version: 66.04
glider: 167
mission: 2
dive: 45
start: 5 29 109 6 28 48
data:
$ID,167
$MISSION,2
$DIVE,45
$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,-4653.8701
$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,31
$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
$GPS1,062230,2519.501,12322.466,37,1.0,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-63.6
$GPS2,062825,2519.506,12322.445,10,1.1,15,-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,245.9,6190,-18.3,-12.000
$D_GRID,1481
$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,-1.05,-194.7,0.0,0.0,0,49,0.00,0.00,-31.92,0.000,2,0.000,0.000,146,2419,2501
$GC,52,-1.05,-194.7,3.1,-2.4,5,116,8.55,2.10,-48.55,0.000,4,0.257,0.058,2185,3770,3988
$GC,246,-0.04,-194.7,63.2,-44.6,38,253,1.23,2.00,0.00,0.000,6,0.203,0.026,2522,2399,3989
$GC,591,-0.95,-194.7,105.2,-11.5,99,598,0.77,2.12,0.00,0.000,4,0.085,0.049,2238,3768,3991
$GC,621,-0.95,-194.7,109.2,-13.5,104,627,0.00,1.95,0.00,0.000,6,0.000,0.026,2239,2402,3991
$GC,965,-0.56,-194.7,194.0,-17.2,165,973,0.38,1.95,0.00,0.000,4,0.163,0.028,2356,1041,3992
$GC,1002,-0.63,-194.7,198.8,-10.9,171,1008,0.00,2.05,0.00,0.000,6,0.000,0.035,2352,2417,3992
$GC,1346,-0.80,-194.7,234.9,-8.7,232,1353,0.17,2.05,0.00,0.000,4,0.069,0.048,2263,3766,3993
$GC,1438,-0.58,-194.7,248.0,-15.4,248,1445,0.32,1.92,0.00,0.000,6,0.155,0.027,2360,2410,3993
$GC,1785,-0.85,-194.7,276.2,-8.2,309,1792,0.22,1.98,0.00,0.000,4,0.062,0.029,2260,1032,3994
$GC,1816,-0.85,-194.7,280.0,-12.8,314,1821,0.00,2.05,0.00,0.000,6,0.000,0.035,2260,2411,3994
$GC,2153,-0.69,-194.7,328.3,-12.9,357,2157,0.17,2.00,0.00,0.000,4,0.168,0.029,2314,1044,3994
$GC,2188,-0.76,-194.7,331.9,-9.5,360,2192,0.00,2.08,0.00,0.000,6,0.000,0.036,2314,2426,3993
$GC,2519,-0.89,-194.7,360.8,-9.7,391,2523,0.17,2.03,0.00,0.000,4,0.074,0.051,2232,3754,3994
$GC,2586,-0.67,-194.7,370.5,-16.1,397,2591,0.32,1.92,0.00,0.000,6,0.159,0.030,2329,2434,3994
$GC,2919,-0.90,-194.7,400.0,-7.4,428,2923,0.17,2.03,0.00,0.000,4,0.073,0.031,2248,1039,3994
$GC,2998,-0.84,-194.7,408.7,-12.1,435,3002,0.00,2.08,0.00,0.000,6,0.000,0.038,2246,2430,3994
$GC,3329,-0.72,-194.7,446.8,-12.3,466,3333,0.17,2.03,0.00,0.000,4,0.169,0.053,2302,3760,3993
$GC,3365,-0.80,-194.7,450.2,-9.5,469,3369,0.00,1.95,0.00,0.000,6,0.000,0.031,2301,2409,3994
$GC,3696,-0.96,-194.7,481.6,-10.8,500,3700,0.17,2.10,0.00,0.000,4,0.075,0.052,2219,3761,3993
$GC,3751,-0.79,-194.7,489.9,-15.7,504,3758,0.25,1.92,0.00,0.000,6,0.160,0.031,2292,2431,3993
$GC,4071,-0.92,-194.7,522.4,-7.8,524,4076,0.12,2.08,0.00,0.000,4,0.084,0.053,2236,3765,3992
$GC,4098,-0.92,-194.7,524.9,-9.3,525,4103,0.00,1.98,0.00,0.000,6,0.000,0.031,2236,2422,3992
$GC,4419,-0.85,-194.7,556.1,-9.8,541,4424,0.12,2.08,0.00,0.000,4,0.170,0.053,2262,3755,3990
$GC,4474,-0.85,-194.7,561.6,-9.1,543,4480,0.00,1.90,0.00,0.000,6,0.000,0.031,2262,2443,3990
$GC,4790,-0.89,-194.7,591.5,-9.7,559,4794,0.00,2.05,0.00,0.000,4,0.000,0.033,2262,1033,3987
$GC,4881,-0.97,-194.7,600.5,-10.7,563,4884,0.00,2.12,0.00,0.000,6,0.000,0.039,2261,2440,3987
$GC,5214,-1.02,-194.7,635.8,-10.4,579,5218,0.15,2.03,0.00,0.000,4,0.084,0.054,2195,3757,3984
$GC,5304,-0.82,-194.7,648.6,-15.2,583,5309,0.30,1.92,0.00,0.000,6,0.170,0.032,2281,2441,3983
$GC,5632,-0.97,-194.7,678.6,-8.6,599,5634,0.15,0.00,0.00,0.000,6,0.084,0.000,2223,2440,3982
$GC,5940,-0.90,-194.7,712.6,-10.8,614,5945,0.12,2.08,0.00,0.000,4,0.180,0.034,2254,1029,3979
$GC,6032,-0.98,-194.7,721.1,-9.4,618,6036,0.00,2.15,0.00,0.000,6,0.000,0.041,2251,2436,3979
$GC,6365,-0.98,-194.7,749.7,-8.8,634,6373,0.00,2.05,0.00,0.000,4,0.000,0.058,2248,3758,3976
$GC,6435,-0.98,-194.7,756.4,-9.8,637,6439,0.00,1.95,0.00,0.000,6,0.000,0.034,2248,2431,3976
$GC,6768,-1.03,-194.7,787.1,-9.0,653,6772,0.10,2.10,0.00,0.000,4,0.097,0.058,2207,3764,3973
$GC,6853,-0.90,-194.7,796.5,-11.8,657,6857,0.17,1.95,0.00,0.000,6,0.176,0.033,2254,2439,3973
$GC,7188,-0.97,-194.7,825.3,-8.5,673,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2439,3971
$GC,7495,-1.04,-194.7,852.9,-9.3,688,7499,0.15,2.08,0.00,0.000,4,0.084,0.058,2192,3755,3970
$GC,7567,-0.89,-194.7,862.3,-13.7,691,7571,0.22,1.92,0.00,0.000,6,0.176,0.035,2254,2445,3969
$GC,7895,-0.96,-194.7,894.4,-9.8,707,7899,0.00,2.10,0.00,0.000,4,0.000,0.037,2254,1019,3968
$GC,7941,-1.05,-194.7,899.1,-9.9,709,7946,0.15,2.20,0.00,0.000,6,0.087,0.043,2196,2459,3967
$GC,8269,-0.93,-194.7,939.3,-11.6,725,8274,0.17,2.12,0.00,0.000,4,0.188,0.035,2241,1021,3966
$GC,8301,-0.93,-194.7,943.1,-10.5,726,8305,0.00,2.17,0.00,0.000,6,0.000,0.042,2236,2447,3966
$GC,8623,-0.93,-194.7,975.0,-10.1,742,8631,0.00,2.05,0.00,0.000,4,0.000,0.061,2234,3760,3965
$GC,8649,-0.93,-194.7,977.7,-11.2,743,8652,0.00,1.95,0.00,0.000,6,0.000,0.035,2233,2443,3964
$STATE,8773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8780,-0.22,0.0,990.7,10.2,749,8877,0.77,0.00,87.43,1.452,6,0.160,0.000,2472,2517,3532
$STATE,8878,end apogee,CONTROL_FINISHED_OK
$STATE,8878,begin climb
$GC,8880,1.05,194.7,994.5,0.0,754,9051,1.15,2.10,160.27,1.411,4,0.059,0.059,2886,3754,2736
$GC,9193,0.30,194.7,958.2,23.2,768,9198,0.98,1.92,0.00,0.000,6,0.219,0.031,2645,2503,2730
$GC,9515,0.51,258.3,927.6,9.4,784,9569,0.17,0.00,51.58,1.358,6,0.083,0.000,2715,2502,2479
$GC,9864,0.51,258.3,880.0,13.6,801,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2501,2472
$GC,10174,0.51,258.3,836.8,14.2,816,10177,0.00,2.03,0.00,0.000,4,0.000,0.059,2715,3758,2470
$GC,10252,0.41,258.3,824.4,16.5,819,10256,0.15,1.90,0.00,0.000,6,0.189,0.035,2682,2498,2469
$GC,10573,0.51,258.3,783.7,12.0,835,10576,0.00,2.03,0.00,0.000,4,0.000,0.060,2683,3760,2469
$GC,10611,0.51,258.3,778.5,13.6,836,10617,0.00,1.88,0.00,0.000,6,0.000,0.037,2689,2531,2469
$GC,10927,0.62,276.9,741.7,11.2,852,10950,0.15,1.98,14.88,1.232,4,0.087,0.061,2746,3761,2402
$GC,11013,0.46,276.9,728.9,16.0,855,11019,0.22,1.85,0.00,0.000,6,0.183,0.036,2695,2538,2400
$GC,11329,0.64,341.7,697.3,9.3,871,11393,0.17,2.30,53.83,1.247,4,0.085,0.041,2771,1111,2135
$GC,11467,0.64,341.7,678.9,13.9,877,11472,0.00,2.28,0.00,0.000,6,0.000,0.043,2771,2533,2131
$GC,11789,0.57,341.7,634.2,13.5,893,11793,0.15,1.95,0.00,0.000,4,0.186,0.059,2733,3761,2127
$GC,11878,0.57,341.7,622.5,12.1,897,11882,0.00,1.85,0.00,0.000,6,0.000,0.035,2734,2538,2126
$GC,12211,0.63,343.3,585.5,11.9,913,12215,0.00,2.15,0.00,0.000,4,0.000,0.040,2734,1106,2125
$GC,12279,0.77,343.3,577.1,12.1,916,12284,0.17,2.25,0.00,0.000,6,0.082,0.043,2797,2553,2125
$GC,12605,0.64,343.3,518.5,19.1,932,12610,0.17,1.90,0.00,0.000,4,0.190,0.058,2747,3764,2124
$GC,12711,0.64,343.3,499.2,16.8,936,12717,0.00,1.85,0.00,0.000,6,0.000,0.033,2747,2539,2124
$GC,13038,0.70,343.3,449.5,14.9,967,13042,0.00,1.95,0.00,0.000,4,0.000,0.060,2747,3760,2123
$GC,13094,0.70,343.3,439.7,16.8,972,13098,0.00,1.80,0.00,0.000,6,0.000,0.034,2747,2544,2123
$GC,13426,0.76,343.3,394.3,12.9,1003,13431,0.12,1.92,0.00,0.000,4,0.094,0.058,2792,3759,2123
$GC,13461,0.61,343.3,388.8,16.8,1006,13466,0.22,1.80,0.00,0.000,6,0.184,0.033,2740,2537,2123
$GC,13792,0.79,401.5,353.7,9.6,1037,13845,0.17,2.25,45.83,0.976,4,0.082,0.036,2814,1106,1893
$GC,13862,0.73,401.5,344.2,15.0,1043,13868,0.12,2.28,0.00,0.000,6,0.181,0.041,2786,2547,1891
$GC,14189,0.73,401.5,292.5,16.4,1078,14195,0.00,1.92,0.00,0.000,4,0.000,0.057,2786,3764,1887
$GC,14236,0.73,401.5,284.7,17.3,1086,14242,0.00,1.83,0.00,0.000,6,0.000,0.031,2789,2537,1886
$GC,14579,0.73,401.5,232.9,14.0,1147,14585,0.00,2.12,0.00,0.000,4,0.000,0.035,2796,1106,1886
$GC,14636,0.86,401.5,224.7,13.3,1157,14644,0.00,2.22,0.00,0.000,6,0.000,0.041,2796,2556,1886
$GC,14982,0.92,401.5,171.3,15.7,1218,14989,0.12,1.88,0.00,0.000,4,0.088,0.057,2845,3762,1886
$GC,15030,0.78,401.5,162.6,20.5,1226,15036,0.20,1.80,0.00,0.000,6,0.179,0.030,2800,2524,1886
$GC,15375,0.98,459.2,121.8,9.6,1287,15429,0.17,2.15,44.42,0.745,4,0.076,0.033,2884,1120,1658
$GC,15442,0.93,459.2,112.4,16.4,1298,15449,0.15,2.22,0.00,0.000,6,0.174,0.037,2846,2556,1656
$GC,15786,1.03,459.2,65.2,14.3,1359,15792,0.00,1.88,0.00,0.000,4,0.000,0.052,2846,3766,1652
$GC,15860,1.12,459.2,54.0,14.3,1372,15867,0.15,1.77,0.00,0.000,6,0.076,0.027,2910,2535,1652
$STATE,16163,end climb,SURFACE_DEPTH_REACHED
$STATE,16163,begin surface coast
$FINISH,1.7,1.022192
$STATE,16181,end surface coast,CONTROL_FINISHED_OK
$STATE,16181,begin surface
$SM_CCo,16258,0.00,0.000,0,0,1651,461.41
$SM_GC,2.48,7.38,0.00,0.00,0.058,0.000,0.000,146,2443,1651,-7.49,0.45,461.41
$IRIDIUM_FIX,2507.97,12322.90,230898,010125
$TT8_MAMPS,0.028379
$HUMID,1537
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.9,11.903
$10V_AH,10.8,7.850
$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,28.150,149.500,458.225,0.000,0.000,28.192,31.075,170.849,8.000,0.000,0.000,15.964,2598.502,10335.811,601.950,2554.484,516.150,0.000,1921.981,0.000,2495.124,0.000,54.444,0.000
$DEVICE_MAMPS,256.945,90.506,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.056,943.369,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75828,1429
$CAP_FILE_SIZE,171258,0
$CFSIZE,260165632,221327360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 82.3,1
$GPS,290509,110101,2518.548,12321.907,40,1.5,41,-3.7