version: 66.04
glider: 167
mission: 2
dive: 346
start: 7 21 109 18 27 43
data:
$ID,167
$MISSION,2
$DIVE,346
$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,253
$T_MISSION,304
$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,-12212.702
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,37
$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
$GPS1,182024,2500.183,12418.440,25,1.8,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-66.4
$GPS2,182722,2500.175,12418.558,13,2.6,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,176.2,91104,-24.8,-13.043
$D_GRID,1911
$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,13,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,49,0.00,0.00,-31.60,0.000,2,0.000,0.000,143,2434,2316
$GC,52,-1.25,-121.7,3.2,-2.1,5,122,8.20,2.08,-54.75,0.000,4,0.235,0.054,2124,3771,3988
$GC,198,-0.72,-121.7,25.9,-22.9,29,205,0.68,1.85,0.00,0.000,6,0.181,0.022,2311,2464,3989
$GC,545,-1.05,-121.7,70.2,-11.2,90,551,0.25,2.00,0.00,0.000,4,0.059,0.042,2192,3761,3991
$GC,706,-0.90,-121.7,95.5,-16.6,118,713,0.22,1.77,0.00,0.000,6,0.160,0.023,2254,2501,3990
$GC,1051,-1.26,-121.7,133.3,-9.4,179,1058,0.28,1.92,0.00,0.000,4,0.054,0.041,2127,3760,3992
$GC,1088,-0.99,-121.7,138.1,-15.1,185,1096,0.35,1.75,0.00,0.000,6,0.166,0.021,2224,2502,3992
$GC,1437,-1.24,-121.7,177.1,-10.5,246,1443,0.20,1.92,0.00,0.000,4,0.061,0.041,2127,3766,3993
$GC,1456,-1.31,-121.7,179.7,-11.6,249,1465,0.00,1.73,0.00,0.000,6,0.000,0.021,2127,2513,3993
$GC,1803,-1.14,-121.7,236.3,-15.3,310,1810,0.17,1.90,0.00,0.000,4,0.170,0.041,2170,3760,3994
$GC,1897,-1.05,-121.7,249.1,-13.7,326,1905,0.15,1.67,0.00,0.000,6,0.162,0.023,2208,2559,3994
$GC,2246,-1.22,-121.7,288.5,-12.1,387,2252,0.17,1.85,0.00,0.000,4,0.067,0.042,2124,3768,3994
$GC,2451,-1.00,-121.7,320.8,-14.7,412,2455,0.35,1.65,0.00,0.000,6,0.164,0.022,2222,2583,3994
$GC,2781,-1.36,-121.7,351.1,-8.8,443,2785,0.30,1.80,0.00,0.000,4,0.057,0.044,2094,3758,3994
$GC,2815,-1.12,-121.7,355.4,-13.7,446,2820,0.32,1.62,0.00,0.000,6,0.172,0.023,2182,2593,3994
$GC,3146,-1.25,-121.7,395.4,-11.3,477,3148,0.12,0.00,0.00,0.000,6,0.075,0.000,2130,2593,3994
$GC,3465,-1.18,-121.7,435.3,-12.5,507,3467,0.12,0.00,0.00,0.000,6,0.171,0.000,2160,2593,3994
$GC,3786,-1.24,-121.7,469.0,-10.1,537,3790,0.00,1.83,0.00,0.000,4,0.000,0.045,2153,3761,3994
$GC,3972,-1.24,-121.7,491.9,-12.3,553,3979,0.00,1.62,0.00,0.000,6,0.000,0.025,2153,2610,3993
$GC,4290,-1.31,-121.7,530.9,-11.9,572,4293,0.00,1.77,0.00,0.000,4,0.000,0.047,2152,3763,3993
$GC,4362,-1.31,-121.7,540.0,-11.2,575,4366,0.00,1.62,0.00,0.000,6,0.000,0.025,2152,2611,3992
$GC,4691,-1.38,-121.7,573.2,-10.2,591,4695,0.15,1.77,0.00,0.000,4,0.077,0.045,2085,3760,3991
$GC,4822,-1.14,-121.7,591.3,-13.6,596,4829,0.32,1.60,0.00,0.000,6,0.174,0.025,2173,2636,3990
$GC,5140,-1.29,-121.7,624.9,-10.4,612,5145,0.12,1.75,0.00,0.000,4,0.078,0.047,2123,3765,3989
$GC,5173,-1.19,-121.7,629.4,-13.2,613,5177,0.15,1.60,0.00,0.000,6,0.174,0.025,2160,2638,3988
$GC,5496,-1.39,-121.7,663.0,-10.1,629,5500,0.17,2.20,0.00,0.000,4,0.071,0.025,2086,1117,3986
$GC,5517,-1.39,-121.7,665.9,-12.1,630,5521,0.00,2.28,0.00,0.000,6,0.000,0.035,2085,2618,3986
$GC,5839,-1.22,-121.7,707.8,-13.4,646,5844,0.20,2.17,0.00,0.000,4,0.183,0.024,2143,1123,3983
$GC,5889,-1.29,-121.7,714.0,-11.9,648,5893,0.00,2.25,0.00,0.000,6,0.000,0.035,2140,2606,3982
$GC,6205,-1.29,-121.7,749.2,-10.9,663,6208,0.00,1.77,0.00,0.000,4,0.000,0.052,2140,3755,3980
$GC,6301,-1.29,-121.7,760.2,-11.2,667,6304,0.00,1.60,0.00,0.000,6,0.000,0.028,2140,2644,3980
$GC,6628,-1.29,-121.7,797.1,-11.6,683,6632,0.00,2.22,0.00,0.000,4,0.000,0.027,2139,1126,3977
$GC,6678,-1.36,-121.7,803.0,-11.5,685,6682,0.00,2.28,0.00,0.000,6,0.000,0.037,2140,2605,3976
$GC,7006,-1.36,-121.7,839.9,-11.0,701,7010,0.00,1.80,0.00,0.000,4,0.000,0.053,2137,3764,3974
$GC,7056,-1.36,-121.7,846.2,-11.9,703,7060,0.00,1.62,0.00,0.000,6,0.000,0.028,2137,2644,3974
$GC,7384,-1.36,-121.7,884.5,-11.9,719,7388,0.00,1.75,0.00,0.000,4,0.000,0.052,2137,3755,3971
$GC,7412,-1.36,-121.7,888.3,-12.9,720,7415,0.00,1.60,0.00,0.000,6,0.000,0.028,2137,2651,3971
$GC,7739,-1.36,-121.7,927.5,-11.9,736,7743,0.00,2.25,0.00,0.000,4,0.000,0.028,2137,1118,3969
$GC,7785,-1.42,-121.7,933.0,-12.6,738,7790,0.15,2.30,0.00,0.000,6,0.082,0.038,2083,2613,3968
$GC,8108,-1.27,-121.7,980.2,-14.7,754,8112,0.17,1.80,0.00,0.000,4,0.201,0.051,2124,3764,3966
$STATE,8177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8177,begin apogee
$GC,8186,-0.22,0.0,990.4,12.2,757,8284,1.15,0.00,91.25,1.404,6,0.170,0.000,2461,2430,3532
$STATE,8284,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8287,1.25,121.7,996.4,0.0,762,8398,1.35,2.28,103.12,1.367,4,0.064,0.048,2943,3750,3035
$GC,8488,0.55,132.8,992.2,12.2,771,8505,0.90,2.05,10.40,1.186,6,0.215,0.025,2727,2394,2990
$GC,8815,0.74,213.1,968.2,7.3,787,8888,0.17,2.30,66.45,1.348,4,0.080,0.050,2797,3750,2663
$GC,8924,0.60,213.1,956.2,13.9,792,8929,0.25,2.05,0.00,0.000,6,0.187,0.025,2742,2418,2660
$GC,9251,0.83,269.0,924.9,9.0,808,9304,0.17,2.25,46.12,1.322,4,0.077,0.033,2815,1007,2434
$GC,9399,0.83,269.0,906.4,13.1,814,9405,0.00,2.15,0.00,0.000,6,0.000,0.033,2815,2389,2431
$GC,9715,0.83,269.0,865.0,13.5,830,9719,0.00,2.12,0.00,0.000,4,0.000,0.033,2815,997,2427
$GC,9748,0.83,269.0,860.2,14.2,831,9752,0.00,2.15,0.00,0.000,6,0.000,0.036,2815,2392,2427
$GC,10070,0.83,269.0,816.2,13.2,847,10074,0.00,2.15,0.00,0.000,4,0.000,0.052,2815,3757,2425
$GC,10097,0.76,269.0,812.1,14.2,848,10102,0.12,2.03,0.00,0.000,6,0.202,0.026,2795,2374,2425
$GC,10425,0.89,310.0,778.1,10.1,864,10469,0.10,2.12,33.85,1.262,4,0.097,0.034,2838,1016,2267
$GC,10519,0.89,310.0,765.3,13.6,868,10523,0.00,2.15,0.00,0.000,6,0.000,0.036,2838,2387,2264
$GC,10846,0.89,313.1,722.2,12.8,884,10850,0.00,2.10,0.00,0.000,4,0.000,0.033,2843,1008,2261
$GC,10880,0.89,315.8,717.8,12.8,885,10893,0.00,2.12,5.53,0.958,6,0.000,0.035,2843,2388,2244
$GC,11201,0.90,321.5,677.1,12.6,901,11211,0.00,2.10,5.78,0.966,4,0.000,0.031,2851,997,2223
$GC,11279,0.90,321.5,666.5,13.5,904,11285,0.00,2.10,0.00,0.000,6,0.000,0.036,2851,2362,2222
$GC,11594,0.90,321.5,622.1,14.3,920,11598,0.00,2.20,0.00,0.000,4,0.000,0.053,2851,3760,2220
$GC,11605,0.90,321.5,620.4,14.3,920,11609,0.00,2.12,0.00,0.000,6,0.000,0.027,2859,2335,2221
$GC,11926,0.91,330.1,578.0,12.4,936,11940,0.00,2.03,9.12,1.035,4,0.000,0.034,2867,1010,2185
$GC,11981,0.91,330.1,571.0,13.3,938,11985,0.00,2.03,0.00,0.000,6,0.000,0.035,2867,2333,2184
$GC,12303,0.91,330.9,528.9,13.0,954,12307,0.00,2.25,0.00,0.000,4,0.000,0.052,2867,3764,2184
$GC,12326,0.84,330.9,525.7,13.9,955,12331,0.22,2.15,0.00,0.000,6,0.189,0.026,2818,2312,2183
$GC,12648,1.02,354.1,489.6,11.4,974,12674,0.15,1.98,21.10,1.048,4,0.081,0.032,2882,1003,2087
$GC,12768,1.02,354.1,473.6,14.1,984,12772,0.00,1.98,0.00,0.000,6,0.000,0.034,2882,2306,2084
$GC,13100,1.02,354.1,429.8,13.8,1015,13104,0.00,2.28,0.00,0.000,4,0.000,0.049,2882,3757,2082
$GC,13178,0.92,354.1,417.8,15.1,1021,13185,0.20,2.15,0.00,0.000,6,0.186,0.026,2840,2305,2081
$GC,13503,1.10,374.0,378.8,11.6,1052,13527,0.17,2.00,16.90,0.941,4,0.076,0.031,2917,1001,2006
$GC,13652,1.10,374.0,358.1,13.6,1065,13655,0.00,1.98,0.00,0.000,6,0.000,0.035,2917,2297,2004
$GC,13984,1.11,375.1,312.8,13.0,1096,13987,0.00,2.28,0.00,0.000,4,0.000,0.049,2918,3755,2003
$GC,14042,0.95,375.1,304.8,13.1,1101,14046,0.28,2.15,0.00,0.000,6,0.179,0.025,2854,2300,2002
$GC,14384,1.19,405.1,271.2,10.9,1157,14416,0.17,2.40,26.40,0.854,4,0.075,0.046,2928,3770,1879
$GC,14451,1.05,405.1,261.5,16.0,1168,14458,0.20,2.20,0.00,0.000,6,0.176,0.024,2886,2295,1877
$GC,14797,1.23,425.8,219.7,11.6,1229,14822,0.15,2.33,17.45,0.784,4,0.081,0.046,2944,3768,1795
$GC,14851,1.10,425.8,212.1,15.0,1238,14858,0.20,2.17,0.00,0.000,6,0.183,0.024,2904,2297,1794
$GC,15197,1.28,447.2,171.7,11.5,1299,15223,0.15,2.33,19.05,0.742,4,0.080,0.044,2964,3764,1707
$GC,15281,1.16,447.2,159.7,16.5,1313,15289,0.22,2.15,0.00,0.000,6,0.182,0.024,2916,2315,1706
$GC,15628,1.36,459.7,118.8,12.1,1374,15646,0.17,1.95,11.30,0.664,4,0.074,0.029,3000,994,1656
$GC,15726,1.36,459.7,104.7,14.0,1391,15731,0.00,1.92,0.00,0.000,6,0.000,0.030,3000,2278,1655
$GC,16070,1.37,471.9,58.3,12.2,1452,16088,0.00,1.92,10.82,0.612,4,0.000,0.029,3008,1004,1607
$GC,16292,1.47,496.5,32.1,11.3,1491,16321,0.00,1.80,21.33,0.621,6,0.000,0.029,3008,2221,1505
$STATE,16527,end climb,SURFACE_DEPTH_REACHED
$STATE,16527,begin surface coast
$FINISH,1.8,1.008503
$STATE,16557,end surface coast,CONTROL_FINISHED_OK
$STATE,16557,begin surface
$SM_CCo,16635,0.00,0.000,0,0,1498,498.94
$SM_GC,2.68,7.68,0.00,0.00,0.053,0.000,0.000,139,2516,1498,-7.50,0.90,498.94
$IRIDIUM_FIX,2453.69,12419.00,151098,131312
$TT8_MAMPS,0.028379
$HUMID,1610
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,22.7,61.438
$10V_AH,10.7,34.227
$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,27.550,156.325,515.975,0.000,0.000,27.471,33.800,186.922,8.000,0.000,0.000,35.530,2754.825,10255.231,629.784,2763.956,635.422,0.000,2047.745,0.000,2670.461,0.000,54.451,0.000
$DEVICE_MAMPS,235.469,54.457,1404.377,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.055,1067.441,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82118,1538
$CAP_FILE_SIZE,178779,0
$CFSIZE,260165632,196886528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 32.7,1
$GPS,210709,230606,2459.128,12418.968,32,1.0,33,-3.7