version: 66.04
glider: 167
mission: 2
dive: 309
start: 7 14 109 12 14 0
data:
$ID,167
$MISSION,2
$DIVE,309
$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,-11427.646
$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,74
$R_STBD_OVSHOOT,47
$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
$GPS1,120655,2452.356,12417.738,39,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.4
$GPS2,121338,2452.358,12417.901,15,1.2,15,-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,214.2,9554,-23.2,-12.000
$D_GRID,1763
$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,-1.18,-121.7,0.0,0.0,0,45,0.00,0.00,-28.90,0.000,2,0.000,0.000,140,2465,2318
$GC,48,-1.18,-121.7,3.2,-2.0,5,116,8.38,2.17,-53.03,0.000,4,0.239,0.038,2161,1026,3990
$GC,173,-0.73,-121.7,20.9,-23.6,26,180,0.55,2.10,0.00,0.000,6,0.167,0.028,2309,2435,3990
$GC,518,-0.85,-121.7,68.6,-13.7,87,526,0.12,2.00,0.00,0.000,4,0.075,0.042,2247,3748,3992
$GC,680,-0.73,-121.7,95.9,-18.0,115,688,0.22,1.88,0.00,0.000,6,0.160,0.021,2310,2405,3992
$GC,1027,-1.19,-121.7,135.1,-8.4,176,1033,0.38,2.08,0.00,0.000,4,0.048,0.042,2145,3756,3993
$GC,1248,-0.89,-121.7,171.4,-17.9,215,1256,0.38,1.80,0.00,0.000,6,0.163,0.022,2252,2464,3994
$GC,1596,-1.23,-121.7,211.6,-8.2,276,1602,0.25,1.98,0.00,0.000,4,0.055,0.043,2139,3754,3996
$GC,1631,-0.99,-121.7,215.9,-13.8,282,1638,0.30,1.80,0.00,0.000,6,0.163,0.023,2222,2465,3996
$GC,1978,-1.09,-121.7,254.1,-10.9,343,1985,0.00,1.98,0.00,0.000,4,0.000,0.044,2218,3757,3996
$GC,2043,-1.09,-121.7,262.0,-11.8,354,2049,0.00,1.80,0.00,0.000,6,0.000,0.024,2218,2483,3996
$GC,2388,-1.21,-121.7,298.5,-9.7,415,2395,0.17,1.95,0.00,0.000,4,0.067,0.044,2137,3752,3996
$GC,2458,-0.97,-121.7,308.1,-15.0,422,2462,0.32,1.75,0.00,0.000,6,0.162,0.024,2228,2508,3996
$GC,2788,-1.32,-121.7,345.3,-10.7,453,2793,0.28,2.08,0.00,0.000,4,0.057,0.024,2110,1054,3996
$GC,2855,-1.12,-121.7,355.0,-14.8,458,2861,0.28,2.12,0.00,0.000,6,0.166,0.031,2178,2489,3996
$GC,3179,-1.12,-121.7,394.8,-11.5,489,3183,0.00,1.92,0.00,0.000,4,0.000,0.047,2178,3756,3996
$GC,3292,-1.12,-121.7,408.4,-12.5,499,3295,0.00,1.77,0.00,0.000,6,0.000,0.025,2178,2513,3996
$GC,3627,-1.12,-121.7,446.9,-11.7,530,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2513,3995
$GC,3953,-1.12,-121.7,482.8,-10.0,561,3957,0.00,1.92,0.00,0.000,4,0.000,0.048,2178,3757,3994
$GC,4156,-1.12,-121.7,505.2,-11.1,577,4160,0.00,1.77,0.00,0.000,6,0.000,0.025,2178,2523,3993
$GC,4489,-1.17,-121.7,542.3,-11.9,593,4493,0.00,1.90,0.00,0.000,4,0.000,0.048,2175,3750,3991
$GC,4540,-1.17,-121.7,548.5,-11.9,595,4544,0.00,1.75,0.00,0.000,6,0.000,0.026,2175,2533,3991
$GC,4868,-1.23,-121.7,583.2,-10.2,611,4871,0.00,1.90,0.00,0.000,4,0.000,0.048,2168,3760,3990
$GC,4901,-1.23,-121.7,586.9,-11.0,612,4904,0.00,1.77,0.00,0.000,6,0.000,0.026,2168,2553,3989
$GC,5223,-1.23,-121.7,620.5,-10.6,628,5227,0.00,1.90,0.00,0.000,4,0.000,0.049,2166,3751,3987
$GC,5291,-1.23,-121.7,628.5,-12.1,631,5294,0.00,1.73,0.00,0.000,6,0.000,0.027,2166,2565,3986
$GC,5624,-1.23,-121.7,666.4,-11.4,647,5628,0.00,1.88,0.00,0.000,4,0.000,0.051,2166,3743,3984
$GC,5641,-1.23,-121.7,668.5,-11.3,647,5648,0.00,1.70,0.00,0.000,6,0.000,0.027,2166,2572,3984
$GC,5956,-1.23,-121.7,702.8,-11.2,663,5960,0.00,2.20,0.00,0.000,4,0.000,0.025,2165,1061,3982
$GC,5996,-1.28,-121.7,707.4,-11.3,664,6002,0.00,2.25,0.00,0.000,6,0.000,0.035,2166,2536,3981
$GC,6313,-1.28,-121.7,740.3,-10.0,680,6316,0.00,2.17,0.00,0.000,4,0.000,0.026,2166,1059,3979
$GC,6346,-1.34,-121.7,743.7,-10.5,681,6351,0.15,2.25,0.00,0.000,6,0.080,0.035,2110,2536,3979
$GC,6663,-1.18,-121.7,781.6,-12.4,696,6668,0.17,2.20,0.00,0.000,4,0.190,0.027,2159,1050,3976
$GC,6713,-1.23,-121.7,787.1,-10.6,698,6717,0.00,2.22,0.00,0.000,6,0.000,0.037,2156,2509,3976
$GC,7028,-1.23,-121.7,823.2,-12.2,713,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2509,3974
$GC,7338,-1.23,-121.7,860.1,-12.0,728,7342,0.00,1.92,0.00,0.000,4,0.000,0.054,2152,3741,3972
$GC,7365,-1.23,-121.7,863.7,-13.3,729,7369,0.00,1.77,0.00,0.000,6,0.000,0.028,2152,2557,3972
$GC,7693,-1.23,-121.7,902.8,-12.1,745,7697,0.00,2.20,0.00,0.000,4,0.000,0.028,2152,1058,3969
$GC,7720,-1.23,-121.7,906.4,-12.7,746,7724,0.00,2.25,0.00,0.000,6,0.000,0.038,2152,2511,3970
$GC,8047,-1.23,-121.7,947.3,-12.5,762,8051,0.00,2.15,0.00,0.000,4,0.000,0.028,2152,1060,3967
$GC,8074,-1.23,-121.7,951.0,-13.3,763,8078,0.00,2.22,0.00,0.000,6,0.000,0.038,2152,2503,3967
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8378,begin apogee
$GC,8384,-0.22,0.0,990.1,12.4,778,8485,1.08,0.00,92.53,1.383,6,0.163,0.000,2466,2504,3532
$STATE,8486,end apogee,CONTROL_FINISHED_OK
$STATE,8486,begin climb
$GC,8489,1.18,121.7,996.0,0.0,783,8599,1.30,2.12,102.85,1.367,4,0.064,0.048,2926,3743,3035
$GC,8751,0.43,121.7,985.0,12.1,794,8757,0.95,1.83,0.00,0.000,6,0.210,0.026,2691,2515,3032
$GC,9066,0.65,205.6,964.4,6.5,810,9138,0.20,0.00,69.03,1.350,6,0.078,0.000,2766,2515,2693
$GC,9437,0.66,216.5,923.4,11.3,828,9451,0.00,2.10,9.70,1.177,4,0.000,0.033,2773,1127,2649
$GC,9496,0.67,221.7,916.2,11.7,830,9507,0.00,2.12,6.22,1.044,6,0.000,0.038,2773,2483,2628
$GC,9830,0.69,235.7,878.2,11.1,847,9852,0.00,2.12,12.95,1.226,4,0.000,0.032,2775,1126,2569
$GC,9880,0.74,243.2,872.3,11.5,849,9897,0.00,2.15,7.55,1.098,6,0.000,0.036,2775,2503,2539
$GC,10207,0.76,255.7,836.3,11.2,865,10220,0.00,0.00,11.60,1.196,6,0.000,0.000,2775,2503,2489
$GC,10517,0.78,273.7,802.1,10.8,880,10536,0.00,0.00,16.30,1.226,6,0.000,0.000,2775,2503,2416
$GC,10846,0.86,286.7,764.8,11.1,896,10868,0.12,2.17,12.30,1.175,4,0.085,0.032,2828,1123,2363
$GC,10942,0.80,286.7,751.3,14.9,900,10945,0.00,2.12,0.00,0.000,6,0.000,0.036,2828,2488,2361
$GC,11269,0.73,286.7,703.5,15.2,916,11274,0.17,2.08,0.00,0.000,4,0.178,0.029,2786,1110,2359
$GC,11320,0.82,286.7,696.5,13.1,918,11323,0.00,2.10,0.00,0.000,6,0.000,0.038,2786,2469,2359
$GC,11641,0.82,286.7,653.7,12.9,934,11644,0.00,2.03,0.00,0.000,4,0.000,0.054,2786,3759,2358
$GC,11747,0.75,290.3,639.9,11.8,938,11757,0.00,1.85,4.20,0.813,6,0.000,0.027,2792,2493,2347
$GC,12088,0.83,317.2,605.1,10.2,955,12118,0.00,2.15,23.50,1.141,4,0.000,0.033,2799,1114,2237
$GC,12141,0.94,333.1,598.8,10.9,957,12162,0.15,2.20,14.55,1.079,6,0.081,0.037,2856,2518,2173
$GC,12486,0.85,333.1,548.8,14.3,974,12490,0.15,2.12,0.00,0.000,4,0.183,0.031,2827,1122,2167
$GC,12617,0.85,334.1,532.7,11.9,980,12621,0.00,2.10,0.00,0.000,6,0.000,0.035,2827,2480,2167
$GC,12941,0.86,341.5,493.4,11.5,998,12954,0.00,2.12,7.60,0.936,4,0.000,0.031,2831,1111,2138
$GC,13004,0.92,341.5,485.7,12.1,1003,13011,0.00,2.08,0.00,0.000,6,0.000,0.035,2831,2462,2137
$GC,13332,0.97,341.5,444.9,13.5,1034,13335,0.00,2.03,0.00,0.000,4,0.000,0.051,2831,3764,2136
$GC,13400,0.91,341.5,434.8,13.9,1040,13404,0.00,1.92,0.00,0.000,6,0.000,0.027,2840,2449,2136
$GC,13735,0.92,348.1,395.2,11.6,1071,13748,0.00,2.03,6.97,0.848,4,0.000,0.032,2844,1121,2112
$GC,13821,1.01,362.6,384.8,11.0,1078,13840,0.00,2.05,13.43,0.923,6,0.000,0.034,2845,2468,2054
$GC,14157,1.08,362.6,342.7,13.2,1110,14161,0.15,2.03,0.00,0.000,4,0.076,0.029,2911,1126,2051
$GC,14227,0.97,362.6,332.3,16.3,1116,14231,0.20,2.00,0.00,0.000,6,0.174,0.033,2859,2436,2051
$GC,14556,0.97,363.3,289.0,11.9,1154,14562,0.00,1.95,0.00,0.000,4,0.000,0.028,2867,1118,2050
$GC,14631,1.03,373.6,279.9,11.3,1167,14649,0.00,1.92,10.43,0.814,6,0.000,0.032,2867,2399,2007
$GC,14989,1.09,375.9,237.5,11.9,1230,14995,0.00,2.12,0.00,0.000,4,0.000,0.049,2867,3765,2006
$GC,15037,1.04,375.9,231.2,13.1,1238,15043,0.00,2.05,0.00,0.000,6,0.000,0.025,2872,2361,2005
$GC,15382,1.13,377.4,190.9,11.9,1299,15396,0.10,2.25,4.70,0.593,4,0.091,0.047,2913,3768,1993
$GC,15513,0.97,377.4,172.9,13.5,1321,15519,0.22,2.12,0.00,0.000,6,0.170,0.024,2862,2308,1992
$GC,15858,1.23,416.2,138.0,9.4,1382,15896,0.17,2.35,32.15,0.735,4,0.073,0.045,2937,3757,1835
$GC,16048,1.16,416.2,112.2,13.0,1415,16055,0.00,2.05,0.00,0.000,6,0.000,0.023,2938,2360,1830
$GC,16394,1.28,441.9,76.5,10.3,1476,16424,0.00,1.88,21.20,0.660,4,0.000,0.031,2938,1112,1729
$GC,16470,1.45,475.6,68.2,9.8,1489,16505,0.20,1.83,27.20,0.650,6,0.066,0.029,3013,2332,1592
$GC,16844,1.47,491.1,18.2,11.0,1555,16863,0.00,2.22,13.18,0.580,4,0.000,0.045,3013,3765,1529
$GC,16945,1.34,491.1,3.9,13.9,1572,16951,0.17,2.12,0.00,0.000,6,0.180,0.022,2980,2302,1527
$STATE,16955,end climb,SURFACE_DEPTH_REACHED
$STATE,16955,begin surface coast
$FINISH,1.8,1.021178
$STATE,16979,end surface coast,CONTROL_FINISHED_OK
$STATE,16979,begin surface
$SM_CCo,17057,0.00,0.000,0,0,1525,492.32
$SM_GC,2.80,7.55,0.00,0.00,0.050,0.000,0.000,143,2447,1525,-7.49,0.59,492.32
$IRIDIUM_FIX,2446.56,12419.62,081098,070715
$TT8_MAMPS,0.029146
$HUMID,1608
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.4,54.610
$10V_AH,10.7,30.763
$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,24.850,149.925,520.125,0.000,0.000,30.483,38.108,185.515,8.000,0.000,0.000,17.461,2788.099,10615.273,672.727,2743.063,629.159,0.000,2069.930,0.000,2677.253,0.000,54.423,0.000
$DEVICE_MAMPS,239.304,54.457,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.228,1085.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85046,1578
$CAP_FILE_SIZE,176030,0
$CFSIZE,260165632,200118272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125, 78.5,1
$GPS,140709,165931,2451.213,12417.928,38,1.1,39,-3.7