
$GC,12287,0.83,275.1,631.6,12.2,972,12295,0.00,2.08,0.00,0.000,6,0.000,0.035,2786,2448,2409
$GC,12603,0.90,283.1,595.7,11.5,988,12618,0.15,2.08,8.60,1.039,4,0.081,0.031,2850,1106,2376
$GC,12753,0.80,283.1,574.9,13.8,994,12759,0.17,2.03,0.00,0.000,6,0.180,0.036,2807,2423,2374
$GC,13068,0.80,283.1,536.3,12.1,1010,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2423,2373
$GC,13379,0.85,324.8,505.1,9.2,1025,13421,0.00,2.08,34.45,1.080,4,0.000,0.031,2813,1104,2206
$GC,13507,0.98,339.4,491.3,11.0,1033,13525,0.15,2.05,13.10,0.996,6,0.082,0.035,2870,2422,2148
$GC,13843,0.90,339.4,447.1,13.2,1065,13847,0.15,2.00,0.00,0.000,4,0.183,0.028,2841,1095,2142
$GC,13892,0.90,339.4,440.5,13.9,1069,13898,0.00,2.05,0.00,0.000,6,0.000,0.034,2841,2432,2142
$GC,14219,0.90,339.4,398.9,12.1,1100,14223,0.00,2.10,0.00,0.000,4,0.000,0.051,2841,3772,2141
$GC,14269,0.84,339.4,391.5,13.5,1104,14277,0.12,2.03,0.00,0.000,6,0.184,0.025,2820,2383,2141
$GC,14595,0.99,345.4,353.0,11.6,1135,14607,0.12,1.90,5.28,0.742,4,0.088,0.031,2874,1095,2126
$GC,14646,0.99,345.4,346.1,13.0,1139,14652,0.00,2.03,0.00,0.000,6,0.000,0.033,2874,2432,2126
$GC,14974,0.99,345.4,304.2,13.1,1170,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2432,2125
$GC,15305,1.03,379.0,266.8,9.8,1226,15340,0.00,2.03,28.92,0.855,4,0.000,0.028,2882,1091,1985
$GC,15583,1.08,379.0,230.1,12.9,1275,15589,0.00,2.05,0.00,0.000,6,0.000,0.032,2882,2441,1981
$GC,15929,1.14,379.0,185.2,13.8,1336,15936,0.00,2.00,0.00,0.000,4,0.000,0.028,2885,1090,1980
$GC,16011,1.23,381.1,174.5,11.9,1350,16017,0.17,1.98,0.00,0.000,6,0.074,0.030,2951,2410,1980
$GC,16356,1.14,381.1,131.5,12.3,1411,16363,0.15,1.92,0.00,0.000,4,0.175,0.025,2920,1093,1980
$GC,16478,1.22,400.9,117.0,10.7,1432,16502,0.00,1.88,18.45,0.703,6,0.000,0.029,2920,2358,1897
$GC,16844,1.41,459.9,81.8,8.1,1496,16899,0.17,1.90,46.95,0.678,4,0.067,0.028,3006,1098,1654
$GC,16976,1.38,473.0,66.7,11.1,1518,16994,0.00,1.90,10.75,0.602,6,0.000,0.030,3006,2356,1603
$GC,17334,1.38,473.0,23.0,13.0,1581,17339,0.00,1.85,0.00,0.000,4,0.000,0.028,3013,1093,1599
$GC,17398,1.38,473.0,14.5,12.7,1592,17404,0.00,1.85,0.00,0.000,6,0.000,0.028,3014,2340,1599
$STATE,17481,end climb,SURFACE_DEPTH_REACHED
$STATE,17481,begin surface coast
$FINISH,1.8,1.008627
$STATE,17505,end surface coast,CONTROL_FINISHED_OK
$STATE,17505,begin surface
$SM_CCo,17584,0.00,0.000,0,0,1598,474.66
$SM_GC,2.70,7.68,0.00,0.00,0.054,0.000,0.000,140,2480,1598,-7.50,1.50,474.66
$IRIDIUM_FIX,2437.06,12420.24,091098,030337
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,23.5,55.161
$10V_AH,10.7,31.057
$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,27.150,135.800,489.600,0.000,0.000,53.963,65.957,248.208,8.000,0.000,0.000,14.966,2857.514,11108.075,628.524,2799.335,754.271,0.000,2049.776,0.000,2738.038,0.000,54.449,0.000
$DEVICE_MAMPS,238.537,63.661,1409.746,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.280,1108.067,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85265,1611
$CAP_FILE_SIZE,181144,0
$CFSIZE,260165632,199839744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 96.9,1
$GPS,150709,080157,2447.602,12418.630,28,2.3,48,-3.7