version: 66.04
glider: 167
mission: 2
dive: 262
start: 7 4 109 21 18 59
data:
$ID,167
$MISSION,2
$DIVE,262
$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,-4
$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,-10403.343
$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,68
$R_STBD_OVSHOOT,55
$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
$GPS1,211207,2524.738,12341.406,35,1.5,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.6
$GPS2,211838,2524.853,12341.457,13,1.6,13,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,235.7,20247,-23.2,-12.000
$D_GRID,1757
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.85,0.000,2,0.000,0.000,141,2460,2260
$GC,43,-1.18,-121.7,3.1,-2.8,4,113,8.35,2.20,-56.67,0.000,4,0.239,0.038,2158,1027,3989
$GC,183,-0.68,-121.7,25.7,-25.9,27,190,0.60,2.10,0.00,0.000,6,0.176,0.030,2318,2416,3991
$GC,528,-0.87,-121.7,72.1,-9.2,88,535,0.15,2.05,0.00,0.000,4,0.070,0.044,2246,3750,3992
$GC,564,-0.82,-121.7,76.8,-13.1,94,571,0.12,1.92,0.00,0.000,6,0.165,0.022,2277,2391,3992
$GC,909,-0.94,-121.7,120.7,-12.7,155,915,0.12,2.10,0.00,0.000,4,0.077,0.043,2218,3750,3994
$GC,1053,-0.84,-121.7,142.5,-13.9,180,1061,0.20,1.80,0.00,0.000,6,0.163,0.023,2272,2466,3994
$GC,1400,-1.01,-121.7,179.9,-10.1,241,1407,0.15,2.00,0.00,0.000,4,0.066,0.044,2205,3763,3996
$GC,1436,-0.91,-121.7,184.2,-12.7,247,1443,0.15,1.77,0.00,0.000,6,0.160,0.024,2244,2500,3996
$GC,1782,-1.02,-121.7,225.0,-11.8,308,1790,0.00,1.92,0.00,0.000,4,0.000,0.045,2236,3753,3996
$GC,1830,-1.09,-121.7,231.1,-12.9,316,1838,0.12,1.75,0.00,0.000,6,0.076,0.025,2180,2504,3997
$GC,2175,-0.99,-121.7,280.0,-13.2,377,2182,0.17,1.92,0.00,0.000,4,0.156,0.043,2220,3757,3997
$GC,2239,-0.99,-121.7,287.7,-11.5,388,2246,0.00,1.75,0.00,0.000,6,0.000,0.024,2220,2504,3997
$GC,2572,-1.08,-121.7,324.8,-10.3,428,2579,0.00,1.92,0.00,0.000,4,0.000,0.046,2218,3754,3996
$GC,2621,-1.16,-121.7,329.9,-10.3,432,2625,0.12,1.75,0.00,0.000,6,0.076,0.025,2163,2513,3997
$GC,2951,-1.06,-121.7,368.9,-12.9,463,2955,0.15,1.92,0.00,0.000,4,0.165,0.044,2194,3760,3997
$GC,3046,-1.06,-121.7,380.8,-12.0,471,3051,0.00,1.75,0.00,0.000,6,0.000,0.025,2194,2524,3997
$GC,3372,-1.06,-121.7,421.9,-12.9,502,3375,0.00,1.90,0.00,0.000,4,0.000,0.048,2193,3750,3997
$GC,3496,-1.06,-121.7,438.5,-12.6,513,3500,0.00,1.73,0.00,0.000,6,0.000,0.025,2192,2541,3997
$GC,3831,-1.12,-121.7,475.4,-10.8,544,3835,0.00,1.88,0.00,0.000,4,0.000,0.048,2192,3748,3995
$GC,3877,-1.12,-121.7,480.8,-11.1,548,3880,0.00,1.70,0.00,0.000,6,0.000,0.025,2192,2552,3995
$GC,4205,-1.17,-121.7,514.6,-9.9,572,4209,0.00,1.85,0.00,0.000,4,0.000,0.048,2192,3753,3993
$GC,4307,-1.17,-121.7,525.4,-10.6,576,4310,0.00,1.70,0.00,0.000,6,0.000,0.027,2192,2567,3993
$GC,4628,-1.24,-121.7,559.2,-10.9,592,4633,0.12,2.20,0.00,0.000,4,0.084,0.027,2142,1054,3992
$GC,4655,-1.18,-121.7,562.7,-12.7,593,4659,0.00,2.28,0.00,0.000,6,0.000,0.035,2140,2559,3991
$GC,4971,-1.06,-121.7,604.4,-13.7,608,4976,0.20,1.85,0.00,0.000,4,0.171,0.049,2192,3757,3989
$GC,5056,-1.12,-121.7,614.3,-10.8,611,5061,0.00,1.70,0.00,0.000,6,0.000,0.027,2192,2576,3989
$GC,5372,-1.20,-121.7,647.1,-10.3,627,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2576,3986
$GC,5681,-1.30,-121.7,679.4,-10.7,642,5685,0.17,2.22,0.00,0.000,4,0.078,0.028,2119,1057,3984
$GC,5744,-1.15,-121.7,687.9,-14.2,645,5748,0.22,2.28,0.00,0.000,6,0.177,0.035,2169,2550,3983
$GC,6076,-1.15,-121.7,728.9,-12.1,661,6079,0.00,1.88,0.00,0.000,4,0.000,0.052,2166,3758,3981
$GC,6166,-1.15,-121.7,740.4,-12.9,665,6170,0.00,1.70,0.00,0.000,6,0.000,0.030,2166,2597,3980
$GC,6499,-1.15,-121.7,781.2,-12.2,681,6503,0.00,1.83,0.00,0.000,4,0.000,0.054,2165,3753,3978
$GC,6567,-1.15,-121.7,789.7,-13.3,684,6571,0.00,1.70,0.00,0.000,6,0.000,0.029,2165,2609,3977
$GC,6900,-1.15,-121.7,828.6,-11.6,700,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2609,3975
$GC,7209,-1.15,-121.7,864.4,-11.7,715,7212,0.00,1.83,0.00,0.000,4,0.000,0.054,2166,3758,3973
$GC,7286,-1.15,-121.7,874.4,-13.2,718,7290,0.00,1.73,0.00,0.000,6,0.000,0.030,2165,2609,3972
$GC,7608,-1.15,-121.7,915.3,-12.9,734,7612,0.00,1.83,0.00,0.000,4,0.000,0.055,2165,3737,3971
$GC,7635,-1.15,-121.7,919.1,-13.7,735,7639,0.00,1.67,0.00,0.000,6,0.000,0.030,2164,2616,3970
$GC,7962,-1.15,-121.7,961.1,-12.9,751,7966,0.00,2.30,0.00,0.000,4,0.000,0.029,2165,1050,3969
$GC,7989,-1.15,-121.7,964.9,-13.7,752,7993,0.00,2.35,0.00,0.000,6,0.000,0.039,2165,2572,3969
$STATE,8205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8205,begin apogee
$GC,8210,-0.22,0.0,991.5,12.1,763,8311,1.02,0.00,92.20,1.394,6,0.160,0.000,2467,2573,3532
$STATE,8312,end apogee,CONTROL_FINISHED_OK
$STATE,8312,begin climb
$GC,8314,1.18,121.7,996.8,0.0,768,8425,1.27,2.03,103.05,1.377,4,0.063,0.050,2920,3750,3035
$GC,8565,0.44,121.7,985.3,12.4,779,8570,0.95,1.85,0.00,0.000,6,0.216,0.025,2690,2521,3031
$GC,8881,0.65,204.8,964.2,6.5,794,8954,0.17,2.20,68.03,1.360,4,0.079,0.032,2760,1123,2694
$GC,9067,0.66,217.7,944.8,11.2,802,9084,0.00,2.15,11.70,1.216,6,0.000,0.037,2760,2485,2644
$GC,9400,0.68,228.0,906.2,11.3,819,9415,0.00,2.10,9.82,1.192,4,0.000,0.033,2760,1122,2602
$GC,9473,0.76,236.2,897.9,11.5,822,9490,0.00,2.15,7.88,1.129,6,0.000,0.037,2760,2498,2570
$GC,9799,0.76,236.2,858.1,12.3,838,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2498,2567
$GC,10109,0.81,237.6,820.3,11.9,853,10114,0.12,2.10,0.00,0.000,4,0.088,0.031,2814,1110,2565
$GC,10200,0.74,237.6,807.8,13.9,857,10205,0.12,2.12,0.00,0.000,6,0.187,0.038,2786,2487,2565
$GC,10521,0.74,237.6,766.2,12.6,873,10525,0.00,2.08,0.00,0.000,4,0.000,0.032,2789,1108,2564
$GC,10571,0.74,237.6,759.6,12.6,875,10575,0.00,2.10,0.00,0.000,6,0.000,0.038,2790,2471,2564
$GC,10898,0.74,237.6,718.8,12.3,891,10901,0.00,2.05,0.00,0.000,4,0.000,0.033,2790,1110,2563
$GC,10966,0.74,237.6,710.5,12.0,894,10969,0.00,2.10,0.00,0.000,6,0.000,0.038,2789,2469,2563
$GC,11298,0.76,259.3,674.1,10.6,910,11322,0.00,2.10,19.05,1.190,4,0.000,0.032,2795,1120,2474
$GC,11432,0.78,269.2,658.7,11.4,916,11446,0.00,2.03,9.70,1.095,6,0.000,0.036,2795,2435,2434
$GC,11762,0.78,269.2,618.4,12.5,932,11766,0.00,2.00,0.00,0.000,4,0.000,0.030,2802,1109,2431
$GC,11812,0.78,269.2,612.0,13.4,934,11816,0.00,2.05,0.00,0.000,6,0.000,0.038,2802,2433,2430
$GC,12139,0.78,269.2,571.6,12.1,950,12143,0.00,2.10,0.00,0.000,4,0.000,0.053,2802,3765,2430
$GC,12217,0.63,269.2,560.3,15.2,953,12222,0.22,1.98,0.00,0.000,6,0.186,0.028,2753,2429,2429
$GC,12533,0.80,278.7,525.5,11.4,968,12548,0.15,2.00,8.73,1.014,4,0.081,0.033,2816,1118,2396
$GC,12577,0.80,278.7,519.7,13.1,970,12580,0.00,2.03,0.00,0.000,6,0.000,0.035,2815,2433,2395
$GC,12904,0.81,281.6,478.0,11.8,993,12915,0.00,2.03,4.30,0.770,4,0.000,0.033,2816,1123,2383
$GC,12996,0.81,285.8,467.2,11.7,1001,13007,0.00,1.98,5.45,0.856,6,0.000,0.035,2816,2416,2365
$GC,13325,0.81,285.8,425.2,12.6,1032,13329,0.00,2.12,0.00,0.000,4,0.000,0.051,2816,3771,2364
$GC,13360,0.69,285.8,420.5,14.2,1035,13364,0.22,2.00,0.00,0.000,6,0.185,0.027,2767,2409,2364
$GC,13686,0.89,317.3,387.1,9.9,1065,13719,0.17,1.95,26.42,0.996,4,0.077,0.031,2845,1112,2237
$GC,13753,0.89,317.3,378.4,13.0,1071,13757,0.00,2.03,0.00,0.000,6,0.000,0.035,2845,2421,2234
$GC,14085,0.89,317.3,333.2,13.6,1102,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2421,2232
$GC,14406,0.89,317.3,287.9,12.7,1140,14413,0.00,1.95,0.00,0.000,4,0.000,0.031,2850,1118,2231
$GC,14464,0.89,317.3,280.4,12.5,1150,14470,0.00,1.98,0.00,0.000,6,0.000,0.035,2850,2418,2232
$GC,14808,0.92,340.6,239.9,10.5,1211,14832,0.00,2.17,19.08,0.856,4,0.000,0.051,2850,3763,2142
$GC,14850,0.92,340.6,235.0,12.5,1218,14856,0.00,2.05,0.00,0.000,6,0.000,0.027,2859,2401,2141
$GC,15193,0.94,363.9,194.4,10.5,1279,15218,0.00,1.98,19.58,0.805,4,0.000,0.031,2867,1115,2047
$GC,15259,1.04,376.7,187.3,11.2,1290,15278,0.00,1.98,11.55,0.754,6,0.000,0.033,2867,2402,1995
$GC,15618,1.17,376.7,147.2,12.1,1353,15625,0.15,2.15,0.00,0.000,4,0.077,0.050,2925,3768,1991
$GC,15762,1.01,376.7,125.6,15.9,1378,15769,0.22,1.98,0.00,0.000,6,0.182,0.024,2872,2418,1991
$GC,16107,1.20,400.8,85.2,10.4,1439,16131,0.17,0.00,19.58,0.693,6,0.076,0.000,2946,2416,1899
$GC,16469,1.25,440.8,43.0,9.4,1503,16506,0.00,2.20,32.45,0.657,4,0.000,0.047,2946,3762,1734
$GC,16736,1.25,440.8,5.9,13.3,1550,16742,0.00,2.00,0.00,0.000,6,0.000,0.025,2950,2393,1729
$STATE,16763,end climb,SURFACE_DEPTH_REACHED
$STATE,16763,begin surface coast
$FINISH,1.8,1.006014
$STATE,16787,end surface coast,CONTROL_FINISHED_OK
$STATE,16787,begin surface
$SM_CCo,16865,0.00,0.000,0,0,1728,442.77
$SM_GC,2.69,7.60,0.00,0.00,0.058,0.000,0.000,142,2391,1728,-7.49,-1.05,442.77
$IRIDIUM_FIX,2515.12,12339.42,280998,161616
$TT8_MAMPS,0.029146
$HUMID,1610
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.4,46.230
$10V_AH,10.7,26.194
$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,23.750,146.550,468.550,0.000,0.000,25.500,40.257,185.339,8.000,0.000,0.000,13.804,2775.183,10544.285,589.887,2757.647,576.950,0.000,1996.875,0.000,2691.961,0.000,54.440,0.000
$DEVICE_MAMPS,238.537,55.224,1394.406,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.942,1083.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81991,1559
$CAP_FILE_SIZE,173213,0
$CFSIZE,260165632,204328960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.289, 81.0,1
$GPS,050709,020106,2524.313,12342.523,27,1.1,28,-3.8