version: 66.04
glider: 167
mission: 2
dive: 352
start: 7 22 109 23 1 26
data:
$ID,167
$MISSION,2
$DIVE,352
$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,-12353.112
$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,71
$R_STBD_OVSHOOT,37
$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
$GPS1,224406,2452.287,12422.350,31,1.6,32,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-64.9
$GPS2,230106,2452.379,12422.404,16,1.1,32,-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,169.0,75284,-24.8,-13.043
$D_GRID,1014
$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,16,-1.25,-121.7,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,140,2459,2431
$GC,62,-1.25,-121.7,3.2,-2.0,7,123,8.30,2.08,-46.38,0.000,4,0.239,0.054,2127,3760,3989
$GC,198,-0.79,-121.7,27.1,-22.8,30,206,0.57,1.85,0.00,0.000,6,0.167,0.021,2289,2443,3990
$GC,546,-1.01,-121.7,72.4,-12.7,91,552,0.17,2.03,0.00,0.000,4,0.064,0.042,2205,3759,3990
$GC,610,-0.89,-121.7,82.6,-17.0,102,618,0.17,1.75,0.00,0.000,6,0.163,0.022,2251,2501,3990
$GC,956,-1.07,-121.7,125.3,-10.2,163,963,0.15,1.92,0.00,0.000,4,0.069,0.041,2179,3763,3991
$GC,1038,-0.92,-121.7,136.3,-15.1,177,1045,0.25,1.77,0.00,0.000,6,0.163,0.021,2247,2482,3991
$GC,1386,-1.32,-121.7,175.4,-9.9,238,1394,0.32,1.95,0.00,0.000,4,0.054,0.041,2100,3763,3991
$GC,1485,-0.94,-121.7,191.7,-17.4,255,1492,0.50,1.70,0.00,0.000,6,0.167,0.022,2241,2528,3991
$GC,1833,-1.14,-121.7,230.7,-11.2,316,1839,0.17,1.88,0.00,0.000,4,0.064,0.041,2152,3757,3991
$GC,1993,-0.98,-121.7,256.6,-15.4,344,1999,0.28,1.67,0.00,0.000,6,0.160,0.023,2228,2554,3992
$GC,2339,-1.32,-121.7,288.3,-7.1,405,2345,0.28,1.85,0.00,0.000,4,0.056,0.042,2101,3769,3991
$GC,2358,-1.45,-121.7,290.1,-8.9,408,2364,0.00,1.73,0.00,0.000,6,0.000,0.021,2101,2510,3992
$GC,2693,-1.22,-121.7,337.9,-16.4,446,2697,0.17,1.92,0.00,0.000,4,0.173,0.041,2144,3774,3992
$GC,2731,-1.06,-121.7,344.6,-17.2,449,2738,0.22,1.73,0.00,0.000,6,0.163,0.023,2205,2541,3992
$GC,3056,-1.24,-121.7,384.3,-10.0,480,3061,0.17,1.88,0.00,0.000,4,0.065,0.042,2125,3768,3992
$GC,3198,-1.06,-121.7,402.6,-13.5,492,3204,0.28,1.67,0.00,0.000,6,0.164,0.022,2200,2569,3992
$GC,3524,-1.39,-121.7,436.4,-10.9,523,3526,0.30,0.00,0.00,0.000,6,0.057,0.000,2081,2569,3992
$GC,3841,-1.18,-121.7,481.4,-12.9,553,3845,0.25,2.08,0.00,0.000,4,0.179,0.022,2153,1110,3991
$GC,3885,-1.18,-121.7,486.2,-10.6,556,3891,0.00,2.15,0.00,0.000,6,0.000,0.031,2152,2553,3991
$GC,4215,-1.18,-121.7,523.9,-11.0,578,4219,0.00,1.83,0.00,0.000,4,0.000,0.047,2149,3757,3990
$GC,4298,-1.18,-121.7,533.6,-10.8,581,4304,0.00,1.67,0.00,0.000,6,0.000,0.025,2149,2573,3990
$GC,4615,-1.25,-121.7,565.5,-11.1,597,4618,0.00,1.83,0.00,0.000,4,0.000,0.046,2143,3758,3987
$GC,4734,-1.25,-121.7,580.9,-13.4,602,4737,0.00,1.62,0.00,0.000,6,0.000,0.025,2143,2607,3986
$GC,5061,-1.25,-121.7,621.6,-11.6,618,5064,0.00,2.15,0.00,0.000,4,0.000,0.026,2143,1120,3984
$GC,5124,-1.29,-121.7,628.8,-11.7,620,5130,0.00,2.20,0.00,0.000,6,0.000,0.033,2140,2578,3983
$GC,5439,-1.29,-121.7,662.7,-10.4,636,5443,0.00,1.80,0.00,0.000,4,0.000,0.049,2139,3755,3980
$GC,5485,-1.29,-121.7,668.0,-12.0,638,5488,0.00,1.65,0.00,0.000,6,0.000,0.027,2139,2605,3980
$GC,5818,-1.29,-121.7,704.5,-10.6,654,5822,0.00,1.80,0.00,0.000,4,0.000,0.051,2137,3757,3977
$GC,5897,-1.29,-121.7,713.0,-10.8,657,5900,0.00,1.60,0.00,0.000,6,0.000,0.028,2137,2641,3976
$GC,6219,-1.29,-121.7,744.2,-10.5,673,6223,0.00,2.20,0.00,0.000,4,0.000,0.027,2137,1117,3973
$GC,6342,-1.35,-121.7,758.4,-10.8,678,6346,0.00,2.25,0.00,0.000,6,0.000,0.036,2137,2596,3973
$GC,6658,-1.35,-121.7,793.2,-11.0,693,6661,0.00,1.80,0.00,0.000,4,0.000,0.051,2137,3764,3970
$GC,6692,-1.35,-121.7,797.0,-10.8,694,6696,0.00,1.65,0.00,0.000,6,0.000,0.028,2137,2623,3970
$GC,7014,-1.35,-121.7,833.4,-12.0,710,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2623,3967
$GC,7324,-1.41,-121.7,869.5,-11.4,725,7329,0.12,2.20,0.00,0.000,4,0.084,0.028,2087,1122,3965
$GC,7398,-1.28,-121.7,878.2,-11.7,728,7403,0.17,2.28,0.00,0.000,6,0.180,0.037,2128,2609,3964
$GC,7715,-1.28,-121.7,907.2,-8.7,743,7718,0.00,2.20,0.00,0.000,4,0.000,0.028,2128,1133,3962
$GC,7743,-1.28,-121.7,909.8,-9.2,744,7747,0.00,2.25,0.00,0.000,6,0.000,0.037,2128,2593,3962
$GC,8070,-1.28,-121.7,939.9,-8.9,760,8074,0.00,2.17,0.00,0.000,4,0.000,0.028,2128,1126,3960
$GC,8126,-1.34,-121.7,945.2,-9.4,762,8130,0.00,2.22,0.00,0.000,6,0.000,0.037,2127,2574,3960
$GC,8443,-1.34,-121.7,975.0,-10.6,777,8447,0.00,1.85,0.00,0.000,4,0.000,0.054,2126,3760,3958
$GC,8534,-1.28,-121.7,986.8,-13.8,781,8537,0.00,1.67,0.00,0.000,6,0.000,0.029,2126,2619,3957
$STATE,8575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8575,begin apogee
$GC,8583,-0.22,0.0,992.8,13.7,783,8681,1.17,0.00,89.38,1.406,6,0.169,0.000,2465,2451,3532
$STATE,8681,end apogee,CONTROL_FINISHED_OK
$STATE,8681,begin climb
$GC,8684,1.25,121.7,1000.4,0.0,788,8796,1.38,2.28,103.20,1.374,4,0.062,0.049,2951,3766,3034
$GC,8989,0.58,189.4,995.3,8.2,802,9051,0.88,2.00,55.88,1.352,6,0.214,0.025,2736,2419,2758
$GC,9379,0.75,217.9,963.4,11.0,821,9406,0.15,0.00,24.52,1.314,6,0.084,0.000,2792,2418,2643
$GC,9708,0.75,217.9,914.8,15.0,837,9712,0.00,2.15,0.00,0.000,4,0.000,0.051,2792,3764,2639
$GC,9736,0.66,217.9,909.9,17.6,838,9741,0.17,2.03,0.00,0.000,6,0.193,0.025,2759,2394,2639
$GC,10058,0.78,253.0,868.0,10.5,854,10093,0.12,2.15,28.80,1.301,4,0.091,0.032,2812,1015,2499
$GC,10180,0.87,327.7,857.9,7.7,859,10249,0.00,2.15,63.50,1.299,6,0.000,0.035,2813,2398,2196
$GC,10562,0.98,350.7,818.9,11.4,877,10588,0.12,2.20,19.52,1.231,4,0.087,0.031,2868,1011,2101
$GC,10712,0.90,350.7,799.4,14.9,883,10720,0.12,2.10,0.00,0.000,6,0.187,0.038,2839,2358,2096
$GC,11028,0.90,350.7,754.4,17.0,899,11032,0.00,2.05,0.00,0.000,4,0.000,0.032,2842,1014,2094
$GC,11112,0.97,350.7,739.4,17.2,902,11118,0.00,2.03,0.00,0.000,6,0.000,0.036,2842,2333,2094
$GC,11429,0.97,350.7,690.6,14.7,918,11432,0.00,2.00,0.00,0.000,4,0.000,0.034,2845,1013,2093
$GC,11475,1.03,350.7,683.4,16.2,920,11478,0.00,2.00,0.00,0.000,6,0.000,0.036,2845,2317,2093
$GC,11808,1.03,350.7,636.5,14.5,936,11812,0.00,2.28,0.00,0.000,4,0.000,0.053,2845,3761,2091
$GC,11876,0.98,350.7,625.3,16.9,939,11880,0.00,2.12,0.00,0.000,6,0.000,0.027,2851,2332,2090
$GC,12203,1.03,350.7,576.3,14.0,955,12207,0.00,1.98,0.00,0.000,4,0.000,0.033,2860,998,2090
$GC,12343,1.03,350.7,556.5,15.5,961,12346,0.00,1.95,0.00,0.000,6,0.000,0.035,2860,2282,2090
$GC,12670,1.03,350.7,508.6,13.7,977,12674,0.00,2.33,0.00,0.000,4,0.000,0.051,2860,3765,2089
$GC,12778,0.95,350.7,493.1,13.6,984,12782,0.00,2.12,0.00,0.000,6,0.000,0.027,2869,2326,2089
$GC,13111,0.95,350.7,447.5,14.9,1015,13115,0.00,2.28,0.00,0.000,4,0.000,0.050,2870,3761,2089
$GC,13150,0.88,350.7,440.6,16.9,1018,13157,0.17,2.10,0.00,0.000,6,0.185,0.026,2835,2342,2089
$GC,13476,1.13,409.8,402.5,8.8,1049,13531,0.20,2.33,47.38,0.996,4,0.074,0.050,2916,3765,1860
$GC,13543,1.07,409.8,394.7,13.9,1055,13548,0.15,2.15,0.00,0.000,6,0.183,0.026,2888,2359,1858
$GC,13868,1.16,409.8,348.4,14.6,1085,13872,0.00,2.05,0.00,0.000,4,0.000,0.032,2898,988,1853
$GC,13941,1.27,409.8,337.8,14.4,1091,13949,0.15,2.10,0.00,0.000,6,0.084,0.032,2954,2368,1853
$GC,14270,1.19,409.8,289.2,13.6,1128,14276,0.00,2.08,0.00,0.000,4,0.000,0.030,2963,986,1852
$GC,14340,1.11,409.8,279.0,15.1,1140,14346,0.22,2.08,0.00,0.000,6,0.179,0.033,2904,2357,1852
$GC,14685,1.22,409.8,232.6,13.7,1201,14691,0.00,2.05,0.00,0.000,4,0.000,0.030,2913,983,1852
$GC,14704,1.32,409.8,230.2,14.0,1204,14711,0.15,2.03,0.00,0.000,6,0.080,0.031,2972,2333,1852
$GC,15050,1.24,409.8,180.1,14.3,1265,15056,0.00,2.00,0.00,0.000,4,0.000,0.029,2980,988,1853
$GC,15068,1.15,409.8,177.2,15.1,1268,15075,0.25,2.00,0.00,0.000,6,0.183,0.030,2916,2331,1853
$GC,15414,1.34,463.6,136.9,9.2,1329,15464,0.17,2.30,43.38,0.734,4,0.069,0.047,2984,3756,1640
$GC,15476,1.29,463.6,128.7,15.3,1339,15483,0.15,2.15,0.00,0.000,6,0.188,0.023,2959,2294,1638
$GC,15823,1.47,494.9,81.7,10.8,1400,15854,0.17,2.00,25.25,0.670,4,0.075,0.030,3038,984,1513
$GC,16048,1.47,494.9,51.8,13.3,1439,16056,0.00,2.05,0.00,0.000,6,0.000,0.030,3038,2344,1509
$STATE,16374,end climb,SURFACE_DEPTH_REACHED
$STATE,16374,begin surface coast
$FINISH,1.9,1.021083
$STATE,16398,end surface coast,CONTROL_FINISHED_OK
$STATE,16398,begin surface
$SM_CCo,16477,0.00,0.000,0,0,1506,496.98
$SM_GC,2.70,7.75,0.00,0.00,0.054,0.000,0.000,138,2504,1506,-7.51,0.59,496.98
$IRIDIUM_FIX,2441.81,12421.58,161098,232336
$TT8_MAMPS,0.029146
$HUMID,1632
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,950.8,118.7
$24V_AH,22.8,62.597
$10V_AH,10.7,34.790
$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,26.550,148.525,500.800,0.000,0.000,116.745,133.057,402.277,8.500,0.000,0.000,32.377,2694.320,10369.021,630.268,2739.151,1050.722,0.000,2023.874,0.000,2652.454,0.000,55.859,0.000
$DEVICE_MAMPS,239.304,54.457,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.353,1037.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78901,1501
$CAP_FILE_SIZE,178975,0
$CFSIZE,260165632,196370432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,133.3,1
$GPS,230709,033707,2449.815,12423.488,28,1.0,29,-3.7