version: 66.04
glider: 167
mission: 2
dive: 286
start: 7 9 109 18 31 6
data:
$ID,167
$MISSION,2
$DIVE,286
$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,-10897.04
$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,64
$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
$GPS1,182055,2517.635,12412.998,40,1.2,41,-3.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-66.3
$GPS2,183045,2517.783,12413.168,14,1.6,15,-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,220.6,57220,-23.2,-12.000
$D_GRID,2146
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,47,0.00,0.00,-28.15,0.000,2,0.000,0.000,140,2441,2310
$GC,50,-1.18,-121.7,3.2,-2.2,5,117,8.38,2.17,-53.00,0.000,4,0.240,0.039,2160,1014,3990
$GC,224,-0.75,-121.7,34.0,-23.9,35,232,0.52,2.12,0.00,0.000,6,0.161,0.031,2303,2431,3990
$GC,570,-0.89,-121.7,81.6,-13.4,96,576,0.15,2.03,0.00,0.000,4,0.071,0.044,2231,3753,3992
$GC,628,-0.76,-121.7,91.8,-18.1,106,635,0.25,1.92,0.00,0.000,6,0.156,0.022,2302,2385,3992
$GC,974,-0.98,-121.7,131.1,-9.7,167,982,0.17,2.12,0.00,0.000,4,0.068,0.044,2218,3763,3993
$GC,1061,-0.88,-121.7,143.8,-15.3,182,1068,0.15,1.85,0.00,0.000,6,0.163,0.022,2257,2440,3993
$GC,1407,-1.02,-121.7,183.8,-10.1,243,1414,0.12,2.03,0.00,0.000,4,0.073,0.042,2192,3760,3994
$GC,1535,-0.91,-121.7,201.4,-14.6,265,1542,0.20,1.83,0.00,0.000,6,0.157,0.023,2247,2456,3995
$GC,1881,-1.06,-121.7,239.3,-10.6,326,1887,0.12,0.00,0.00,0.000,6,0.074,0.000,2192,2456,3996
$GC,2224,-1.06,-121.7,284.2,-12.5,387,2231,0.00,2.00,0.00,0.000,4,0.000,0.044,2192,3759,3995
$GC,2255,-1.01,-121.7,287.9,-12.1,392,2261,0.00,1.83,0.00,0.000,6,0.000,0.024,2192,2450,3995
$GC,2586,-1.01,-121.7,327.3,-12.2,432,2590,0.00,2.03,0.00,0.000,4,0.000,0.046,2191,3765,3995
$GC,2677,-1.01,-121.7,338.9,-12.4,440,2681,0.00,1.83,0.00,0.000,6,0.000,0.024,2192,2464,3996
$GC,3008,-1.01,-121.7,377.4,-11.5,471,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2464,3995
$GC,3328,-1.01,-121.7,413.3,-11.2,501,3332,0.00,2.00,0.00,0.000,4,0.000,0.046,2188,3758,3994
$GC,3400,-1.01,-121.7,422.1,-12.1,507,3408,0.05,1.88,0.00,0.000,6,0.156,0.025,2215,2466,3994
$GC,3726,-1.16,-121.7,455.0,-10.2,538,3730,0.12,2.00,0.00,0.000,4,0.077,0.046,2162,3757,3993
$GC,3775,-1.06,-121.7,461.3,-12.9,542,3782,0.15,1.85,0.00,0.000,6,0.165,0.025,2200,2455,3992
$GC,4101,-1.16,-121.7,495.6,-10.5,573,4104,0.00,2.03,0.00,0.000,4,0.000,0.047,2192,3763,3991
$GC,4220,-1.21,-121.7,509.1,-11.3,580,4224,0.12,1.83,0.00,0.000,6,0.079,0.025,2140,2482,3990
$GC,4547,-1.10,-121.7,548.4,-12.1,596,4551,0.17,1.98,0.00,0.000,4,0.168,0.046,2191,3750,3989
$GC,4586,-1.15,-121.7,552.9,-10.4,597,4593,0.00,1.80,0.00,0.000,6,0.000,0.026,2191,2488,3989
$GC,4903,-1.25,-121.7,583.5,-10.4,613,4907,0.15,1.98,0.00,0.000,4,0.077,0.048,2124,3751,3986
$GC,4997,-1.05,-121.7,596.8,-14.2,617,5002,0.30,1.80,0.00,0.000,6,0.169,0.026,2206,2500,3985
$GC,5327,-1.20,-121.7,629.5,-10.0,633,5331,0.15,1.98,0.00,0.000,4,0.075,0.048,2139,3762,3983
$GC,5427,-1.06,-121.7,643.6,-14.4,637,5431,0.17,1.83,0.00,0.000,6,0.164,0.027,2201,2521,3982
$GC,5750,-1.20,-121.7,678.7,-10.8,653,5754,0.12,1.92,0.00,0.000,4,0.078,0.049,2152,3749,3980
$GC,5795,-1.11,-121.7,685.0,-13.7,655,5800,0.12,1.77,0.00,0.000,6,0.173,0.027,2182,2521,3979
$GC,6130,-1.19,-121.7,723.5,-11.6,671,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2522,3977
$GC,6438,-1.27,-121.7,758.1,-11.1,686,6442,0.15,1.95,0.00,0.000,4,0.079,0.049,2125,3760,3974
$GC,6550,-1.10,-121.7,773.6,-13.8,691,6555,0.17,1.83,0.00,0.000,6,0.173,0.028,2185,2537,3973
$GC,6885,-1.19,-121.7,808.3,-10.2,707,6889,0.00,2.17,0.00,0.000,4,0.000,0.029,2185,1054,3971
$GC,6909,-1.30,-121.7,811.0,-10.9,708,6914,0.15,2.22,0.00,0.000,6,0.081,0.038,2125,2504,3972
$GC,7244,-1.18,-121.7,855.5,-13.6,724,7248,0.15,1.95,0.00,0.000,4,0.189,0.051,2154,3752,3969
$GC,7372,-1.12,-121.7,871.9,-12.6,729,7378,0.00,1.77,0.00,0.000,6,0.000,0.028,2154,2536,3968
$GC,7687,-1.12,-121.7,907.9,-11.3,745,7691,0.00,1.92,0.00,0.000,4,0.000,0.054,2153,3748,3966
$GC,7715,-1.08,-121.7,911.4,-12.7,746,7720,0.12,1.77,0.00,0.000,6,0.170,0.028,2189,2556,3967
$GC,8044,-1.20,-121.7,944.5,-10.2,762,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2556,3965
$GC,8353,-1.33,-121.7,975.3,-10.2,777,8358,0.20,2.22,0.00,0.000,4,0.073,0.028,2113,1047,3964
$GC,8397,-1.19,-121.7,981.1,-13.7,779,8402,0.20,2.28,0.00,0.000,6,0.179,0.038,2161,2524,3963
$STATE,8489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8489,begin apogee
$GC,8494,-0.22,0.0,991.9,11.4,784,8594,1.05,0.00,89.65,1.412,6,0.163,0.000,2470,2525,3531
$STATE,8595,end apogee,CONTROL_FINISHED_OK
$STATE,8595,begin climb
$GC,8598,1.18,121.7,996.4,0.0,789,8708,1.27,2.10,102.95,1.374,4,0.062,0.050,2925,3748,3034
$GC,8917,0.44,121.7,976.5,12.5,803,8922,0.95,1.85,0.00,0.000,6,0.214,0.026,2692,2507,3030
$GC,9232,0.67,217.0,957.4,5.7,818,9318,0.20,2.17,78.00,1.355,4,0.077,0.031,2775,1123,2646
$GC,9408,0.67,217.0,938.9,12.0,826,9412,0.00,2.17,0.00,0.000,6,0.000,0.035,2775,2498,2642
$GC,9741,0.67,217.9,899.5,11.9,842,9744,0.00,2.10,0.00,0.000,4,0.000,0.032,2775,1117,2639
$GC,9847,0.69,233.2,887.6,11.0,846,9866,0.00,2.12,13.55,1.241,6,0.000,0.035,2775,2494,2581
$GC,10184,0.71,253.7,851.2,10.6,863,10206,0.00,2.17,17.73,1.261,4,0.000,0.033,2775,1126,2497
$GC,10235,0.78,260.1,845.6,11.6,865,10250,0.00,2.12,6.88,1.064,6,0.000,0.036,2775,2483,2471
$GC,10560,0.85,273.4,810.1,11.1,881,10582,0.12,2.10,12.45,1.201,4,0.084,0.052,2823,3767,2416
$GC,10593,0.72,273.4,805.4,14.5,882,10598,0.17,1.95,0.00,0.000,6,0.191,0.026,2783,2478,2415
$GC,10914,0.72,273.4,765.1,12.8,898,10918,0.00,2.05,0.00,0.000,4,0.000,0.031,2789,1103,2413
$GC,10998,0.77,273.4,754.3,12.9,901,11004,0.00,2.10,0.00,0.000,6,0.000,0.035,2789,2466,2413
$GC,11314,0.77,273.4,714.9,12.4,917,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2466,2411
$GC,11623,0.78,280.7,678.1,11.5,932,11637,0.00,2.12,7.18,1.043,4,0.000,0.033,2789,1105,2387
$GC,11706,0.87,301.7,668.8,10.6,935,11734,0.10,2.10,19.12,1.170,6,0.092,0.037,2827,2468,2300
$GC,12044,0.87,301.7,624.9,13.2,952,12047,0.00,2.08,0.00,0.000,4,0.000,0.031,2828,1099,2297
$GC,12104,0.87,301.7,616.4,13.9,954,12111,0.00,2.05,0.00,0.000,6,0.000,0.034,2828,2436,2297
$GC,12420,0.87,301.7,573.8,13.3,970,12423,0.00,2.08,0.00,0.000,4,0.000,0.050,2827,3766,2296
$GC,12470,0.73,301.7,566.1,15.6,972,12475,0.17,2.00,0.00,0.000,6,0.187,0.026,2785,2417,2296
$GC,12797,0.86,314.8,529.1,11.1,988,12814,0.10,2.03,11.45,1.039,4,0.091,0.031,2829,1092,2248
$GC,12950,0.86,314.9,510.9,12.0,994,12953,0.00,2.03,0.00,0.000,6,0.000,0.033,2829,2419,2246
$GC,13280,0.86,314.9,470.5,12.7,1020,13283,0.00,2.10,0.00,0.000,4,0.000,0.051,2829,3761,2244
$GC,13330,0.76,314.9,463.1,14.5,1024,13338,0.17,2.00,0.00,0.000,6,0.183,0.026,2793,2399,2244
$GC,13655,0.91,329.0,427.8,11.1,1055,13678,0.12,2.00,12.68,0.974,4,0.087,0.031,2845,1093,2190
$GC,13774,0.91,329.0,412.2,12.7,1065,13780,0.00,2.03,0.00,0.000,6,0.000,0.035,2845,2420,2188
$GC,14100,0.91,329.0,369.3,12.9,1096,14104,0.00,2.10,0.00,0.000,4,0.000,0.051,2845,3765,2187
$GC,14116,0.87,329.0,366.8,13.1,1097,14122,0.00,2.05,0.00,0.000,6,0.000,0.026,2854,2379,2187
$GC,14445,0.88,337.6,326.9,11.4,1128,14459,0.00,1.95,8.45,0.841,4,0.000,0.032,2863,1099,2155
$GC,14585,0.90,355.9,310.6,10.8,1140,14608,0.00,1.95,16.48,0.886,6,0.000,0.033,2863,2382,2079
$GC,14940,0.90,355.9,267.3,12.8,1195,14946,0.00,1.92,0.00,0.000,4,0.000,0.031,2870,1094,2076
$GC,15004,0.90,355.9,258.5,14.5,1206,15010,0.15,1.92,0.00,0.000,6,0.176,0.032,2833,2370,2076
$GC,15349,1.11,401.0,217.4,9.0,1267,15393,0.17,2.22,36.55,0.824,4,0.070,0.047,2909,3774,1895
$GC,15434,0.98,401.0,205.9,15.3,1281,15440,0.22,2.15,0.00,0.000,6,0.168,0.024,2858,2336,1892
$GC,15779,1.15,401.0,164.4,13.1,1342,15785,0.15,1.83,0.00,0.000,4,0.076,0.030,2921,1096,1890
$GC,15821,1.15,401.0,158.3,14.9,1349,15827,0.00,1.88,0.00,0.000,6,0.000,0.031,2921,2341,1890
$GC,16164,1.16,410.8,112.9,11.3,1410,16177,0.00,1.92,8.55,0.653,4,0.000,0.030,2923,1086,1857
$GC,16219,1.24,428.7,107.0,10.8,1419,16243,0.00,1.88,15.75,0.689,6,0.000,0.031,2923,2335,1783
$GC,16582,1.34,428.7,58.7,13.2,1483,16589,0.15,1.85,0.00,0.000,4,0.074,0.028,2992,1085,1779
$GC,16843,1.37,448.6,25.6,10.7,1529,16867,0.00,1.75,17.05,0.620,6,0.000,0.031,2992,2265,1702
$STATE,17033,end climb,SURFACE_DEPTH_REACHED
$STATE,17033,begin surface coast
$FINISH,1.7,1.010072
$STATE,17069,end surface coast,CONTROL_FINISHED_OK
$STATE,17069,begin surface
$SM_CCo,17147,0.00,0.000,0,0,1698,449.88
$SM_GC,2.74,7.62,0.00,0.00,0.053,0.000,0.000,140,2460,1698,-7.50,0.93,449.88
$IRIDIUM_FIX,2510.35,12413.81,031098,181853
$TT8_MAMPS,0.028379
$HUMID,1608
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,50.414
$10V_AH,10.8,28.511
$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,25.800,147.725,474.450,0.000,0.000,57.127,122.139,209.384,8.000,0.000,0.000,15.256,2813.698,10725.112,613.412,2832.721,738.699,0.000,2058.384,0.000,2765.444,0.000,54.422,0.000
$DEVICE_MAMPS,240.071,53.690,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.733,1079.715,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85157,1569
$CAP_FILE_SIZE,181132,0
$CFSIZE,260165632,202170368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257, 84.4,1
$GPS,090709,231827,2516.764,12414.152,38,2.1,58,-3.8