version: 66.04
glider: 167
mission: 2
dive: 422
start: 7 30 109 0 49 26
data:
$ID,167
$MISSION,2
$DIVE,422
$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,770.97791
$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,-14038.266
$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,65
$R_STBD_OVSHOOT,52
$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
$GPS1,003306,2448.135,12422.403,37,1.4,43,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-69.0
$GPS2,004906,2448.358,12422.455,15,1.5,31,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,258.2,64485,-24.8,-13.043
$D_GRID,956
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-34.10,0.000,2,0.000,0.000,140,2504,2275
$GC,55,-1.25,-121.7,3.1,-1.6,6,125,8.20,2.17,-55.90,0.000,4,0.232,0.038,2134,1065,3989
$GC,231,-0.96,-121.7,25.8,-17.4,35,238,0.38,2.10,0.00,0.000,6,0.159,0.027,2231,2485,3990
$GC,578,-1.22,-121.7,68.8,-11.9,96,584,0.20,2.05,0.00,0.000,4,0.061,0.023,2142,1070,3990
$GC,598,-1.35,-121.7,71.6,-12.7,99,604,0.00,2.10,0.00,0.000,6,0.000,0.037,2137,2480,3991
$GC,942,-1.18,-121.7,122.7,-14.0,160,948,0.00,1.92,0.00,0.000,4,0.000,0.041,2128,3767,3991
$GC,972,-0.95,-121.7,127.4,-15.4,165,978,0.38,1.85,0.00,0.000,6,0.156,0.020,2235,2429,3991
$GC,1319,-1.32,-121.7,165.2,-10.0,226,1327,0.30,1.92,0.00,0.000,4,0.053,0.023,2107,1067,3993
$GC,1412,-1.10,-121.7,177.8,-13.7,242,1420,0.32,2.05,0.00,0.000,6,0.156,0.027,2189,2470,3993
$GC,1760,-1.36,-121.7,215.9,-10.9,303,1766,0.20,2.03,0.00,0.000,4,0.061,0.022,2098,1063,3993
$GC,1878,-1.15,-121.7,230.8,-12.6,323,1885,0.28,2.03,0.00,0.000,6,0.160,0.028,2173,2441,3993
$GC,2223,-1.38,-121.7,266.3,-10.5,384,2230,0.17,2.00,0.00,0.000,4,0.064,0.042,2086,3766,3993
$GC,2276,-1.08,-121.7,273.5,-14.6,393,2282,0.38,1.90,0.00,0.000,6,0.160,0.021,2191,2395,3993
$GC,2623,-1.36,-121.7,306.5,-8.2,448,2625,0.25,0.00,0.00,0.000,6,0.058,0.000,2091,2395,3993
$GC,2945,-1.23,-121.7,342.8,-12.6,478,2950,0.20,2.10,0.00,0.000,4,0.163,0.041,2141,3763,3994
$GC,3100,-1.23,-121.7,362.0,-12.2,491,3103,0.00,1.92,0.00,0.000,6,0.000,0.022,2141,2411,3993
$GC,3434,-1.40,-121.7,396.4,-10.8,522,3438,0.12,2.08,0.00,0.000,4,0.077,0.044,2085,3764,3993
$GC,3468,-1.24,-121.7,401.1,-12.9,525,3473,0.15,1.90,0.00,0.000,6,0.156,0.022,2140,2439,3993
$GC,3799,-1.41,-121.7,437.9,-10.2,556,3804,0.15,1.90,0.00,0.000,4,0.071,0.024,2077,1095,3992
$GC,3835,-1.27,-121.7,441.9,-11.6,559,3840,0.22,2.03,0.00,0.000,6,0.163,0.030,2132,2456,3992
$GC,4161,-1.41,-121.7,472.8,-9.1,589,4165,0.12,2.00,0.00,0.000,4,0.081,0.045,2080,3765,3990
$GC,4230,-1.19,-121.7,480.8,-12.5,595,4234,0.30,1.88,0.00,0.000,6,0.164,0.023,2162,2442,3990
$GC,4559,-1.46,-121.7,515.6,-10.2,619,4563,0.22,1.92,0.00,0.000,4,0.062,0.025,2065,1095,3989
$GC,4587,-1.39,-121.7,519.2,-12.1,620,4591,0.15,2.03,0.00,0.000,6,0.173,0.031,2095,2458,3989
$GC,4915,-1.39,-121.7,552.9,-9.5,636,4918,0.00,1.98,0.00,0.000,4,0.000,0.048,2095,3757,3986
$GC,4993,-1.24,-121.7,561.6,-10.9,639,4998,0.17,1.85,0.00,0.000,6,0.165,0.023,2142,2456,3985
$GC,5319,-1.48,-121.7,590.3,-8.8,655,5324,0.17,1.95,0.00,0.000,4,0.071,0.025,2065,1104,3983
$GC,5376,-1.31,-121.7,596.8,-11.2,657,5381,0.22,2.03,0.00,0.000,6,0.166,0.031,2118,2453,3982
$GC,5703,-1.41,-121.7,626.6,-9.5,673,5706,0.00,2.00,0.00,0.000,4,0.000,0.047,2111,3761,3980
$GC,5726,-1.41,-121.7,630.0,-11.7,674,5730,0.00,1.90,0.00,0.000,6,0.000,0.024,2111,2452,3979
$GC,6060,-1.54,-121.7,667.6,-10.7,690,6064,0.17,1.95,0.00,0.000,4,0.074,0.025,2038,1101,3977
$GC,6146,-1.30,-121.7,679.5,-14.4,693,6153,0.35,2.03,0.00,0.000,6,0.180,0.031,2125,2450,3976
$GC,6463,-1.49,-121.7,711.4,-9.6,709,6465,0.17,0.00,0.00,0.000,6,0.074,0.000,2059,2452,3974
$GC,6773,-1.40,-121.7,747.0,-11.9,724,6775,0.12,0.00,0.00,0.000,6,0.186,0.000,2088,2452,3971
$GC,7081,-1.40,-121.7,782.7,-11.1,739,7085,0.00,2.03,0.00,0.000,4,0.000,0.050,2084,3755,3969
$GC,7196,-1.26,-121.7,796.9,-13.2,744,7200,0.20,1.92,0.00,0.000,6,0.171,0.025,2136,2425,3968
$GC,7531,-1.47,-121.7,830.6,-9.8,760,7533,0.20,0.00,0.00,0.000,6,0.069,0.000,2060,2424,3966
$GC,7840,-1.32,-121.7,868.5,-12.4,775,7844,0.17,2.12,0.00,0.000,4,0.184,0.048,2101,3765,3964
$GC,7907,-1.22,-121.7,877.2,-12.7,778,7911,0.20,1.92,0.00,0.000,6,0.171,0.025,2153,2440,3964
$GC,8237,-1.52,-121.7,907.0,-9.0,794,8241,0.25,1.98,0.00,0.000,4,0.067,0.026,2053,1097,3962
$GC,8315,-1.34,-121.7,917.3,-13.9,797,8319,0.25,2.03,0.00,0.000,6,0.176,0.035,2113,2420,3962
$GC,8631,-1.39,-121.7,949.9,-10.7,812,8636,0.00,2.10,0.00,0.000,4,0.000,0.051,2111,3761,3960
$STATE,8684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8684,begin apogee
$GC,8694,-0.22,0.0,956.6,12.0,814,8788,1.20,0.00,90.32,1.371,6,0.165,0.000,2463,2383,3532
$STATE,8788,end apogee,CONTROL_FINISHED_OK
$STATE,8789,begin climb
$GC,8791,1.25,121.7,963.1,0.0,819,8902,1.35,2.35,103.32,1.333,4,0.066,0.048,2944,3760,3035
$GC,8976,0.63,188.3,963.8,8.3,827,9037,0.80,2.03,55.60,1.309,6,0.213,0.025,2750,2412,2763
$GC,9355,0.78,240.8,931.4,9.3,846,9407,0.15,2.28,43.90,1.299,4,0.083,0.050,2806,3754,2550
$GC,9494,0.66,259.7,916.1,11.7,852,9516,0.22,2.00,16.75,1.223,6,0.183,0.025,2758,2411,2473
$GC,9841,0.90,316.5,885.6,9.0,869,9897,0.22,0.00,48.75,1.289,6,0.077,0.000,2842,2410,2241
$GC,10206,0.90,316.5,837.4,13.5,887,10210,0.00,2.15,0.00,0.000,4,0.000,0.050,2842,3755,2233
$GC,10262,0.76,316.5,828.6,16.0,889,10267,0.20,1.95,0.00,0.000,6,0.189,0.025,2797,2430,2232
$GC,10586,0.88,319.6,788.4,12.8,905,10589,0.00,2.12,0.00,0.000,4,0.000,0.031,2802,1002,2230
$GC,10609,1.02,319.6,785.1,13.3,906,10614,0.20,2.22,0.00,0.000,6,0.071,0.033,2879,2456,2231
$GC,10937,0.90,319.6,736.4,14.6,922,10941,0.17,2.17,0.00,0.000,4,0.187,0.029,2837,1012,2229
$GC,10976,0.90,319.6,730.8,13.2,924,10980,0.00,2.15,0.00,0.000,6,0.000,0.033,2837,2424,2229
$GC,11309,0.90,321.8,687.8,12.9,940,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2424,2229
$GC,11620,0.94,355.4,651.7,10.6,955,11661,0.00,2.25,31.95,1.176,4,0.000,0.032,2843,1010,2081
$GC,11712,1.06,368.7,640.1,12.1,959,11729,0.12,2.17,12.52,1.083,6,0.084,0.034,2888,2413,2028
$GC,12039,1.01,368.7,596.6,13.4,975,12043,0.00,2.12,0.00,0.000,4,0.000,0.050,2888,3764,2022
$GC,12067,0.90,368.7,592.1,15.0,976,12072,0.22,2.00,0.00,0.000,6,0.183,0.025,2840,2415,2021
$GC,12392,1.15,381.7,554.3,12.1,992,12408,0.17,2.12,11.25,1.035,4,0.077,0.029,2923,996,1975
$GC,12437,1.05,381.7,546.8,16.2,993,12442,0.15,2.15,0.00,0.000,6,0.184,0.034,2887,2398,1973
$GC,12758,1.07,393.9,502.5,12.2,1009,12774,0.00,2.15,11.68,1.006,4,0.000,0.050,2887,3755,1925
$GC,12792,1.08,399.9,498.0,12.6,1009,12804,0.00,2.03,7.05,0.896,6,0.000,0.025,2894,2401,1900
$GC,13122,1.08,399.9,456.8,13.3,1040,13126,0.00,2.10,0.00,0.000,4,0.000,0.031,2905,995,1897
$GC,13196,1.08,399.9,446.7,14.0,1046,13204,0.00,2.12,0.00,0.000,6,0.000,0.034,2905,2385,1897
$GC,13523,1.08,399.9,399.8,13.7,1077,13527,0.00,2.15,0.00,0.000,4,0.000,0.051,2905,3764,1896
$GC,13558,1.00,399.9,394.3,15.4,1080,13563,0.17,2.05,0.00,0.000,6,0.183,0.025,2869,2373,1895
$GC,13884,1.29,430.5,357.4,10.8,1110,13918,0.22,2.25,26.15,0.937,4,0.071,0.048,2965,3754,1774
$GC,13981,1.07,430.5,343.0,15.9,1118,13989,0.32,1.95,0.00,0.000,6,0.186,0.023,2890,2419,1772
$GC,14307,1.37,455.2,304.9,11.3,1149,14334,0.22,2.15,21.50,0.878,4,0.070,0.031,2993,1018,1676
$GC,14435,1.22,455.2,286.8,14.7,1167,14442,0.22,2.20,0.00,0.000,6,0.189,0.033,2938,2448,1672
$GC,14781,1.28,461.6,239.4,12.6,1228,14793,0.00,2.15,6.07,0.692,4,0.000,0.028,2946,1020,1650
$GC,14922,1.34,461.6,221.0,13.7,1252,14928,0.00,2.08,0.00,0.000,6,0.000,0.031,2945,2391,1648
$GC,15268,1.42,470.3,175.7,12.4,1313,15282,0.15,2.12,8.62,0.703,4,0.076,0.028,3012,1005,1613
$GC,15363,1.27,470.3,162.5,13.9,1329,15370,0.22,2.05,0.00,0.000,6,0.178,0.031,2955,2368,1612
$GC,15711,1.47,478.2,121.0,12.5,1390,15725,0.17,2.03,8.05,0.647,4,0.066,0.026,3035,1010,1581
$GC,15783,1.36,478.2,110.5,14.0,1402,15790,0.20,2.00,0.00,0.000,6,0.179,0.029,2984,2350,1581
$GC,16132,1.50,509.7,70.8,10.8,1463,16167,0.12,2.03,26.75,0.667,4,0.087,0.027,3038,1015,1453
$GC,16251,1.51,517.5,55.8,12.5,1483,16263,0.00,1.92,7.93,0.575,6,0.000,0.028,3038,2305,1421
$GC,16602,1.51,517.5,11.8,13.7,1545,16608,0.00,1.90,0.00,0.000,4,0.000,0.027,3045,1012,1419
$GC,16654,1.52,523.9,5.1,12.6,1554,16668,0.00,1.83,6.12,0.503,6,0.000,0.026,3045,2252,1395
$STATE,16671,end climb,SURFACE_DEPTH_REACHED
$STATE,16671,begin surface coast
$FINISH,1.7,0.998984
$STATE,16701,end surface coast,CONTROL_FINISHED_OK
$STATE,16701,begin surface
$SM_CCo,16721,188.88,0.598,0,0,388,770.98
$SM_GC,2.53,0.00,0.00,188.88,0.000,0.000,0.598,139,2494,388,-7.52,0.31,770.98
$IRIDIUM_FIX,2437.06,12423.54,241098,000008
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,22.7,71.821
$10V_AH,10.7,39.048
$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,30.475,151.500,544.300,188.875,0.000,141.680,392.761,0.000,8.000,0.000,0.000,31.137,2800.613,10491.117,846.412,2727.314,989.700,0.000,2247.085,0.000,2640.618,0.000,52.777,0.000
$DEVICE_MAMPS,231.634,51.389,1370.629,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.961,1083.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85240,1562
$CAP_FILE_SIZE,182715,0
$CFSIZE,260165632,192425984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 60.0,1
$GPS,300709,053237,2448.335,12421.336,40,1.4,41,-3.7