version: 66.04
glider: 167
mission: 2
dive: 348
start: 7 22 109 3 54 0
data:
$ID,167
$MISSION,2
$DIVE,348
$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,-12243.785
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,41
$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
$GPS1,034706,2457.972,12419.639,37,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-65.2
$GPS2,035338,2458.042,12419.791,14,1.2,14,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,175.4,86641,-24.8,-13.043
$D_GRID,1885
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-29.85,0.000,2,0.000,0.000,140,2498,2296
$GC,50,-1.25,-121.7,3.1,-1.7,5,120,8.32,1.95,-55.03,0.000,4,0.241,0.057,2128,3758,3988
$GC,295,-0.76,-121.7,51.9,-25.8,47,302,0.60,1.88,0.00,0.000,6,0.179,0.022,2294,2433,3990
$GC,641,-1.30,-121.7,95.9,-10.6,108,647,0.43,2.05,0.00,0.000,4,0.050,0.044,2112,3760,3992
$GC,756,-0.90,-121.7,116.4,-18.3,128,762,0.50,1.77,0.00,0.000,6,0.173,0.022,2250,2494,3992
$GC,1102,-1.15,-121.7,150.8,-10.2,189,1108,0.17,1.95,0.00,0.000,4,0.064,0.042,2165,3763,3993
$GC,1277,-1.00,-121.7,176.0,-14.6,220,1284,0.20,1.75,0.00,0.000,6,0.163,0.022,2218,2504,3994
$GC,1625,-1.17,-121.7,213.7,-9.8,281,1631,0.15,1.92,0.00,0.000,4,0.068,0.042,2151,3764,3994
$GC,1790,-1.00,-121.7,236.1,-13.5,310,1798,0.25,1.70,0.00,0.000,6,0.166,0.023,2218,2542,3994
$GC,2137,-1.21,-121.7,274.0,-10.7,371,2144,0.20,1.88,0.00,0.000,4,0.062,0.042,2124,3767,3994
$GC,2308,-1.00,-121.7,300.7,-14.5,401,2313,0.28,1.67,0.00,0.000,6,0.163,0.022,2218,2584,3994
$GC,2641,-1.38,-121.7,332.1,-8.0,432,2646,0.30,2.12,0.00,0.000,4,0.056,0.023,2092,1094,3994
$GC,2663,-1.44,-121.7,334.7,-10.5,433,2669,0.00,2.17,0.00,0.000,6,0.000,0.029,2084,2564,3994
$GC,2988,-1.19,-121.7,378.7,-13.4,464,2990,0.28,0.00,0.00,0.000,6,0.173,0.000,2158,2565,3994
$GC,3309,-1.25,-121.7,417.5,-12.5,494,3313,0.00,1.80,0.00,0.000,4,0.000,0.045,2152,3754,3994
$GC,3348,-1.17,-121.7,423.1,-13.2,497,3354,0.00,1.70,0.00,0.000,6,0.000,0.024,2152,2548,3995
$GC,3674,-1.33,-121.7,460.1,-9.7,528,3678,0.10,2.05,0.00,0.000,4,0.087,0.025,2110,1111,3994
$GC,3697,-1.33,-121.7,462.5,-10.5,530,3701,0.00,2.15,0.00,0.000,6,0.000,0.032,2110,2545,3994
$GC,4030,-1.20,-121.7,499.2,-11.8,561,4035,0.17,1.85,0.00,0.000,4,0.173,0.044,2149,3763,3993
$GC,4198,-1.20,-121.7,519.5,-12.3,569,4202,0.00,1.70,0.00,0.000,6,0.000,0.025,2149,2567,3993
$GC,4520,-1.26,-121.7,556.7,-12.4,585,4524,0.00,1.88,0.00,0.000,4,0.000,0.048,2146,3755,3991
$GC,4566,-1.26,-121.7,562.7,-13.3,587,4570,0.00,1.70,0.00,0.000,6,0.000,0.025,2146,2585,3991
$GC,4900,-1.32,-121.7,598.3,-9.7,603,4903,0.00,1.83,0.00,0.000,4,0.000,0.048,2139,3761,3990
$GC,4928,-1.32,-121.7,601.1,-10.1,604,4931,0.00,1.65,0.00,0.000,6,0.000,0.025,2140,2601,3990
$GC,5256,-1.32,-121.7,635.6,-11.3,620,5259,0.00,1.80,0.00,0.000,4,0.000,0.050,2137,3755,3987
$GC,5295,-1.32,-121.7,640.6,-12.4,621,5300,0.00,1.62,0.00,0.000,6,0.000,0.028,2137,2618,3986
$GC,5612,-1.32,-121.7,676.7,-10.8,637,5616,0.00,2.17,0.00,0.000,4,0.000,0.027,2137,1121,3985
$GC,5659,-1.36,-121.7,681.8,-11.0,639,5663,0.00,2.22,0.00,0.000,6,0.000,0.035,2137,2581,3984
$GC,5986,-1.36,-121.7,716.4,-10.7,655,5990,0.00,1.83,0.00,0.000,4,0.000,0.051,2137,3746,3982
$GC,6061,-1.36,-121.7,725.2,-12.4,658,6064,0.00,1.65,0.00,0.000,6,0.000,0.027,2137,2599,3981
$GC,6388,-1.36,-121.7,761.7,-10.7,674,6391,0.00,1.83,0.00,0.000,4,0.000,0.051,2137,3763,3979
$GC,6479,-1.36,-121.7,772.3,-12.1,678,6483,0.00,1.65,0.00,0.000,6,0.000,0.028,2137,2627,3978
$GC,6812,-1.36,-121.7,807.7,-10.5,694,6816,0.00,2.20,0.00,0.000,4,0.000,0.028,2137,1110,3975
$GC,6868,-1.41,-121.7,814.3,-12.1,696,6873,0.15,2.28,0.00,0.000,6,0.079,0.037,2082,2599,3975
$GC,7186,-1.26,-121.7,860.3,-14.1,711,7190,0.17,1.80,0.00,0.000,4,0.199,0.050,2124,3756,3972
$GC,7258,-1.18,-121.7,870.2,-13.4,714,7262,0.15,1.60,0.00,0.000,6,0.179,0.028,2161,2654,3972
$GC,7588,-1.30,-121.7,905.1,-11.2,730,7593,0.12,2.28,0.00,0.000,4,0.086,0.028,2115,1106,3970
$GC,7621,-1.30,-121.7,909.7,-13.4,731,7627,0.00,2.33,0.00,0.000,6,0.000,0.038,2112,2619,3970
$GC,7938,-1.25,-121.7,949.6,-12.1,747,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2619,3968
$GC,8247,-1.20,-121.7,985.4,-11.5,762,8252,0.17,2.25,0.00,0.000,4,0.180,0.028,2162,1115,3966
$GC,8282,-1.34,-121.7,989.0,-10.1,763,8289,0.15,2.30,0.00,0.000,6,0.083,0.038,2107,2608,3966
$STATE,8306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8306,begin apogee
$GC,8314,-0.22,0.0,991.8,10.2,765,8409,1.27,0.00,91.28,1.405,6,0.175,0.000,2468,2436,3532
$STATE,8410,end apogee,CONTROL_FINISHED_OK
$STATE,8410,begin climb
$GC,8413,1.25,121.7,996.7,0.0,770,8524,1.35,2.30,103.45,1.368,4,0.065,0.048,2947,3761,3035
$GC,8688,0.57,158.8,984.4,10.4,782,8727,0.88,2.08,31.33,1.320,6,0.215,0.025,2734,2367,2883
$GC,9038,0.79,247.7,960.5,6.7,799,9123,0.17,2.20,73.28,1.346,4,0.078,0.033,2802,1012,2520
$GC,9141,0.81,268.7,949.6,11.5,803,9168,0.00,2.20,19.33,1.254,6,0.000,0.034,2802,2397,2435
$GC,9476,0.81,268.7,904.2,13.6,820,9480,0.00,2.12,0.00,0.000,4,0.000,0.032,2805,1008,2429
$GC,9504,0.87,268.7,900.4,13.3,821,9508,0.00,2.15,0.00,0.000,6,0.000,0.035,2804,2404,2428
$GC,9832,0.87,268.7,855.0,14.0,837,9835,0.00,2.15,0.00,0.000,4,0.000,0.054,2805,3761,2426
$GC,9865,0.80,268.7,849.6,15.8,838,9869,0.00,2.00,0.00,0.000,6,0.000,0.027,2813,2420,2426
$GC,10187,0.82,287.9,808.2,11.7,854,10210,0.00,2.17,16.15,1.231,4,0.000,0.034,2816,989,2357
$GC,10249,0.90,299.4,800.4,12.2,856,10265,0.00,2.20,11.18,1.167,6,0.000,0.035,2816,2414,2311
$GC,10581,0.95,299.4,757.6,13.2,873,10586,0.10,2.17,0.00,0.000,4,0.092,0.033,2858,988,2307
$GC,10615,0.90,299.4,752.6,15.1,874,10623,0.00,2.17,0.00,0.000,6,0.000,0.035,2858,2400,2306
$GC,10931,0.83,310.3,710.4,12.3,890,10946,0.17,2.15,9.85,1.122,4,0.188,0.031,2815,990,2266
$GC,11004,0.98,328.3,701.2,11.8,892,11026,0.12,2.12,16.50,1.172,6,0.090,0.035,2861,2377,2193
$GC,11343,0.98,328.3,647.0,16.5,909,11347,0.00,2.10,0.00,0.000,4,0.000,0.032,2869,995,2189
$GC,11366,0.98,328.3,643.0,16.4,910,11369,0.00,2.12,0.00,0.000,6,0.000,0.036,2868,2372,2188
$GC,11699,0.93,328.3,595.2,13.6,926,11703,0.00,2.17,0.00,0.000,4,0.000,0.051,2868,3760,2188
$GC,11738,0.78,328.3,589.4,13.9,927,11745,0.28,2.10,0.00,0.000,6,0.191,0.026,2801,2335,2187
$GC,12056,0.99,350.8,553.9,11.4,943,12081,0.17,2.08,19.48,1.095,4,0.080,0.034,2882,993,2100
$GC,12137,0.99,350.8,542.1,14.3,946,12144,0.00,2.12,0.00,0.000,6,0.000,0.036,2882,2361,2098
$GC,12453,1.01,364.4,501.2,12.1,962,12467,0.00,0.00,12.23,1.012,6,0.000,0.000,2882,2362,2046
$GC,12787,1.01,364.4,453.7,14.7,992,12791,0.00,2.20,0.00,0.000,4,0.000,0.052,2883,3758,2043
$GC,12837,0.92,364.4,445.8,14.7,996,12844,0.20,2.10,0.00,0.000,6,0.187,0.026,2840,2350,2043
$GC,13163,1.11,396.4,409.0,10.8,1027,13196,0.17,2.05,26.75,0.985,4,0.077,0.031,2923,991,1917
$GC,13293,1.11,396.4,391.3,15.1,1038,13300,0.00,2.10,0.00,0.000,6,0.000,0.034,2923,2352,1913
$GC,13621,1.05,396.4,343.8,14.1,1069,13625,0.15,2.20,0.00,0.000,4,0.180,0.048,2886,3764,1912
$GC,13670,1.05,396.4,336.3,14.3,1073,13677,0.00,2.08,0.00,0.000,6,0.000,0.025,2894,2362,1911
$GC,13996,1.17,428.1,297.7,10.8,1105,14032,0.00,2.10,26.95,0.879,4,0.000,0.035,2895,1005,1785
$GC,14115,1.33,439.8,283.5,12.2,1125,14134,0.22,2.10,11.32,0.805,6,0.069,0.032,2980,2376,1736
$GC,14475,1.23,439.8,230.1,14.5,1188,14481,0.17,0.00,0.00,0.000,6,0.190,0.000,2933,2378,1732
$GC,14820,1.28,439.8,182.8,13.9,1249,14826,0.00,2.15,0.00,0.000,4,0.000,0.048,2932,3765,1732
$GC,14873,1.28,439.8,174.6,15.6,1258,14880,0.00,2.12,0.00,0.000,6,0.000,0.025,2940,2324,1732
$GC,15219,1.37,452.5,127.2,12.1,1319,15239,0.12,2.00,11.45,0.681,4,0.083,0.031,2998,991,1686
$GC,15301,1.37,452.5,115.3,14.0,1333,15307,0.00,2.00,0.00,0.000,6,0.000,0.030,2998,2326,1685
$GC,15645,1.37,452.5,71.6,13.4,1394,15651,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2326,1685
$GC,15990,1.44,464.8,29.9,12.2,1455,16006,0.00,0.00,11.52,0.596,6,0.000,0.000,2998,2326,1635
$STATE,16214,end climb,SURFACE_DEPTH_REACHED
$STATE,16214,begin surface coast
$FINISH,1.8,1.019837
$STATE,16242,end surface coast,CONTROL_FINISHED_OK
$STATE,16243,begin surface
$SM_CCo,16320,0.00,0.000,0,0,1633,465.82
$SM_GC,2.70,7.62,0.00,0.00,0.054,0.000,0.000,142,2495,1633,-7.49,0.34,465.82
$IRIDIUM_FIX,2448.93,12417.66,151098,232316
$TT8_MAMPS,0.028379
$HUMID,1619
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,61.811
$10V_AH,10.7,34.410
$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,26.075,141.475,492.025,0.000,0.000,28.434,32.633,185.252,8.000,0.000,0.000,14.286,2662.019,10173.134,607.459,2637.733,620.444,0.000,1972.100,0.000,2566.878,0.000,54.440,0.000
$DEVICE_MAMPS,240.838,56.758,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.740,1037.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78861,1500
$CAP_FILE_SIZE,170396,0
$CFSIZE,260165632,196726784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 64.3,1
$GPS,220709,082706,2456.774,12420.766,30,1.0,31,-3.7