version: 66.04
glider: 167
mission: 2
dive: 285
start: 7 9 109 13 34 4
data:
$ID,167
$MISSION,2
$DIVE,285
$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,-10881.154
$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,66
$R_STBD_OVSHOOT,33
$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
$GPS1,132700,2518.304,12412.355,37,0.9,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-65.8
$GPS2,133343,2518.404,12412.524,9,1.4,14,-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,219.7,58518,-23.2,-12.000
$D_GRID,2088
$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,15,-1.18,-121.7,0.0,0.0,0,46,0.00,0.00,-29.30,0.000,2,0.000,0.000,141,2419,2386
$GC,50,-1.18,-121.7,3.3,-2.3,5,109,8.23,2.10,-46.05,0.000,4,0.235,0.038,2157,1024,3989
$GC,166,-0.72,-121.7,23.6,-24.2,25,173,0.57,2.15,0.00,0.000,6,0.173,0.031,2309,2447,3990
$GC,511,-0.87,-121.7,69.6,-10.4,86,518,0.12,2.03,0.00,0.000,4,0.075,0.044,2247,3767,3992
$GC,672,-0.80,-121.7,93.5,-15.2,114,679,0.15,1.92,0.00,0.000,6,0.163,0.022,2286,2402,3993
$GC,1017,-0.98,-121.7,136.9,-11.5,175,1024,0.17,2.10,0.00,0.000,4,0.064,0.042,2195,3767,3994
$GC,1093,-0.78,-121.7,148.5,-16.3,188,1100,0.32,1.88,0.00,0.000,6,0.160,0.021,2288,2426,3994
$GC,1440,-1.24,-121.7,181.8,-7.8,249,1446,0.35,2.05,0.00,0.000,4,0.052,0.043,2138,3760,3995
$GC,1678,-0.90,-121.7,222.2,-17.3,291,1686,0.40,1.80,0.00,0.000,6,0.163,0.023,2251,2473,3995
$GC,2027,-1.08,-121.7,256.1,-9.9,352,2033,0.15,1.98,0.00,0.000,4,0.069,0.044,2188,3757,3996
$GC,2191,-0.99,-121.7,278.9,-14.1,381,2197,0.15,1.77,0.00,0.000,6,0.160,0.024,2227,2499,3996
$GC,2533,-1.11,-121.7,319.4,-10.3,427,2537,0.12,1.95,0.00,0.000,4,0.076,0.044,2175,3764,3997
$GC,2686,-1.00,-121.7,338.9,-12.4,440,2692,0.17,1.77,0.00,0.000,6,0.160,0.025,2221,2506,3996
$GC,3011,-1.13,-121.7,372.6,-10.8,471,3015,0.12,1.95,0.00,0.000,4,0.077,0.045,2166,3766,3997
$GC,3084,-0.99,-121.7,382.5,-14.3,477,3091,0.22,1.75,0.00,0.000,6,0.161,0.024,2227,2525,3997
$GC,3410,-1.16,-121.7,417.6,-10.9,508,3414,0.17,1.92,0.00,0.000,4,0.068,0.045,2153,3767,3995
$GC,3468,-1.01,-121.7,425.4,-14.6,513,3472,0.20,1.75,0.00,0.000,6,0.160,0.025,2223,2554,3995
$GC,3798,-1.19,-121.7,460.8,-10.2,544,3803,0.17,1.88,0.00,0.000,4,0.071,0.047,2153,3760,3994
$GC,3994,-1.05,-121.7,487.3,-13.7,561,4000,0.20,1.70,0.00,0.000,6,0.166,0.026,2205,2573,3993
$GC,4326,-1.16,-121.7,521.7,-10.0,583,4329,0.00,1.85,0.00,0.000,4,0.000,0.049,2204,3763,3991
$GC,4427,-1.25,-121.7,532.8,-10.5,587,4431,0.17,1.70,0.00,0.000,6,0.071,0.027,2137,2579,3991
$GC,4748,-1.12,-121.7,575.5,-13.5,603,4750,0.17,0.00,0.00,0.000,6,0.170,0.000,2181,2579,3989
$GC,5057,-1.12,-121.7,612.2,-11.6,618,5061,0.00,1.85,0.00,0.000,4,0.000,0.051,2179,3763,3987
$GC,5232,-1.12,-121.7,632.8,-11.7,625,5238,0.00,1.67,0.00,0.000,6,0.000,0.028,2179,2603,3986
$GC,5549,-1.17,-121.7,663.8,-9.6,641,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2603,3984
$GC,5858,-1.21,-121.7,694.7,-10.4,656,5862,0.00,1.83,0.00,0.000,4,0.000,0.053,2178,3763,3981
$GC,5897,-1.21,-121.7,699.2,-11.6,657,5903,0.00,1.65,0.00,0.000,6,0.000,0.028,2178,2624,3981
$GC,6213,-1.26,-121.7,733.3,-10.9,673,6217,0.12,1.80,0.00,0.000,4,0.088,0.051,2124,3766,3979
$GC,6297,-1.07,-121.7,745.0,-14.5,676,6304,0.28,1.65,0.00,0.000,6,0.176,0.028,2196,2631,3978
$GC,6616,-1.20,-121.7,777.8,-10.4,692,6620,0.12,2.33,0.00,0.000,4,0.086,0.028,2150,1050,3976
$GC,6682,-1.20,-121.7,786.1,-12.1,695,6686,0.00,2.38,0.00,0.000,6,0.000,0.038,2149,2597,3975
$GC,7004,-1.14,-121.7,825.3,-12.0,711,7008,0.00,1.80,0.00,0.000,4,0.000,0.053,2141,3757,3973
$GC,7037,-1.02,-121.7,829.8,-12.8,712,7041,0.28,1.62,0.00,0.000,6,0.173,0.028,2214,2642,3973
$GC,7359,-1.22,-121.7,858.2,-8.6,728,7361,0.17,0.00,0.00,0.000,6,0.077,0.000,2150,2641,3971
$GC,7667,-1.22,-121.7,892.8,-11.2,743,7670,0.00,1.77,0.00,0.000,4,0.000,0.054,2150,3761,3970
$GC,7700,-1.13,-121.7,896.8,-12.1,744,7704,0.08,1.65,0.00,0.000,6,0.175,0.030,2171,2656,3969
$GC,8023,-1.18,-121.7,930.8,-10.5,760,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2656,3967
$GC,8330,-1.22,-121.7,964.5,-11.1,775,8334,0.00,1.77,0.00,0.000,4,0.000,0.054,2165,3755,3966
$GC,8375,-1.22,-121.7,969.9,-12.5,777,8378,0.00,1.65,0.00,0.000,6,0.000,0.031,2166,2657,3965
$STATE,8560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8560,begin apogee
$GC,8567,-0.22,0.0,991.2,11.4,786,8663,1.05,0.00,90.25,1.413,6,0.166,0.000,2470,2547,3532
$STATE,8663,end apogee,CONTROL_FINISHED_OK
$STATE,8664,begin climb
$GC,8666,1.18,121.7,995.8,0.0,791,8776,1.27,2.12,103.22,1.371,4,0.064,0.050,2922,3755,3034
$GC,9008,0.44,121.7,973.0,12.6,806,9014,0.93,1.90,0.00,0.000,6,0.215,0.026,2695,2481,3030
$GC,9330,0.63,200.7,952.5,6.8,822,9402,0.15,2.20,64.45,1.351,4,0.084,0.032,2759,1119,2712
$GC,9444,0.69,212.2,941.1,11.2,827,9462,0.00,2.20,11.23,1.197,6,0.000,0.036,2759,2498,2666
$GC,9769,0.70,215.1,902.3,11.8,843,9773,0.00,2.10,0.00,0.000,4,0.000,0.033,2758,1124,2661
$GC,9803,0.76,215.1,898.2,12.1,844,9806,0.00,2.15,0.00,0.000,6,0.000,0.036,2759,2510,2662
$GC,10124,0.77,219.5,860.0,11.7,860,10138,0.00,2.17,7.03,1.104,4,0.000,0.032,2759,1122,2635
$GC,10218,0.87,231.4,848.8,11.2,864,10236,0.20,2.10,11.32,1.204,6,0.079,0.036,2833,2482,2588
$GC,10546,0.71,231.4,802.6,13.8,880,10551,0.20,2.08,0.00,0.000,4,0.179,0.030,2785,1110,2585
$GC,10624,0.73,248.7,793.0,10.9,883,10646,0.00,2.12,14.98,1.222,6,0.000,0.038,2786,2486,2518
$GC,10962,0.73,248.7,753.7,12.2,900,10966,0.00,2.08,0.00,0.000,4,0.000,0.031,2789,1118,2514
$GC,11120,0.73,248.7,733.3,12.7,907,11124,0.00,2.08,0.00,0.000,6,0.000,0.035,2789,2463,2513
$GC,11452,0.73,248.7,689.6,12.8,923,11456,0.00,2.03,0.00,0.000,4,0.000,0.051,2789,3759,2512
$GC,11521,0.62,248.7,679.9,14.8,926,11525,0.17,1.90,0.00,0.000,6,0.186,0.026,2745,2474,2513
$GC,11855,0.81,285.0,645.2,9.6,942,11891,0.17,2.10,30.58,1.187,4,0.077,0.033,2825,1101,2369
$GC,11991,0.81,285.0,627.3,12.6,947,11995,0.00,2.12,0.00,0.000,6,0.000,0.036,2824,2461,2365
$GC,12313,0.76,285.0,583.7,13.4,963,12317,0.12,2.05,0.00,0.000,4,0.179,0.029,2802,1112,2363
$GC,12352,0.82,285.0,578.6,12.3,964,12358,0.00,2.12,0.00,0.000,6,0.000,0.037,2802,2480,2363
$GC,12669,0.83,292.9,540.7,11.5,980,12682,0.00,2.15,7.18,0.969,4,0.000,0.032,2802,1102,2337
$GC,12758,0.92,303.5,530.6,11.3,984,12773,0.12,2.10,10.48,1.021,6,0.085,0.035,2850,2465,2294
$GC,13089,0.80,303.5,485.2,14.0,1003,13094,0.17,2.03,0.00,0.000,4,0.177,0.030,2812,1120,2290
$GC,13173,0.86,303.5,473.9,12.6,1010,13179,0.00,2.08,0.00,0.000,6,0.000,0.035,2812,2465,2290
$GC,13501,0.93,315.6,436.1,11.2,1041,13517,0.00,0.00,10.82,0.964,6,0.000,0.000,2813,2465,2245
$GC,13838,1.02,337.8,399.9,10.5,1073,13864,0.17,2.10,19.40,0.978,4,0.075,0.031,2896,1110,2154
$GC,14117,0.90,337.8,359.9,15.2,1098,14122,0.22,2.05,0.00,0.000,6,0.183,0.036,2838,2442,2149
$GC,14443,0.94,337.8,321.2,12.1,1128,14447,0.00,2.00,0.00,0.000,4,0.000,0.031,2844,1104,2148
$GC,14534,1.01,337.8,309.5,13.1,1136,14538,0.00,2.00,0.00,0.000,6,0.000,0.033,2844,2420,2148
$GC,14873,1.09,361.2,270.5,10.5,1189,14898,0.15,2.05,19.52,0.864,4,0.077,0.030,2912,1098,2059
$GC,14933,1.01,361.2,262.4,14.6,1199,14940,0.17,1.95,0.00,0.000,6,0.177,0.033,2868,2379,2057
$GC,15278,1.01,361.2,212.2,13.1,1260,15284,0.00,1.90,0.00,0.000,4,0.000,0.028,2873,1097,2056
$GC,15393,1.06,361.2,197.3,12.3,1280,15399,0.00,1.88,0.00,0.000,6,0.000,0.031,2873,2341,2055
$GC,15738,1.13,367.6,156.5,11.6,1341,15750,0.10,1.83,6.55,0.660,4,0.092,0.028,2922,1107,2033
$GC,15791,1.13,367.6,149.7,12.5,1350,15797,0.00,1.83,0.00,0.000,6,0.000,0.032,2922,2323,2032
$GC,16134,1.15,387.6,107.2,10.7,1411,16158,0.00,2.25,17.00,0.707,4,0.000,0.046,2922,3765,1951
$GC,16171,1.11,387.6,103.0,12.2,1417,16177,0.00,2.17,0.00,0.000,6,0.000,0.023,2931,2266,1950
$GC,16515,1.13,407.4,64.8,10.7,1478,16538,0.00,1.70,17.48,0.662,4,0.000,0.028,2939,1098,1870
$GC,16575,1.22,439.4,58.8,9.9,1488,16609,0.00,1.80,26.30,0.659,6,0.000,0.028,2939,2307,1738
$GC,16949,1.43,475.0,13.4,9.6,1554,16986,0.20,1.83,28.02,0.618,4,0.064,0.029,3024,1088,1593
$STATE,17030,end climb,SURFACE_DEPTH_REACHED
$STATE,17030,begin surface coast
$FINISH,1.8,1.009092
$STATE,17055,end surface coast,CONTROL_FINISHED_OK
$STATE,17055,begin surface
$SM_CCo,17135,0.00,0.000,0,0,1587,476.86
$SM_GC,2.70,7.85,0.00,0.00,0.058,0.000,0.000,140,2441,1587,-7.50,0.40,476.86
$IRIDIUM_FIX,2510.35,12412.47,031098,080825
$TT8_MAMPS,0.029913
$HUMID,1606
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,50.233
$10V_AH,10.8,28.413
$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,26.875,140.900,495.800,0.000,0.000,31.300,33.332,197.874,8.000,0.000,0.000,16.203,2811.962,10641.313,604.362,2855.368,613.004,0.000,2055.187,0.000,2790.519,0.000,54.422,0.000
$DEVICE_MAMPS,234.702,57.525,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.015,1094.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85282,1572
$CAP_FILE_SIZE,180644,0
$CFSIZE,260165632,202260480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215, 79.4,1
$GPS,090709,182055,2517.635,12412.998,40,1.2,41,-3.8