version: 66.04
glider: 167
mission: 2
dive: 430
start: 7 31 109 12 36 5
data:
$ID,167
$MISSION,2
$DIVE,430
$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,475
$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,-14193.219
$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,20.75
$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,48
$R_STBD_OVSHOOT,45
$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
$GPS1,122436,2446.811,12416.169,41,1.0,42,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-64.3
$GPS2,123544,2446.809,12416.096,14,1.3,14,-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,274.9,53422,-24.8,-13.043
$D_GRID,1077
$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,16,begin dive
$GC,19,-1.34,-121.7,0.0,0.0,0,66,0.00,0.00,-45.53,0.000,2,0.000,0.000,142,2466,2386
$GC,70,-1.34,-121.7,3.3,-2.6,8,136,8.12,2.00,-49.53,0.000,4,0.235,0.054,2100,3757,3988
$GC,391,-0.85,-121.7,63.2,-21.5,64,397,0.57,1.88,0.00,0.000,6,0.161,0.020,2263,2418,3990
$GC,736,-1.24,-121.7,96.6,-8.6,125,742,0.30,2.05,0.00,0.000,4,0.054,0.041,2124,3757,3991
$GC,777,-1.01,-121.7,101.9,-14.4,132,784,0.32,1.88,0.00,0.000,6,0.159,0.021,2216,2408,3990
$GC,1123,-1.31,-121.7,139.6,-10.1,193,1130,0.22,1.90,0.00,0.000,4,0.058,0.021,2115,1052,3991
$GC,1210,-1.10,-121.7,150.5,-12.7,208,1217,0.28,2.05,0.00,0.000,6,0.160,0.026,2186,2457,3991
$GC,1557,-1.34,-121.7,185.0,-11.4,269,1564,0.17,2.03,0.00,0.000,4,0.061,0.021,2107,1045,3992
$GC,1578,-1.44,-121.7,187.6,-12.3,272,1584,0.00,2.05,0.00,0.000,6,0.000,0.026,2098,2452,3992
$GC,1923,-1.25,-121.7,233.5,-12.9,333,1929,0.17,0.00,0.00,0.000,6,0.167,0.000,2149,2452,3992
$GC,2270,-1.36,-121.7,275.1,-12.8,394,2278,0.12,2.03,0.00,0.000,4,0.077,0.024,2095,1048,3992
$GC,2297,-1.31,-121.7,279.1,-13.9,398,2305,0.12,2.03,0.00,0.000,6,0.173,0.028,2124,2435,3992
$GC,2640,-1.31,-121.7,320.0,-10.2,443,2644,0.00,1.98,0.00,0.000,4,0.000,0.043,2123,3746,3992
$GC,2688,-1.18,-121.7,325.1,-10.6,447,2692,0.15,1.95,0.00,0.000,6,0.161,0.021,2162,2343,3993
$GC,3020,-1.37,-121.7,354.5,-9.4,478,3024,0.17,1.83,0.00,0.000,4,0.064,0.023,2081,1052,3992
$GC,3043,-1.37,-121.7,357.1,-11.0,480,3047,0.12,2.05,0.00,0.000,6,0.172,0.028,2105,2443,3992
$GC,3374,-1.31,-121.7,395.4,-11.4,511,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2444,3992
$GC,3695,-1.31,-121.7,426.8,-9.6,541,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2444,3992
$GC,4023,-1.31,-121.7,462.5,-12.0,572,4027,0.00,2.00,0.00,0.000,4,0.000,0.025,2105,1060,3990
$GC,4070,-1.25,-121.7,468.6,-12.8,576,4074,0.17,2.03,0.00,0.000,6,0.156,0.028,2145,2433,3990
$GC,4411,-1.45,-121.7,504.6,-9.7,606,4415,0.20,2.00,0.00,0.000,4,0.066,0.024,2058,1071,3988
$GC,4439,-1.35,-121.7,507.8,-11.3,607,4443,0.20,2.00,0.00,0.000,6,0.167,0.030,2111,2409,3988
$GC,4769,-1.46,-121.7,539.2,-9.3,623,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2409,3986
$GC,5077,-1.57,-121.7,568.4,-9.5,638,5081,0.17,1.98,0.00,0.000,4,0.071,0.025,2037,1063,3984
$GC,5150,-1.31,-121.7,577.2,-12.3,641,5155,0.32,2.00,0.00,0.000,6,0.173,0.030,2118,2400,3983
$GC,5475,-1.46,-121.7,607.5,-9.2,657,5479,0.12,1.95,0.00,0.000,4,0.080,0.024,2069,1062,3980
$GC,5503,-1.40,-121.7,610.7,-10.8,658,5507,0.12,1.95,0.00,0.000,6,0.179,0.029,2092,2375,3980
$GC,5833,-1.46,-121.7,644.7,-10.9,674,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2376,3978
$GC,6139,-1.53,-121.7,679.1,-11.0,689,6143,0.12,1.92,0.00,0.000,4,0.082,0.025,2046,1061,3975
$GC,6196,-1.33,-121.7,685.7,-11.9,691,6200,0.28,1.95,0.00,0.000,6,0.170,0.031,2115,2367,3975
$GC,6519,-1.46,-121.7,716.4,-9.4,707,6523,0.12,1.92,0.00,0.000,4,0.083,0.025,2067,1053,3973
$GC,6552,-1.35,-121.7,720.4,-11.8,708,6557,0.17,1.95,0.00,0.000,6,0.168,0.029,2105,2361,3972
$GC,6878,-1.48,-121.7,752.5,-9.9,724,6882,0.12,1.92,0.00,0.000,4,0.083,0.025,2057,1051,3970
$GC,6900,-1.48,-121.7,755.5,-11.1,725,6904,0.00,1.92,0.00,0.000,6,0.000,0.032,2057,2327,3970
$GC,7235,-1.33,-121.7,794.3,-11.6,741,7239,0.17,2.22,0.00,0.000,4,0.180,0.047,2099,3759,3967
$GC,7397,-1.23,-121.7,812.7,-10.3,748,7402,0.17,2.10,0.00,0.000,6,0.166,0.025,2144,2307,3966
$GC,7720,-1.49,-121.7,841.6,-8.9,764,7725,0.20,2.28,0.00,0.000,4,0.071,0.048,2058,3746,3965
$GC,7748,-1.38,-121.7,844.9,-11.8,765,7752,0.17,2.08,0.00,0.000,6,0.179,0.023,2101,2303,3964
$GC,8064,-1.38,-121.7,879.3,-10.3,780,8067,0.00,2.28,0.00,0.000,4,0.000,0.048,2098,3749,3962
$GC,8194,-1.28,-121.7,894.2,-11.2,785,8201,0.12,2.05,0.00,0.000,6,0.173,0.025,2127,2335,3962
$GC,8511,-1.47,-121.7,922.9,-8.9,801,8515,0.17,2.22,0.00,0.000,4,0.075,0.048,2057,3745,3960
$GC,8637,-1.22,-121.7,938.4,-12.7,806,8642,0.32,2.03,0.00,0.000,6,0.173,0.024,2145,2342,3959
$GC,8954,-1.49,-121.7,967.6,-9.2,821,8959,0.20,2.22,0.00,0.000,4,0.074,0.048,2057,3744,3958
$GC,9097,-1.26,-121.7,985.3,-12.9,827,9102,0.30,2.00,0.00,0.000,6,0.172,0.023,2138,2357,3956
$STATE,9142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9142,begin apogee
$GC,9149,-0.24,0.0,990.3,10.6,829,9250,1.08,0.00,92.70,1.381,6,0.148,0.000,2463,2357,3532
$STATE,9251,end apogee,CONTROL_FINISHED_OK
$STATE,9251,begin climb
$GC,9255,1.34,121.7,995.6,0.0,834,9366,1.42,2.22,103.95,1.367,4,0.063,0.028,2982,981,3035
$GC,9412,0.82,196.3,997.9,7.7,841,9482,0.68,2.22,62.78,1.342,6,0.214,0.034,2815,2399,2731
$GC,9804,0.78,243.3,961.3,9.7,860,9849,0.00,2.25,39.38,1.325,4,0.000,0.052,2815,3750,2540
$GC,9923,0.66,258.4,947.4,12.0,865,9944,0.25,2.08,13.93,1.226,6,0.189,0.025,2759,2369,2478
$GC,10268,0.92,322.3,917.5,8.5,882,10333,0.20,2.35,54.22,1.322,4,0.077,0.050,2841,3748,2216
$GC,10406,0.80,322.3,899.6,14.5,888,10410,0.20,1.98,0.00,0.000,6,0.188,0.025,2802,2430,2213
$GC,10741,0.92,333.3,860.4,12.3,904,10756,0.12,2.15,9.95,1.166,4,0.089,0.031,2855,1009,2173
$GC,10802,0.92,333.3,851.7,13.4,906,10809,0.00,2.22,0.00,0.000,6,0.000,0.034,2856,2451,2171
$GC,11117,0.92,333.3,804.9,15.7,922,11121,0.00,2.17,0.00,0.000,4,0.000,0.031,2864,1013,2169
$GC,11156,0.92,333.3,798.6,16.1,923,11162,0.00,2.17,0.00,0.000,6,0.000,0.033,2864,2436,2169
$GC,11474,0.87,333.3,750.8,14.6,939,11478,0.15,2.08,0.00,0.000,4,0.189,0.050,2827,3760,2168
$GC,11501,0.82,333.3,746.6,14.2,940,11505,0.00,1.92,0.00,0.000,6,0.000,0.025,2834,2441,2167
$GC,11828,0.84,352.6,707.3,11.7,956,11851,0.00,2.22,17.10,1.189,4,0.000,0.031,2843,1005,2094
$GC,11880,0.93,357.2,700.8,12.7,958,11891,0.00,2.22,5.50,0.937,6,0.000,0.033,2843,2447,2076
$GC,12202,1.00,362.6,659.6,12.7,973,12213,0.00,2.20,6.35,0.992,4,0.000,0.031,2849,1009,2052
$GC,12254,1.09,362.6,652.9,13.8,975,12258,0.12,2.17,0.00,0.000,6,0.088,0.033,2895,2427,2052
$GC,12570,1.01,362.6,608.8,13.5,990,12573,0.00,2.15,0.00,0.000,4,0.000,0.032,2902,1006,2050
$GC,12598,0.94,362.6,604.8,13.7,991,12603,0.20,2.12,0.00,0.000,6,0.183,0.032,2851,2406,2049
$GC,12923,1.03,378.5,567.3,11.9,1007,12944,0.00,2.15,14.32,1.088,4,0.000,0.051,2851,3758,1988
$GC,12978,1.03,378.5,559.2,13.9,1009,12982,0.00,1.98,0.00,0.000,6,0.000,0.026,2858,2423,1986
$GC,13301,1.15,389.0,518.0,12.3,1025,13316,0.15,2.12,10.02,1.009,4,0.083,0.031,2925,1012,1946
$GC,13375,1.07,393.8,508.5,12.7,1028,13386,0.15,2.15,6.00,0.879,6,0.183,0.033,2888,2415,1926
$GC,13706,1.08,400.7,468.3,12.6,1055,13718,0.00,2.17,7.38,0.915,4,0.000,0.050,2888,3761,1897
$GC,13776,1.03,400.7,458.2,14.2,1061,13780,0.00,1.98,0.00,0.000,6,0.000,0.026,2897,2423,1897
$GC,14107,1.04,407.2,415.1,12.6,1092,14120,0.00,2.17,7.35,0.880,4,0.000,0.051,2897,3749,1870
$GC,14200,0.97,407.8,402.6,13.0,1100,14204,0.20,1.88,0.00,0.000,6,0.185,0.026,2856,2458,1869
$GC,14531,1.35,436.9,367.2,11.0,1131,14564,0.30,2.10,26.00,0.954,4,0.065,0.048,2977,3764,1748
$GC,14611,1.09,436.9,355.0,16.6,1138,14615,0.35,2.03,0.00,0.000,6,0.192,0.024,2897,2388,1746
$GC,14941,1.40,479.6,316.5,10.0,1169,14986,0.25,2.25,35.60,0.907,4,0.071,0.048,2999,3751,1575
$GC,15033,1.17,479.6,303.5,15.9,1177,15037,0.32,1.98,0.00,0.000,6,0.191,0.025,2926,2440,1572
$GC,15375,1.47,493.8,262.9,12.0,1235,15393,0.22,2.15,12.45,0.808,4,0.064,0.047,3017,3757,1518
$GC,15441,1.21,493.8,252.6,17.4,1246,15449,0.35,1.88,0.00,0.000,6,0.183,0.022,2936,2462,1516
$GC,15789,1.51,505.4,208.2,12.2,1307,15807,0.22,2.05,11.00,0.754,4,0.065,0.047,3029,3758,1471
$GC,15864,1.27,505.4,196.0,16.0,1320,15871,0.30,1.98,0.00,0.000,6,0.186,0.022,2958,2414,1470
$GC,16212,1.53,516.8,149.5,12.2,1381,16232,0.20,2.12,11.05,0.706,4,0.073,0.028,3051,999,1424
$GC,16350,1.39,516.8,128.9,14.2,1404,16357,0.22,2.05,0.00,0.000,6,0.186,0.029,2994,2362,1423
$GC,16697,1.52,516.8,84.7,13.2,1465,16703,0.12,2.03,0.00,0.000,4,0.089,0.026,3049,996,1422
$GC,16801,1.46,526.2,69.4,12.4,1483,16819,0.12,1.92,9.43,0.625,6,0.184,0.029,3019,2297,1384
$GC,17162,1.62,562.1,25.5,10.5,1546,17199,0.15,1.95,29.85,0.633,4,0.078,0.028,3090,996,1239
$GC,17252,1.56,562.1,13.1,13.4,1561,17259,0.17,1.85,0.00,0.000,6,0.186,0.028,3045,2240,1237
$STATE,17331,end climb,SURFACE_DEPTH_REACHED
$STATE,17331,begin surface coast
$FINISH,1.7,1.015867
$STATE,17357,end surface coast,CONTROL_FINISHED_OK
$STATE,17357,begin surface
$SM_CCo,17437,0.00,0.000,0,0,1234,563.70
$SM_GC,2.65,7.65,0.00,0.00,0.043,0.000,0.000,140,2497,1234,-7.50,0.40,563.70
$IRIDIUM_FIX,2434.69,12410.35,251098,080850
$TT8_MAMPS,0.028379
$HUMID,1695
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.2,73.441
$10V_AH,10.7,39.804
$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,30.775,160.850,586.300,0.000,0.000,90.326,112.581,183.614,8.250,0.000,0.000,14.272,2868.677,10856.698,688.232,2805.607,872.093,0.000,2158.286,0.000,2739.826,0.000,58.559,0.000
$DEVICE_MAMPS,235.469,53.690,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.134,1089.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85218,1579
$CAP_FILE_SIZE,193166,0
$CFSIZE,260165632,191758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071, 99.2,1
$GPS,310709,172801,2446.911,12415.048,42,0.9,43,-3.7