version: 66.04
glider: 167
mission: 2
dive: 288
start: 7 10 109 4 33 47
data:
$ID,167
$MISSION,2
$DIVE,288
$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,-10930.812
$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,76
$R_STBD_OVSHOOT,70
$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
$GPS1,042650,2515.989,12414.897,41,1.5,55,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.0
$GPS2,043326,2516.090,12415.000,14,1.3,14,-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,223.4,53741,-23.2,-12.000
$D_GRID,2192
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.98,0.000,2,0.000,0.000,140,2467,2306
$GC,44,-1.18,-121.7,3.1,-2.1,4,116,8.45,2.15,-52.50,0.000,4,0.243,0.038,2162,1040,3989
$GC,202,-0.76,-121.7,29.3,-22.9,31,210,0.50,2.05,0.00,0.000,6,0.166,0.029,2296,2413,3991
$GC,548,-0.85,-121.7,78.1,-13.4,92,554,0.00,2.05,0.00,0.000,4,0.000,0.044,2287,3753,3992
$GC,634,-0.98,-121.7,90.8,-14.7,107,642,0.17,1.90,0.00,0.000,6,0.064,0.023,2210,2400,3992
$GC,980,-0.90,-121.7,142.2,-15.0,168,986,0.15,2.08,0.00,0.000,4,0.156,0.042,2242,3751,3993
$GC,1055,-0.90,-121.7,152.2,-12.6,181,1061,0.00,1.85,0.00,0.000,6,0.000,0.023,2243,2420,3994
$GC,1400,-0.99,-121.7,192.1,-10.6,242,1406,0.00,2.05,0.00,0.000,4,0.000,0.043,2233,3761,3995
$GC,1440,-0.99,-121.7,197.0,-12.2,249,1446,0.00,1.83,0.00,0.000,6,0.000,0.023,2232,2447,3995
$GC,1786,-1.08,-121.7,238.7,-11.9,310,1793,0.10,2.00,0.00,0.000,4,0.086,0.043,2179,3753,3996
$GC,1941,-0.95,-121.7,260.3,-13.3,337,1948,0.20,1.80,0.00,0.000,6,0.158,0.024,2233,2470,3996
$GC,2286,-1.08,-121.7,295.1,-9.6,398,2292,0.12,0.00,0.00,0.000,6,0.077,0.000,2179,2470,3996
$GC,2619,-1.08,-121.7,335.6,-12.3,433,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2470,3995
$GC,2939,-1.08,-121.7,373.2,-11.5,463,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2470,3996
$GC,3258,-1.08,-121.7,410.6,-11.7,493,3262,0.00,1.98,0.00,0.000,4,0.000,0.047,2177,3749,3996
$GC,3360,-1.02,-121.7,423.0,-11.8,502,3365,0.15,1.85,0.00,0.000,6,0.158,0.025,2216,2447,3996
$GC,3691,-1.17,-121.7,455.5,-10.1,533,3696,0.15,2.03,0.00,0.000,4,0.074,0.045,2152,3754,3994
$GC,3821,-1.04,-121.7,473.8,-14.8,544,3827,0.20,1.80,0.00,0.000,6,0.163,0.025,2205,2490,3994
$GC,4154,-1.15,-121.7,510.0,-10.8,572,4158,0.00,2.08,0.00,0.000,4,0.000,0.027,2205,1049,3993
$GC,4189,-1.30,-121.7,513.7,-10.4,573,4193,0.22,2.15,0.00,0.000,6,0.067,0.032,2121,2488,3993
$GC,4505,-1.13,-121.7,555.4,-13.0,588,4509,0.17,1.95,0.00,0.000,4,0.178,0.048,2165,3756,3991
$GC,4533,-1.05,-121.7,558.8,-11.6,589,4537,0.15,1.83,0.00,0.000,6,0.167,0.026,2203,2487,3991
$GC,4862,-1.19,-121.7,587.3,-8.9,605,4866,0.12,1.98,0.00,0.000,4,0.078,0.049,2152,3750,3989
$GC,4889,-1.19,-121.7,590.6,-11.7,606,4893,0.00,1.80,0.00,0.000,6,0.000,0.026,2152,2493,3988
$GC,5217,-1.14,-121.7,629.4,-12.3,622,5220,0.00,1.98,0.00,0.000,4,0.000,0.051,2152,3753,3987
$GC,5317,-1.04,-121.7,642.4,-13.1,626,5321,0.22,1.77,0.00,0.000,6,0.166,0.027,2212,2525,3986
$GC,5639,-1.22,-121.7,673.7,-9.8,642,5643,0.17,1.92,0.00,0.000,4,0.073,0.050,2137,3751,3983
$GC,5684,-1.08,-121.7,679.6,-13.9,644,5689,0.15,1.80,0.00,0.000,6,0.170,0.027,2192,2534,3982
$GC,6019,-1.20,-121.7,715.8,-10.4,660,6023,0.00,2.17,0.00,0.000,4,0.000,0.028,2192,1044,3980
$GC,6070,-1.34,-121.7,721.6,-10.5,662,6075,0.22,2.22,0.00,0.000,6,0.071,0.036,2109,2504,3980
$GC,6393,-1.15,-121.7,766.9,-14.2,678,6397,0.20,1.95,0.00,0.000,4,0.192,0.050,2155,3757,3978
$GC,6487,-1.08,-121.7,780.4,-13.7,682,6492,0.15,1.77,0.00,0.000,6,0.175,0.027,2192,2535,3976
$GC,6816,-1.21,-121.7,815.2,-10.3,698,6821,0.12,1.92,0.00,0.000,4,0.083,0.051,2139,3754,3975
$GC,6873,-1.09,-121.7,822.7,-13.6,700,6877,0.20,1.77,0.00,0.000,6,0.176,0.028,2191,2538,3974
$GC,7196,-1.21,-121.7,856.0,-10.7,716,7200,0.00,2.17,0.00,0.000,4,0.000,0.029,2191,1055,3972
$GC,7252,-1.35,-121.7,862.5,-10.9,718,7257,0.25,2.25,0.00,0.000,6,0.071,0.038,2100,2521,3972
$GC,7568,-1.15,-121.7,910.1,-15.2,733,7572,0.22,1.92,0.00,0.000,4,0.198,0.051,2155,3750,3970
$GC,7669,-1.09,-121.7,923.7,-12.7,737,7673,0.15,1.75,0.00,0.000,6,0.177,0.028,2191,2553,3969
$GC,7992,-1.23,-121.7,955.0,-9.4,753,7994,0.12,0.00,0.00,0.000,6,0.084,0.000,2146,2553,3967
$GC,8299,-1.23,-121.7,989.6,-11.3,768,8303,0.00,1.90,0.00,0.000,4,0.000,0.053,2139,3751,3966
$STATE,8308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8308,begin apogee
$GC,8316,-0.22,0.0,991.1,11.2,768,8416,1.10,0.00,92.10,1.388,6,0.172,0.000,2460,2520,3532
$STATE,8417,end apogee,CONTROL_FINISHED_OK
$STATE,8417,begin climb
$GC,8420,1.18,121.7,995.1,0.0,773,8530,1.30,2.12,102.97,1.371,4,0.065,0.048,2920,3742,3034
$GC,8774,0.44,121.7,968.8,12.7,789,8779,0.93,1.90,0.00,0.000,6,0.215,0.027,2692,2470,3031
$GC,9101,0.66,207.0,946.7,6.4,805,9173,0.20,0.00,69.90,1.351,6,0.079,0.000,2767,2470,2688
$GC,9471,0.67,214.5,906.2,11.5,823,9480,0.00,0.00,7.07,1.098,6,0.000,0.000,2767,2470,2657
$GC,9779,0.68,223.0,871.3,11.4,838,9793,0.00,2.10,8.60,1.155,4,0.000,0.054,2768,3743,2623
$GC,9818,0.59,223.0,866.4,13.1,839,9826,0.15,1.85,0.00,0.000,6,0.185,0.028,2736,2501,2622
$GC,10134,0.74,254.8,833.6,9.9,855,10165,0.15,2.15,26.77,1.283,4,0.078,0.034,2799,1109,2492
$GC,10257,0.74,254.8,818.0,13.3,860,10261,0.00,2.17,0.00,0.000,6,0.000,0.038,2799,2495,2489
$GC,10573,0.74,254.8,776.6,13.0,875,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2495,2487
$GC,10882,0.74,254.8,735.0,13.8,890,10885,0.00,2.00,0.00,0.000,4,0.000,0.055,2799,3763,2486
$GC,10899,0.67,254.8,732.5,14.2,890,10905,0.17,1.90,0.00,0.000,6,0.186,0.028,2763,2475,2485
$GC,11215,0.77,268.0,695.6,11.1,906,11231,0.00,2.10,11.50,1.150,4,0.000,0.035,2763,1121,2438
$GC,11322,0.93,281.7,683.5,11.1,910,11344,0.22,2.12,13.02,1.147,6,0.074,0.037,2845,2491,2382
$GC,11655,0.80,281.7,638.3,13.0,926,11657,0.15,0.00,0.00,0.000,6,0.183,0.000,2809,2493,2379
$GC,11962,0.81,287.3,602.2,11.6,941,11972,0.00,2.10,6.18,0.962,4,0.000,0.031,2815,1108,2359
$GC,11995,0.81,289.7,598.2,11.8,942,12001,0.00,2.10,0.00,0.000,6,0.000,0.038,2815,2468,2359
$GC,12310,0.81,289.7,558.5,12.7,958,12314,0.00,2.05,0.00,0.000,4,0.000,0.032,2815,1109,2357
$GC,12411,0.81,289.7,545.8,12.3,962,12414,0.00,2.08,0.00,0.000,6,0.000,0.036,2816,2459,2357
$GC,12733,0.81,291.9,506.8,11.9,978,12740,0.00,0.00,5.28,0.861,6,0.000,0.000,2815,2460,2341
$GC,13052,0.81,291.9,469.2,12.3,1005,13055,0.00,2.03,0.00,0.000,4,0.000,0.032,2815,1113,2340
$GC,13159,0.86,291.9,455.4,12.1,1014,13165,0.00,2.03,0.00,0.000,6,0.000,0.035,2815,2442,2339
$GC,13485,0.88,305.6,416.6,11.1,1045,13506,0.00,2.12,12.52,0.966,4,0.000,0.051,2815,3761,2285
$GC,13531,0.81,305.6,411.0,12.6,1049,13534,0.00,1.98,0.00,0.000,6,0.000,0.027,2825,2421,2284
$GC,13863,0.81,305.6,373.4,12.1,1080,13867,0.00,1.92,0.00,0.000,4,0.000,0.031,2829,1112,2283
$GC,13932,0.86,305.6,364.9,12.9,1086,13935,0.00,2.00,0.00,0.000,6,0.000,0.036,2829,2421,2284
$GC,14264,0.87,312.8,324.4,11.5,1117,14276,0.00,2.03,7.38,0.819,4,0.000,0.031,2835,1105,2256
$GC,14323,0.94,327.6,317.5,11.0,1122,14346,0.00,2.00,13.48,0.879,6,0.000,0.035,2835,2414,2194
$GC,14675,1.01,339.7,276.5,11.2,1171,14694,0.10,2.00,11.02,0.828,4,0.086,0.031,2882,1119,2146
$GC,14739,1.01,339.7,267.0,14.0,1182,14745,0.00,1.92,0.00,0.000,6,0.000,0.033,2882,2383,2145
$GC,15083,1.03,352.2,223.7,11.2,1243,15097,0.00,0.00,11.50,0.788,6,0.000,0.000,2881,2383,2096
$GC,15435,1.03,352.2,183.0,12.4,1305,15441,0.00,1.90,0.00,0.000,4,0.000,0.031,2883,1107,2093
$GC,15554,1.08,352.2,167.3,14.5,1326,15560,0.00,1.90,0.00,0.000,6,0.000,0.033,2883,2370,2093
$GC,15898,1.16,366.6,125.5,11.0,1387,15918,0.10,1.88,13.12,0.710,4,0.092,0.028,2927,1104,2036
$GC,16155,1.20,399.7,97.9,9.8,1432,16190,0.00,1.85,26.55,0.705,6,0.000,0.031,2927,2340,1903
$GC,16530,1.33,434.3,57.7,9.7,1498,16568,0.12,1.90,27.95,0.660,4,0.075,0.030,2987,1106,1760
$GC,16602,1.33,441.0,48.8,11.6,1510,16615,0.00,1.83,6.70,0.553,6,0.000,0.031,2987,2315,1733
$GC,16954,1.36,462.6,6.2,10.6,1572,16978,0.00,1.85,18.10,0.599,4,0.000,0.028,2995,1110,1645
$STATE,16982,end climb,SURFACE_DEPTH_REACHED
$STATE,16982,begin surface coast
$FINISH,1.8,1.008632
$STATE,17011,end surface coast,CONTROL_FINISHED_OK
$STATE,17011,begin surface
$SM_CCo,17091,0.00,0.000,0,0,1639,464.35
$SM_GC,2.80,7.70,0.00,0.00,0.054,0.000,0.000,139,2450,1639,-7.50,0.65,464.35
$IRIDIUM_FIX,2507.97,12415.78,031098,232309
$TT8_MAMPS,0.028379
$HUMID,1586
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.4,50.772
$10V_AH,10.8,28.707
$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,25.475,134.250,491.725,0.000,0.000,29.518,35.063,189.885,8.000,0.000,0.000,15.706,2798.728,10712.670,620.576,2739.066,601.808,0.000,2005.846,0.000,2674.728,0.000,54.421,0.000
$DEVICE_MAMPS,243.139,55.224,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.524,1093.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85097,1582
$CAP_FILE_SIZE,174644,0
$CFSIZE,260165632,201998336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.254, 91.1,1
$GPS,100709,091955,2514.743,12415.936,41,1.1,42,-3.8