version: 66.04
glider: 167
mission: 2
dive: 42
start: 5 28 109 16 23 38
data:
$ID,167
$MISSION,2
$DIVE,42
$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,-4607.2168
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,161659,2521.677,12324.036,37,1.7,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-66.2
$GPS2,162314,2521.692,12324.049,16,1.3,16,-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,244.7,11022,-18.3,-12.000
$D_GRID,1514
$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,-194.7,0.0,0.0,0,51,0.00,0.00,-34.45,0.000,2,0.000,0.000,146,2421,2614
$GC,54,-1.05,-194.7,3.1,-2.5,6,114,8.62,2.15,-41.38,0.000,4,0.260,0.061,2192,3771,3989
$GC,255,-0.01,-194.7,69.8,-43.7,41,262,1.27,1.98,0.00,0.000,6,0.214,0.027,2537,2396,3990
$GC,600,-0.89,-194.7,107.7,-10.6,102,607,0.77,2.12,0.00,0.000,4,0.095,0.048,2260,3773,3991
$GC,683,-0.48,-194.7,120.8,-22.5,116,691,0.43,1.92,0.00,0.000,6,0.161,0.026,2386,2419,3991
$GC,1030,-0.68,-194.7,163.2,-9.1,177,1036,0.17,1.98,0.00,0.000,4,0.067,0.028,2304,1043,3992
$GC,1071,-0.60,-194.7,168.3,-13.7,184,1079,0.17,2.10,0.00,0.000,6,0.160,0.035,2351,2453,3993
$GC,1418,-0.75,-194.7,201.4,-8.8,245,1424,0.15,2.00,0.00,0.000,4,0.071,0.050,2286,3771,3993
$GC,1443,-0.75,-194.7,204.2,-11.1,249,1449,0.00,1.90,0.00,0.000,6,0.000,0.027,2286,2428,3993
$GC,1786,-0.66,-194.7,250.9,-14.3,310,1793,0.15,1.98,0.00,0.000,4,0.163,0.029,2327,1048,3994
$GC,1828,-0.78,-194.7,256.1,-12.0,317,1834,0.00,2.08,0.00,0.000,6,0.000,0.035,2328,2448,3994
$GC,2172,-0.90,-194.7,293.8,-10.3,378,2178,0.17,2.05,0.00,0.000,4,0.068,0.030,2246,1040,3994
$GC,2246,-0.73,-194.7,304.6,-14.6,388,2254,0.22,2.08,0.00,0.000,6,0.163,0.036,2311,2436,3994
$GC,2571,-0.83,-194.7,337.1,-8.8,419,2575,0.00,2.03,0.00,0.000,4,0.000,0.031,2311,1044,3994
$GC,2633,-0.96,-194.7,342.7,-8.9,424,2641,0.20,2.05,0.00,0.000,6,0.066,0.035,2228,2429,3994
$GC,2959,-0.78,-194.7,387.2,-13.1,455,2961,0.22,0.00,0.00,0.000,6,0.172,0.000,2291,2429,3994
$GC,3278,-0.86,-194.7,415.8,-8.0,485,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2429,3994
$GC,3595,-0.96,-194.7,438.2,-6.8,515,3599,0.17,2.03,0.00,0.000,4,0.074,0.032,2220,1050,3993
$GC,3664,-0.80,-194.7,445.4,-12.2,521,3669,0.22,2.05,0.00,0.000,6,0.168,0.038,2281,2414,3993
$GC,3989,-0.88,-194.7,473.7,-8.6,551,3993,0.00,2.00,0.00,0.000,4,0.000,0.032,2281,1045,3993
$GC,4073,-1.00,-194.7,481.5,-8.8,558,4080,0.17,2.03,0.00,0.000,6,0.077,0.038,2209,2406,3992
$GC,4396,-0.82,-194.7,522.3,-12.8,581,4400,0.20,2.00,0.00,0.000,4,0.179,0.032,2269,1052,3991
$GC,4441,-0.89,-194.7,527.8,-10.4,583,4445,0.00,2.00,0.00,0.000,6,0.000,0.037,2266,2383,3991
$GC,4773,-0.89,-194.7,562.2,-11.5,599,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2384,3989
$GC,5083,-0.95,-194.7,593.8,-9.6,614,5087,0.00,2.12,0.00,0.000,4,0.000,0.057,2261,3763,3986
$GC,5167,-1.01,-194.7,601.1,-8.6,617,5174,0.12,2.00,0.00,0.000,6,0.087,0.032,2211,2382,3985
$GC,5484,-0.88,-194.7,637.7,-11.4,633,5488,0.17,1.95,0.00,0.000,4,0.171,0.035,2264,1043,3983
$GC,5553,-0.97,-194.7,644.1,-8.8,636,5557,0.00,2.03,0.00,0.000,6,0.000,0.039,2261,2387,3983
$GC,5886,-1.05,-194.7,675.0,-9.2,652,5888,0.15,0.00,0.00,0.000,6,0.084,0.000,2202,2388,3981
$GC,6195,-0.90,-194.7,716.3,-13.7,667,6199,0.17,2.12,0.00,0.000,4,0.179,0.056,2246,3760,3979
$GC,6250,-0.90,-194.7,722.9,-11.6,669,6256,0.00,2.00,0.00,0.000,6,0.000,0.035,2246,2397,3978
$GC,6566,-0.90,-194.7,754.9,-9.5,685,6570,0.00,2.00,0.00,0.000,4,0.000,0.036,2246,1027,3976
$GC,6657,-0.95,-194.7,763.6,-9.5,689,6661,0.00,2.05,0.00,0.000,6,0.000,0.041,2246,2388,3976
$GC,6990,-0.95,-194.7,793.7,-9.0,705,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2388,3974
$GC,7299,-0.95,-194.7,820.5,-8.5,720,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2388,3972
$GC,7608,-1.00,-194.7,845.1,-7.6,735,7612,0.00,2.03,0.00,0.000,4,0.000,0.037,2246,1025,3971
$GC,7648,-1.06,-194.7,848.2,-7.8,736,7655,0.12,2.08,0.00,0.000,6,0.089,0.042,2198,2397,3970
$GC,7965,-0.93,-194.7,877.6,-9.1,752,7970,0.17,2.12,0.00,0.000,4,0.186,0.059,2235,3758,3968
$GC,8010,-0.93,-194.7,881.6,-8.2,754,8014,0.00,2.03,0.00,0.000,6,0.000,0.035,2234,2387,3968
$GC,8337,-0.93,-194.7,907.5,-9.1,770,8340,0.00,2.15,0.00,0.000,4,0.000,0.060,2234,3751,3967
$GC,8386,-0.93,-194.7,912.1,-9.1,772,8390,0.00,2.00,0.00,0.000,6,0.000,0.035,2234,2396,3966
$GC,8714,-0.93,-194.7,943.1,-9.7,788,8717,0.00,2.00,0.00,0.000,4,0.000,0.038,2234,1025,3965
$GC,8797,-0.93,-194.7,951.2,-9.9,791,8803,0.00,2.08,0.00,0.000,6,0.000,0.042,2234,2395,3964
$GC,9113,-0.93,-194.7,978.8,-8.7,807,9117,0.00,2.12,0.00,0.000,4,0.000,0.061,2234,3755,3964
$GC,9152,-0.93,-194.7,982.5,-9.3,808,9159,0.00,2.03,0.00,0.000,6,0.000,0.035,2234,2385,3963
$STATE,9238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9238,begin apogee
$GC,9244,-0.22,0.0,990.1,8.7,813,9335,0.77,0.00,87.43,1.463,6,0.163,0.000,2471,2502,3532
$STATE,9336,end apogee,CONTROL_FINISHED_OK
$STATE,9336,begin climb
$GC,9338,1.05,194.7,992.1,0.0,817,9507,1.15,2.30,160.62,1.426,4,0.057,0.038,2898,1120,2737
$GC,9565,0.46,194.7,975.2,20.2,828,9570,0.77,2.25,0.00,0.000,6,0.206,0.042,2699,2515,2733
$GC,9886,0.49,215.8,938.9,11.1,844,9910,0.00,2.10,17.73,1.320,4,0.000,0.061,2698,3766,2652
$GC,9973,0.38,219.1,928.9,11.9,847,9983,0.15,1.92,4.72,0.962,6,0.191,0.034,2667,2509,2637
$GC,10312,0.56,289.2,897.8,9.1,864,10378,0.17,2.10,58.17,1.366,4,0.083,0.060,2736,3755,2352
$GC,10523,0.44,289.2,865.0,16.2,873,10528,0.20,1.88,0.00,0.000,6,0.180,0.035,2692,2528,2345
$GC,10845,0.54,289.2,824.5,12.6,889,10849,0.00,2.00,0.00,0.000,4,0.000,0.061,2692,3762,2343
$GC,10900,0.54,289.2,816.6,14.4,891,10905,0.00,1.88,0.00,0.000,6,0.000,0.036,2693,2542,2343
$GC,11222,0.65,289.2,775.8,12.7,907,11226,0.17,1.95,0.00,0.000,4,0.081,0.060,2767,3758,2342
$GC,11255,0.45,289.2,770.0,18.6,908,11260,0.30,1.83,0.00,0.000,6,0.186,0.036,2692,2543,2341
$GC,11577,0.57,289.2,728.0,13.0,924,11581,0.10,2.17,0.00,0.000,4,0.100,0.042,2733,1099,2341
$GC,11616,0.61,289.2,722.3,14.6,926,11620,0.00,2.25,0.00,0.000,6,0.000,0.043,2732,2554,2340
$GC,11942,0.61,289.2,670.8,15.6,942,11946,0.00,1.90,0.00,0.000,4,0.000,0.061,2732,3765,2339
$GC,12079,0.52,289.2,648.8,15.6,948,12083,0.00,1.83,0.00,0.000,6,0.000,0.035,2733,2541,2339
$GC,12411,0.52,289.2,602.7,12.7,964,12415,0.00,2.15,0.00,0.000,4,0.000,0.041,2732,1104,2339
$GC,12427,0.52,292.6,600.8,11.9,964,12434,0.00,2.25,0.00,0.000,6,0.000,0.041,2732,2569,2339
$GC,12742,0.52,292.6,564.1,13.0,980,12746,0.00,1.85,0.00,0.000,4,0.000,0.059,2732,3763,2339
$GC,12865,0.45,292.6,547.0,12.5,985,12870,0.12,1.77,0.00,0.000,6,0.171,0.034,2694,2589,2338
$GC,13188,0.68,358.5,516.6,9.3,1001,13248,0.17,0.00,53.83,1.132,6,0.079,0.000,2768,2587,2068
$GC,13564,0.68,358.5,460.6,15.4,1030,13568,0.00,2.25,0.00,0.000,4,0.000,0.040,2773,1106,2061
$GC,13602,0.75,358.5,454.6,15.1,1033,13608,0.00,2.30,0.00,0.000,6,0.000,0.042,2773,2579,2061
$GC,13928,0.75,358.5,403.2,16.3,1064,13932,0.00,1.88,0.00,0.000,4,0.000,0.061,2773,3765,2059
$GC,14057,0.70,358.5,381.5,16.6,1075,14063,0.00,1.75,0.00,0.000,6,0.000,0.035,2772,2589,2059
$GC,14383,0.70,358.5,335.2,13.5,1106,14387,0.00,1.85,0.00,0.000,4,0.000,0.057,2773,3758,2058
$GC,14406,0.70,358.5,331.5,14.6,1108,14409,0.00,1.75,0.00,0.000,6,0.000,0.034,2775,2593,2058
$GC,14736,0.70,358.5,285.2,13.9,1148,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2592,2058
$GC,15080,0.70,358.5,240.1,13.2,1209,15086,0.00,1.85,0.00,0.000,4,0.000,0.057,2775,3768,2058
$GC,15114,0.70,358.5,235.0,14.6,1215,15120,0.00,1.70,0.00,0.000,6,0.000,0.034,2775,2604,2058
$GC,15457,0.77,358.5,184.0,14.1,1276,15464,0.00,2.22,0.00,0.000,4,0.000,0.037,2776,1101,2059
$GC,15506,0.98,392.6,178.5,10.6,1284,15539,0.22,2.33,25.88,0.805,6,0.069,0.039,2866,2636,1931
$GC,15879,0.90,392.6,119.0,15.8,1349,15885,0.12,1.75,0.00,0.000,4,0.182,0.053,2837,3772,1927
$GC,15898,0.84,392.6,115.7,15.6,1352,15905,0.00,1.73,0.00,0.000,6,0.000,0.029,2841,2585,1927
$GC,16243,0.89,392.6,68.6,13.5,1413,16249,0.00,1.85,0.00,0.000,4,0.000,0.054,2841,3774,1927
$GC,16317,0.89,392.6,57.9,13.3,1426,16323,0.00,1.70,0.00,0.000,6,0.000,0.030,2842,2598,1927
$GC,16661,1.05,452.2,17.1,9.5,1487,16714,0.12,2.25,46.17,0.643,4,0.084,0.034,2898,1098,1686
$GC,16766,1.05,452.2,4.2,13.8,1505,16772,0.00,2.35,0.00,0.000,6,0.000,0.036,2898,2633,1682
$STATE,16776,end climb,SURFACE_DEPTH_REACHED
$STATE,16776,begin surface coast
$FINISH,1.6,1.020165
$STATE,16794,end surface coast,CONTROL_FINISHED_OK
$STATE,16794,begin surface
$SM_CCo,16872,0.00,0.000,0,0,1677,455.03
$SM_GC,2.73,7.47,0.00,0.00,0.061,0.000,0.000,144,2425,1677,-7.50,-0.06,455.03
$IRIDIUM_FIX,2512.73,12325.53,220898,111140
$TT8_MAMPS,0.028379
$HUMID,1517
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,11.372
$10V_AH,10.8,7.585
$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,26.325,145.750,454.550,0.000,0.000,30.236,37.580,176.151,8.000,0.000,0.000,16.962,2708.821,10737.134,593.144,2666.164,534.583,0.000,1960.147,0.000,2600.820,0.000,54.413,0.000
$DEVICE_MAMPS,260.013,71.331,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.050,1024.990,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79010,1510
$CAP_FILE_SIZE,173653,0
$CFSIZE,260165632,221573120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 82.8,1
$GPS,280509,210607,2520.574,12323.969,42,1.1,43,-3.7