version: 66.04
glider: 167
mission: 2
dive: 326
start: 7 17 109 19 57 18
data:
$ID,167
$MISSION,2
$DIVE,326
$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,253
$T_MISSION,304
$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,-11753.317
$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,56
$R_STBD_OVSHOOT,72
$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
$GPS1,195007,2503.736,12424.829,33,1.4,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-58.9
$GPS2,195656,2503.892,12424.984,12,1.6,12,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2502.400,12422.900
$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,216.5,4457,-24.8,-13.043
$D_GRID,1989
$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,-1.25,-121.7,0.0,0.0,0,46,0.00,0.00,-29.50,0.000,2,0.000,0.000,140,2482,2371
$GC,49,-1.25,-121.7,3.2,-3.0,5,116,8.15,2.17,-49.78,0.000,4,0.233,0.038,2141,1005,3988
$GC,157,-0.91,-121.7,18.0,-23.8,23,165,0.40,2.10,0.00,0.000,6,0.166,0.029,2244,2411,3989
$GC,505,-0.91,-121.7,75.5,-14.9,84,510,0.00,2.05,0.00,0.000,4,0.000,0.044,2235,3755,3990
$GC,686,-0.91,-121.7,103.5,-14.8,116,692,0.00,1.92,0.00,0.000,6,0.000,0.022,2235,2379,3991
$GC,1030,-1.01,-121.7,149.7,-11.5,177,1036,0.00,2.10,0.00,0.000,4,0.000,0.041,2225,3755,3992
$GC,1191,-1.06,-121.7,170.0,-13.3,205,1197,0.00,1.83,0.00,0.000,6,0.000,0.023,2225,2448,3993
$GC,1538,-1.21,-121.7,211.1,-10.7,266,1545,0.17,2.00,0.00,0.000,4,0.062,0.042,2137,3754,3994
$GC,1637,-1.00,-121.7,225.2,-14.2,283,1644,0.30,1.83,0.00,0.000,6,0.160,0.023,2221,2450,3994
$GC,1984,-1.34,-121.7,257.6,-8.8,344,1990,0.28,2.00,0.00,0.000,4,0.057,0.042,2098,3756,3995
$GC,2124,-1.02,-121.7,278.1,-15.3,368,2130,0.40,1.80,0.00,0.000,6,0.166,0.023,2209,2468,3995
$GC,2468,-1.21,-121.7,314.1,-10.8,418,2472,0.15,1.98,0.00,0.000,4,0.071,0.043,2139,3757,3995
$GC,2546,-1.06,-121.7,326.0,-17.1,425,2550,0.22,1.77,0.00,0.000,6,0.163,0.023,2199,2490,3995
$GC,2879,-1.22,-121.7,365.2,-10.8,456,2883,0.15,1.95,0.00,0.000,4,0.070,0.044,2138,3753,3995
$GC,3020,-1.09,-121.7,383.9,-13.5,468,3026,0.20,1.73,0.00,0.000,6,0.164,0.025,2191,2526,3995
$GC,3345,-1.25,-121.7,417.3,-9.5,499,3349,0.15,1.90,0.00,0.000,4,0.071,0.044,2124,3761,3994
$GC,3470,-1.07,-121.7,433.5,-13.4,510,3474,0.28,1.73,0.00,0.000,6,0.164,0.025,2199,2543,3994
$GC,3801,-1.44,-121.7,465.8,-9.6,541,3805,0.30,2.15,0.00,0.000,4,0.058,0.025,2077,1047,3993
$GC,3856,-1.23,-121.7,473.0,-13.6,545,3862,0.28,2.22,0.00,0.000,6,0.170,0.031,2145,2534,3993
$GC,4179,-1.23,-121.7,509.4,-11.2,572,4182,0.00,1.85,0.00,0.000,4,0.000,0.048,2139,3749,3993
$GC,4296,-1.16,-121.7,523.4,-11.6,577,4301,0.12,1.70,0.00,0.000,6,0.173,0.026,2169,2561,3992
$GC,4626,-1.26,-121.7,558.2,-11.2,593,4630,0.00,1.88,0.00,0.000,4,0.000,0.048,2166,3747,3990
$GC,4688,-1.26,-121.7,565.9,-12.0,595,4695,0.00,1.70,0.00,0.000,6,0.000,0.026,2166,2559,3990
$GC,5006,-1.36,-121.7,600.1,-10.5,611,5010,0.17,1.88,0.00,0.000,4,0.076,0.048,2085,3760,3988
$GC,5119,-1.11,-121.7,617.2,-16.0,616,5123,0.38,1.70,0.00,0.000,6,0.176,0.027,2186,2581,3987
$GC,5455,-1.43,-121.7,652.3,-9.6,632,5459,0.25,2.22,0.00,0.000,4,0.064,0.027,2084,1052,3985
$GC,5483,-1.43,-121.7,655.9,-12.3,633,5487,0.00,2.28,0.00,0.000,6,0.000,0.035,2084,2553,3984
$GC,5801,-1.25,-121.7,701.6,-14.0,648,5805,0.17,1.85,0.00,0.000,4,0.188,0.048,2126,3755,3982
$GC,5874,-1.14,-121.7,711.8,-13.5,651,5878,0.17,1.70,0.00,0.000,6,0.173,0.028,2170,2577,3981
$GC,6202,-1.27,-121.7,747.9,-10.8,667,6207,0.12,2.22,0.00,0.000,4,0.083,0.027,2123,1050,3980
$GC,6227,-1.27,-121.7,750.8,-11.6,668,6231,0.00,2.28,0.00,0.000,6,0.000,0.035,2115,2547,3979
$GC,6554,-1.19,-121.7,795.2,-13.6,684,6558,0.17,1.85,0.00,0.000,4,0.178,0.050,2165,3750,3976
$GC,6616,-1.26,-121.7,802.7,-12.0,686,6622,0.00,1.70,0.00,0.000,6,0.000,0.028,2164,2576,3976
$GC,6932,-1.37,-121.7,834.3,-9.8,702,6937,0.17,2.22,0.00,0.000,4,0.078,0.028,2092,1056,3974
$GC,6965,-1.26,-121.7,838.3,-13.1,703,6973,0.20,2.30,0.00,0.000,6,0.177,0.035,2136,2565,3973
$GC,7281,-1.26,-121.7,871.1,-10.2,719,7285,0.00,1.85,0.00,0.000,4,0.000,0.052,2136,3737,3971
$GC,7337,-1.26,-121.7,877.0,-10.8,721,7341,0.00,1.67,0.00,0.000,6,0.000,0.028,2136,2582,3971
$GC,7659,-1.26,-121.7,909.2,-10.4,737,7663,0.00,1.85,0.00,0.000,4,0.000,0.053,2136,3753,3969
$GC,7732,-1.26,-121.7,917.1,-10.5,740,7735,0.00,1.73,0.00,0.000,6,0.000,0.028,2136,2593,3968
$GC,8060,-1.26,-121.7,951.6,-10.4,756,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2593,3966
$GC,8369,-1.26,-121.7,984.9,-10.8,771,8372,0.00,1.83,0.00,0.000,4,0.000,0.053,2136,3747,3965
$STATE,8412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8412,begin apogee
$GC,8419,-0.22,0.0,990.1,11.8,773,8515,1.15,0.00,90.70,1.407,6,0.170,0.000,2466,2521,3532
$STATE,8515,end apogee,CONTROL_FINISHED_OK
$STATE,8516,begin climb
$GC,8518,1.25,121.7,994.1,0.0,778,8629,1.35,2.08,103.40,1.366,4,0.065,0.048,2945,3743,3035
$GC,8820,0.53,121.7,973.6,13.3,791,8828,0.93,1.90,0.00,0.000,6,0.216,0.026,2718,2467,3030
$GC,9136,0.73,210.0,951.2,6.7,807,9217,0.17,2.12,72.95,1.345,4,0.079,0.031,2789,1116,2673
$GC,9240,0.74,211.8,940.2,12.9,812,9245,0.00,2.20,0.00,0.000,6,0.000,0.036,2789,2492,2671
$GC,9569,0.76,231.6,900.2,11.6,828,9591,0.00,2.17,18.08,1.266,4,0.000,0.031,2789,1128,2587
$GC,9682,0.84,248.2,886.2,11.8,833,9704,0.00,2.12,14.57,1.229,6,0.000,0.035,2789,2488,2520
$GC,10014,0.90,255.6,845.6,12.5,849,10029,0.12,2.15,7.32,1.094,4,0.088,0.031,2845,1115,2490
$GC,10113,0.82,255.6,830.6,15.2,853,10118,0.15,2.10,0.00,0.000,6,0.186,0.036,2809,2470,2488
$GC,10429,0.83,263.7,790.0,12.5,868,10443,0.00,2.08,8.05,1.113,4,0.000,0.031,2815,1129,2456
$GC,10503,0.84,273.2,780.9,12.4,871,10521,0.00,2.05,9.73,1.142,6,0.000,0.037,2815,2453,2417
$GC,10829,0.84,273.2,738.6,13.1,887,10832,0.00,2.03,0.00,0.000,4,0.000,0.031,2815,1116,2415
$GC,10947,0.85,280.2,723.9,12.5,892,10963,0.00,2.03,7.35,1.065,6,0.000,0.036,2815,2435,2389
$GC,11272,0.87,293.0,683.1,12.1,908,11294,0.00,2.08,12.50,1.144,4,0.000,0.032,2815,1111,2335
$GC,11328,0.95,303.9,676.1,12.3,910,11344,0.12,2.03,10.50,1.100,6,0.090,0.035,2861,2425,2293
$GC,11668,0.87,303.9,625.4,15.6,927,11669,0.15,0.00,0.00,0.000,6,0.185,0.000,2825,2427,2289
$GC,11976,0.93,313.2,584.9,12.4,942,11990,0.00,2.00,8.65,1.031,4,0.000,0.031,2831,1127,2255
$GC,12025,1.01,315.7,578.3,12.9,944,12035,0.12,2.00,3.85,0.729,6,0.087,0.036,2879,2427,2245
$GC,12353,0.92,315.7,531.2,14.5,960,12357,0.15,1.98,0.00,0.000,4,0.190,0.029,2850,1109,2243
$GC,12377,0.92,315.7,527.7,14.0,961,12380,0.00,1.98,0.00,0.000,6,0.000,0.036,2849,2398,2242
$GC,12701,0.92,315.7,486.2,13.2,981,12705,0.00,1.92,0.00,0.000,4,0.000,0.030,2857,1123,2242
$GC,12758,0.92,315.7,478.6,13.2,986,12761,0.00,1.92,0.00,0.000,6,0.000,0.035,2857,2388,2242
$GC,13093,0.92,319.3,437.0,12.8,1017,13102,0.00,1.95,4.35,0.740,4,0.000,0.031,2863,1111,2230
$GC,13136,0.94,333.0,430.8,12.1,1021,13154,0.00,1.92,13.18,0.976,6,0.000,0.035,2863,2379,2174
$GC,13472,0.97,358.9,392.1,11.2,1053,13503,0.00,1.95,22.42,0.971,4,0.000,0.030,2868,1122,2067
$GC,13538,1.05,366.0,384.3,12.5,1059,13551,0.00,1.92,7.05,0.824,6,0.000,0.031,2868,2375,2040
$GC,13868,1.12,366.0,340.0,14.1,1090,13873,0.10,2.17,0.00,0.000,4,0.091,0.048,2907,3764,2036
$GC,13946,0.96,366.0,326.9,16.9,1096,13952,0.22,2.05,0.00,0.000,6,0.179,0.024,2857,2375,2035
$GC,14279,1.09,374.4,281.9,12.4,1139,14293,0.12,1.83,7.78,0.783,4,0.084,0.028,2914,1119,2006
$GC,14395,1.09,374.4,265.8,13.7,1159,14402,0.00,1.88,0.00,0.000,6,0.000,0.031,2914,2364,2006
$GC,14742,1.09,374.4,210.8,16.2,1220,14748,0.00,1.85,0.00,0.000,4,0.000,0.028,2922,1106,2006
$GC,14793,1.09,374.4,203.1,13.8,1229,14799,0.00,1.85,0.00,0.000,6,0.000,0.032,2922,2336,2006
$GC,15137,1.12,398.8,156.0,11.3,1290,15166,0.00,1.88,21.50,0.762,4,0.000,0.031,2922,1110,1905
$GC,15271,1.31,440.9,142.0,10.0,1313,15313,0.12,1.80,34.47,0.745,6,0.084,0.030,2972,2311,1734
$GC,15653,1.31,447.1,94.2,12.6,1380,15661,0.00,0.00,5.72,0.571,6,0.000,0.000,2972,2311,1709
$GC,16000,1.43,471.5,53.5,11.3,1441,16029,0.00,2.33,20.60,0.649,4,0.000,0.047,2972,3775,1608
$GC,16082,1.51,483.5,43.4,12.2,1455,16101,0.15,2.20,11.07,0.600,6,0.084,0.022,3034,2252,1558
$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
$FINISH,1.8,1.010442
$STATE,16386,end surface coast,CONTROL_FINISHED_OK
$STATE,16386,begin surface
$SM_CCo,16465,0.00,0.000,0,0,1552,485.69
$SM_GC,2.69,7.68,0.00,0.00,0.048,0.000,0.000,140,2463,1552,-7.50,1.02,485.69
$IRIDIUM_FIX,2453.69,12424.27,111098,151553
$TT8_MAMPS,0.028379
$HUMID,1625
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,57.719
$10V_AH,10.7,32.348
$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,26.200,146.100,515.800,0.000,0.000,25.681,38.126,201.615,8.000,0.000,0.000,12.900,2701.852,10179.569,647.021,2694.700,638.826,0.000,2029.163,0.000,2631.559,0.000,54.427,0.000
$DEVICE_MAMPS,233.168,52.923,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.307,1040.653,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82078,1509
$CAP_FILE_SIZE,174796,0
$CFSIZE,260165632,198651904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225, 37.1,1
$GPS,180709,003301,2504.274,12424.908,42,1.0,43,-3.8