version: 66.04
glider: 167
mission: 2
dive: 287
start: 7 9 109 23 32 6
data:
$ID,167
$MISSION,2
$DIVE,287
$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,-10914.479
$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,54
$R_STBD_OVSHOOT,49
$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
$GPS1,231827,2516.764,12414.152,38,2.1,58,-3.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-67.7
$GPS2,233145,2517.029,12414.345,13,1.7,14,-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,222.5,55584,-23.2,-12.000
$D_GRID,2136
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,42,0.00,0.00,-24.25,0.000,2,0.000,0.000,140,2460,2316
$GC,45,-1.18,-121.7,3.1,-3.1,4,116,8.35,2.17,-53.03,0.000,4,0.240,0.039,2156,1017,3990
$GC,235,-0.73,-121.7,38.4,-22.6,37,242,0.55,2.10,0.00,0.000,6,0.167,0.029,2304,2424,3990
$GC,580,-0.88,-121.7,83.2,-12.2,98,587,0.12,2.03,0.00,0.000,4,0.077,0.044,2245,3750,3992
$GC,644,-0.80,-121.7,92.7,-15.2,109,651,0.15,1.95,0.00,0.000,6,0.164,0.022,2284,2367,3992
$GC,989,-0.95,-121.7,131.8,-10.1,170,995,0.15,2.15,0.00,0.000,4,0.071,0.043,2218,3761,3992
$GC,1063,-0.85,-121.7,142.2,-14.4,183,1071,0.17,1.92,0.00,0.000,6,0.161,0.023,2264,2381,3993
$GC,1411,-1.01,-121.7,179.5,-10.1,244,1417,0.15,2.10,0.00,0.000,4,0.070,0.042,2192,3750,3994
$GC,1562,-0.88,-121.7,201.2,-14.5,270,1569,0.22,1.83,0.00,0.000,6,0.158,0.023,2255,2442,3994
$GC,1908,-1.05,-121.7,243.0,-10.6,331,1915,0.15,2.03,0.00,0.000,4,0.065,0.044,2189,3760,3994
$GC,2041,-0.93,-121.7,260.3,-12.9,354,2047,0.20,1.83,0.00,0.000,6,0.156,0.024,2244,2458,3994
$GC,2385,-1.11,-121.7,288.9,-9.4,415,2393,0.17,2.00,0.00,0.000,4,0.067,0.044,2163,3758,3994
$GC,2462,-0.94,-121.7,298.7,-13.9,428,2470,0.28,1.83,0.00,0.000,6,0.158,0.024,2239,2459,3994
$GC,2796,-1.13,-121.7,335.3,-11.3,460,2800,0.17,2.00,0.00,0.000,4,0.064,0.044,2154,3758,3994
$GC,2864,-0.95,-121.7,345.4,-15.9,466,2868,0.30,1.80,0.00,0.000,6,0.160,0.024,2239,2476,3994
$GC,3194,-1.17,-121.7,378.6,-8.4,497,3198,0.20,1.98,0.00,0.000,4,0.064,0.045,2149,3754,3993
$GC,3244,-0.99,-121.7,384.6,-12.7,501,3251,0.28,1.77,0.00,0.000,6,0.163,0.025,2225,2499,3993
$GC,3570,-1.17,-121.7,414.6,-9.1,532,3574,0.17,1.95,0.00,0.000,4,0.068,0.046,2145,3757,3993
$GC,3687,-0.99,-121.7,430.0,-13.6,542,3694,0.28,1.75,0.00,0.000,6,0.163,0.025,2221,2521,3992
$GC,4013,-1.17,-121.7,462.4,-10.7,573,4017,0.15,1.90,0.00,0.000,4,0.071,0.046,2155,3747,3990
$GC,4161,-1.06,-121.7,484.2,-15.4,586,4165,0.17,1.73,0.00,0.000,6,0.166,0.025,2200,2533,3990
$GC,4499,-1.16,-121.7,525.2,-11.4,608,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2532,3988
$GC,4805,-1.27,-121.7,555.6,-9.0,623,4807,0.20,0.00,0.00,0.000,6,0.068,0.000,2124,2531,3986
$GC,5114,-1.12,-121.7,589.4,-11.1,638,5119,0.20,1.92,0.00,0.000,4,0.177,0.048,2178,3760,3983
$GC,5237,-1.12,-121.7,602.1,-10.2,643,5241,0.00,1.80,0.00,0.000,6,0.000,0.027,2178,2528,3982
$GC,5561,-1.12,-121.7,635.5,-11.1,659,5564,0.00,1.92,0.00,0.000,4,0.000,0.051,2178,3756,3980
$GC,5651,-1.12,-121.7,646.6,-12.3,663,5654,0.00,1.77,0.00,0.000,6,0.000,0.028,2178,2554,3980
$GC,5984,-1.17,-121.7,684.7,-11.4,679,5987,0.00,1.88,0.00,0.000,4,0.000,0.051,2177,3747,3977
$GC,6018,-1.17,-121.7,688.6,-11.9,680,6021,0.00,1.73,0.00,0.000,6,0.000,0.028,2177,2555,3977
$GC,6340,-1.23,-121.7,721.3,-9.7,696,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2554,3974
$GC,6648,-1.28,-121.7,749.0,-8.9,711,6653,0.12,2.17,0.00,0.000,4,0.086,0.028,2129,1057,3972
$GC,6704,-1.18,-121.7,754.8,-10.6,713,6709,0.15,2.25,0.00,0.000,6,0.177,0.036,2161,2535,3972
$GC,7020,-1.18,-121.7,784.6,-9.7,728,7024,0.00,1.90,0.00,0.000,4,0.000,0.053,2161,3757,3969
$GC,7048,-1.18,-121.7,787.6,-10.6,729,7052,0.00,1.73,0.00,0.000,6,0.000,0.028,2161,2568,3969
$GC,7375,-1.18,-121.7,820.9,-10.5,745,7379,0.00,1.88,0.00,0.000,4,0.000,0.052,2156,3756,3967
$GC,7421,-1.12,-121.7,826.0,-11.4,747,7424,0.00,1.73,0.00,0.000,6,0.000,0.028,2156,2575,3967
$GC,7754,-1.12,-121.7,863.3,-11.4,763,7757,0.00,2.22,0.00,0.000,4,0.000,0.028,2155,1065,3965
$GC,7815,-1.12,-121.7,870.6,-11.8,765,7822,0.12,2.28,0.00,0.000,6,0.175,0.038,2182,2542,3965
$GC,8133,-1.22,-121.7,903.4,-10.3,781,8137,0.00,1.88,0.00,0.000,4,0.000,0.054,2179,3744,3963
$GC,8206,-1.22,-121.7,912.2,-11.2,784,8209,0.00,1.73,0.00,0.000,6,0.000,0.028,2179,2568,3963
$GC,8533,-1.30,-121.7,948.3,-11.3,800,8535,0.15,0.00,0.00,0.000,6,0.086,0.000,2123,2568,3962
$STATE,8839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8839,begin apogee
$GC,8845,-0.22,0.0,990.8,14.1,815,8945,1.23,0.00,89.18,1.411,6,0.179,0.000,2467,2567,3531
$STATE,8945,end apogee,CONTROL_FINISHED_OK
$STATE,8946,begin climb
$GC,8948,1.18,121.7,995.9,0.0,820,9058,1.30,2.08,102.88,1.373,4,0.061,0.051,2926,3744,3035
$GC,9122,0.43,123.3,995.1,11.9,828,9127,1.00,1.85,0.00,0.000,6,0.215,0.025,2687,2525,3032
$GC,9438,0.65,208.4,974.3,6.4,843,9515,0.20,2.22,71.47,1.357,4,0.079,0.031,2775,1120,2681
$GC,9573,0.65,208.4,959.5,13.2,848,9577,0.00,2.17,0.00,0.000,6,0.000,0.035,2775,2496,2677
$GC,9894,0.65,208.4,919.3,12.1,864,9898,0.00,2.10,0.00,0.000,4,0.000,0.031,2775,1120,2674
$GC,9962,0.66,215.2,911.2,11.6,867,9973,0.00,2.15,6.10,1.054,6,0.000,0.035,2775,2509,2653
$GC,10289,0.67,220.6,872.4,11.6,883,10297,0.00,0.00,6.12,1.058,6,0.000,0.000,2775,2509,2632
$GC,10598,0.68,230.6,836.9,11.3,898,10612,0.00,2.12,9.95,1.188,4,0.000,0.032,2775,1120,2591
$GC,10682,0.68,232.0,827.3,11.9,901,10685,0.00,2.15,0.00,0.000,6,0.000,0.035,2776,2507,2589
$GC,11014,0.70,249.3,790.3,10.9,917,11034,0.00,0.00,16.02,1.234,6,0.000,0.000,2775,2507,2515
$GC,11344,0.71,254.7,752.1,11.6,933,11354,0.00,2.12,5.50,0.984,4,0.000,0.031,2775,1115,2495
$GC,11399,0.78,258.6,745.5,11.7,935,11410,0.00,2.12,5.47,0.973,6,0.000,0.035,2775,2490,2476
$GC,11740,0.84,265.9,706.1,11.5,952,11755,0.12,2.15,7.62,1.071,4,0.086,0.031,2828,1118,2447
$GC,11840,0.76,265.9,691.8,14.4,956,11844,0.15,2.10,0.00,0.000,6,0.179,0.036,2792,2478,2445
$GC,12155,0.76,265.9,651.4,12.9,971,12159,0.00,2.05,0.00,0.000,4,0.000,0.031,2800,1116,2445
$GC,12211,0.76,265.9,643.9,13.1,973,12215,0.00,2.08,0.00,0.000,6,0.000,0.037,2799,2461,2445
$GC,12532,0.76,265.9,602.3,12.7,989,12536,0.00,2.03,0.00,0.000,4,0.000,0.051,2799,3759,2444
$GC,12560,0.68,265.9,598.3,13.9,990,12564,0.17,1.90,0.00,0.000,6,0.186,0.026,2762,2458,2444
$GC,12887,0.84,292.7,563.7,10.2,1006,12917,0.15,2.05,23.33,1.124,4,0.078,0.031,2827,1122,2337
$GC,12934,0.84,292.7,557.5,14.1,1008,12937,0.00,2.10,0.00,0.000,6,0.000,0.035,2827,2471,2336
$GC,13262,0.84,292.7,516.7,12.2,1024,13265,0.00,2.05,0.00,0.000,4,0.000,0.031,2830,1116,2333
$GC,13397,0.84,292.7,500.3,12.1,1030,13401,0.00,2.05,0.00,0.000,6,0.000,0.035,2830,2448,2333
$GC,13728,0.84,292.7,459.2,12.9,1060,13732,0.00,2.00,0.00,0.000,4,0.000,0.031,2835,1110,2332
$GC,13778,0.84,292.7,453.0,12.8,1064,13784,0.00,2.03,0.00,0.000,6,0.000,0.036,2834,2430,2332
$GC,14104,0.84,293.4,413.2,12.0,1095,14108,0.00,1.95,0.00,0.000,4,0.000,0.031,2841,1123,2331
$GC,14177,0.84,293.4,403.9,12.2,1101,14183,0.00,1.98,0.00,0.000,6,0.000,0.035,2841,2425,2332
$GC,14506,0.86,307.9,366.0,11.0,1132,14522,0.00,0.00,12.93,0.927,6,0.000,0.000,2841,2425,2276
$GC,14844,0.88,324.6,329.2,10.9,1164,14865,0.00,2.03,14.62,0.896,4,0.000,0.033,2841,1118,2207
$GC,15058,0.94,335.7,303.9,11.3,1183,15074,0.00,1.98,10.62,0.842,6,0.000,0.033,2841,2415,2161
$GC,15414,1.02,348.1,261.0,11.2,1243,15433,0.00,1.98,11.07,0.811,4,0.000,0.030,2841,1126,2113
$GC,15531,1.16,369.8,247.8,10.6,1263,15557,0.22,1.92,18.88,0.828,6,0.069,0.031,2926,2397,2023
$GC,15897,1.04,369.8,194.9,14.7,1327,15903,0.17,0.00,0.00,0.000,6,0.172,0.000,2875,2399,2020
$GC,16244,1.11,369.8,149.0,12.5,1388,16249,0.00,1.90,0.00,0.000,4,0.000,0.028,2882,1114,2020
$GC,16330,1.21,385.1,138.6,11.0,1403,16350,0.15,1.92,12.82,0.716,6,0.080,0.031,2939,2399,1962
$GC,16690,1.16,385.1,92.6,12.1,1466,16696,0.00,1.90,0.00,0.000,4,0.000,0.028,2944,1112,1960
$GC,16798,1.16,385.1,78.0,14.7,1485,16804,0.00,1.90,0.00,0.000,6,0.000,0.031,2944,2382,1960
$GC,17142,1.24,446.7,39.7,7.9,1546,17201,0.00,2.22,48.97,0.656,4,0.000,0.046,2944,3771,1710
$GC,17252,1.24,446.7,27.5,12.4,1565,17258,0.00,2.10,0.00,0.000,6,0.000,0.023,2952,2337,1707
$STATE,17482,end climb,SURFACE_DEPTH_REACHED
$STATE,17482,begin surface coast
$FINISH,1.7,1.021469
$STATE,17516,end surface coast,CONTROL_FINISHED_OK
$STATE,17516,begin surface
$SM_CCo,17593,0.00,0.000,0,0,1703,448.65
$SM_GC,2.65,7.60,0.00,0.00,0.057,0.000,0.000,140,2467,1703,-7.50,1.13,448.65
$IRIDIUM_FIX,2507.97,12412.47,031098,232359
$TT8_MAMPS,0.028379
$HUMID,1634
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,50.598
$10V_AH,10.7,28.612
$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,25.825,139.175,473.575,0.000,0.000,74.557,203.711,251.909,8.000,0.000,0.000,16.810,2859.146,11208.465,607.427,2815.195,888.297,0.000,2028.471,0.000,2750.182,0.000,54.422,0.000
$DEVICE_MAMPS,240.071,59.826,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1089.620,1109.537,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85134,1612
$CAP_FILE_SIZE,180304,0
$CFSIZE,260165632,202076160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 84.0,1
$GPS,100709,042650,2515.989,12414.897,41,1.5,55,-3.8