version: 66.04
glider: 167
mission: 2
dive: 39
start: 5 28 109 2 11 2
data:
$ID,167
$MISSION,2
$DIVE,39
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4561.668
$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,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,33
$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
$GPS1,020425,2522.465,12324.341,40,1.7,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-64.5
$GPS2,021038,2522.462,12324.411,12,1.8,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,256.7,12526,-18.3,-12.000
$D_GRID,1455
$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,14,-1.05,-194.7,0.0,0.0,0,58,0.00,0.00,-41.42,0.000,2,0.000,0.000,145,2494,2707
$GC,61,-1.05,-194.7,3.4,-3.7,7,114,8.62,1.98,-37.75,0.000,4,0.260,0.061,2191,3768,3985
$GC,239,-0.12,-194.7,56.4,-37.9,38,246,1.12,1.95,-0.05,0.000,6,0.202,0.026,2500,2421,3992
$GC,585,-1.01,-194.7,90.2,-10.6,99,592,0.75,2.10,0.00,0.000,4,0.077,0.050,2218,3773,3993
$GC,627,-0.58,-194.7,96.4,-16.9,106,634,0.47,1.92,0.00,0.000,6,0.170,0.027,2356,2426,3993
$GC,971,-0.58,-194.7,142.4,-13.4,167,977,0.00,2.00,0.00,0.000,4,0.000,0.030,2357,1034,3994
$GC,1052,-0.66,-194.7,153.5,-13.6,181,1058,0.00,2.08,0.00,0.000,6,0.000,0.035,2351,2431,3994
$GC,1397,-0.74,-194.7,199.5,-8.9,242,1404,0.12,2.03,0.00,0.000,4,0.075,0.048,2288,3765,3995
$GC,1445,-0.62,-194.7,205.1,-12.1,250,1451,0.17,1.92,0.00,0.000,6,0.150,0.026,2338,2413,3996
$GC,1789,-0.70,-194.7,231.9,-9.3,311,1795,0.00,1.98,0.00,0.000,4,0.000,0.030,2338,1032,3996
$GC,1848,-0.84,-194.7,238.0,-10.6,321,1854,0.15,2.08,0.00,0.000,6,0.071,0.035,2267,2436,3997
$GC,2192,-0.65,-194.7,293.9,-14.5,382,2198,0.20,2.03,0.00,0.000,4,0.169,0.029,2329,1041,3996
$GC,2239,-0.76,-194.7,299.1,-9.2,390,2245,0.00,2.05,0.00,0.000,6,0.000,0.035,2329,2424,3996
$GC,2572,-0.93,-194.7,323.2,-9.0,422,2576,0.20,2.00,0.00,0.000,4,0.066,0.030,2234,1056,3996
$GC,2606,-0.77,-194.7,327.8,-14.6,425,2611,0.22,2.05,0.00,0.000,6,0.164,0.036,2297,2429,3996
$GC,2931,-0.82,-194.7,370.6,-12.0,455,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2429,3997
$GC,3252,-0.90,-194.7,403.1,-9.2,485,3256,0.12,2.03,0.00,0.000,4,0.081,0.031,2244,1048,3996
$GC,3291,-0.81,-194.7,408.0,-12.5,488,3299,0.15,2.08,0.00,0.000,6,0.164,0.037,2285,2432,3996
$GC,3616,-0.86,-194.7,443.6,-10.3,519,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2432,3996
$GC,3938,-0.94,-194.7,473.3,-7.8,549,3944,0.12,0.00,0.00,0.000,6,0.083,0.000,2232,2433,3995
$GC,4264,-0.83,-194.7,507.5,-10.6,577,4268,0.15,2.03,0.00,0.000,4,0.171,0.054,2271,3758,3994
$GC,4302,-0.91,-194.7,511.8,-9.2,578,4308,0.00,1.92,0.00,0.000,6,0.000,0.031,2271,2424,3994
$GC,4618,-1.00,-194.7,542.2,-10.3,594,4622,0.15,2.03,0.00,0.000,4,0.076,0.033,2210,1034,3993
$GC,4691,-0.85,-194.7,551.6,-13.5,597,4695,0.22,2.10,0.00,0.000,6,0.165,0.039,2271,2428,3992
$GC,5014,-0.94,-194.7,584.2,-9.5,613,5018,0.00,2.05,0.00,0.000,4,0.000,0.057,2271,3761,3991
$GC,5174,-1.04,-194.7,597.4,-7.5,620,5178,0.17,1.95,0.00,0.000,6,0.074,0.032,2202,2426,3990
$GC,5507,-0.88,-194.7,631.5,-10.6,636,5512,0.20,2.05,0.00,0.000,4,0.167,0.035,2262,1030,3987
$GC,5563,-0.97,-194.7,636.6,-8.0,638,5567,0.00,2.12,0.00,0.000,6,0.000,0.040,2261,2432,3987
$GC,5885,-1.03,-194.7,663.3,-9.0,654,5889,0.15,2.08,0.00,0.000,4,0.082,0.034,2200,1036,3984
$GC,6015,-0.90,-194.7,680.0,-14.0,659,6022,0.22,2.10,0.00,0.000,6,0.172,0.040,2256,2422,3983
$GC,6330,-0.95,-194.7,717.2,-12.2,675,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2422,3981
$GC,6640,-1.02,-194.7,752.8,-11.4,690,6644,0.12,2.08,0.00,0.000,4,0.088,0.058,2207,3757,3979
$GC,6672,-0.89,-194.7,757.5,-14.4,691,6677,0.17,1.95,0.00,0.000,6,0.174,0.035,2254,2433,3978
$GC,6996,-0.96,-194.7,790.3,-9.8,707,6999,0.00,2.08,0.00,0.000,4,0.000,0.037,2254,1020,3976
$GC,7052,-1.05,-194.7,796.3,-10.2,709,7056,0.15,2.12,0.00,0.000,6,0.083,0.042,2197,2430,3976
$GC,7373,-0.92,-194.7,836.9,-12.4,725,7375,0.20,0.00,0.00,0.000,6,0.183,0.000,2249,2431,3973
$GC,7682,-0.97,-194.7,865.4,-9.1,740,7686,0.00,2.08,0.00,0.000,4,0.000,0.038,2250,1027,3972
$GC,7732,-1.06,-194.7,870.8,-11.2,742,7736,0.15,2.10,0.00,0.000,6,0.085,0.042,2193,2416,3972
$GC,8060,-0.93,-194.7,911.5,-12.6,758,8062,0.20,0.00,0.00,0.000,6,0.186,0.000,2246,2417,3970
$GC,8368,-0.97,-194.7,938.6,-8.4,773,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2417,3969
$GC,8677,-1.03,-194.7,961.5,-6.8,788,8680,0.00,2.08,0.00,0.000,4,0.000,0.038,2246,1026,3967
$GC,8733,-1.12,-194.7,965.7,-8.2,790,8738,0.17,2.12,0.00,0.000,6,0.084,0.043,2181,2425,3967
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8970,-0.22,0.0,990.5,11.3,801,9066,0.95,0.00,87.80,1.454,6,0.173,0.000,2467,2511,3532
$STATE,9066,end apogee,CONTROL_FINISHED_OK
$STATE,9067,begin climb
$GC,9069,1.05,194.7,992.5,0.0,806,9237,1.17,2.30,160.38,1.410,4,0.058,0.038,2898,1099,2737
$GC,9304,0.47,194.7,970.6,21.5,817,9309,0.77,2.28,0.00,0.000,6,0.208,0.042,2699,2509,2733
$GC,9625,0.43,217.1,932.0,11.1,833,9649,0.00,2.10,19.02,1.312,4,0.000,0.059,2699,3763,2646
$GC,9705,0.31,217.1,921.9,13.7,836,9710,0.15,1.95,0.00,0.000,6,0.169,0.034,2649,2509,2643
$GC,10027,0.53,288.3,892.1,9.1,852,10092,0.20,2.17,58.78,1.356,4,0.081,0.061,2726,3754,2355
$GC,10167,0.44,288.3,872.4,16.2,858,10171,0.17,1.92,0.00,0.000,6,0.187,0.035,2690,2515,2350
$GC,10494,0.55,289.4,832.9,12.0,874,10498,0.00,2.00,0.00,0.000,4,0.000,0.061,2690,3754,2346
$GC,10521,0.55,289.4,829.1,13.4,875,10525,0.00,1.88,0.00,0.000,6,0.000,0.035,2693,2518,2346
$GC,10848,0.64,289.4,789.4,12.2,891,10852,0.17,2.00,0.00,0.000,4,0.081,0.060,2766,3764,2344
$GC,10920,0.41,289.4,776.9,19.1,894,10924,0.32,1.85,0.00,0.000,6,0.187,0.036,2685,2533,2344
$GC,11247,0.56,308.8,739.1,11.2,910,11270,0.12,2.05,16.35,1.242,4,0.094,0.060,2731,3759,2272
$GC,11378,0.47,308.8,719.3,15.5,915,11385,0.08,1.85,0.00,0.000,6,0.189,0.036,2701,2561,2268
$GC,11694,0.59,314.3,681.4,11.8,931,11705,0.10,2.22,5.55,0.993,4,0.101,0.040,2746,1096,2249
$GC,11766,0.59,314.3,671.7,13.7,934,11770,0.00,2.28,0.00,0.000,6,0.000,0.044,2746,2552,2249
$GC,12081,0.59,314.3,625.1,14.8,949,12085,0.00,1.90,0.00,0.000,4,0.000,0.061,2746,3772,2248
$GC,12268,0.47,314.3,595.2,15.8,957,12272,0.20,1.80,0.00,0.000,6,0.187,0.035,2700,2564,2247
$GC,12594,0.61,317.6,558.2,11.9,973,12604,0.12,1.95,3.95,0.788,4,0.092,0.061,2745,3761,2237
$GC,12649,0.52,317.6,549.1,17.6,975,12653,0.15,1.77,0.00,0.000,6,0.189,0.038,2714,2576,2236
$GC,12970,0.62,317.6,505.6,13.0,991,12973,0.00,2.20,0.00,0.000,4,0.000,0.041,2719,1108,2236
$GC,13027,0.80,317.6,498.5,12.6,994,13032,0.22,2.25,0.00,0.000,6,0.074,0.043,2807,2573,2235
$GC,13357,0.60,317.6,441.2,16.7,1025,13361,0.22,1.85,0.00,0.000,4,0.187,0.058,2741,3764,2235
$GC,13406,0.60,317.6,433.3,14.5,1029,13413,0.00,1.83,0.00,0.000,6,0.000,0.036,2746,2561,2235
$GC,13732,0.60,317.6,389.9,13.1,1060,13736,0.00,1.90,0.00,0.000,4,0.000,0.059,2746,3762,2234
$GC,13879,0.55,317.6,368.0,14.4,1073,13883,0.12,1.75,0.00,0.000,6,0.191,0.035,2723,2570,2234
$GC,14209,0.76,370.8,333.7,9.8,1104,14257,0.20,2.25,42.45,0.972,4,0.073,0.038,2806,1095,2018
$GC,14274,0.71,370.8,324.1,15.2,1109,14282,0.12,2.35,0.00,0.000,6,0.178,0.040,2777,2587,2015
$GC,14608,0.71,370.8,273.0,15.1,1155,14613,0.00,1.85,0.00,0.000,4,0.000,0.060,2777,3758,2011
$GC,14631,0.71,370.8,269.2,17.2,1159,14637,0.00,1.75,0.00,0.000,6,0.000,0.033,2781,2578,2011
$GC,14975,0.73,391.1,223.6,11.2,1220,14998,0.00,2.25,16.12,0.829,4,0.000,0.036,2789,1108,1936
$GC,15039,0.84,400.2,216.1,11.6,1231,15057,0.00,2.30,8.93,0.759,6,0.000,0.039,2789,2595,1899
$GC,15397,0.92,400.2,162.4,12.6,1294,15402,0.15,0.00,0.00,0.000,6,0.077,0.000,2851,2595,1896
$GC,15740,0.87,400.2,111.8,17.4,1355,15746,0.00,2.25,0.00,0.000,4,0.000,0.035,2857,1090,1896
$GC,15781,0.87,400.2,105.2,16.0,1362,15787,0.12,2.30,0.00,0.000,6,0.173,0.037,2827,2606,1896
$GC,16126,1.06,441.8,60.4,10.3,1423,16168,0.17,1.85,32.45,0.686,4,0.071,0.055,2905,3761,1729
$GC,16292,0.89,441.8,33.1,18.7,1452,16298,0.28,1.70,0.00,0.000,6,0.176,0.030,2837,2593,1727
$STATE,16555,end climb,SURFACE_DEPTH_REACHED
$STATE,16555,begin surface coast
$FINISH,1.6,0.999591
$STATE,16584,end surface coast,CONTROL_FINISHED_OK
$STATE,16585,begin surface
$SM_CCo,16662,0.00,0.000,0,0,1723,443.75
$SM_GC,2.52,7.15,0.00,0.00,0.054,0.000,0.000,143,2406,1723,-7.50,-0.57,443.75
$IRIDIUM_FIX,2515.12,12325.53,210898,212148
$TT8_MAMPS,0.028379
$HUMID,1527
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,10.843
$10V_AH,10.8,7.312
$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,28.375,138.500,451.775,0.000,0.000,30.944,34.703,183.108,8.000,0.000,0.000,12.328,2701.440,10554.001,588.202,2644.759,540.849,0.000,1935.223,0.000,2586.270,0.000,54.423,0.000
$DEVICE_MAMPS,260.013,92.040,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.569,1022.028,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78877,1504
$CAP_FILE_SIZE,174194,0
$CFSIZE,260165632,221839360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305, 87.9,1
$GPS,280509,065000,2521.700,12324.682,37,1.2,43,-3.7