version: 66.04
glider: 167
mission: 2
dive: 349
start: 7 22 109 8 37 7
data:
$ID,167
$MISSION,2
$DIVE,349
$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,-12256.992
$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,61
$R_STBD_OVSHOOT,42
$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
$GPS1,082706,2456.774,12420.766,30,1.0,31,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.3
$GPS2,083644,2456.760,12421.002,12,1.6,12,-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,188.3,83614,-24.8,-13.043
$D_GRID,1578
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.73,0.000,2,0.000,0.000,142,2495,2232
$GC,44,-1.25,-121.7,3.1,-1.8,4,118,8.32,1.95,-58.40,0.000,4,0.239,0.057,2130,3757,3989
$GC,189,-0.72,-121.7,24.7,-26.0,28,195,0.65,1.85,0.00,0.000,6,0.182,0.022,2308,2445,3990
$GC,534,-1.27,-121.7,69.5,-10.6,89,541,0.43,2.03,0.00,0.000,4,0.048,0.043,2125,3756,3991
$GC,766,-0.89,-121.7,114.1,-19.0,130,774,0.45,1.73,0.00,0.000,6,0.167,0.023,2251,2522,3992
$GC,1115,-1.11,-121.7,155.6,-12.1,191,1121,0.17,1.90,0.00,0.000,4,0.064,0.042,2165,3760,3993
$GC,1281,-0.94,-121.7,182.1,-15.5,220,1288,0.28,1.73,0.00,0.000,6,0.160,0.023,2241,2519,3993
$GC,1627,-1.31,-121.7,223.3,-12.3,281,1634,0.30,1.90,0.00,0.000,4,0.056,0.043,2110,3761,3994
$GC,1681,-0.99,-121.7,232.5,-19.0,290,1689,0.40,1.75,0.00,0.000,6,0.167,0.022,2221,2503,3994
$GC,2028,-1.25,-121.7,271.3,-8.7,351,2035,0.20,1.92,0.00,0.000,4,0.061,0.042,2127,3758,3994
$GC,2140,-1.02,-121.7,287.2,-16.1,370,2147,0.30,1.70,0.00,0.000,6,0.164,0.023,2209,2541,3994
$GC,2478,-1.18,-121.7,327.0,-10.0,410,2482,0.15,1.88,0.00,0.000,4,0.071,0.043,2139,3764,3994
$GC,2574,-1.01,-121.7,338.0,-11.6,418,2581,0.28,1.70,0.00,0.000,6,0.162,0.023,2215,2548,3994
$GC,2899,-1.22,-121.7,368.7,-10.9,449,2903,0.20,1.85,0.00,0.000,4,0.064,0.044,2124,3751,3994
$GC,2968,-1.04,-121.7,378.7,-15.8,455,2972,0.30,1.65,0.00,0.000,6,0.163,0.024,2207,2571,3994
$GC,3299,-1.39,-121.7,411.2,-7.2,486,3301,0.32,0.00,0.00,0.000,6,0.057,0.000,2079,2571,3994
$GC,3617,-1.16,-121.7,451.5,-14.0,516,3621,0.30,1.83,0.00,0.000,4,0.179,0.042,2156,3761,3994
$GC,3653,-1.11,-121.7,455.9,-12.0,519,3657,0.12,1.65,0.00,0.000,6,0.170,0.025,2186,2586,3994
$GC,3984,-1.33,-121.7,490.1,-9.3,550,3988,0.17,2.12,0.00,0.000,4,0.066,0.025,2111,1103,3993
$GC,4028,-1.24,-121.7,495.0,-11.1,553,4034,0.12,2.22,0.00,0.000,6,0.174,0.032,2139,2590,3993
$GC,4347,-1.24,-121.7,530.8,-11.4,571,4350,0.00,1.77,0.00,0.000,4,0.000,0.047,2137,3760,3993
$GC,4392,-1.17,-121.7,536.7,-12.0,573,4397,0.12,1.67,0.00,0.000,6,0.171,0.025,2168,2580,3992
$GC,4728,-1.30,-121.7,571.5,-9.4,589,4730,0.12,0.00,0.00,0.000,6,0.079,0.000,2117,2580,3991
$GC,5035,-1.25,-121.7,605.5,-11.0,604,5038,0.00,1.83,0.00,0.000,4,0.000,0.047,2111,3761,3989
$GC,5080,-1.10,-121.7,611.0,-13.1,606,5084,0.28,1.70,0.00,0.000,6,0.171,0.026,2185,2578,3988
$GC,5416,-1.45,-121.7,643.3,-9.2,622,5421,0.28,2.12,0.00,0.000,4,0.065,0.026,2075,1113,3986
$GC,5499,-1.28,-121.7,654.3,-13.8,625,5506,0.22,2.15,0.00,0.000,6,0.179,0.035,2128,2538,3985
$GC,5816,-1.28,-121.7,687.2,-9.9,641,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2538,3982
$GC,6124,-1.28,-121.7,713.9,-8.3,656,6128,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3755,3980
$GC,6186,-1.20,-121.7,720.1,-10.2,658,6194,0.12,1.73,0.00,0.000,6,0.175,0.027,2154,2562,3980
$GC,6503,-1.30,-121.7,749.8,-10.4,674,6511,0.00,1.88,0.00,0.000,4,0.000,0.052,2152,3753,3977
$GC,6539,-1.35,-121.7,753.9,-11.0,675,6543,0.12,1.70,0.00,0.000,6,0.083,0.028,2103,2580,3977
$GC,6862,-1.25,-121.7,791.5,-12.1,691,6867,0.15,2.12,0.00,0.000,4,0.179,0.027,2141,1114,3974
$GC,6896,-1.30,-121.7,795.6,-11.7,692,6899,0.00,2.17,0.00,0.000,6,0.000,0.036,2139,2542,3974
$GC,7218,-1.30,-121.7,831.8,-11.2,708,7222,0.00,1.90,0.00,0.000,4,0.000,0.053,2137,3744,3972
$GC,7245,-1.30,-121.7,835.3,-11.9,709,7249,0.00,1.70,0.00,0.000,6,0.000,0.027,2137,2570,3972
$GC,7572,-1.30,-121.7,871.0,-10.3,725,7576,0.00,1.88,0.00,0.000,4,0.000,0.052,2137,3758,3969
$GC,7607,-1.30,-121.7,874.6,-11.2,726,7611,0.00,1.70,0.00,0.000,6,0.000,0.028,2137,2586,3969
$GC,7927,-1.30,-121.7,911.2,-12.4,742,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2586,3967
$GC,8237,-1.30,-121.7,950.3,-12.3,757,8241,0.00,1.85,0.00,0.000,4,0.000,0.054,2137,3753,3966
$GC,8307,-1.30,-121.7,959.1,-12.7,760,8310,0.00,1.70,0.00,0.000,6,0.000,0.029,2137,2593,3965
$STATE,8575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8575,begin apogee
$GC,8581,-0.22,0.0,992.6,12.6,773,8678,1.15,0.00,91.07,1.404,6,0.168,0.000,2468,2438,3532
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8681,1.25,121.7,999.6,0.0,778,8793,1.38,2.35,103.50,1.367,4,0.064,0.031,2959,991,3034
$GC,8889,0.79,198.2,1000.8,7.6,787,8960,0.62,2.20,63.80,1.343,6,0.214,0.035,2803,2394,2723
$GC,9266,0.78,236.0,967.2,10.3,806,9302,0.00,0.00,32.00,1.318,6,0.000,0.000,2803,2393,2568
$GC,9620,0.78,236.0,921.2,13.4,823,9623,0.00,2.15,0.00,0.000,4,0.000,0.032,2812,977,2563
$GC,9681,0.78,236.0,912.6,14.0,825,9687,0.00,2.17,0.00,0.000,6,0.000,0.036,2812,2386,2562
$GC,9997,0.78,236.0,869.7,13.3,841,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2386,2561
$GC,10306,0.80,252.4,831.1,11.9,856,10325,0.00,0.00,13.52,1.224,6,0.000,0.000,2812,2386,2501
$GC,10636,0.81,263.0,791.9,12.3,872,10651,0.00,2.20,10.10,1.164,4,0.000,0.054,2812,3767,2458
$GC,10681,0.71,263.0,785.4,15.4,874,10686,0.17,2.10,0.00,0.000,6,0.189,0.026,2777,2372,2457
$GC,11009,0.87,291.1,747.9,11.0,890,11041,0.15,2.15,24.95,1.231,4,0.082,0.033,2837,994,2345
$GC,11087,0.87,291.1,737.3,13.7,893,11090,0.00,2.17,0.00,0.000,6,0.000,0.035,2837,2388,2342
$GC,11408,0.88,298.8,695.5,12.5,909,11417,0.00,0.00,7.43,1.045,6,0.000,0.000,2837,2388,2313
$GC,11718,0.90,313.1,657.7,12.0,924,11737,0.00,0.00,13.38,1.131,6,0.000,0.000,2838,2388,2254
$GC,12046,0.90,313.1,613.2,14.5,940,12050,0.00,2.12,0.00,0.000,4,0.000,0.032,2845,989,2252
$GC,12091,0.90,313.1,606.5,14.8,942,12095,0.00,2.12,0.00,0.000,6,0.000,0.034,2845,2374,2251
$GC,12425,0.95,355.9,566.5,10.0,958,12464,0.00,0.00,36.22,1.124,6,0.000,0.000,2845,2374,2080
$GC,12774,1.06,372.3,527.4,11.9,975,12796,0.12,2.22,14.12,1.035,4,0.084,0.051,2892,3761,2013
$GC,12808,0.99,373.7,522.7,12.9,976,12813,0.15,2.15,0.00,0.000,6,0.197,0.027,2865,2338,2012
$GC,13129,1.05,373.7,484.7,13.2,996,13133,0.00,2.28,0.00,0.000,4,0.000,0.051,2866,3761,2009
$GC,13139,1.10,373.7,482.9,13.5,996,13145,0.00,2.10,0.00,0.000,6,0.000,0.027,2871,2357,2009
$GC,13470,1.17,379.4,441.4,12.6,1027,13482,0.15,2.10,6.68,0.863,4,0.081,0.032,2936,985,1984
$GC,13630,1.06,379.4,418.0,14.4,1041,13635,0.17,2.08,0.00,0.000,6,0.183,0.034,2892,2346,1983
$GC,13960,1.08,393.5,373.7,12.0,1072,13981,0.00,2.25,13.40,0.914,4,0.000,0.049,2893,3755,1925
$GC,14016,1.08,393.5,366.0,14.2,1077,14020,0.00,2.12,0.00,0.000,6,0.000,0.025,2901,2324,1924
$GC,14349,1.13,393.5,325.3,13.3,1108,14353,0.00,1.98,0.00,0.000,4,0.000,0.033,2901,989,1923
$GC,14444,1.22,393.5,310.6,15.8,1116,14451,0.10,2.00,0.00,0.000,6,0.094,0.031,2937,2316,1923
$GC,14786,1.22,393.5,259.8,13.8,1171,14792,0.00,2.25,0.00,0.000,4,0.000,0.049,2937,3767,1923
$GC,14889,1.07,393.5,244.8,13.6,1189,14896,0.22,2.12,0.00,0.000,6,0.178,0.025,2887,2315,1923
$GC,15236,1.23,396.2,209.2,12.8,1250,15243,0.15,2.25,0.00,0.000,4,0.081,0.045,2946,3755,1924
$GC,15278,1.08,396.2,202.2,16.7,1257,15285,0.22,2.08,0.00,0.000,6,0.182,0.025,2894,2326,1924
$GC,15624,1.26,417.3,160.9,11.5,1318,15650,0.15,2.03,20.83,0.737,4,0.081,0.030,2959,990,1829
$GC,15668,1.26,417.3,154.6,15.2,1325,15674,0.00,2.10,0.00,0.000,6,0.000,0.030,2960,2385,1828
$GC,16012,1.28,438.3,110.8,11.5,1386,16037,0.00,2.10,18.10,0.685,4,0.000,0.028,2968,987,1744
$GC,16135,1.35,438.3,94.9,13.6,1407,16141,0.00,2.00,0.00,0.000,6,0.000,0.029,2967,2323,1742
$GC,16481,1.54,494.6,55.8,9.0,1468,16529,0.17,0.00,44.90,0.650,6,0.077,0.000,3038,2323,1515
$GC,16869,1.54,494.6,4.3,13.3,1536,16875,0.00,1.98,0.00,0.000,4,0.000,0.028,3047,980,1509
$STATE,16879,end climb,SURFACE_DEPTH_REACHED
$STATE,16879,begin surface coast
$FINISH,1.8,1.021479
$STATE,16902,end surface coast,CONTROL_FINISHED_OK
$STATE,16902,begin surface
$SM_CCo,16982,0.00,0.000,0,0,1506,496.98
$SM_GC,2.63,7.72,0.00,0.00,0.051,0.000,0.000,141,2489,1506,-7.49,0.17,496.98
$IRIDIUM_FIX,2448.93,12419.62,161098,080814
$TT8_MAMPS,0.028379
$HUMID,1599
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.4,62.003
$10V_AH,10.7,34.504
$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,27.725,131.200,514.000,0.000,0.000,60.217,64.891,243.599,8.000,0.000,0.000,12.579,2728.078,10819.889,643.134,2606.854,751.960,0.000,1978.011,0.000,2545.824,0.000,54.454,0.000
$DEVICE_MAMPS,239.304,56.758,1403.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.898,1057.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82058,1542
$CAP_FILE_SIZE,172009,0
$CFSIZE,260165632,196636672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 33.2,1
$GPS,220709,132124,2455.448,12420.822,39,1.6,40,-3.7