version: 66.04
glider: 167
mission: 2
dive: 289
start: 7 10 109 9 28 53
data:
$ID,167
$MISSION,2
$DIVE,289
$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,-10946.026
$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,69
$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
$GPS1,091955,2514.743,12415.936,41,1.1,42,-3.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-66.6
$GPS2,092832,2514.913,12416.108,14,1.3,14,-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,225.3,51422,-23.2,-12.000
$D_GRID,2224
$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,-24.45,0.000,2,0.000,0.000,139,2450,2254
$GC,44,-1.18,-121.7,3.1,-2.2,4,112,8.40,2.17,-53.58,0.000,4,0.241,0.038,2161,1014,3989
$GC,195,-0.81,-121.7,26.6,-19.8,29,203,0.47,2.15,0.00,0.000,6,0.171,0.029,2284,2446,3990
$GC,542,-0.86,-121.7,78.6,-12.4,90,548,0.00,2.00,0.00,0.000,4,0.000,0.044,2276,3760,3992
$GC,621,-0.86,-121.7,90.4,-15.4,104,627,0.00,1.92,0.00,0.000,6,0.000,0.022,2276,2381,3992
$GC,966,-1.00,-121.7,128.6,-10.0,165,973,0.15,2.12,0.00,0.000,4,0.067,0.043,2205,3760,3993
$GC,1053,-0.86,-121.7,141.1,-14.9,180,1060,0.22,1.85,0.00,0.000,6,0.159,0.023,2267,2438,3993
$GC,1398,-1.05,-121.7,182.7,-11.2,241,1405,0.17,0.00,0.00,0.000,6,0.066,0.000,2187,2437,3995
$GC,1743,-0.97,-121.7,231.4,-13.4,302,1749,0.17,2.03,0.00,0.000,4,0.160,0.043,2232,3756,3995
$GC,1899,-1.05,-121.7,248.4,-10.6,329,1906,0.00,1.85,0.00,0.000,6,0.000,0.024,2232,2436,3995
$GC,2245,-1.19,-121.7,286.0,-12.7,390,2251,0.20,2.05,0.00,0.000,4,0.062,0.044,2137,3767,3995
$GC,2341,-0.93,-121.7,302.7,-17.6,406,2348,0.38,1.85,0.00,0.000,6,0.161,0.023,2244,2447,3995
$GC,2666,-1.17,-121.7,336.5,-8.8,437,2670,0.20,2.03,0.00,0.000,4,0.063,0.044,2152,3762,3995
$GC,2803,-1.00,-121.7,354.2,-13.3,449,2808,0.25,1.83,0.00,0.000,6,0.159,0.025,2221,2475,3995
$GC,3134,-1.14,-121.7,387.9,-10.6,480,3138,0.12,1.98,0.00,0.000,4,0.077,0.045,2166,3753,3995
$GC,3181,-1.05,-121.7,393.9,-13.3,484,3185,0.15,1.80,0.00,0.000,6,0.163,0.025,2204,2481,3995
$GC,3511,-1.14,-121.7,433.0,-11.5,515,3515,0.00,2.00,0.00,0.000,4,0.000,0.047,2204,3773,3994
$GC,3652,-1.20,-121.7,449.2,-11.0,527,3658,0.15,1.80,0.00,0.000,6,0.071,0.025,2143,2504,3993
$GC,3977,-1.09,-121.7,490.5,-11.9,558,3979,0.20,0.00,0.00,0.000,6,0.166,0.000,2196,2504,3992
$GC,4301,-1.17,-121.7,522.7,-9.8,578,4304,0.00,1.95,0.00,0.000,4,0.000,0.048,2192,3757,3991
$GC,4369,-1.22,-121.7,530.3,-11.6,581,4373,0.08,1.80,0.00,0.000,6,0.073,0.026,2150,2523,3990
$GC,4701,-1.15,-121.7,570.9,-12.3,597,4705,0.00,1.92,0.00,0.000,4,0.000,0.049,2149,3759,3988
$GC,4751,-1.03,-121.7,577.6,-12.7,599,4756,0.22,1.75,0.00,0.000,6,0.168,0.026,2208,2541,3988
$GC,5080,-1.18,-121.7,609.1,-9.3,615,5085,0.12,2.17,0.00,0.000,4,0.083,0.027,2161,1048,3986
$GC,5120,-1.18,-121.7,613.7,-11.6,617,5124,0.00,2.22,0.00,0.000,6,0.000,0.034,2154,2520,3985
$GC,5447,-1.13,-121.7,654.5,-13.4,633,5451,0.00,1.92,0.00,0.000,4,0.000,0.051,2152,3749,3982
$GC,5498,-1.04,-121.7,661.5,-13.3,635,5502,0.20,1.75,0.00,0.000,6,0.165,0.027,2204,2537,3982
$GC,5827,-1.19,-121.7,698.9,-11.0,651,5831,0.12,1.92,0.00,0.000,4,0.082,0.051,2152,3760,3980
$GC,5872,-1.09,-121.7,705.1,-14.3,653,5876,0.15,1.77,0.00,0.000,6,0.172,0.028,2189,2538,3979
$GC,6208,-1.20,-121.7,740.3,-9.6,669,6212,0.00,2.17,0.00,0.000,4,0.000,0.029,2190,1049,3976
$GC,6247,-1.32,-121.7,744.3,-9.3,670,6253,0.20,2.25,0.00,0.000,6,0.071,0.037,2116,2525,3976
$GC,6564,-1.16,-121.7,782.3,-12.6,686,6566,0.20,0.00,0.00,0.000,6,0.187,0.000,2167,2525,3974
$GC,6872,-1.16,-121.7,816.2,-11.2,701,6875,0.00,2.17,0.00,0.000,4,0.000,0.028,2166,1057,3972
$GC,6933,-1.22,-121.7,823.6,-11.9,703,6939,0.00,2.22,0.00,0.000,6,0.000,0.037,2165,2513,3972
$GC,7250,-1.22,-121.7,860.1,-11.3,719,7253,0.00,1.95,0.00,0.000,4,0.000,0.054,2165,3761,3970
$GC,7318,-1.22,-121.7,868.1,-11.1,722,7322,0.00,1.80,0.00,0.000,6,0.000,0.028,2165,2528,3969
$GC,7652,-1.22,-121.7,904.2,-10.7,738,7656,0.00,1.95,0.00,0.000,4,0.000,0.053,2165,3758,3967
$GC,7687,-1.22,-121.7,908.2,-11.6,739,7690,0.00,1.77,0.00,0.000,6,0.000,0.027,2165,2534,3967
$GC,8008,-1.22,-121.7,942.9,-10.6,755,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2534,3966
$GC,8321,-1.22,-121.7,976.1,-10.8,770,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2534,3964
$STATE,8459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8459,begin apogee
$GC,8464,-0.22,0.0,991.9,11.2,777,8566,1.02,0.00,91.47,1.388,6,0.160,0.000,2466,2534,3532
$STATE,8566,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8569,1.18,121.7,996.6,0.0,782,8681,1.27,2.15,102.70,1.368,4,0.063,0.051,2922,3754,3035
$GC,8935,0.44,122.7,971.0,11.9,798,8941,0.93,1.85,0.00,0.000,6,0.216,0.026,2694,2507,3031
$GC,9252,0.65,208.0,950.6,6.4,813,9326,0.17,0.00,70.85,1.352,6,0.081,0.000,2761,2506,2683
$GC,9621,0.66,212.5,909.4,11.7,831,9630,0.00,2.10,4.47,0.901,4,0.000,0.033,2762,1124,2665
$GC,9677,0.73,224.5,902.7,11.2,833,9693,0.00,2.12,11.82,1.213,6,0.000,0.035,2762,2494,2615
$GC,10015,0.74,227.2,862.6,11.8,850,10019,0.00,2.10,0.00,0.000,4,0.000,0.032,2762,1112,2612
$GC,10043,0.81,236.1,859.2,11.4,851,10060,0.12,2.15,10.55,1.193,6,0.087,0.037,2810,2499,2569
$GC,10372,0.72,236.1,814.2,13.4,867,10376,0.15,2.10,0.00,0.000,4,0.188,0.031,2776,1117,2566
$GC,10392,0.72,236.1,811.0,12.6,868,10396,0.00,2.12,0.00,0.000,6,0.000,0.037,2776,2494,2565
$GC,10720,0.72,242.6,772.9,11.6,884,10731,0.00,2.10,6.30,1.046,4,0.000,0.031,2776,1110,2543
$GC,10793,0.79,253.1,764.4,11.3,887,10808,0.00,2.12,10.18,1.153,6,0.000,0.037,2776,2485,2500
$GC,11133,0.86,270.7,726.1,10.8,904,11155,0.15,2.10,15.93,1.194,4,0.082,0.030,2839,1115,2428
$GC,11258,0.78,270.7,708.5,14.5,909,11263,0.17,2.10,0.00,0.000,6,0.181,0.036,2796,2465,2425
$GC,11574,0.78,270.7,667.2,13.2,924,11578,0.00,2.03,0.00,0.000,4,0.000,0.051,2796,3757,2423
$GC,11597,0.72,270.7,663.8,15.3,925,11601,0.00,1.90,0.00,0.000,6,0.000,0.027,2803,2472,2423
$GC,11929,0.72,270.7,618.5,13.6,941,11933,0.00,2.03,0.00,0.000,4,0.000,0.034,2804,1107,2422
$GC,11979,0.72,270.7,611.8,12.8,943,11983,0.00,2.10,0.00,0.000,6,0.000,0.037,2804,2473,2422
$GC,12307,0.73,282.8,572.6,11.2,959,12322,0.00,2.08,10.95,1.068,4,0.000,0.031,2810,1104,2379
$GC,12373,0.76,299.7,565.1,10.9,961,12394,0.00,2.10,15.60,1.085,6,0.000,0.037,2810,2460,2310
$GC,12723,0.77,308.8,526.9,11.4,978,12738,0.00,2.10,8.52,0.985,4,0.000,0.051,2810,3763,2273
$GC,12801,0.72,308.8,516.6,13.2,981,12805,0.15,1.95,0.00,0.000,6,0.187,0.027,2779,2466,2272
$GC,13129,0.88,316.9,480.4,11.5,1005,13143,0.15,2.10,8.30,0.949,4,0.081,0.031,2843,1099,2239
$GC,13250,0.88,316.9,463.5,13.7,1015,13256,0.00,2.08,0.00,0.000,6,0.000,0.035,2842,2448,2237
$GC,13577,0.88,316.9,421.2,13.0,1046,13581,0.00,2.03,0.00,0.000,4,0.000,0.031,2850,1099,2237
$GC,13593,0.88,316.9,418.6,13.0,1047,13600,0.00,2.08,0.00,0.000,6,0.000,0.034,2851,2458,2236
$GC,13923,0.84,316.9,375.9,12.6,1078,13927,0.15,2.05,0.00,0.000,4,0.179,0.029,2815,1098,2236
$GC,13991,0.98,342.2,367.8,10.3,1084,14019,0.12,2.05,21.42,0.951,6,0.089,0.033,2863,2442,2136
$GC,14344,0.98,342.2,321.3,13.4,1117,14347,0.00,2.03,0.00,0.000,4,0.000,0.029,2871,1090,2133
$GC,14377,0.98,342.2,316.6,14.2,1120,14381,0.00,2.05,0.00,0.000,6,0.000,0.035,2871,2435,2133
$GC,14714,0.98,342.2,272.3,12.5,1169,14721,0.00,2.00,0.00,0.000,4,0.000,0.031,2872,1097,2133
$GC,14806,0.99,351.8,261.2,11.4,1185,14820,0.00,2.00,9.10,0.795,6,0.000,0.033,2872,2419,2097
$GC,15157,0.99,351.8,219.5,12.4,1247,15163,0.00,1.98,0.00,0.000,4,0.000,0.028,2880,1085,2094
$GC,15222,1.00,356.9,211.9,11.7,1258,15234,0.00,2.00,5.43,0.661,6,0.000,0.034,2880,2410,2077
$GC,15572,1.00,356.9,170.1,13.3,1320,15578,0.00,2.10,0.00,0.000,4,0.000,0.049,2880,3765,2077
$GC,15614,0.93,356.9,164.4,14.9,1327,15620,0.17,2.03,0.00,0.000,6,0.180,0.025,2842,2386,2076
$GC,15959,1.16,390.9,126.4,9.8,1388,15995,0.20,1.90,28.38,0.735,4,0.069,0.030,2933,1085,1936
$GC,16199,1.17,393.0,97.5,11.9,1430,16205,0.00,1.98,0.00,0.000,6,0.000,0.032,2933,2391,1934
$GC,16542,1.17,393.0,54.0,12.1,1491,16548,0.00,1.92,0.00,0.000,4,0.000,0.029,2938,1082,1934
$GC,16692,1.31,441.1,39.2,8.8,1517,16738,0.00,1.90,39.70,0.650,6,0.000,0.031,2938,2360,1731
$STATE,17051,end climb,SURFACE_DEPTH_REACHED
$STATE,17051,begin surface coast
$FINISH,1.8,1.021275
$STATE,17080,end surface coast,CONTROL_FINISHED_OK
$STATE,17081,begin surface
$SM_CCo,17158,0.00,0.000,0,0,1723,443.50
$SM_GC,3.03,7.45,0.00,0.00,0.050,0.000,0.000,139,2426,1723,-7.50,-0.03,443.50
$IRIDIUM_FIX,2505.59,12414.44,041098,040457
$TT8_MAMPS,0.029146
$HUMID,1619
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,50.951
$10V_AH,10.8,28.804
$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,24.950,144.650,471.675,0.000,0.000,27.958,31.648,315.680,8.000,0.000,0.000,14.586,2826.951,10730.252,597.235,2768.182,738.899,0.000,2002.721,0.000,2708.792,0.000,56.531,0.000
$DEVICE_MAMPS,240.838,89.739,1388.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.748,1105.089,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85083,1586
$CAP_FILE_SIZE,179472,0
$CFSIZE,260165632,201900032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.177, 98.2,1
$GPS,100709,141607,2513.560,12416.152,40,1.3,41,-3.8