version: 66.04
glider: 167
mission: 2
dive: 280
start: 7 8 109 12 57 3
data:
$ID,167
$MISSION,2
$DIVE,280
$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,-10748.981
$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,75
$R_STBD_OVSHOOT,46
$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
$GPS1,124400,2520.379,12404.790,35,1.4,36,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.8
$GPS2,125642,2520.535,12405.016,12,1.7,16,-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,209.3,65483,-23.2,-12.000
$D_GRID,2024
$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,-24.33,0.000,2,0.000,0.000,142,2453,2369
$GC,44,-1.18,-121.7,3.2,-2.8,4,110,8.50,2.10,-49.08,0.000,4,0.245,0.039,2161,1034,3988
$GC,197,-0.66,-121.7,32.7,-29.1,30,205,0.60,2.10,0.00,0.000,6,0.170,0.031,2322,2429,3989
$GC,543,-0.84,-121.7,81.3,-10.2,91,550,0.15,2.05,0.00,0.000,4,0.071,0.045,2257,3766,3990
$GC,674,-0.84,-121.7,100.9,-15.5,114,682,0.00,1.90,0.00,0.000,6,0.000,0.022,2258,2405,3990
$GC,1020,-0.91,-121.7,149.3,-10.9,175,1026,0.00,2.08,0.00,0.000,4,0.000,0.043,2249,3758,3992
$GC,1146,-0.96,-121.7,163.3,-11.8,197,1152,0.00,1.77,0.00,0.000,6,0.000,0.024,2250,2487,3992
$GC,1490,-1.08,-121.7,202.9,-12.1,258,1498,0.15,1.95,0.00,0.000,4,0.071,0.044,2179,3752,3992
$GC,1583,-0.90,-121.7,217.4,-15.9,274,1591,0.25,1.75,0.00,0.000,6,0.159,0.024,2248,2509,3993
$GC,1932,-1.06,-121.7,257.3,-10.7,335,1938,0.12,1.92,0.00,0.000,4,0.077,0.045,2192,3757,3993
$GC,2035,-0.97,-121.7,270.6,-13.5,353,2041,0.15,1.73,0.00,0.000,6,0.161,0.025,2231,2534,3993
$GC,2376,-1.08,-121.7,306.0,-10.5,409,2380,0.00,1.90,0.00,0.000,4,0.000,0.046,2224,3752,3993
$GC,2526,-1.14,-121.7,322.9,-10.9,422,2531,0.12,1.67,0.00,0.000,6,0.080,0.025,2171,2564,3993
$GC,2857,-1.06,-121.7,366.3,-12.3,453,2861,0.12,1.85,0.00,0.000,4,0.163,0.045,2194,3763,3993
$GC,2883,-1.06,-121.7,369.8,-12.7,455,2889,0.00,1.73,0.00,0.000,6,0.000,0.025,2194,2565,3992
$GC,3209,-1.06,-121.7,403.9,-10.3,486,3212,0.00,1.85,0.00,0.000,4,0.000,0.048,2192,3760,3992
$GC,3277,-1.06,-121.7,411.3,-10.9,492,3280,0.00,1.73,0.00,0.000,6,0.000,0.026,2192,2568,3992
$GC,3610,-1.06,-121.7,446.8,-11.2,523,3613,0.00,1.85,0.00,0.000,4,0.000,0.049,2192,3757,3991
$GC,3758,-1.06,-121.7,464.4,-11.7,536,3761,0.00,1.67,0.00,0.000,6,0.000,0.027,2192,2580,3991
$GC,4099,-1.06,-121.7,503.4,-11.6,567,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2581,3989
$GC,4408,-1.12,-121.7,537.6,-10.9,582,4412,0.00,1.83,0.00,0.000,4,0.000,0.051,2192,3751,3986
$GC,4549,-1.12,-121.7,553.4,-11.0,588,4553,0.00,1.65,0.00,0.000,6,0.000,0.028,2192,2602,3985
$GC,4877,-1.17,-121.7,586.6,-10.1,604,4880,0.00,1.80,0.00,0.000,4,0.000,0.051,2192,3753,3983
$GC,4962,-1.17,-121.7,594.8,-8.9,607,4968,0.00,1.62,0.00,0.000,6,0.000,0.028,2192,2626,3981
$GC,5279,-1.25,-121.7,622.7,-8.8,623,5283,0.15,1.77,0.00,0.000,4,0.081,0.051,2126,3757,3979
$GC,5329,-1.03,-121.7,628.4,-11.8,625,5334,0.30,1.62,0.00,0.000,6,0.169,0.029,2208,2635,3979
$GC,5657,-1.17,-121.7,657.7,-9.1,641,5658,0.12,0.00,0.00,0.000,6,0.083,0.000,2160,2635,3976
$GC,5965,-1.17,-121.7,694.4,-12.4,656,5969,0.00,1.77,0.00,0.000,4,0.000,0.053,2153,3763,3974
$GC,6071,-1.07,-121.7,708.3,-13.4,660,6078,0.17,1.62,0.00,0.000,6,0.166,0.030,2197,2645,3973
$GC,6387,-1.20,-121.7,741.7,-10.4,676,6392,0.12,1.77,0.00,0.000,4,0.083,0.053,2150,3747,3971
$GC,6426,-1.09,-121.7,746.4,-12.9,677,6433,0.17,1.60,0.00,0.000,6,0.171,0.028,2194,2643,3971
$GC,6744,-1.20,-121.7,777.9,-9.7,693,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3969
$GC,7052,-1.31,-121.7,807.3,-9.7,708,7056,0.17,1.77,0.00,0.000,4,0.077,0.054,2124,3762,3967
$GC,7120,-1.10,-121.7,816.5,-14.1,711,7124,0.25,1.62,0.00,0.000,6,0.176,0.029,2189,2649,3967
$GC,7456,-1.19,-121.7,851.7,-10.6,727,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2649,3965
$GC,7761,-1.29,-121.7,884.8,-10.8,742,7765,0.17,1.75,0.00,0.000,4,0.074,0.053,2112,3752,3963
$GC,7875,-1.04,-121.7,901.4,-15.5,747,7879,0.30,1.60,0.00,0.000,6,0.178,0.028,2199,2676,3963
$GC,8210,-1.18,-121.7,935.0,-9.7,763,8213,0.00,1.70,0.00,0.000,4,0.000,0.054,2193,3753,3962
$GC,8316,-1.27,-121.7,946.6,-11.2,767,8324,0.17,1.60,0.00,0.000,6,0.077,0.030,2128,2655,3961
$GC,8633,-1.15,-121.7,987.7,-13.1,783,8635,0.17,0.00,0.00,0.000,6,0.177,0.000,2172,2656,3959
$STATE,8650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8650,begin apogee
$GC,8656,-0.22,0.0,990.4,13.1,784,8752,1.00,0.00,88.82,1.417,6,0.160,0.000,2469,2548,3532
$STATE,8753,end apogee,CONTROL_FINISHED_OK
$STATE,8753,begin climb
$GC,8756,1.18,121.7,994.8,0.0,789,8867,1.27,2.10,102.90,1.378,4,0.064,0.051,2924,3750,3034
$GC,9007,0.44,121.7,982.3,13.2,800,9012,0.95,1.92,0.00,0.000,6,0.215,0.025,2693,2474,3032
$GC,9324,0.64,205.4,961.3,6.5,815,9395,0.17,0.00,68.62,1.358,6,0.083,0.000,2759,2474,2693
$GC,9696,0.66,220.7,921.4,11.0,833,9718,0.00,2.12,13.45,1.243,4,0.000,0.034,2759,1114,2632
$GC,9747,0.74,229.1,915.6,11.4,835,9763,0.00,2.20,9.05,1.157,6,0.000,0.037,2759,2513,2596
$GC,10073,0.77,247.6,880.5,10.8,851,10092,0.00,0.00,15.70,1.256,6,0.000,0.000,2759,2513,2522
$GC,10402,0.84,250.1,842.4,11.8,867,10407,0.17,2.12,0.00,0.000,4,0.081,0.031,2828,1118,2518
$GC,10540,0.74,250.1,822.8,14.3,873,10545,0.17,2.15,0.00,0.000,6,0.184,0.036,2785,2514,2516
$GC,10861,0.74,250.1,780.6,13.1,889,10864,0.00,2.10,0.00,0.000,4,0.000,0.031,2789,1120,2516
$GC,10906,0.74,250.1,775.0,12.0,891,10910,0.00,2.12,0.00,0.000,6,0.000,0.035,2789,2500,2516
$GC,11239,0.74,250.1,732.6,12.3,907,11242,0.00,2.08,0.00,0.000,4,0.000,0.031,2790,1120,2515
$GC,11375,0.74,251.8,716.4,11.9,913,11384,0.00,2.08,4.07,0.834,6,0.000,0.035,2790,2475,2504
$GC,11706,0.74,251.8,677.0,12.0,929,11710,0.00,2.05,0.00,0.000,4,0.000,0.033,2790,1113,2503
$GC,11824,0.74,256.3,662.4,11.7,934,11833,0.00,2.05,5.25,0.941,6,0.000,0.036,2790,2452,2487
$GC,12144,0.74,256.3,621.3,12.3,949,12147,0.00,2.05,0.00,0.000,4,0.000,0.054,2790,3758,2486
$GC,12194,0.63,256.3,614.4,13.4,951,12198,0.17,1.92,0.00,0.000,6,0.192,0.026,2747,2456,2486
$GC,12522,0.83,291.1,582.4,9.7,967,12557,0.20,2.05,30.30,1.144,4,0.074,0.034,2833,1110,2344
$GC,12658,0.78,291.1,564.3,12.8,972,12662,0.15,2.08,0.00,0.000,6,0.180,0.037,2797,2442,2340
$GC,12975,0.84,294.0,527.9,11.8,987,12979,0.00,2.03,0.00,0.000,4,0.000,0.031,2803,1101,2338
$GC,13037,0.91,302.2,520.7,11.5,989,13051,0.00,2.03,9.90,1.011,6,0.000,0.034,2804,2427,2299
$GC,13370,0.96,302.2,480.2,12.3,1013,13374,0.15,2.00,0.00,0.000,4,0.084,0.031,2869,1103,2295
$GC,13487,0.84,302.2,462.4,15.6,1023,13494,0.20,2.00,0.00,0.000,6,0.189,0.035,2818,2413,2295
$GC,13812,0.84,302.2,422.3,13.2,1054,13816,0.00,2.10,0.00,0.000,4,0.000,0.050,2818,3757,2295
$GC,13850,0.77,302.2,416.6,14.7,1057,13857,0.12,2.00,0.00,0.000,6,0.193,0.025,2797,2392,2295
$GC,14175,0.91,317.6,380.0,11.0,1088,14198,0.12,1.98,13.27,0.943,4,0.088,0.031,2850,1090,2237
$GC,14290,0.92,329.6,365.9,11.2,1098,14306,0.00,2.05,11.27,0.906,6,0.000,0.035,2850,2422,2188
$GC,14632,0.92,329.6,320.2,13.4,1130,14635,0.00,1.98,0.00,0.000,4,0.000,0.031,2858,1104,2185
$GC,14722,0.92,329.6,308.1,13.8,1138,14725,0.00,2.00,0.00,0.000,6,0.000,0.035,2858,2410,2184
$GC,15061,0.92,329.6,264.8,13.1,1193,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2410,2185
$GC,15404,0.93,334.8,223.6,11.7,1254,15417,0.00,2.00,5.65,0.687,4,0.000,0.031,2858,1104,2166
$GC,15561,1.00,339.9,205.2,11.7,1281,15574,0.00,1.95,5.82,0.677,6,0.000,0.033,2858,2398,2146
$GC,15915,1.10,359.4,163.8,10.7,1343,15940,0.12,2.00,17.27,0.762,4,0.082,0.030,2912,1102,2065
$GC,16064,1.12,374.7,145.1,11.0,1369,16083,0.00,1.92,13.27,0.725,6,0.000,0.031,2912,2377,2003
$GC,16420,1.12,374.7,100.5,12.3,1432,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2377,2000
$GC,16763,1.22,410.2,63.9,9.7,1493,16799,0.00,2.17,28.95,0.676,4,0.000,0.047,2912,3765,1858
$GC,16857,1.22,410.2,54.5,13.1,1509,16863,0.00,2.12,0.00,0.000,6,0.000,0.023,2920,2327,1855
$GC,17201,1.45,466.5,20.6,8.3,1570,17255,0.22,1.85,43.88,0.631,4,0.067,0.028,3020,1102,1628
$STATE,17344,end climb,SURFACE_DEPTH_REACHED
$STATE,17344,begin surface coast
$FINISH,1.7,1.021623
$STATE,17372,end surface coast,CONTROL_FINISHED_OK
$STATE,17372,begin surface
$SM_CCo,17452,0.00,0.000,0,0,1620,468.77
$SM_GC,2.86,7.82,0.00,0.00,0.055,0.000,0.000,140,2441,1620,-7.50,0.40,468.77
$IRIDIUM_FIX,2515.12,12354.64,021098,121252
$TT8_MAMPS,0.028379
$HUMID,1599
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,49.349
$10V_AH,10.8,27.927
$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,25.525,130.275,487.475,0.000,0.000,87.685,202.052,210.758,8.000,0.000,0.000,16.134,2850.906,11030.760,603.815,2871.797,844.673,0.000,2051.765,0.000,2808.584,0.000,54.419,0.000
$DEVICE_MAMPS,244.673,57.525,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.711,1108.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85187,1600
$CAP_FILE_SIZE,180029,0
$CFSIZE,260165632,202715136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272, 70.8,1
$GPS,080709,174906,2519.935,12406.269,36,1.5,37,-3.8