version: 66.04
glider: 167
mission: 2
dive: 279
start: 7 8 109 8 0 29
data:
$ID,167
$MISSION,2
$DIVE,279
$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,-10732.218
$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,57
$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
$GPS1,075006,2520.717,12403.043,31,1.6,32,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.9
$GPS2,080008,2520.929,12403.213,13,1.7,13,-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,207.1,67233,-23.2,-12.000
$D_GRID,2021
$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,-23.88,0.000,2,0.000,0.000,139,2458,2334
$GC,44,-1.18,-121.7,3.1,-2.9,4,112,8.65,2.10,-51.97,0.000,4,0.250,0.038,2161,1034,3989
$GC,298,-0.82,-121.7,53.1,-20.1,48,305,0.45,2.08,0.00,0.000,6,0.170,0.029,2278,2428,3990
$GC,643,-0.89,-121.7,102.6,-15.6,109,650,0.00,2.03,0.00,0.000,4,0.000,0.046,2275,3752,3992
$GC,741,-0.96,-121.7,117.1,-13.6,126,748,0.12,1.88,0.00,0.000,6,0.078,0.024,2220,2423,3992
$GC,1086,-0.90,-121.7,165.7,-12.9,187,1093,0.12,2.05,0.00,0.000,4,0.164,0.043,2245,3752,3993
$GC,1156,-0.90,-121.7,174.7,-12.0,199,1162,0.00,1.83,0.00,0.000,6,0.000,0.024,2245,2446,3994
$GC,1499,-1.00,-121.7,217.7,-12.7,260,1505,0.00,2.03,0.00,0.000,4,0.000,0.047,2244,3757,3994
$GC,1613,-1.08,-121.7,231.6,-12.6,280,1620,0.12,1.80,0.00,0.000,6,0.077,0.024,2189,2473,3994
$GC,1958,-1.01,-121.7,273.6,-11.0,341,1965,0.12,1.98,0.00,0.000,4,0.162,0.044,2218,3754,3994
$GC,2022,-1.01,-121.7,281.0,-11.4,352,2028,0.00,1.80,0.00,0.000,6,0.000,0.025,2218,2481,3995
$GC,2363,-1.07,-121.7,317.8,-11.6,399,2367,0.00,1.95,0.00,0.000,4,0.000,0.046,2218,3747,3995
$GC,2464,-1.07,-121.7,328.9,-11.2,408,2468,0.00,1.77,0.00,0.000,6,0.000,0.024,2218,2487,3995
$GC,2797,-1.17,-121.7,362.6,-9.9,439,2801,0.15,1.95,0.00,0.000,4,0.074,0.046,2152,3748,3995
$GC,2892,-0.98,-121.7,376.1,-13.7,447,2899,0.28,1.75,0.00,0.000,6,0.161,0.025,2228,2509,3994
$GC,3218,-1.13,-121.7,408.0,-9.8,478,3222,0.15,1.92,0.00,0.000,4,0.074,0.047,2165,3751,3994
$GC,3360,-1.02,-121.7,427.1,-13.8,490,3366,0.20,1.73,0.00,0.000,6,0.164,0.026,2218,2538,3993
$GC,3685,-1.17,-121.7,464.6,-11.3,521,3689,0.15,1.90,0.00,0.000,4,0.073,0.048,2153,3758,3993
$GC,3838,-1.00,-121.7,486.0,-14.9,534,3844,0.25,1.73,0.00,0.000,6,0.163,0.026,2221,2552,3992
$GC,4159,-1.35,-121.7,517.9,-8.8,556,4164,0.28,2.17,0.00,0.000,4,0.061,0.026,2108,1050,3991
$GC,4222,-1.15,-121.7,525.7,-13.1,559,4227,0.28,2.17,0.00,0.000,6,0.167,0.033,2173,2498,3990
$GC,4554,-1.15,-121.7,563.3,-11.3,575,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2499,3988
$GC,4864,-1.15,-121.7,594.9,-9.7,590,4868,0.00,1.95,0.00,0.000,4,0.000,0.051,2166,3744,3985
$GC,4943,-1.09,-121.7,603.0,-10.7,593,4946,0.00,1.75,0.00,0.000,6,0.000,0.027,2165,2523,3985
$GC,5264,-1.09,-121.7,635.1,-10.8,609,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2523,3982
$GC,5574,-1.09,-121.7,670.6,-11.8,624,5577,0.00,1.92,0.00,0.000,4,0.000,0.052,2165,3746,3980
$GC,5693,-1.04,-121.7,685.7,-12.8,629,5697,0.17,1.75,0.00,0.000,6,0.169,0.028,2210,2543,3979
$GC,6022,-1.20,-121.7,718.6,-9.6,645,6026,0.15,1.92,0.00,0.000,4,0.077,0.053,2152,3757,3976
$GC,6189,-1.09,-121.7,740.7,-13.6,652,6193,0.15,1.73,0.00,0.000,6,0.175,0.030,2189,2577,3975
$GC,6511,-1.17,-121.7,774.8,-11.0,668,6518,0.00,1.85,0.00,0.000,4,0.000,0.053,2182,3750,3973
$GC,6552,-1.17,-121.7,779.8,-12.0,669,6559,0.00,1.73,0.00,0.000,6,0.000,0.029,2182,2587,3973
$GC,6868,-1.24,-121.7,817.6,-12.0,685,6873,0.10,1.85,0.00,0.000,4,0.095,0.052,2138,3757,3971
$GC,6907,-1.09,-121.7,823.4,-15.7,686,6914,0.20,1.73,0.00,0.000,6,0.177,0.029,2189,2572,3971
$GC,7223,-1.19,-121.7,859.1,-10.7,702,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2572,3969
$GC,7533,-1.28,-121.7,890.3,-9.8,717,7537,0.17,1.88,0.00,0.000,4,0.074,0.054,2124,3750,3967
$GC,7616,-1.09,-121.7,901.5,-14.0,720,7622,0.25,1.70,0.00,0.000,6,0.179,0.030,2189,2590,3966
$GC,7932,-1.19,-121.7,933.3,-10.1,736,7936,0.00,1.83,0.00,0.000,4,0.000,0.054,2182,3742,3965
$GC,7982,-1.19,-121.7,939.1,-11.0,738,7986,0.00,1.70,0.00,0.000,6,0.000,0.030,2182,2582,3964
$GC,8310,-1.27,-121.7,973.9,-10.8,754,8314,0.12,1.85,0.00,0.000,4,0.088,0.054,2136,3754,3963
$STATE,8425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8433,-0.22,0.0,990.1,15.1,759,8530,1.12,0.00,89.70,1.414,6,0.175,0.000,2462,2527,3531
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8533,1.18,121.7,995.3,0.0,764,8644,1.27,2.12,102.85,1.374,4,0.061,0.049,2921,3746,3034
$GC,8819,0.44,121.7,979.2,12.1,777,8824,0.95,1.90,0.00,0.000,6,0.216,0.025,2689,2478,3031
$GC,9140,0.65,205.8,958.0,6.4,793,9215,0.20,2.15,68.85,1.355,4,0.078,0.052,2765,3752,2692
$GC,9249,0.51,205.8,946.3,13.8,797,9253,0.25,1.90,0.00,0.000,6,0.186,0.027,2711,2507,2690
$GC,9570,0.72,246.0,915.3,9.3,813,9609,0.20,0.00,33.67,1.318,6,0.073,0.000,2785,2505,2528
$GC,9919,0.72,246.0,868.8,13.5,830,9922,0.00,2.10,0.00,0.000,4,0.000,0.032,2789,1106,2522
$GC,9946,0.72,246.0,864.9,14.0,831,9950,0.00,2.17,0.00,0.000,6,0.000,0.037,2789,2504,2522
$GC,10273,0.72,246.0,821.3,13.5,847,10277,0.00,2.12,0.00,0.000,4,0.000,0.031,2790,1104,2521
$GC,10373,0.72,246.0,807.4,13.3,851,10377,0.00,2.15,0.00,0.000,6,0.000,0.035,2789,2500,2520
$GC,10694,0.72,246.0,763.3,13.9,867,10698,0.00,2.10,0.00,0.000,4,0.000,0.032,2791,1112,2519
$GC,10740,0.72,246.0,757.1,14.8,869,10744,0.00,2.12,0.00,0.000,6,0.000,0.037,2791,2500,2519
$GC,11072,0.72,246.0,713.3,12.8,885,11076,0.00,2.10,0.00,0.000,4,0.000,0.031,2791,1107,2518
$GC,11087,0.72,246.0,711.2,12.5,885,11095,0.00,2.12,0.00,0.000,6,0.000,0.038,2791,2490,2518
$GC,11404,0.73,255.0,674.0,11.4,901,11417,0.00,2.12,7.18,1.052,4,0.000,0.031,2791,1118,2491
$GC,11463,0.75,264.8,667.0,11.4,903,11478,0.00,2.08,9.90,1.104,6,0.000,0.036,2791,2468,2452
$GC,11800,0.78,289.7,630.4,10.4,920,11829,0.00,2.15,22.12,1.161,4,0.000,0.055,2791,3768,2349
$GC,11869,0.71,289.7,622.5,12.3,923,11873,0.00,1.95,0.00,0.000,6,0.000,0.026,2790,2478,2348
$GC,12196,0.78,291.4,586.3,11.9,939,12200,0.00,2.05,0.00,0.000,4,0.000,0.032,2791,1103,2345
$GC,12235,0.87,291.4,581.4,12.0,940,12242,0.10,2.15,0.00,0.000,6,0.093,0.035,2829,2497,2344
$GC,12551,0.80,291.4,535.1,14.6,956,12555,0.00,1.98,0.00,0.000,4,0.000,0.054,2829,3754,2344
$GC,12607,0.62,291.4,525.9,16.1,958,12611,0.32,1.88,0.00,0.000,6,0.181,0.027,2750,2474,2344
$GC,12926,0.89,344.6,494.5,8.5,975,12976,0.20,2.15,44.28,1.083,4,0.074,0.033,2834,1113,2126
$GC,13059,0.89,344.6,477.5,12.9,986,13066,0.00,2.15,0.00,0.000,6,0.000,0.036,2834,2484,2122
$GC,13386,0.89,344.6,431.9,14.5,1017,13389,0.00,2.08,0.00,0.000,4,0.000,0.030,2841,1111,2119
$GC,13446,0.89,344.6,423.0,14.3,1022,13453,0.00,2.10,0.00,0.000,6,0.000,0.035,2842,2473,2119
$GC,13773,0.89,344.6,378.4,13.0,1053,13777,0.00,2.05,0.00,0.000,4,0.000,0.031,2847,1113,2118
$GC,13899,0.94,344.6,362.1,12.5,1064,13903,0.00,2.05,0.00,0.000,6,0.000,0.035,2847,2449,2118
$GC,14231,0.94,344.6,317.0,12.9,1095,14235,0.00,2.05,0.00,0.000,4,0.000,0.052,2846,3765,2117
$GC,14253,0.94,344.6,313.7,13.8,1097,14257,0.00,1.95,0.00,0.000,6,0.000,0.025,2855,2433,2117
$GC,14591,0.94,345.3,270.3,12.0,1148,14597,0.00,1.95,0.00,0.000,4,0.000,0.033,2856,1107,2117
$GC,14699,1.01,348.6,257.3,11.8,1167,14705,0.00,1.98,0.00,0.000,6,0.000,0.034,2856,2418,2117
$GC,15042,1.01,348.6,210.8,13.2,1228,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2418,2117
$GC,15385,1.12,372.1,171.9,10.4,1289,15416,0.15,1.98,21.92,0.783,4,0.077,0.029,2922,1120,2014
$GC,15530,1.07,375.9,153.1,11.7,1314,15542,0.12,2.00,4.47,0.565,6,0.172,0.031,2893,2442,1998
$GC,15882,1.16,375.9,113.1,12.3,1376,15888,0.00,1.98,0.00,0.000,4,0.000,0.028,2900,1106,1997
$GC,15900,1.24,375.9,110.6,12.8,1379,15907,0.12,1.92,0.00,0.000,6,0.087,0.032,2947,2387,1998
$GC,16244,1.27,398.4,66.8,10.5,1440,16269,0.00,1.95,19.33,0.674,4,0.000,0.030,2952,1117,1906
$GC,16350,1.28,405.2,55.5,11.6,1458,16362,0.00,1.88,6.70,0.571,6,0.000,0.031,2952,2360,1880
$GC,16702,1.37,431.9,18.8,10.2,1520,16731,0.00,1.90,21.98,0.625,4,0.000,0.031,2955,1120,1770
$GC,16848,1.49,439.1,3.7,11.5,1545,16857,0.20,1.88,4.78,0.462,2,0.074,0.029,3026,2371,1747
$STATE,16858,end climb,SURFACE_DEPTH_REACHED
$STATE,16858,begin surface coast
$FINISH,1.8,1.021397
$STATE,16863,end surface coast,CONTROL_FINISHED_OK
$STATE,16863,begin surface
$SM_CCo,16941,0.00,0.000,0,0,1744,438.60
$SM_GC,2.91,7.68,0.00,0.00,0.048,0.000,0.000,142,2453,1744,-7.49,0.71,438.60
$IRIDIUM_FIX,2512.73,12405.21,021098,080809
$TT8_MAMPS,0.028379
$HUMID,1593
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,49.166
$10V_AH,10.8,27.826
$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,25.550,145.025,457.725,0.000,0.000,59.258,71.890,268.857,8.000,0.000,0.000,13.165,2772.609,10664.831,592.347,2769.102,731.620,0.000,1999.199,0.000,2701.914,0.000,56.444,0.000
$DEVICE_MAMPS,250.042,82.836,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.547,1064.999,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82116,1547
$CAP_FILE_SIZE,177279,0
$CFSIZE,260165632,202801152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311, 68.0,1
$GPS,080709,124400,2520.379,12404.790,35,1.4,36,-3.8