version: 66.04
glider: 167
mission: 2
dive: 292
start: 7 11 109 0 10 43
data:
$ID,167
$MISSION,2
$DIVE,292
$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,-11024.722
$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,63
$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
$GPS1,000337,2510.703,12415.892,26,1.8,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-66.7
$GPS2,001022,2510.764,12415.956,16,99.0,35,-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,210.6,43776,-23.2,-12.000
$D_GRID,2004
$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,-29.12,0.000,2,0.000,0.000,140,2445,2316
$GC,50,-1.18,-121.7,3.4,-3.3,5,116,8.30,2.10,-50.88,0.000,4,0.238,0.037,2161,1015,3989
$GC,158,-0.78,-121.7,19.3,-23.7,23,165,0.47,2.15,0.00,0.000,6,0.167,0.030,2286,2448,3989
$GC,503,-0.84,-121.7,72.8,-14.6,84,509,0.00,2.00,0.00,0.000,4,0.000,0.045,2279,3760,3991
$GC,667,-0.84,-121.7,93.3,-12.1,113,673,0.00,1.92,0.00,0.000,6,0.000,0.023,2279,2393,3992
$GC,1010,-1.00,-121.7,131.8,-12.1,174,1018,0.15,2.10,0.00,0.000,4,0.070,0.043,2204,3757,3993
$GC,1110,-0.86,-121.7,146.6,-15.4,191,1116,0.22,1.83,0.00,0.000,6,0.158,0.023,2267,2452,3993
$GC,1455,-1.03,-121.7,185.8,-10.3,252,1462,0.15,2.00,0.00,0.000,4,0.070,0.043,2201,3755,3994
$GC,1613,-0.90,-121.7,206.9,-14.4,279,1619,0.20,1.80,0.00,0.000,6,0.160,0.023,2256,2469,3994
$GC,1960,-1.09,-121.7,247.0,-11.6,340,1966,0.17,1.98,0.00,0.000,4,0.061,0.043,2166,3756,3994
$GC,1990,-0.98,-121.7,250.9,-13.9,345,1997,0.22,1.80,0.00,0.000,6,0.158,0.024,2227,2478,3994
$GC,2335,-1.09,-121.7,288.0,-9.8,406,2342,0.00,1.98,0.00,0.000,4,0.000,0.045,2220,3765,3994
$GC,2434,-1.15,-121.7,298.9,-11.4,423,2440,0.12,1.75,0.00,0.000,6,0.074,0.024,2163,2519,3995
$GC,2767,-1.04,-121.7,344.0,-13.7,455,2771,0.17,1.92,0.00,0.000,4,0.161,0.044,2205,3767,3994
$GC,2838,-1.04,-121.7,353.8,-13.2,461,2844,0.00,1.77,0.00,0.000,6,0.000,0.023,2205,2524,3995
$GC,3167,-1.11,-121.7,392.5,-11.8,492,3170,0.00,1.90,0.00,0.000,4,0.000,0.046,2205,3758,3995
$GC,3250,-1.11,-121.7,403.5,-12.4,499,3256,0.00,1.75,0.00,0.000,6,0.000,0.025,2205,2546,3995
$GC,3578,-1.20,-121.7,438.2,-10.0,530,3582,0.12,1.88,0.00,0.000,4,0.077,0.046,2149,3757,3994
$GC,3628,-1.02,-121.7,444.7,-12.7,534,3635,0.25,1.70,0.00,0.000,6,0.163,0.025,2217,2561,3994
$GC,3954,-1.17,-121.7,476.2,-10.6,565,3958,0.15,1.85,0.00,0.000,4,0.071,0.047,2152,3753,3993
$GC,3999,-1.02,-121.7,482.3,-13.8,569,4003,0.22,1.70,0.00,0.000,6,0.162,0.025,2213,2564,3993
$GC,4328,-1.18,-121.7,518.4,-10.5,592,4332,0.15,1.85,0.00,0.000,4,0.073,0.048,2152,3763,3992
$GC,4556,-1.05,-121.7,547.8,-12.1,602,4561,0.20,1.67,0.00,0.000,6,0.163,0.026,2205,2593,3990
$GC,4886,-1.18,-121.7,577.7,-9.7,618,4890,0.12,1.83,0.00,0.000,4,0.078,0.048,2152,3764,3988
$GC,4981,-1.06,-121.7,589.9,-12.4,622,4985,0.20,1.67,0.00,0.000,6,0.164,0.026,2205,2595,3988
$GC,5310,-1.21,-121.7,622.4,-9.5,638,5315,0.15,1.80,0.00,0.000,4,0.074,0.048,2141,3753,3986
$GC,5360,-1.06,-121.7,628.7,-12.1,640,5365,0.22,1.62,0.00,0.000,6,0.170,0.027,2200,2618,3985
$GC,5688,-1.18,-121.7,660.2,-9.8,656,5691,0.00,1.77,0.00,0.000,4,0.000,0.051,2194,3754,3982
$GC,5766,-1.24,-121.7,668.9,-11.4,659,5771,0.15,1.65,0.00,0.000,6,0.075,0.028,2135,2612,3982
$GC,6088,-1.13,-121.7,709.4,-12.4,675,6090,0.17,0.00,0.00,0.000,6,0.174,0.000,2179,2612,3980
$GC,6398,-1.18,-121.7,742.8,-10.8,690,6402,0.00,1.80,0.00,0.000,4,0.000,0.053,2179,3756,3978
$GC,6472,-1.18,-121.7,750.8,-10.8,693,6476,0.00,1.62,0.00,0.000,6,0.000,0.028,2179,2631,3977
$GC,6800,-1.24,-121.7,786.3,-11.2,709,6804,0.00,1.77,0.00,0.000,4,0.000,0.054,2179,3756,3975
$GC,6838,-1.24,-121.7,791.1,-12.3,710,6845,0.00,1.65,0.00,0.000,6,0.000,0.029,2179,2645,3975
$GC,7154,-1.31,-121.7,827.7,-11.5,726,7158,0.17,1.75,0.00,0.000,4,0.081,0.051,2098,3754,3973
$GC,7194,-1.03,-121.7,833.5,-15.7,727,7201,0.43,1.62,0.00,0.000,6,0.181,0.028,2213,2635,3973
$GC,7511,-1.23,-121.7,864.9,-9.4,743,7515,0.17,1.77,0.00,0.000,4,0.075,0.054,2139,3753,3970
$GC,7580,-1.09,-121.7,873.7,-13.5,746,7584,0.20,1.62,0.00,0.000,6,0.176,0.029,2190,2644,3971
$GC,7914,-1.21,-121.7,907.3,-9.8,762,7918,0.12,1.75,0.00,0.000,4,0.082,0.053,2139,3749,3968
$GC,7960,-1.09,-121.7,912.9,-12.6,764,7964,0.20,1.62,0.00,0.000,6,0.178,0.029,2190,2642,3968
$GC,8293,-1.21,-121.7,945.9,-9.7,780,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2642,3966
$GC,8602,-1.33,-121.7,977.4,-10.3,795,8606,0.17,1.77,0.00,0.000,4,0.074,0.053,2112,3759,3965
$GC,8658,-1.10,-121.7,985.3,-15.1,797,8662,0.25,1.62,0.00,0.000,6,0.184,0.029,2182,2670,3964
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8714,-0.22,0.0,991.6,12.1,800,8810,0.95,0.00,90.00,1.407,6,0.157,0.000,2468,2547,3532
$STATE,8811,end apogee,CONTROL_FINISHED_OK
$STATE,8811,begin climb
$GC,8814,1.18,121.7,996.6,0.0,805,8924,1.27,2.10,103.05,1.369,4,0.063,0.051,2922,3749,3035
$GC,9115,0.44,121.7,980.0,12.2,818,9124,0.93,1.90,0.00,0.000,6,0.217,0.027,2691,2488,3031
$GC,9432,0.68,222.4,962.0,5.3,834,9521,0.17,2.17,82.78,1.355,4,0.084,0.031,2774,1112,2624
$GC,9594,0.70,239.3,946.1,10.9,841,9614,0.00,2.20,14.98,1.237,6,0.000,0.038,2774,2492,2555
$GC,9931,0.71,241.8,907.1,11.8,858,9934,0.00,2.10,0.00,0.000,4,0.000,0.031,2775,1110,2549
$GC,10082,0.74,268.6,890.1,10.2,864,10112,0.00,2.12,24.58,1.288,6,0.000,0.038,2775,2481,2436
$GC,10442,0.81,287.6,850.0,10.7,882,10465,0.00,2.17,16.95,1.246,4,0.000,0.031,2775,1110,2358
$GC,10539,0.93,298.9,838.9,11.3,886,10557,0.20,2.15,10.95,1.173,6,0.076,0.038,2849,2483,2312
$GC,10867,0.79,298.9,789.5,15.3,902,10871,0.17,2.10,0.00,0.000,4,0.183,0.031,2806,1101,2308
$GC,10906,0.79,298.9,783.5,13.8,904,10910,0.00,2.12,0.00,0.000,6,0.000,0.035,2806,2476,2308
$GC,11239,0.79,298.9,737.3,14.4,920,11242,0.00,2.08,0.00,0.000,4,0.000,0.031,2810,1095,2307
$GC,11322,0.79,298.9,725.4,13.8,923,11328,0.00,2.08,0.00,0.000,6,0.000,0.036,2810,2448,2307
$GC,11638,0.79,298.9,680.1,14.1,939,11642,0.00,2.03,0.00,0.000,4,0.000,0.031,2812,1101,2306
$GC,11711,0.79,298.9,670.2,13.0,942,11715,0.00,2.03,0.00,0.000,6,0.000,0.035,2812,2430,2306
$GC,12038,0.79,298.9,629.7,12.3,958,12041,0.00,2.00,0.00,0.000,4,0.000,0.033,2812,1105,2305
$GC,12132,0.79,298.9,617.4,12.7,962,12136,0.00,1.98,0.00,0.000,6,0.000,0.035,2812,2402,2305
$GC,12460,0.79,298.9,574.5,13.5,978,12464,0.00,1.95,0.00,0.000,4,0.000,0.032,2813,1103,2305
$GC,12521,0.79,298.9,566.4,13.2,980,12527,0.00,1.98,0.00,0.000,6,0.000,0.035,2812,2401,2305
$GC,12837,0.80,304.3,528.5,11.6,996,12843,0.00,0.00,4.75,0.825,6,0.000,0.000,2812,2402,2291
$GC,13148,0.80,304.3,490.6,12.9,1014,13152,0.00,1.98,0.00,0.000,4,0.000,0.034,2812,1086,2290
$GC,13232,0.86,304.3,479.8,12.4,1021,13238,0.00,2.03,0.00,0.000,6,0.000,0.036,2812,2416,2290
$GC,13560,0.94,322.7,441.6,10.8,1052,13582,0.10,1.98,16.38,0.996,4,0.095,0.031,2862,1108,2215
$GC,13680,0.88,322.7,426.0,13.1,1062,13687,0.12,1.98,0.00,0.000,6,0.186,0.037,2833,2395,2212
$GC,14004,0.88,322.7,385.4,12.2,1093,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2395,2212
$GC,14326,0.91,345.6,348.5,10.5,1123,14351,0.00,2.00,19.70,0.923,4,0.000,0.032,2833,1103,2123
$GC,14473,1.04,367.6,332.1,10.5,1136,14498,0.15,1.98,19.20,0.897,6,0.079,0.033,2890,2395,2032
$GC,14827,0.96,367.6,278.6,15.0,1180,14833,0.15,1.92,0.00,0.000,4,0.184,0.028,2860,1107,2027
$GC,14941,1.02,367.6,262.9,12.8,1200,14947,0.00,1.90,0.00,0.000,6,0.000,0.033,2860,2360,2027
$GC,15285,1.12,378.1,223.2,11.3,1261,15299,0.12,0.00,9.23,0.758,6,0.083,0.000,2910,2360,1990
$GC,15638,1.07,378.1,180.5,13.5,1323,15643,0.00,1.88,0.00,0.000,4,0.000,0.031,2916,1098,1988
$GC,15799,1.07,378.1,158.7,13.8,1351,15805,0.00,1.88,0.00,0.000,6,0.000,0.031,2916,2347,1988
$GC,16143,1.07,378.1,111.3,12.7,1412,16149,0.00,1.83,0.00,0.000,4,0.000,0.028,2924,1102,1988
$GC,16163,1.07,378.1,108.9,12.4,1415,16169,0.15,1.85,0.00,0.000,6,0.167,0.031,2886,2346,1988
$GC,16508,1.29,426.1,72.4,8.8,1476,16556,0.17,1.90,38.78,0.685,4,0.072,0.028,2969,1101,1793
$GC,16633,1.29,426.1,56.8,13.3,1497,16639,0.00,1.83,0.00,0.000,6,0.000,0.029,2969,2316,1791
$GC,16976,1.33,458.8,17.2,9.8,1558,17008,0.00,2.33,26.50,0.621,4,0.000,0.045,2969,3770,1660
$STATE,17102,end climb,SURFACE_DEPTH_REACHED
$STATE,17102,begin surface coast
$FINISH,1.8,1.021294
$STATE,17125,end surface coast,CONTROL_FINISHED_OK
$STATE,17125,begin surface
$SM_CCo,17205,0.00,0.000,0,0,1654,460.67
$SM_GC,2.64,7.72,0.00,0.00,0.061,0.000,0.000,141,2382,1654,-7.50,-1.27,460.67
$IRIDIUM_FIX,2505.59,12416.41,041098,191928
$TT8_MAMPS,0.029146
$HUMID,1619
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,51.483
$10V_AH,10.8,29.096
$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,26.450,140.800,477.800,0.000,0.000,24.141,30.629,186.590,8.000,0.000,0.000,38.103,2831.670,10672.486,601.521,2880.810,609.255,0.000,2052.607,0.000,2796.129,0.000,56.518,0.000
$DEVICE_MAMPS,237.770,53.690,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.145,1095.943,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85089,1584
$CAP_FILE_SIZE,179619,0
$CFSIZE,260165632,201629696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,101.7,1
$GPS,110709,045837,2509.166,12415.258,33,0.9,34,-3.8