version: 66.04
glider: 167
mission: 2
dive: 417
start: 7 29 109 0 0 16
data:
$ID,167
$MISSION,2
$DIVE,417
$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,-13927.678
$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,68
$R_STBD_OVSHOOT,44
$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
$GPS1,235231,2446.081,12426.232,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-68.2
$GPS2,235955,2446.183,12426.425,10,1.1,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,247.8,70367,-24.8,-13.043
$D_GRID,997
$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,16,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-34.28,0.000,2,0.000,0.000,140,2503,2255
$GC,57,-1.25,-121.7,3.1,-1.7,6,126,8.30,2.15,-56.17,0.000,4,0.238,0.037,2134,1073,3989
$GC,192,-0.94,-121.7,19.9,-20.1,28,199,0.40,2.12,0.00,0.000,6,0.164,0.029,2235,2492,3990
$GC,538,-1.15,-121.7,63.4,-14.1,89,544,0.17,2.05,0.00,0.000,4,0.065,0.023,2158,1075,3991
$GC,591,-1.01,-121.7,71.9,-17.1,98,597,0.25,2.05,0.00,0.000,6,0.158,0.028,2218,2461,3991
$GC,937,-1.26,-121.7,111.0,-10.6,159,944,0.20,1.98,0.00,0.000,4,0.061,0.042,2124,3767,3992
$GC,975,-1.03,-121.7,116.3,-15.6,165,981,0.32,1.88,0.00,0.000,6,0.166,0.020,2213,2422,3993
$GC,1321,-1.34,-121.7,155.3,-10.1,226,1328,0.25,1.92,0.00,0.000,4,0.057,0.022,2103,1060,3994
$GC,1352,-1.26,-121.7,159.1,-13.4,231,1360,0.15,2.08,0.00,0.000,6,0.172,0.027,2135,2473,3994
$GC,1699,-1.26,-121.7,196.2,-11.0,292,1705,0.00,1.92,0.00,0.000,4,0.000,0.041,2127,3765,3995
$GC,1791,-1.05,-121.7,208.5,-14.0,308,1798,0.28,1.85,0.00,0.000,6,0.161,0.021,2202,2437,3995
$GC,2137,-1.35,-121.7,246.7,-10.8,369,2143,0.22,2.00,0.00,0.000,4,0.057,0.041,2098,3755,3996
$GC,2182,-1.10,-121.7,252.1,-14.2,376,2188,0.32,1.75,0.00,0.000,6,0.163,0.021,2187,2488,3995
$GC,2529,-1.38,-121.7,283.5,-9.8,437,2536,0.22,1.95,0.00,0.000,4,0.058,0.022,2089,1106,3995
$GC,2560,-1.30,-121.7,287.9,-14.1,442,2566,0.15,2.05,0.00,0.000,6,0.175,0.028,2122,2500,3995
$GC,2897,-1.30,-121.7,330.0,-11.3,481,2901,0.00,1.90,0.00,0.000,4,0.000,0.043,2114,3763,3996
$GC,2978,-1.15,-121.7,339.8,-11.1,488,2982,0.22,1.77,0.00,0.000,6,0.163,0.022,2175,2498,3996
$GC,3308,-1.41,-121.7,372.2,-10.3,519,3313,0.20,2.00,0.00,0.000,4,0.064,0.022,2086,1104,3995
$GC,3382,-1.24,-121.7,381.5,-12.7,525,3388,0.22,2.03,0.00,0.000,6,0.164,0.029,2145,2459,3996
$GC,3708,-1.41,-121.7,417.8,-10.8,556,3712,0.15,1.95,0.00,0.000,4,0.073,0.023,2084,1107,3995
$GC,3726,-1.47,-121.7,419.8,-11.0,557,3732,0.00,2.03,0.00,0.000,6,0.000,0.029,2079,2476,3995
$GC,4052,-1.31,-121.7,458.9,-11.3,588,4056,0.15,1.95,0.00,0.000,4,0.176,0.041,2110,3763,3995
$GC,4170,-1.19,-121.7,473.1,-12.3,598,4176,0.20,1.85,0.00,0.000,6,0.162,0.022,2164,2456,3995
$GC,4507,-1.47,-121.7,504.4,-8.7,628,4511,0.22,2.00,0.00,0.000,4,0.064,0.044,2065,3749,3993
$GC,4552,-1.21,-121.7,510.1,-12.7,630,4557,0.32,1.83,0.00,0.000,6,0.168,0.022,2154,2459,3993
$GC,4889,-1.46,-121.7,540.8,-8.6,646,4893,0.20,1.95,0.00,0.000,4,0.064,0.024,2070,1100,3992
$GC,4912,-1.51,-121.7,543.4,-10.0,647,4916,0.00,2.03,0.00,0.000,6,0.000,0.031,2062,2456,3992
$GC,5248,-1.35,-121.7,579.5,-10.3,663,5252,0.17,2.00,0.00,0.000,4,0.179,0.044,2105,3764,3990
$GC,5327,-1.27,-121.7,588.9,-9.7,666,5332,0.12,1.85,0.00,0.000,6,0.174,0.023,2135,2462,3990
$GC,5652,-1.45,-121.7,619.0,-9.1,682,5657,0.17,1.98,0.00,0.000,4,0.068,0.025,2065,1090,3987
$GC,5704,-1.29,-121.7,625.0,-11.0,684,5709,0.25,2.00,0.00,0.000,6,0.170,0.031,2124,2439,3987
$GC,6034,-1.44,-121.7,655.6,-9.5,700,6038,0.12,1.95,0.00,0.000,4,0.081,0.024,2076,1102,3985
$GC,6085,-1.35,-121.7,661.8,-11.1,702,6090,0.15,1.98,0.00,0.000,6,0.176,0.031,2108,2424,3984
$GC,6413,-1.35,-121.7,697.7,-11.2,718,6416,0.00,2.03,0.00,0.000,4,0.000,0.048,2100,3751,3982
$GC,6615,-1.21,-121.7,724.0,-13.4,727,6620,0.20,1.90,0.00,0.000,6,0.168,0.025,2152,2436,3980
$GC,6951,-1.49,-121.7,755.7,-9.1,743,6955,0.22,2.08,0.00,0.000,4,0.066,0.048,2057,3753,3977
$GC,7018,-1.22,-121.7,764.4,-14.0,746,7023,0.35,1.90,0.00,0.000,6,0.176,0.025,2151,2436,3977
$GC,7342,-1.44,-121.7,793.1,-8.2,762,7346,0.20,2.08,0.00,0.000,4,0.070,0.048,2070,3754,3975
$GC,7546,-1.21,-121.7,819.2,-13.2,771,7550,0.30,1.85,0.00,0.000,6,0.176,0.025,2150,2475,3973
$GC,7882,-1.36,-121.7,853.1,-10.7,787,7886,0.12,2.03,0.00,0.000,4,0.081,0.048,2098,3761,3971
$GC,7988,-1.24,-121.7,867.9,-13.4,791,7996,0.17,1.83,0.00,0.000,6,0.176,0.026,2141,2503,3971
$GC,8307,-1.37,-121.7,903.4,-10.6,807,8312,0.12,1.98,0.00,0.000,4,0.082,0.050,2094,3750,3968
$GC,8443,-1.24,-121.7,923.1,-14.8,813,8447,0.20,1.80,0.00,0.000,6,0.177,0.027,2145,2515,3967
$GC,8780,-1.38,-121.7,959.0,-9.9,829,8784,0.15,1.95,0.00,0.000,4,0.079,0.051,2085,3752,3966
$GC,8875,-1.23,-121.7,971.5,-12.9,833,8879,0.22,1.77,0.00,0.000,6,0.178,0.027,2143,2532,3965
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9075,begin apogee
$GC,9082,-0.22,0.0,992.1,9.7,843,9185,1.10,0.00,94.03,1.381,6,0.153,0.000,2471,2392,3532
$STATE,9186,end apogee,CONTROL_FINISHED_OK
$STATE,9186,begin climb
$GC,9189,1.25,121.7,998.4,0.0,848,9300,1.33,2.33,103.55,1.364,4,0.064,0.049,2944,3748,3034
$GC,9375,0.60,174.9,998.8,9.2,856,9428,0.82,2.05,45.03,1.336,6,0.212,0.023,2744,2380,2819
$GC,9739,0.79,250.7,972.1,7.6,874,9805,0.15,0.00,62.95,1.344,6,0.087,0.000,2800,2379,2510
$GC,10108,0.86,304.1,935.8,9.2,892,10158,0.00,2.28,45.50,1.322,4,0.000,0.051,2800,3747,2292
$GC,10182,0.89,335.0,928.3,10.8,895,10214,0.00,2.05,27.42,1.276,6,0.000,0.025,2810,2398,2165
$GC,10539,1.02,350.9,887.3,11.9,913,10561,0.17,2.15,14.00,1.222,4,0.079,0.033,2885,1015,2101
$GC,10655,0.95,350.9,870.3,15.2,918,10659,0.15,2.12,0.00,0.000,6,0.189,0.035,2849,2387,2098
$GC,10982,0.95,356.8,829.4,12.6,934,10993,0.00,2.10,6.12,1.031,4,0.000,0.031,2855,1004,2076
$GC,11004,0.96,361.8,826.3,12.7,935,11015,0.00,2.12,6.03,1.010,6,0.000,0.034,2855,2387,2056
$GC,11325,0.96,361.8,778.5,16.2,950,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2386,2054
$GC,11635,0.96,361.8,729.2,15.3,965,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2386,2053
$GC,11944,0.98,377.9,688.2,11.9,980,11966,0.00,2.12,14.60,1.163,4,0.000,0.034,2863,1005,1990
$GC,12022,1.06,388.6,678.1,12.3,983,12038,0.00,2.10,10.88,1.107,6,0.000,0.035,2863,2370,1946
$GC,12371,1.12,388.6,630.8,13.7,1000,12375,0.12,2.17,0.00,0.000,4,0.093,0.051,2910,3756,1942
$GC,12443,0.90,388.6,617.5,18.8,1003,12448,0.30,2.05,0.00,0.000,6,0.187,0.025,2840,2381,1942
$GC,12768,1.09,417.4,578.8,11.0,1019,12800,0.17,2.15,25.20,1.119,4,0.080,0.034,2917,998,1829
$GC,12880,1.09,417.4,562.6,15.5,1024,12884,0.00,2.10,0.00,0.000,6,0.000,0.033,2917,2353,1826
$GC,13214,1.04,417.4,514.6,15.4,1040,13216,0.15,0.00,0.00,0.000,6,0.185,0.000,2880,2354,1823
$GC,13530,1.14,417.4,466.9,13.1,1065,13534,0.00,2.05,0.00,0.000,4,0.000,0.031,2885,997,1822
$GC,13616,1.24,441.3,456.5,11.3,1072,13644,0.17,2.08,20.83,1.014,6,0.077,0.033,2951,2361,1732
$GC,13962,1.16,441.3,406.2,15.8,1105,13966,0.12,2.08,0.00,0.000,4,0.187,0.030,2930,996,1727
$GC,14019,1.16,441.3,397.4,15.2,1110,14023,0.00,2.03,0.00,0.000,6,0.000,0.031,2930,2318,1727
$GC,14352,1.16,441.3,343.4,16.5,1141,14355,0.00,2.25,0.00,0.000,4,0.000,0.050,2930,3756,1726
$GC,14414,1.08,441.3,332.2,17.8,1146,14421,0.17,2.17,0.00,0.000,6,0.186,0.025,2893,2270,1726
$GC,14743,1.34,461.3,291.2,11.6,1183,14768,0.20,2.35,17.27,0.868,4,0.073,0.048,2978,3754,1651
$GC,14810,1.13,461.3,281.9,15.9,1194,14816,0.30,2.12,0.00,0.000,6,0.188,0.024,2909,2322,1650
$GC,15155,1.35,461.3,235.8,13.7,1255,15163,0.17,2.28,0.00,0.000,4,0.075,0.046,2983,3762,1647
$GC,15265,1.14,461.3,219.0,14.3,1274,15272,0.30,2.20,0.00,0.000,6,0.192,0.024,2916,2259,1648
$GC,15611,1.46,488.0,181.6,11.1,1335,15642,0.25,2.35,22.48,0.772,4,0.064,0.045,3019,3757,1543
$GC,15790,1.24,488.0,153.8,14.9,1366,15797,0.32,2.10,0.00,0.000,6,0.183,0.023,2944,2325,1541
$GC,16136,1.48,488.0,109.9,13.8,1427,16143,0.17,1.95,0.00,0.000,4,0.073,0.027,3026,988,1541
$GC,16228,1.40,488.0,95.3,15.0,1443,16235,0.00,2.03,0.00,0.000,6,0.000,0.028,3026,2342,1540
$GC,16575,1.44,518.0,49.6,10.9,1504,16606,0.00,2.25,25.98,0.649,4,0.000,0.044,3026,3759,1420
$GC,16675,1.44,518.0,36.1,13.3,1521,16681,0.00,2.08,0.00,0.000,6,0.000,0.021,3035,2332,1418
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,1.8,1.015789
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,17064,0.00,0.000,0,0,1415,519.05
$SM_GC,2.66,7.78,0.00,0.00,0.055,0.000,0.000,142,2503,1415,-7.49,0.57,519.05
$IRIDIUM_FIX,2437.06,12425.50,221098,202055
$TT8_MAMPS,0.028379
$HUMID,1689
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,22.8,70.731
$10V_AH,10.7,38.542
$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,30.875,150.575,541.850,0.000,0.000,25.067,35.148,224.929,8.250,0.000,0.000,15.970,2846.939,10412.996,663.679,2837.945,733.240,0.000,2111.867,0.000,2762.509,0.000,54.439,0.000
$DEVICE_MAMPS,237.770,51.389,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.221,1094.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85251,1576
$CAP_FILE_SIZE,186019,0
$CFSIZE,260165632,192913408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134, 34.6,1
$GPS,290709,044554,2446.760,12425.521,37,1.0,38,-3.7