version: 66.04
glider: 167
mission: 2
dive: 284
start: 7 9 109 8 43 5
data:
$ID,167
$MISSION,2
$DIVE,284
$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,-10864.322
$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,61
$R_STBD_OVSHOOT,32
$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
$GPS1,083530,2518.899,12411.065,40,1.5,47,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.2
$GPS2,084246,2519.108,12411.221,12,2.2,31,-3.8
$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,217.9,60182,-23.2,-12.000
$D_GRID,2072
$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,-1.18,-121.7,0.0,0.0,0,46,0.00,0.00,-29.00,0.000,2,0.000,0.000,140,2439,2339
$GC,50,-1.18,-121.7,3.2,-2.1,5,116,8.30,2.15,-50.88,0.000,4,0.237,0.038,2159,1010,3989
$GC,214,-0.72,-121.7,32.3,-24.0,33,221,0.55,2.15,0.00,0.000,6,0.163,0.031,2308,2440,3990
$GC,558,-0.83,-121.7,81.6,-12.3,94,564,0.00,2.03,0.00,0.000,4,0.000,0.045,2302,3761,3992
$GC,639,-0.94,-121.7,92.0,-13.3,108,645,0.17,1.92,0.00,0.000,6,0.066,0.023,2226,2392,3992
$GC,983,-0.87,-121.7,142.0,-13.9,169,989,0.15,2.10,0.00,0.000,4,0.156,0.043,2261,3754,3994
$GC,1043,-0.95,-121.7,149.6,-13.1,179,1050,0.00,1.83,0.00,0.000,6,0.000,0.023,2261,2441,3994
$GC,1390,-1.10,-121.7,193.4,-11.4,240,1396,0.17,2.03,0.00,0.000,4,0.070,0.044,2177,3755,3996
$GC,1488,-0.92,-121.7,207.9,-15.5,257,1495,0.25,1.80,0.00,0.000,6,0.158,0.023,2247,2469,3996
$GC,1833,-1.08,-121.7,244.4,-10.1,318,1840,0.15,1.98,0.00,0.000,4,0.071,0.044,2179,3754,3996
$GC,1892,-0.95,-121.7,251.8,-13.1,328,1899,0.22,1.80,0.00,0.000,6,0.156,0.024,2241,2471,3996
$GC,2238,-1.11,-121.7,288.1,-10.4,389,2244,0.15,0.00,0.00,0.000,6,0.071,0.000,2177,2470,3996
$GC,2569,-1.05,-121.7,329.4,-12.8,428,2572,0.00,1.98,0.00,0.000,4,0.000,0.046,2176,3754,3997
$GC,2603,-0.95,-121.7,334.3,-14.3,431,2607,0.22,1.85,0.00,0.000,6,0.156,0.024,2237,2443,3996
$GC,2933,-1.15,-121.7,368.1,-9.3,462,2937,0.17,2.03,0.00,0.000,4,0.067,0.045,2164,3753,3997
$GC,3051,-1.02,-121.7,383.3,-13.9,472,3058,0.17,1.80,0.00,0.000,6,0.163,0.025,2209,2486,3996
$GC,3376,-1.11,-121.7,420.7,-12.0,503,3380,0.00,2.00,0.00,0.000,4,0.000,0.047,2205,3775,3995
$GC,3517,-1.17,-121.7,438.3,-12.1,515,3524,0.12,1.80,0.00,0.000,6,0.078,0.026,2153,2512,3995
$GC,3842,-1.08,-121.7,478.5,-11.9,546,3846,0.15,2.12,0.00,0.000,4,0.166,0.025,2191,1043,3993
$GC,3871,-1.08,-121.7,481.6,-10.4,548,3875,0.00,2.20,0.00,0.000,6,0.000,0.034,2191,2508,3993
$GC,4209,-1.15,-121.7,518.6,-10.8,572,4213,0.00,1.95,0.00,0.000,4,0.000,0.050,2191,3756,3992
$GC,4405,-1.20,-121.7,540.6,-9.8,580,4411,0.00,1.77,0.00,0.000,6,0.000,0.026,2191,2514,3991
$GC,4722,-1.28,-121.7,573.3,-10.5,596,4726,0.17,1.95,0.00,0.000,4,0.075,0.048,2110,3765,3989
$GC,4761,-1.01,-121.7,578.9,-14.3,597,4768,0.38,1.80,0.00,0.000,6,0.172,0.026,2212,2510,3989
$GC,5078,-1.18,-121.7,611.9,-10.5,613,5082,0.15,1.95,0.00,0.000,4,0.077,0.049,2152,3756,3987
$GC,5184,-1.10,-121.7,626.3,-13.2,617,5191,0.15,1.75,0.00,0.000,6,0.166,0.027,2190,2539,3986
$GC,5500,-1.19,-121.7,661.0,-10.7,633,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2539,3984
$GC,5810,-1.29,-121.7,694.2,-10.6,648,5812,0.17,0.00,0.00,0.000,6,0.072,0.000,2124,2538,3981
$GC,6118,-1.15,-121.7,736.3,-13.7,663,6122,0.17,1.92,0.00,0.000,4,0.178,0.050,2166,3759,3979
$GC,6179,-1.15,-121.7,744.3,-12.3,665,6185,0.00,1.80,0.00,0.000,6,0.000,0.028,2167,2541,3979
$GC,6495,-1.15,-121.7,782.1,-12.2,681,6499,0.00,2.17,0.00,0.000,4,0.000,0.028,2167,1056,3976
$GC,6550,-1.15,-121.7,789.1,-12.7,683,6554,0.00,2.25,0.00,0.000,6,0.000,0.038,2165,2522,3976
$GC,6872,-1.15,-121.7,828.2,-12.5,699,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2522,3974
$GC,7182,-1.15,-121.7,865.6,-11.8,714,7185,0.00,1.92,0.00,0.000,4,0.000,0.054,2165,3756,3972
$GC,7227,-1.15,-121.7,871.2,-12.3,716,7231,0.00,1.80,0.00,0.000,6,0.000,0.028,2165,2523,3972
$GC,7561,-1.15,-121.7,907.8,-10.9,732,7565,0.00,1.98,0.00,0.000,4,0.000,0.054,2165,3766,3969
$GC,7629,-1.15,-121.7,915.9,-11.5,735,7632,0.00,1.80,0.00,0.000,6,0.000,0.030,2165,2544,3969
$GC,7961,-1.15,-121.7,952.8,-11.1,751,7965,0.00,1.92,0.00,0.000,4,0.000,0.054,2165,3757,3967
$GC,8040,-1.15,-121.7,962.1,-11.7,754,8043,0.00,1.75,0.00,0.000,6,0.000,0.029,2165,2564,3966
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8303,-0.22,0.0,990.7,11.2,767,8402,1.02,0.00,89.95,1.414,6,0.163,0.000,2465,2564,3532
$STATE,8403,end apogee,CONTROL_FINISHED_OK
$STATE,8403,begin climb
$GC,8405,1.18,121.7,994.8,0.0,772,8517,1.33,2.10,103.25,1.373,4,0.061,0.051,2932,3756,3034
$GC,8704,0.41,121.7,976.0,13.9,786,8709,1.02,1.85,0.00,0.000,6,0.217,0.027,2683,2517,3031
$GC,9031,0.67,216.7,954.9,5.7,802,9117,0.20,2.20,77.65,1.351,4,0.077,0.031,2771,1115,2649
$GC,9212,0.68,228.5,935.6,11.2,810,9229,0.00,2.17,11.20,1.193,6,0.000,0.038,2771,2487,2600
$GC,9538,0.69,232.1,896.9,11.8,826,9544,0.00,0.00,4.18,0.859,6,0.000,0.000,2771,2487,2585
$GC,9847,0.69,238.6,860.9,11.6,841,9858,0.00,2.10,6.32,1.059,4,0.000,0.031,2772,1109,2561
$GC,9937,0.76,242.8,850.3,11.7,845,9947,0.00,2.15,5.50,0.998,6,0.000,0.037,2772,2497,2542
$GC,10258,0.76,242.8,811.6,12.4,860,10261,0.00,2.10,0.00,0.000,4,0.000,0.034,2772,1113,2540
$GC,10358,0.82,242.8,799.2,12.0,864,10363,0.12,2.08,0.00,0.000,6,0.091,0.038,2819,2459,2539
$GC,10674,0.72,242.8,754.9,13.7,879,10679,0.15,2.03,0.00,0.000,4,0.177,0.030,2788,1119,2538
$GC,10742,0.72,242.8,746.5,12.3,882,10745,0.00,2.05,0.00,0.000,6,0.000,0.036,2789,2448,2538
$GC,11074,0.72,242.8,705.7,12.3,898,11078,0.00,2.05,0.00,0.000,4,0.000,0.054,2789,3757,2537
$GC,11107,0.60,242.8,701.1,14.2,899,11111,0.20,1.92,0.00,0.000,6,0.186,0.027,2741,2440,2537
$GC,11428,0.81,284.9,670.0,9.2,915,11472,0.17,2.05,35.15,1.204,4,0.079,0.032,2814,1123,2368
$GC,11565,0.81,284.9,652.8,13.4,921,11569,0.00,2.03,0.00,0.000,6,0.000,0.035,2814,2426,2366
$GC,11897,0.81,284.9,608.7,13.4,937,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2426,2363
$GC,12207,0.81,284.9,567.6,13.1,952,12211,0.00,1.98,0.00,0.000,4,0.000,0.033,2815,1121,2362
$GC,12307,0.81,284.9,554.6,13.1,956,12311,0.00,1.98,0.00,0.000,6,0.000,0.035,2814,2415,2362
$GC,12629,0.81,284.9,513.8,12.6,972,12633,0.00,2.12,0.00,0.000,4,0.000,0.051,2815,3772,2361
$GC,12653,0.73,284.9,510.6,13.6,973,12657,0.17,2.05,0.00,0.000,6,0.187,0.026,2780,2378,2361
$GC,12983,0.87,306.6,475.2,10.6,999,13007,0.12,2.20,17.23,1.035,4,0.087,0.052,2827,3755,2283
$GC,13024,0.78,306.6,469.9,12.4,1002,13031,0.12,2.03,0.00,0.000,6,0.197,0.026,2801,2397,2283
$GC,13349,0.87,306.6,431.1,12.2,1033,13353,0.00,1.90,0.00,0.000,4,0.000,0.031,2803,1113,2281
$GC,13498,1.00,316.4,414.3,11.4,1046,13513,0.17,1.92,9.62,0.927,6,0.077,0.035,2870,2377,2241
$GC,13839,0.90,316.4,367.8,14.0,1078,13843,0.12,1.90,0.00,0.000,4,0.189,0.029,2847,1106,2239
$GC,13955,0.90,316.4,352.5,12.6,1088,13962,0.00,1.92,0.00,0.000,6,0.000,0.035,2847,2350,2239
$GC,14283,0.90,316.4,311.2,12.8,1119,14286,0.00,1.85,0.00,0.000,4,0.000,0.031,2852,1103,2239
$GC,14361,0.90,316.4,300.7,12.5,1126,14365,0.00,1.85,0.00,0.000,6,0.000,0.032,2852,2331,2239
$GC,14705,0.92,328.7,259.8,11.2,1186,14723,0.00,2.25,11.48,0.827,4,0.000,0.051,2852,3764,2190
$GC,14758,0.82,328.7,252.9,13.8,1195,14766,0.20,2.15,0.00,0.000,6,0.182,0.025,2808,2299,2190
$GC,15104,1.03,342.2,213.8,11.1,1256,15122,0.17,1.75,12.07,0.787,4,0.077,0.030,2885,1107,2136
$GC,15152,1.03,342.2,207.1,14.5,1264,15158,0.00,1.80,0.00,0.000,6,0.000,0.032,2885,2302,2136
$GC,15496,1.07,370.4,165.1,10.1,1325,15525,0.00,2.30,23.73,0.775,4,0.000,0.046,2885,3766,2020
$GC,15577,1.00,370.4,155.4,12.8,1339,15584,0.00,2.20,0.00,0.000,6,0.000,0.023,2892,2288,2017
$GC,15924,1.11,394.2,116.9,10.4,1400,15949,0.00,1.77,19.35,0.716,4,0.000,0.030,2900,1119,1925
$GC,16034,1.29,424.5,105.6,10.0,1419,16066,0.17,1.75,25.08,0.704,6,0.075,0.031,2969,2278,1800
$GC,16405,1.29,424.5,54.6,12.3,1484,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2278,1796
$GC,16748,1.33,460.7,16.5,9.6,1545,16783,0.00,2.30,28.92,0.621,4,0.000,0.044,2969,3766,1653
$STATE,16860,end climb,SURFACE_DEPTH_REACHED
$STATE,16861,begin surface coast
$FINISH,1.8,1.012532
$STATE,16884,end surface coast,CONTROL_FINISHED_OK
$STATE,16884,begin surface
$SM_CCo,16963,0.00,0.000,0,0,1648,462.15
$SM_GC,2.66,7.60,0.00,0.00,0.053,0.000,0.000,141,2419,1648,-7.49,-0.23,462.15
$IRIDIUM_FIX,2507.97,12407.19,031098,030306
$TT8_MAMPS,0.029146
$HUMID,1613
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,50.056
$10V_AH,10.8,28.316
$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,25.275,138.925,480.675,0.000,0.000,25.673,33.347,219.847,8.000,0.000,0.000,32.546,2777.014,10574.620,606.665,2818.778,607.203,0.000,2022.396,0.000,2736.981,0.000,54.424,0.000
$DEVICE_MAMPS,237.003,54.457,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.425,1081.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85098,1569
$CAP_FILE_SIZE,174690,0
$CFSIZE,260165632,202358784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268, 75.8,1
$GPS,090709,132700,2518.304,12412.355,37,0.9,38,-3.8