version: 66.04
glider: 167
mission: 2
dive: 283
start: 7 9 109 3 46 15
data:
$ID,167
$MISSION,2
$DIVE,283
$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,-10831.148
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,033806,2519.261,12409.258,38,1.1,44,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-70.4
$GPS2,034555,2519.458,12409.375,13,1.9,30,-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,215.2,61477,-23.2,-12.000
$D_GRID,2058
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,42,0.00,0.00,-24.35,0.000,2,0.000,0.000,141,2437,2394
$GC,46,-1.18,-121.7,3.3,-3.9,4,111,8.38,2.15,-47.58,0.000,4,0.240,0.038,2162,1008,3990
$GC,168,-0.72,-121.7,22.5,-23.4,25,175,0.55,2.12,0.00,0.000,6,0.166,0.028,2310,2431,3990
$GC,513,-0.84,-121.7,73.4,-14.5,86,520,0.10,2.03,0.00,0.000,4,0.083,0.044,2261,3754,3992
$GC,645,-0.84,-121.7,93.7,-14.4,109,651,0.00,1.92,0.00,0.000,6,0.000,0.023,2261,2381,3992
$GC,989,-0.91,-121.7,136.2,-13.1,170,996,0.00,2.10,0.00,0.000,4,0.000,0.044,2260,3755,3994
$GC,1233,-0.99,-121.7,166.3,-12.6,213,1239,0.10,1.77,0.00,0.000,6,0.084,0.024,2212,2492,3995
$GC,1577,-0.99,-121.7,210.7,-12.5,274,1584,0.00,1.92,0.00,0.000,4,0.000,0.044,2205,3750,3996
$GC,1703,-0.91,-121.7,228.4,-14.4,296,1710,0.17,1.73,0.00,0.000,6,0.156,0.024,2253,2517,3996
$GC,2049,-1.07,-121.7,266.0,-9.8,357,2054,0.15,0.00,0.00,0.000,6,0.068,0.000,2189,2517,3996
$GC,2393,-1.07,-121.7,308.5,-12.4,413,2397,0.00,1.90,0.00,0.000,4,0.000,0.046,2188,3753,3996
$GC,2466,-1.00,-121.7,318.4,-14.2,419,2473,0.12,1.73,0.00,0.000,6,0.161,0.025,2219,2524,3996
$GC,2792,-1.09,-121.7,356.0,-11.4,450,2795,0.00,1.90,0.00,0.000,4,0.000,0.046,2219,3760,3996
$GC,2820,-1.18,-121.7,359.3,-11.4,452,2826,0.15,1.75,0.00,0.000,6,0.071,0.025,2158,2521,3996
$GC,3147,-1.07,-121.7,400.1,-11.2,483,3151,0.15,1.90,0.00,0.000,4,0.164,0.044,2192,3756,3996
$GC,3327,-1.07,-121.7,420.5,-11.3,499,3330,0.00,1.70,0.00,0.000,6,0.000,0.025,2192,2555,3995
$GC,3658,-1.07,-121.7,458.9,-11.3,530,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2555,3994
$GC,3978,-1.13,-121.7,495.7,-11.1,560,3981,0.00,1.85,0.00,0.000,4,0.000,0.048,2192,3749,3993
$GC,4073,-1.18,-121.7,507.5,-12.0,566,4076,0.00,1.70,0.00,0.000,6,0.000,0.025,2192,2556,3993
$GC,4400,-1.24,-121.7,544.9,-11.0,582,4404,0.15,1.88,0.00,0.000,4,0.078,0.047,2124,3761,3991
$GC,4531,-1.01,-121.7,563.3,-14.0,587,4537,0.32,1.70,0.00,0.000,6,0.166,0.027,2214,2577,3990
$GC,4847,-1.17,-121.7,591.4,-8.6,603,4852,0.15,1.85,0.00,0.000,4,0.077,0.050,2152,3758,3988
$GC,4925,-1.05,-121.7,600.7,-12.4,606,4929,0.20,1.67,0.00,0.000,6,0.166,0.027,2204,2593,3987
$GC,5247,-1.18,-121.7,632.6,-9.7,622,5251,0.12,1.83,0.00,0.000,4,0.081,0.049,2152,3760,3985
$GC,5297,-1.07,-121.7,638.9,-12.8,624,5301,0.17,1.67,0.00,0.000,6,0.168,0.028,2197,2601,3984
$GC,5626,-1.17,-121.7,671.9,-10.3,640,5629,0.00,1.80,0.00,0.000,4,0.000,0.051,2192,3751,3982
$GC,5683,-1.23,-121.7,678.3,-10.2,642,5688,0.12,1.67,0.00,0.000,6,0.084,0.027,2143,2590,3982
$GC,6005,-1.14,-121.7,719.1,-13.1,658,6009,0.12,1.83,0.00,0.000,4,0.180,0.048,2166,3754,3979
$GC,6028,-1.08,-121.7,722.2,-13.5,659,6032,0.12,1.67,0.00,0.000,6,0.174,0.028,2195,2601,3979
$GC,6363,-1.20,-121.7,759.5,-11.0,675,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2600,3977
$GC,6670,-1.32,-121.7,790.8,-9.8,690,6674,0.20,1.80,0.00,0.000,4,0.073,0.051,2111,3749,3974
$GC,6776,-1.07,-121.7,805.7,-15.0,694,6784,0.32,1.65,0.00,0.000,6,0.178,0.028,2197,2611,3974
$GC,7092,-1.21,-121.7,835.1,-9.1,710,7096,0.12,1.80,0.00,0.000,4,0.085,0.052,2149,3747,3972
$GC,7138,-1.12,-121.7,840.0,-11.7,712,7142,0.12,1.65,0.00,0.000,6,0.176,0.028,2179,2615,3972
$GC,7473,-1.18,-121.7,871.2,-9.1,728,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2614,3969
$GC,7782,-1.25,-121.7,900.4,-9.5,743,7786,0.12,1.80,0.00,0.000,4,0.086,0.051,2126,3753,3968
$GC,7832,-1.08,-121.7,906.9,-12.9,745,7836,0.25,1.65,0.00,0.000,6,0.177,0.028,2191,2620,3968
$GC,8161,-1.20,-121.7,937.6,-9.8,761,8165,0.00,1.83,0.00,0.000,4,0.000,0.054,2191,3751,3966
$GC,8213,-1.30,-121.7,943.1,-10.7,763,8217,0.20,1.65,0.00,0.000,6,0.077,0.030,2119,2624,3966
$GC,8540,-1.15,-121.7,988.2,-14.1,779,8544,0.20,1.80,0.00,0.000,4,0.182,0.053,2166,3754,3964
$STATE,8553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8553,begin apogee
$GC,8561,-0.22,0.0,990.8,14.6,779,8654,1.00,0.00,90.12,1.412,6,0.164,0.000,2464,2545,3532
$STATE,8655,end apogee,CONTROL_FINISHED_OK
$STATE,8655,begin climb
$GC,8658,1.18,121.7,995.2,0.0,784,8768,1.27,2.10,103.35,1.371,4,0.061,0.051,2922,3745,3035
$GC,8891,0.44,121.7,987.7,12.0,794,8899,0.95,1.83,0.00,0.000,6,0.217,0.026,2693,2527,3031
$GC,9208,0.67,217.2,969.4,5.7,810,9293,0.20,2.22,78.75,1.358,4,0.077,0.031,2775,1122,2645
$GC,9372,0.68,225.4,952.1,11.5,817,9384,0.00,2.15,8.07,1.127,6,0.000,0.035,2775,2482,2612
$GC,9693,0.68,227.3,914.1,11.9,833,9697,0.00,2.08,0.00,0.000,4,0.000,0.031,2775,1120,2607
$GC,9767,0.69,238.0,905.6,11.3,836,9783,0.00,2.12,11.23,1.214,6,0.000,0.035,2775,2494,2561
$GC,10092,0.69,238.7,866.7,12.0,852,10096,0.00,2.08,0.00,0.000,4,0.000,0.031,2776,1126,2558
$GC,10176,0.75,238.7,856.3,12.2,855,10182,0.00,2.08,0.00,0.000,6,0.000,0.037,2775,2469,2557
$GC,10492,0.75,238.7,816.5,13.0,871,10496,0.00,2.03,0.00,0.000,4,0.000,0.031,2775,1123,2556
$GC,10606,0.80,238.7,801.8,13.4,876,10609,0.00,2.05,0.00,0.000,6,0.000,0.036,2775,2456,2555
$GC,10938,0.80,238.7,759.2,12.4,892,10941,0.00,2.00,0.00,0.000,4,0.000,0.031,2775,1125,2554
$GC,10976,0.86,238.7,754.2,12.4,893,10983,0.12,2.03,0.00,0.000,6,0.087,0.035,2824,2450,2554
$GC,11293,0.74,238.7,712.3,13.2,909,11297,0.15,2.00,0.00,0.000,4,0.178,0.031,2792,1120,2554
$GC,11434,0.76,251.8,696.4,11.1,915,11451,0.00,2.00,11.35,1.150,6,0.000,0.035,2792,2432,2505
$GC,11761,0.78,266.6,659.4,11.0,931,11782,0.00,2.03,13.52,1.145,4,0.000,0.033,2792,1129,2444
$GC,11828,0.80,281.8,651.2,11.0,934,11850,0.00,2.00,14.18,1.127,6,0.000,0.037,2792,2420,2383
$GC,12158,0.80,281.8,609.6,12.7,950,12162,0.00,1.98,0.00,0.000,4,0.000,0.032,2793,1118,2380
$GC,12214,0.87,283.4,602.6,11.9,952,12219,0.10,1.98,0.00,0.000,6,0.094,0.035,2830,2406,2380
$GC,12536,0.81,283.4,557.6,14.1,968,12539,0.00,1.92,0.00,0.000,4,0.000,0.032,2831,1125,2379
$GC,12586,0.81,283.4,550.7,13.5,970,12589,0.00,1.92,0.00,0.000,6,0.000,0.036,2831,2385,2379
$GC,12913,0.75,283.4,507.4,12.9,986,12918,0.17,2.17,0.00,0.000,4,0.176,0.051,2780,3765,2379
$GC,12930,0.75,283.4,505.3,12.6,987,12934,0.00,2.08,0.00,0.000,6,0.000,0.026,2788,2374,2378
$GC,13263,0.86,303.9,469.5,10.6,1015,13284,0.10,0.00,18.90,1.041,6,0.094,0.000,2826,2372,2293
$GC,13600,0.86,304.5,428.2,12.0,1047,13603,0.00,1.85,0.00,0.000,4,0.000,0.032,2828,1126,2290
$GC,13739,0.86,304.5,411.2,12.2,1059,13745,0.00,1.92,0.00,0.000,6,0.000,0.035,2828,2385,2290
$GC,14066,0.88,317.7,374.6,11.1,1090,14084,0.00,0.00,12.40,0.931,6,0.000,0.000,2828,2385,2234
$GC,14403,0.93,320.3,334.3,11.8,1122,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2385,2233
$GC,14726,0.99,323.0,297.8,11.8,1153,14740,0.10,1.90,5.62,0.739,4,0.088,0.031,2874,1118,2214
$GC,14943,0.99,323.0,269.4,12.4,1191,14949,0.00,1.88,0.00,0.000,6,0.000,0.033,2874,2359,2213
$GC,15287,0.93,323.0,225.9,12.4,1252,15293,0.00,1.85,0.00,0.000,4,0.000,0.029,2882,1110,2214
$GC,15361,0.93,323.0,216.1,12.7,1265,15368,0.15,1.80,0.00,0.000,6,0.179,0.033,2845,2309,2214
$GC,15706,1.08,366.5,179.0,9.1,1326,15749,0.15,1.80,35.80,0.796,4,0.075,0.028,2912,1110,2036
$GC,15789,1.08,366.5,169.1,13.4,1340,15795,0.00,1.85,0.00,0.000,6,0.000,0.033,2912,2319,2033
$GC,16132,1.10,388.5,124.6,10.6,1401,16156,0.00,2.28,17.67,0.722,4,0.000,0.047,2912,3769,1947
$GC,16197,1.04,388.5,116.3,13.0,1412,16204,0.17,2.15,0.00,0.000,6,0.176,0.024,2876,2313,1945
$GC,16543,1.30,434.6,84.0,9.0,1473,16586,0.20,2.38,36.97,0.694,4,0.072,0.046,2963,3762,1759
$GC,16632,1.20,434.6,72.2,15.0,1488,16639,0.17,2.12,0.00,0.000,6,0.177,0.023,2929,2330,1756
$GC,16977,1.40,471.5,30.6,9.6,1549,17014,0.17,2.25,28.95,0.634,4,0.073,0.044,3003,3761,1609
$STATE,17169,end climb,SURFACE_DEPTH_REACHED
$STATE,17170,begin surface coast
$FINISH,1.8,1.008598
$STATE,17194,end surface coast,CONTROL_FINISHED_OK
$STATE,17194,begin surface
$SM_CCo,17274,0.00,0.000,0,0,1604,472.69
$SM_GC,2.81,7.80,0.00,0.00,0.059,0.000,0.000,139,2439,1604,-7.51,0.34,472.69
$IRIDIUM_FIX,2512.73,12403.24,021098,232341
$TT8_MAMPS,0.028379
$HUMID,1629
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,49.882
$10V_AH,10.8,28.220
$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,25.925,138.025,486.900,0.000,0.000,30.777,38.908,244.746,8.000,0.000,0.000,30.549,2816.009,10839.823,604.852,2829.170,639.708,0.000,2024.722,0.000,2744.267,0.000,56.012,0.000
$DEVICE_MAMPS,240.071,54.457,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.984,1094.785,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85146,1587
$CAP_FILE_SIZE,178521,0
$CFSIZE,260165632,202444800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.322, 75.2,1
$GPS,090709,083530,2518.899,12411.065,40,1.5,47,-3.8