version: 66.04
glider: 167
mission: 2
dive: 270
start: 7 6 109 12 6 9
data:
$ID,167
$MISSION,2
$DIVE,270
$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,-10558.754
$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,61
$R_STBD_OVSHOOT,39
$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
$GPS1,115836,2520.562,12354.339,32,1.0,33,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.8
$GPS2,120549,2520.618,12354.458,15,1.4,32,-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,196.2,73466,-23.2,-12.000
$D_GRID,1937
$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,-23.98,0.000,2,0.000,0.000,141,2402,2298
$GC,44,-1.18,-121.7,3.1,-1.9,4,116,8.40,2.12,-54.50,0.000,4,0.242,0.057,2149,3764,3989
$GC,167,-0.47,-121.7,23.8,-30.9,25,174,0.88,1.98,0.00,0.000,6,0.188,0.022,2386,2383,3990
$GC,512,-1.08,-121.7,58.5,-9.7,86,519,0.47,2.15,0.00,0.000,4,0.047,0.044,2184,3766,3991
$GC,531,-1.38,-121.7,61.0,-11.5,89,538,0.25,1.80,0.00,0.000,6,0.064,0.023,2085,2487,3992
$GC,876,-0.86,-121.7,140.0,-19.6,150,882,0.60,2.08,0.00,0.000,4,0.175,0.023,2258,1039,3993
$GC,1003,-1.00,-121.7,154.9,-10.6,172,1009,0.00,2.20,0.00,0.000,6,0.000,0.029,2250,2522,3993
$GC,1347,-1.08,-121.7,191.5,-10.8,233,1354,0.15,1.88,0.00,0.000,4,0.071,0.044,2179,3758,3994
$GC,1422,-0.87,-121.7,202.2,-14.9,246,1430,0.30,1.75,0.00,0.000,6,0.160,0.023,2263,2517,3995
$GC,1768,-1.04,-121.7,241.9,-11.1,307,1776,0.15,1.92,0.00,0.000,4,0.072,0.044,2192,3767,3995
$GC,1967,-0.93,-121.7,269.7,-14.1,342,1973,0.17,1.70,0.00,0.000,6,0.161,0.023,2239,2556,3995
$GC,2313,-1.07,-121.7,308.6,-11.2,397,2317,0.12,1.85,0.00,0.000,4,0.075,0.044,2180,3758,3995
$GC,2503,-0.96,-121.7,334.7,-12.9,414,2508,0.15,1.70,0.00,0.000,6,0.159,0.025,2227,2577,3995
$GC,2834,-1.10,-121.7,366.1,-9.3,445,2838,0.12,1.83,0.00,0.000,4,0.076,0.046,2176,3757,3995
$GC,3030,-1.00,-121.7,391.0,-12.8,462,3037,0.17,1.62,0.00,0.000,6,0.168,0.025,2221,2612,3995
$GC,3355,-1.13,-121.7,423.0,-9.6,493,3359,0.12,1.77,0.00,0.000,4,0.077,0.047,2166,3760,3995
$GC,3401,-1.03,-121.7,428.4,-13.0,497,3406,0.15,1.62,0.00,0.000,6,0.166,0.026,2210,2642,3995
$GC,3733,-1.13,-121.7,464.5,-10.7,528,3737,0.00,1.75,0.00,0.000,4,0.000,0.048,2207,3753,3993
$GC,3802,-1.19,-121.7,472.6,-11.5,534,3806,0.15,1.60,0.00,0.000,6,0.077,0.027,2146,2628,3993
$GC,4130,-1.06,-121.7,517.0,-13.6,559,4132,0.20,0.00,0.00,0.000,6,0.170,0.000,2198,2627,3992
$GC,4439,-1.14,-121.7,550.2,-10.4,574,4443,0.00,1.75,0.00,0.000,4,0.000,0.049,2192,3753,3990
$GC,4530,-1.14,-121.7,560.5,-10.8,578,4533,0.00,1.60,0.00,0.000,6,0.000,0.028,2192,2660,3989
$GC,4863,-1.21,-121.7,596.3,-11.0,594,4867,0.12,1.73,0.00,0.000,4,0.087,0.050,2138,3763,3987
$GC,4930,-1.05,-121.7,605.6,-13.9,597,4935,0.25,1.58,0.00,0.000,6,0.173,0.029,2203,2689,3987
$GC,5265,-1.17,-121.7,642.0,-10.9,613,5268,0.00,1.67,0.00,0.000,4,0.000,0.052,2203,3760,3985
$GC,5327,-1.29,-121.7,649.4,-11.3,615,5335,0.15,1.55,0.00,0.000,6,0.051,0.029,2125,2705,3984
$GC,5643,-1.12,-121.7,693.4,-13.8,631,5648,0.17,2.42,0.00,0.000,4,0.178,0.027,2175,1054,3982
$GC,5693,-1.18,-121.7,699.7,-11.3,633,5698,0.00,2.45,0.00,0.000,6,0.000,0.036,2168,2660,3981
$GC,6014,-1.18,-121.7,736.3,-11.5,649,6017,0.00,1.70,0.00,0.000,4,0.000,0.053,2166,3760,3979
$GC,6053,-1.13,-121.7,741.1,-12.5,650,6059,0.00,1.58,0.00,0.000,6,0.000,0.029,2166,2693,3979
$GC,6368,-1.13,-121.7,778.8,-12.4,666,6372,0.00,1.67,0.00,0.000,4,0.000,0.054,2166,3757,3976
$GC,6414,-1.08,-121.7,785.0,-14.1,668,6418,0.08,1.55,0.00,0.000,6,0.176,0.030,2197,2716,3976
$GC,6750,-1.20,-121.7,824.0,-11.8,684,6755,0.12,1.67,0.00,0.000,4,0.087,0.054,2152,3752,3974
$GC,6790,-1.11,-121.7,829.9,-14.6,685,6797,0.08,1.52,0.00,0.000,6,0.177,0.030,2183,2728,3973
$GC,7106,-1.18,-121.7,869.4,-12.6,701,7110,0.00,2.47,0.00,0.000,4,0.000,0.028,2183,1050,3972
$GC,7128,-1.27,-121.7,872.2,-12.3,702,7133,0.12,2.53,0.00,0.000,6,0.092,0.038,2138,2692,3971
$GC,7450,-1.16,-121.7,918.7,-14.4,718,7455,0.12,1.70,0.00,0.000,4,0.196,0.054,2159,3757,3969
$GC,7499,-1.10,-121.7,925.3,-14.0,720,7503,0.05,1.55,0.00,0.000,6,0.173,0.030,2183,2715,3969
$GC,7834,-1.18,-121.7,961.3,-10.0,736,7838,0.00,2.45,0.00,0.000,4,0.000,0.029,2183,1060,3968
$GC,7862,-1.28,-121.7,964.3,-9.8,737,7867,0.15,2.53,0.00,0.000,6,0.088,0.038,2128,2698,3967
$STATE,8093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8093,begin apogee
$GC,8100,-0.22,0.0,992.4,12.2,748,8196,1.20,0.00,90.07,1.417,6,0.177,0.000,2466,2547,3532
$STATE,8197,end apogee,CONTROL_FINISHED_OK
$STATE,8197,begin climb
$GC,8199,1.18,121.7,996.1,0.0,753,8310,1.27,2.10,102.95,1.371,4,0.063,0.050,2921,3749,3035
$GC,8501,0.45,121.7,975.6,12.9,766,8508,0.95,1.92,0.00,0.000,6,0.219,0.027,2691,2473,3031
$GC,8817,0.66,213.4,954.9,5.9,782,8903,0.17,2.20,75.15,1.355,4,0.084,0.033,2769,1118,2660
$GC,8981,0.68,231.1,938.1,10.8,789,9002,0.00,2.17,15.90,1.246,6,0.000,0.036,2769,2487,2589
$GC,9318,0.70,243.3,899.4,11.2,806,9333,0.00,2.12,10.38,1.190,4,0.000,0.031,2773,1105,2540
$GC,9448,0.75,249.9,884.6,11.6,811,9461,0.00,2.15,6.97,1.089,6,0.000,0.038,2773,2487,2513
$GC,9779,0.75,249.9,844.8,12.1,827,9782,0.00,2.08,0.00,0.000,4,0.000,0.031,2775,1117,2510
$GC,9818,0.82,257.0,840.2,11.5,828,9830,0.10,2.10,7.30,1.108,6,0.098,0.035,2814,2477,2484
$GC,10154,0.72,257.0,793.5,13.8,845,10158,0.15,2.08,0.00,0.000,4,0.184,0.030,2784,1110,2481
$GC,10215,0.72,257.0,785.3,12.6,847,10221,0.00,2.08,0.00,0.000,6,0.000,0.036,2784,2451,2481
$GC,10530,0.72,257.0,746.6,12.1,863,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2451,2481
$GC,10839,0.72,258.3,709.6,11.9,878,10843,0.00,2.03,0.00,0.000,4,0.000,0.032,2790,1105,2479
$GC,10940,0.72,258.3,697.1,12.3,882,10944,0.00,2.05,0.00,0.000,6,0.000,0.037,2790,2443,2479
$GC,11261,0.72,258.3,656.6,12.6,898,11265,0.00,2.00,0.00,0.000,4,0.000,0.033,2790,1109,2478
$GC,11294,0.72,258.3,652.6,12.1,899,11297,0.00,2.03,0.00,0.000,6,0.000,0.036,2790,2434,2478
$GC,11615,0.72,258.3,614.6,12.0,915,11619,0.00,1.98,0.00,0.000,4,0.000,0.033,2790,1117,2478
$GC,11662,0.77,263.2,609.4,11.7,917,11672,0.00,1.98,5.80,0.957,6,0.000,0.036,2790,2412,2459
$GC,11988,0.78,268.0,570.9,11.7,933,11999,0.00,1.95,6.00,0.947,4,0.000,0.032,2794,1114,2438
$GC,12038,0.83,268.0,564.5,12.6,935,12041,0.00,1.98,0.00,0.000,6,0.000,0.037,2794,2405,2438
$GC,12359,0.85,283.8,527.1,11.0,951,12378,0.00,0.00,14.68,1.071,6,0.000,0.000,2794,2405,2374
$GC,12693,0.91,291.0,488.4,11.5,971,12706,0.12,2.03,7.50,0.944,4,0.089,0.033,2846,1106,2344
$GC,12853,0.84,291.0,466.6,14.5,985,12858,0.12,2.00,0.00,0.000,6,0.182,0.038,2818,2405,2343
$GC,13183,0.84,293.9,427.1,11.8,1016,13194,0.00,0.00,4.00,0.703,6,0.000,0.000,2818,2405,2332
$GC,13513,0.84,293.9,386.0,13.2,1047,13517,0.00,1.92,0.00,0.000,4,0.000,0.031,2825,1111,2332
$GC,13559,0.84,293.9,379.6,13.3,1051,13562,0.00,1.98,0.00,0.000,6,0.000,0.036,2825,2402,2331
$GC,13891,0.86,307.0,337.6,11.1,1082,13912,0.00,2.20,12.00,0.907,4,0.000,0.052,2824,3764,2279
$GC,13970,0.79,307.0,327.7,13.0,1089,13974,0.12,2.05,0.00,0.000,6,0.193,0.026,2801,2381,2279
$GC,14296,0.98,349.9,297.8,9.2,1121,14338,0.17,1.98,35.10,0.907,4,0.077,0.031,2883,1109,2104
$GC,14406,0.98,349.9,283.1,14.0,1140,14413,0.00,2.00,0.00,0.000,6,0.000,0.035,2883,2399,2100
$GC,14751,0.93,349.9,235.8,14.1,1201,14757,0.15,2.15,0.00,0.000,4,0.183,0.048,2846,3765,2097
$GC,14808,0.93,349.9,227.2,13.8,1211,14814,0.00,2.05,0.00,0.000,6,0.000,0.025,2852,2381,2097
$GC,15152,1.03,368.0,187.7,10.8,1272,15172,0.00,1.95,15.00,0.772,4,0.000,0.031,2855,1105,2030
$GC,15293,1.17,368.0,171.5,12.0,1296,15300,0.20,1.90,0.00,0.000,6,0.072,0.032,2930,2362,2029
$GC,15639,1.08,368.0,117.8,13.3,1357,15645,0.15,1.88,0.00,0.000,4,0.172,0.028,2899,1098,2028
$GC,15680,1.08,368.0,112.5,12.5,1364,15687,0.00,1.90,0.00,0.000,6,0.000,0.031,2899,2364,2028
$GC,16025,1.19,393.8,75.1,10.3,1425,16055,0.00,1.92,21.55,0.680,4,0.000,0.030,2902,1106,1925
$GC,16297,1.40,422.3,49.4,10.1,1473,16328,0.25,1.85,23.15,0.649,6,0.065,0.031,2997,2338,1809
$STATE,16623,end climb,SURFACE_DEPTH_REACHED
$STATE,16623,begin surface coast
$FINISH,1.8,1.008316
$STATE,16654,end surface coast,CONTROL_FINISHED_OK
$STATE,16654,begin surface
$SM_CCo,16672,0.00,0.000,0,0,1798,425.10
$SM_GC,3.14,0.00,0.00,0.00,0.000,0.000,0.000,141,2458,1798,-7.51,0.88,425.10
$IRIDIUM_FIX,2512.73,12359.93,300998,070734
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.4,47.601
$10V_AH,10.8,26.955
$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,26.875,140.050,453.500,0.000,0.000,31.488,34.340,205.606,8.000,0.000,0.000,32.770,2745.739,10420.405,579.018,2739.861,610.414,0.000,1968.867,0.000,2659.584,0.000,54.448,0.000
$DEVICE_MAMPS,241.605,69.797,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.570,1055.301,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82138,1536
$CAP_FILE_SIZE,175673,0
$CFSIZE,260165632,203616256
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248, 87.1,1
$GPS,060709,164524,2519.184,12356.098,27,1.0,46,-3.8