version: 66.04
glider: 167
mission: 2
dive: 302
start: 7 13 109 1 37 39
data:
$ID,167
$MISSION,2
$DIVE,302
$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,-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,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,-11228.604
$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,71
$R_STBD_OVSHOOT,35
$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
$GPS1,012309,2458.624,12415.373,38,1.3,39,-3.7
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-60.6
$GPS2,013718,2458.743,12415.890,12,1.3,16,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,206.8,21671,-23.2,-12.000
$D_GRID,1864
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-121.7,0.0,0.0,0,48,0.00,0.00,-28.12,0.000,2,0.000,0.000,141,2434,2282
$GC,51,-1.18,-121.7,3.3,-2.9,5,118,8.45,2.15,-52.17,0.000,4,0.242,0.041,2160,1024,3989
$GC,165,-0.72,-121.7,20.6,-26.0,24,171,0.57,2.12,0.00,0.000,6,0.173,0.030,2312,2440,3990
$GC,510,-0.89,-121.7,66.3,-11.2,85,517,0.15,2.03,0.00,0.000,4,0.068,0.044,2239,3763,3991
$GC,770,-0.83,-121.7,108.2,-15.7,131,778,0.15,1.90,0.00,0.000,6,0.156,0.023,2279,2410,3991
$GC,1119,-1.06,-121.7,141.1,-9.8,192,1126,0.17,2.08,0.00,0.000,4,0.065,0.044,2192,3758,3993
$GC,1380,-0.94,-121.7,179.2,-13.6,238,1387,0.17,1.77,0.00,0.000,6,0.161,0.024,2239,2498,3993
$GC,1726,-1.07,-121.7,218.1,-11.4,299,1734,0.12,1.92,0.00,0.000,4,0.074,0.044,2179,3754,3994
$GC,1865,-0.91,-121.7,238.3,-14.3,323,1873,0.25,1.75,0.00,0.000,6,0.160,0.025,2248,2510,3994
$GC,2212,-1.14,-121.7,274.0,-9.5,384,2219,0.17,1.92,0.00,0.000,4,0.067,0.045,2165,3757,3993
$GC,2271,-0.96,-121.7,281.9,-14.6,394,2278,0.25,1.75,0.00,0.000,6,0.162,0.025,2233,2518,3993
$GC,2613,-1.14,-121.7,317.6,-9.1,440,2617,0.17,1.90,0.00,0.000,4,0.066,0.044,2155,3755,3994
$GC,2677,-0.98,-121.7,325.8,-13.9,445,2684,0.25,1.73,0.00,0.000,6,0.160,0.025,2224,2533,3994
$GC,3004,-1.14,-121.7,356.3,-9.4,476,3009,0.15,1.90,0.00,0.000,4,0.070,0.045,2155,3765,3993
$GC,3028,-1.14,-121.7,359.1,-10.8,478,3032,0.00,1.75,0.00,0.000,6,0.000,0.025,2155,2518,3993
$GC,3362,-1.05,-121.7,401.1,-12.6,509,3366,0.17,1.92,0.00,0.000,4,0.163,0.044,2194,3766,3992
$GC,3441,-1.05,-121.7,411.1,-12.2,516,3445,0.00,1.73,0.00,0.000,6,0.000,0.025,2194,2552,3992
$GC,3774,-1.11,-121.7,448.5,-11.0,547,3777,0.00,2.15,0.00,0.000,4,0.000,0.028,2193,1064,3991
$GC,3809,-1.19,-121.7,452.4,-10.9,550,3813,0.00,2.22,0.00,0.000,6,0.000,0.032,2193,2542,3992
$GC,4135,-1.26,-121.7,486.3,-10.5,580,4139,0.15,1.85,0.00,0.000,4,0.076,0.047,2126,3753,3989
$GC,4261,-1.04,-121.7,503.1,-13.3,590,4265,0.30,1.70,0.00,0.000,6,0.166,0.026,2208,2566,3990
$GC,4582,-1.20,-121.7,532.4,-8.3,606,4584,0.15,0.00,0.00,0.000,6,0.074,0.000,2148,2567,3987
$GC,4892,-1.13,-121.7,567.4,-11.1,621,4896,0.12,2.20,0.00,0.000,4,0.172,0.027,2178,1050,3985
$GC,4913,-1.13,-121.7,570.1,-11.1,622,4917,0.00,2.25,0.00,0.000,6,0.000,0.035,2178,2538,3985
$GC,5236,-1.17,-121.7,600.3,-9.6,638,5239,0.00,1.88,0.00,0.000,4,0.000,0.051,2178,3757,3982
$GC,5327,-1.17,-121.7,609.7,-10.7,642,5331,0.00,1.73,0.00,0.000,6,0.000,0.028,2178,2567,3982
$GC,5660,-1.23,-121.7,645.4,-11.4,658,5664,0.00,1.85,0.00,0.000,4,0.000,0.051,2178,3750,3980
$GC,5699,-1.23,-121.7,650.3,-12.8,659,5706,0.00,1.70,0.00,0.000,6,0.000,0.028,2178,2570,3980
$GC,6015,-1.30,-121.7,686.4,-10.5,675,6017,0.15,0.00,0.00,0.000,6,0.081,0.000,2120,2570,3977
$GC,6325,-1.16,-121.7,723.3,-11.7,690,6329,0.17,1.88,0.00,0.000,4,0.171,0.050,2165,3760,3975
$GC,6438,-1.16,-121.7,735.0,-10.0,695,6442,0.00,1.73,0.00,0.000,6,0.000,0.029,2165,2577,3975
$GC,6771,-1.16,-121.7,768.9,-10.4,711,6775,0.00,2.22,0.00,0.000,4,0.000,0.029,2165,1058,3973
$GC,6804,-1.16,-121.7,772.4,-10.5,712,6808,0.00,2.28,0.00,0.000,6,0.000,0.038,2165,2549,3972
$GC,7120,-1.16,-121.7,805.7,-10.8,727,7124,0.00,2.20,0.00,0.000,4,0.000,0.028,2165,1067,3970
$GC,7176,-1.21,-121.7,811.6,-10.3,729,7180,0.00,2.28,0.00,0.000,6,0.000,0.037,2165,2547,3970
$GC,7498,-1.21,-121.7,844.8,-10.4,745,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2548,3968
$GC,7807,-1.21,-121.7,880.0,-11.6,760,7810,0.00,1.88,0.00,0.000,4,0.000,0.054,2162,3750,3966
$GC,7862,-1.21,-121.7,887.1,-12.7,762,7866,0.00,1.73,0.00,0.000,6,0.000,0.028,2161,2587,3966
$GC,8185,-1.21,-121.7,926.6,-12.8,778,8189,0.00,2.25,0.00,0.000,4,0.000,0.029,2162,1056,3964
$GC,8240,-1.21,-121.7,934.0,-12.5,780,8244,0.00,2.30,0.00,0.000,6,0.000,0.038,2161,2551,3964
$GC,8557,-1.21,-121.7,972.0,-11.8,795,8560,0.00,1.88,0.00,0.000,4,0.000,0.053,2153,3754,3962
$GC,8590,-1.21,-121.7,976.3,-12.8,796,8593,0.00,1.73,0.00,0.000,6,0.000,0.029,2153,2598,3962
$STATE,8723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8723,begin apogee
$GC,8729,-0.22,0.0,991.5,11.1,803,8830,1.08,0.00,91.35,1.383,6,0.164,0.000,2466,2597,3532
$STATE,8831,end apogee,CONTROL_FINISHED_OK
$STATE,8831,begin climb
$GC,8833,1.18,121.7,996.0,0.0,808,8944,1.27,2.00,103.00,1.368,4,0.064,0.049,2919,3751,3035
$GC,9107,0.46,125.6,982.2,11.7,820,9119,0.85,1.85,4.40,0.887,6,0.212,0.026,2695,2528,3019
$GC,9431,0.68,220.8,962.0,5.7,836,9517,0.17,2.28,78.72,1.351,4,0.081,0.031,2772,1122,2631
$GC,9557,0.69,227.6,949.5,11.5,841,9571,0.00,2.20,7.12,1.078,6,0.000,0.036,2772,2503,2604
$GC,9894,0.69,227.6,907.8,12.8,858,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2502,2598
$GC,10202,0.69,227.6,867.0,13.2,873,10206,0.00,2.10,0.00,0.000,4,0.000,0.032,2774,1110,2596
$GC,10292,0.69,227.6,855.7,12.0,877,10296,0.00,2.15,0.00,0.000,6,0.000,0.037,2774,2504,2596
$GC,10625,0.70,232.7,815.8,11.7,893,10634,0.00,2.10,4.45,0.902,4,0.000,0.032,2775,1120,2583
$GC,10692,0.70,234.2,807.7,11.9,896,10696,0.00,2.10,0.00,0.000,6,0.000,0.036,2775,2483,2582
$GC,11025,0.72,251.8,771.2,10.8,912,11047,0.00,2.15,16.73,1.226,4,0.000,0.032,2775,1114,2505
$GC,11104,0.79,260.5,762.0,11.4,915,11118,0.00,2.12,8.85,1.112,6,0.000,0.036,2775,2483,2469
$GC,11426,0.87,278.5,726.9,10.8,931,11450,0.15,2.15,16.30,1.191,4,0.082,0.031,2837,1117,2396
$GC,11518,0.78,278.5,714.4,13.2,935,11523,0.15,2.10,0.00,0.000,6,0.180,0.036,2801,2462,2393
$GC,11846,0.78,278.5,672.2,12.7,951,11850,0.00,2.05,0.00,0.000,4,0.000,0.052,2801,3767,2391
$GC,11959,0.68,278.5,655.9,15.0,956,11964,0.17,1.88,0.00,0.000,6,0.185,0.027,2764,2495,2391
$GC,12293,0.83,296.5,619.2,10.8,972,12315,0.15,2.05,15.73,1.124,4,0.079,0.031,2828,1119,2323
$GC,12366,0.83,296.5,609.1,13.9,975,12370,0.00,2.15,0.00,0.000,6,0.000,0.037,2828,2501,2321
$GC,12696,0.83,296.5,565.2,13.2,991,12699,0.00,2.10,0.00,0.000,4,0.000,0.032,2833,1107,2319
$GC,12734,0.83,296.5,559.5,12.9,992,12740,0.00,2.12,0.00,0.000,6,0.000,0.036,2833,2485,2319
$GC,13052,0.79,296.5,518.1,13.2,1008,13056,0.12,2.05,0.00,0.000,4,0.181,0.029,2811,1122,2319
$GC,13147,0.86,309.4,505.9,11.1,1012,13164,0.00,2.03,11.60,1.013,6,0.000,0.035,2811,2444,2270
$GC,13481,0.93,319.0,466.1,11.4,1041,13492,0.00,0.00,9.20,0.946,6,0.000,0.000,2811,2444,2230
$GC,13810,1.06,352.0,431.9,9.8,1072,13843,0.20,2.10,28.02,1.000,4,0.071,0.031,2903,1112,2096
$GC,13905,0.90,352.0,418.9,14.2,1080,13912,0.25,2.08,0.00,0.000,6,0.183,0.035,2838,2448,2093
$GC,14230,0.97,363.0,381.3,11.3,1111,14246,0.00,2.08,9.85,0.884,4,0.000,0.030,2846,1113,2052
$GC,14311,1.03,364.5,371.1,11.9,1118,14314,0.00,2.03,0.00,0.000,6,0.000,0.034,2846,2430,2051
$GC,14646,1.11,372.3,329.0,11.5,1149,14661,0.15,2.00,9.02,0.833,4,0.076,0.029,2914,1121,2013
$GC,14694,1.01,372.3,321.9,13.8,1153,14701,0.17,1.98,0.00,0.000,6,0.179,0.034,2870,2418,2012
$GC,15028,1.01,372.3,277.7,14.4,1198,15034,0.00,2.10,0.00,0.000,4,0.000,0.049,2870,3767,2011
$GC,15045,1.01,372.3,275.1,14.7,1201,15051,0.00,2.05,0.00,0.000,6,0.000,0.025,2872,2368,2011
$GC,15389,1.01,372.3,228.7,13.4,1262,15395,0.00,1.83,0.00,0.000,4,0.000,0.031,2874,1111,2010
$GC,15556,1.07,372.3,207.5,12.5,1291,15563,0.00,1.88,0.00,0.000,6,0.000,0.032,2874,2361,2011
$GC,15902,1.17,408.3,166.5,9.6,1352,15938,0.15,2.25,30.05,0.771,4,0.080,0.048,2932,3759,1865
$GC,15990,1.00,408.3,153.5,16.5,1367,15998,0.28,2.08,0.00,0.000,6,0.174,0.024,2868,2358,1862
$GC,16337,1.20,427.1,112.1,10.8,1428,16361,0.17,2.22,15.68,0.696,4,0.073,0.047,2942,3758,1789
$GC,16449,1.10,427.1,97.7,12.6,1447,16457,0.20,2.15,0.00,0.000,6,0.177,0.025,2899,2283,1787
$GC,16795,1.35,460.7,61.7,9.8,1508,16831,0.20,1.75,27.45,0.666,4,0.070,0.029,2992,1110,1652
$GC,16859,1.35,460.7,52.9,13.2,1519,16866,0.00,1.83,0.00,0.000,6,0.000,0.030,2992,2324,1650
$GC,17207,1.36,463.9,15.3,11.8,1580,17213,0.00,2.22,0.00,0.000,4,0.000,0.045,2992,3767,1648
$STATE,17296,end climb,SURFACE_DEPTH_REACHED
$STATE,17296,begin surface coast
$FINISH,1.8,1.021257
$STATE,17313,end surface coast,CONTROL_FINISHED_OK
$STATE,17313,begin surface
$SM_CCo,17394,0.00,0.000,0,0,1644,462.88
$SM_GC,2.66,7.72,0.00,0.00,0.061,0.000,0.000,142,2427,1644,-7.49,0.00,462.88
$IRIDIUM_FIX,2448.93,12414.36,071098,010123
$TT8_MAMPS,0.029146
$HUMID,1617
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,23.5,53.328
$10V_AH,10.8,30.080
$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,25.900,152.500,487.525,0.000,0.000,87.731,104.075,372.812,8.250,0.000,0.000,16.728,2852.040,10985.996,613.051,2816.362,962.157,0.000,2052.310,0.000,2749.714,0.000,54.433,0.000
$DEVICE_MAMPS,242.372,53.690,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.286,1109.318,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85328,1599
$CAP_FILE_SIZE,185042,0
$CFSIZE,260165632,200732672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159, 64.7,1
$GPS,130709,062837,2458.012,12416.287,28,1.7,29,-3.7