version: 66.04
glider: 167
mission: 2
dive: 353
start: 7 23 109 3 44 38
data:
$ID,167
$MISSION,2
$DIVE,353
$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,-12390.63
$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,56
$R_STBD_OVSHOOT,46
$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
$GPS1,033707,2449.815,12423.488,28,1.0,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-68.1
$GPS2,034416,2449.844,12423.562,15,2.1,34,-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,168.5,70210,-24.8,-13.043
$D_GRID,1193
$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,-121.7,0.0,0.0,0,45,0.00,0.00,-28.75,0.000,2,0.000,0.000,138,2504,2231
$GC,49,-1.25,-121.7,3.1,-1.7,5,124,8.38,1.92,-59.50,0.000,4,0.240,0.056,2131,3754,3988
$GC,231,-0.79,-121.7,32.8,-21.8,36,238,0.55,1.88,0.00,0.000,6,0.171,0.023,2283,2437,3989
$GC,576,-0.96,-121.7,78.3,-11.4,97,583,0.15,2.03,0.00,0.000,4,0.069,0.042,2209,3750,3990
$GC,743,-0.90,-121.7,101.1,-12.2,126,750,0.17,1.75,0.00,0.000,6,0.161,0.023,2256,2502,3991
$GC,1090,-1.29,-121.7,137.6,-9.0,187,1096,0.32,1.92,0.00,0.000,4,0.051,0.044,2111,3753,3992
$GC,1165,-0.95,-121.7,149.8,-16.7,200,1172,0.45,1.73,0.00,0.000,6,0.166,0.022,2237,2517,3993
$GC,1511,-1.14,-121.7,189.7,-10.4,261,1517,0.17,1.90,0.00,0.000,4,0.062,0.043,2150,3756,3994
$GC,1670,-0.96,-121.7,211.7,-14.0,289,1677,0.30,1.70,0.00,0.000,6,0.163,0.023,2233,2535,3994
$GC,2016,-1.29,-121.7,249.2,-11.3,350,2023,0.25,1.88,0.00,0.000,4,0.058,0.044,2124,3757,3994
$GC,2042,-1.29,-121.7,252.8,-13.6,354,2049,0.00,1.70,0.00,0.000,6,0.000,0.023,2123,2536,3994
$GC,2391,-1.14,-121.7,306.1,-13.4,412,2395,0.20,1.88,0.00,0.000,4,0.169,0.043,2178,3756,3994
$GC,2452,-1.14,-121.7,314.2,-12.1,417,2458,0.00,1.67,0.00,0.000,6,0.000,0.023,2178,2556,3994
$GC,2780,-1.21,-121.7,344.9,-9.5,448,2784,0.00,1.85,0.00,0.000,4,0.000,0.045,2178,3758,3995
$GC,2815,-1.21,-121.7,348.8,-10.9,451,2818,0.00,1.65,0.00,0.000,6,0.000,0.024,2178,2578,3994
$GC,3147,-1.32,-121.7,382.1,-10.1,482,3152,0.17,2.10,0.00,0.000,4,0.069,0.024,2105,1107,3995
$GC,3267,-1.21,-121.7,396.3,-11.8,492,3271,0.20,2.17,0.00,0.000,6,0.164,0.030,2151,2575,3995
$GC,3592,-1.26,-121.7,432.7,-12.2,522,3596,0.00,1.77,0.00,0.000,4,0.000,0.045,2149,3749,3994
$GC,3687,-1.26,-121.7,445.7,-14.1,530,3694,0.00,1.67,0.00,0.000,6,0.000,0.025,2149,2583,3994
$GC,4012,-1.31,-121.7,487.6,-12.9,561,4016,0.00,1.80,0.00,0.000,4,0.000,0.046,2143,3753,3993
$GC,4070,-1.31,-121.7,495.2,-14.3,566,4074,0.00,1.65,0.00,0.000,6,0.000,0.025,2143,2589,3993
$GC,4403,-1.31,-121.7,529.9,-10.1,584,4406,0.00,1.80,0.00,0.000,4,0.000,0.047,2139,3753,3992
$GC,4510,-1.31,-121.7,541.4,-10.1,588,4516,0.00,1.62,0.00,0.000,6,0.000,0.026,2139,2607,3991
$GC,4826,-1.31,-121.7,570.8,-9.9,604,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2607,3990
$GC,5136,-1.31,-121.7,607.1,-11.4,619,5140,0.00,1.77,0.00,0.000,4,0.000,0.050,2137,3748,3988
$GC,5192,-1.31,-121.7,614.5,-12.7,621,5196,0.00,1.65,0.00,0.000,6,0.000,0.026,2137,2594,3987
$GC,5514,-1.31,-121.7,648.8,-10.8,637,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2594,3985
$GC,5824,-1.31,-121.7,684.6,-11.4,652,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2594,3982
$GC,6132,-1.31,-121.7,718.3,-9.7,667,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2594,3980
$GC,6443,-1.31,-121.7,750.4,-11.8,682,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2594,3977
$GC,6750,-1.31,-121.7,784.8,-9.1,697,6754,0.00,2.17,0.00,0.000,4,0.000,0.028,2137,1108,3974
$GC,6778,-1.31,-121.7,787.6,-10.4,698,6782,0.00,2.25,0.00,0.000,6,0.000,0.037,2137,2576,3975
$GC,7100,-1.31,-121.7,820.9,-10.1,714,7103,0.00,1.83,0.00,0.000,4,0.000,0.053,2137,3750,3972
$GC,7133,-1.31,-121.7,824.8,-11.0,715,7138,0.00,1.65,0.00,0.000,6,0.000,0.029,2137,2619,3972
$GC,7454,-1.31,-121.7,860.4,-11.5,731,7458,0.00,1.80,0.00,0.000,4,0.000,0.054,2137,3756,3970
$GC,7511,-1.31,-121.7,868.0,-13.9,733,7514,0.00,1.65,0.00,0.000,6,0.000,0.029,2137,2624,3969
$GC,7832,-1.31,-121.7,904.8,-10.4,749,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2624,3967
$GC,8142,-1.36,-121.7,932.6,-8.2,764,8145,0.00,1.77,0.00,0.000,4,0.000,0.054,2132,3744,3966
$GC,8204,-1.36,-121.7,938.1,-8.7,766,8211,0.00,1.62,0.00,0.000,6,0.000,0.030,2131,2635,3965
$GC,8520,-1.36,-121.7,963.6,-8.6,782,8524,0.00,1.80,0.00,0.000,4,0.000,0.053,2128,3750,3963
$GC,8571,-1.36,-121.7,968.1,-8.5,784,8575,0.00,1.60,0.00,0.000,6,0.000,0.030,2128,2652,3963
$STATE,8833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8834,begin apogee
$GC,8841,-0.22,0.0,990.9,9.2,797,8937,1.17,0.00,90.90,1.415,6,0.167,0.000,2466,2430,3532
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8940,1.25,121.7,993.1,0.0,802,9051,1.35,0.00,104.00,1.374,6,0.069,0.000,2942,2429,3035
$GC,9359,0.72,134.5,958.8,12.1,822,9377,0.62,0.00,11.50,1.226,6,0.207,0.000,2780,2429,2982
$GC,9686,0.70,185.2,926.6,9.4,838,9730,0.00,0.00,42.30,1.341,6,0.000,0.000,2780,2429,2776
$GC,10036,0.78,255.5,890.3,8.0,855,10099,0.00,2.33,58.42,1.323,4,0.000,0.032,2786,994,2489
$GC,10146,0.93,280.2,879.4,11.3,860,10175,0.17,2.22,22.12,1.256,6,0.076,0.036,2848,2396,2389
$GC,10500,0.85,282.4,829.9,12.9,877,10505,0.12,2.15,0.00,0.000,4,0.190,0.031,2828,986,2382
$GC,10532,0.85,282.4,825.1,13.1,878,10540,0.00,2.17,0.00,0.000,6,0.000,0.034,2828,2397,2382
$GC,10848,0.85,282.4,783.8,13.8,894,10852,0.00,2.12,0.00,0.000,4,0.000,0.032,2831,993,2380
$GC,10872,0.85,282.4,780.7,13.6,895,10875,0.00,2.12,0.00,0.000,6,0.000,0.035,2831,2379,2380
$GC,11205,0.85,282.4,735.0,13.3,911,11208,0.00,2.17,0.00,0.000,4,0.000,0.053,2831,3764,2379
$GC,11255,0.72,282.4,727.6,15.0,913,11259,0.20,2.03,0.00,0.000,6,0.196,0.025,2782,2387,2379
$GC,11577,0.92,323.0,694.4,10.1,929,11621,0.17,2.12,34.85,1.221,4,0.077,0.034,2855,1002,2214
$GC,11637,0.92,323.0,685.6,14.3,931,11643,0.00,2.20,0.00,0.000,6,0.000,0.035,2855,2403,2212
$GC,11954,0.92,323.0,640.6,14.2,947,11958,0.00,2.15,0.00,0.000,4,0.000,0.053,2855,3760,2208
$GC,11982,0.83,323.0,636.1,15.0,948,11987,0.20,2.00,0.00,0.000,6,0.189,0.025,2814,2412,2207
$GC,12309,0.95,326.5,594.2,12.8,964,12313,0.10,2.10,0.00,0.000,4,0.098,0.031,2858,995,2206
$GC,12370,0.95,326.5,585.7,13.2,966,12378,0.00,2.15,0.00,0.000,6,0.000,0.035,2858,2399,2206
$GC,12685,0.95,326.5,540.8,13.8,982,12689,0.00,2.12,0.00,0.000,4,0.000,0.051,2858,3754,2205
$GC,12713,0.88,326.5,536.8,14.7,983,12718,0.15,2.03,0.00,0.000,6,0.189,0.025,2831,2371,2205
$GC,13031,0.97,338.6,497.9,12.2,999,13053,0.00,2.25,13.18,1.031,4,0.000,0.050,2831,3754,2150
$GC,13115,0.97,339.8,486.2,13.0,1006,13122,0.00,1.98,0.00,0.000,6,0.000,0.026,2831,2426,2149
$GC,13445,1.14,370.0,448.1,10.9,1037,13484,0.20,2.22,28.98,0.973,4,0.074,0.032,2922,1001,2023
$GC,13530,1.05,370.0,434.8,15.4,1044,13535,0.15,2.20,0.00,0.000,6,0.179,0.036,2886,2416,2019
$GC,13861,1.05,370.0,390.4,13.6,1075,13865,0.00,2.12,0.00,0.000,4,0.000,0.031,2894,999,2017
$GC,13922,1.06,376.8,382.5,12.6,1080,13933,0.00,2.12,6.53,0.823,6,0.000,0.035,2894,2388,1994
$GC,14253,1.06,376.9,341.0,13.0,1111,14256,0.00,2.10,0.00,0.000,4,0.000,0.031,2901,994,1992
$GC,14354,1.11,376.9,327.8,13.2,1120,14358,0.00,2.12,0.00,0.000,6,0.000,0.034,2901,2387,1992
$GC,14683,1.20,406.0,291.5,11.0,1157,14713,0.00,2.22,25.17,0.878,4,0.000,0.049,2901,3760,1876
$GC,14748,1.20,409.6,284.0,12.8,1168,14760,0.00,2.10,4.45,0.619,6,0.000,0.025,2911,2359,1861
$GC,15100,1.29,415.9,239.2,12.6,1230,15114,0.15,2.05,6.47,0.697,4,0.081,0.031,2978,987,1835
$GC,15208,1.20,415.9,224.1,14.6,1248,15215,0.20,2.08,0.00,0.000,6,0.188,0.030,2929,2364,1835
$GC,15554,1.25,415.9,180.3,13.9,1309,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2364,1834
$GC,15897,1.38,447.5,137.7,10.8,1370,15928,0.17,0.00,27.42,0.724,6,0.069,0.000,3003,2364,1706
$GC,16270,1.33,449.6,89.0,12.9,1435,16276,0.00,2.05,0.00,0.000,4,0.000,0.030,3012,988,1702
$GC,16442,1.33,449.6,67.3,13.4,1465,16449,0.15,2.08,0.00,0.000,6,0.177,0.030,2976,2380,1702
$GC,16787,1.50,493.4,31.6,9.9,1526,16830,0.15,2.20,36.62,0.626,4,0.078,0.045,3031,3759,1519
$GC,16872,1.41,493.4,20.1,14.8,1540,16878,0.15,2.08,0.00,0.000,6,0.190,0.021,3006,2325,1516
$STATE,17006,end climb,SURFACE_DEPTH_REACHED
$STATE,17006,begin surface coast
$FINISH,1.7,1.009188
$STATE,17029,end surface coast,CONTROL_FINISHED_OK
$STATE,17029,begin surface
$SM_CCo,17109,0.00,0.000,0,0,1512,495.26
$SM_GC,2.53,7.50,0.00,0.00,0.041,0.000,0.000,142,2489,1512,-7.49,0.17,495.26
$IRIDIUM_FIX,2444.18,12421.58,161098,232348
$TT8_MAMPS,0.028379
$HUMID,1629
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.3,62.784
$10V_AH,10.7,34.884
$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,24.425,130.325,512.925,0.000,0.000,29.277,37.649,192.840,8.000,0.000,0.000,36.890,2741.932,10831.032,648.260,2661.730,641.678,0.000,2000.027,0.000,2578.277,0.000,54.444,0.000
$DEVICE_MAMPS,240.071,55.991,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.229,1087.310,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85245,1568
$CAP_FILE_SIZE,169213,0
$CFSIZE,260165632,196292608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107, 95.0,1
$GPS,230709,083100,2448.013,12424.902,37,1.6,38,-3.7