version: 66.04
glider: 167
mission: 2
dive: 291
start: 7 10 109 19 16 29
data:
$ID,167
$MISSION,2
$DIVE,291
$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,-10985.989
$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,66
$R_STBD_OVSHOOT,77
$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
$GPS1,190925,2512.208,12415.813,40,1.7,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-64.9
$GPS2,191607,2512.261,12415.833,14,1.8,19,-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,209.9,46555,-23.2,-12.000
$D_GRID,2080
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-29.70,0.000,2,0.000,0.000,142,2478,2257
$GC,49,-1.18,-121.7,3.1,-1.7,5,117,8.38,2.22,-52.47,0.000,4,0.240,0.039,2155,1017,3989
$GC,258,-0.72,-121.7,45.1,-25.6,41,266,0.57,2.08,0.00,0.000,6,0.174,0.029,2308,2411,3990
$GC,604,-0.91,-121.7,89.8,-10.7,102,611,0.17,2.05,0.00,0.000,4,0.064,0.044,2220,3753,3992
$GC,707,-0.76,-121.7,105.8,-15.4,120,714,0.28,1.90,0.00,0.000,6,0.160,0.023,2297,2405,3992
$GC,1052,-1.02,-121.7,142.3,-9.6,181,1060,0.20,2.08,0.00,0.000,4,0.063,0.043,2205,3754,3994
$GC,1258,-0.90,-121.7,171.1,-13.8,217,1266,0.17,1.83,0.00,0.000,6,0.159,0.023,2251,2453,3994
$GC,1605,-1.04,-121.7,209.4,-11.5,278,1611,0.12,2.00,0.00,0.000,4,0.074,0.044,2192,3754,3995
$GC,1786,-0.95,-121.7,235.9,-14.2,310,1793,0.17,1.77,0.00,0.000,6,0.156,0.024,2239,2492,3996
$GC,2131,-1.13,-121.7,271.5,-9.6,371,2137,0.17,2.08,0.00,0.000,4,0.064,0.025,2160,1041,3996
$GC,2206,-1.02,-121.7,281.0,-12.6,384,2213,0.22,2.12,0.00,0.000,6,0.161,0.030,2213,2477,3996
$GC,2547,-1.11,-121.7,319.8,-11.2,430,2551,0.00,1.95,0.00,0.000,4,0.000,0.044,2205,3771,3996
$GC,2631,-1.11,-121.7,329.9,-11.7,437,2638,0.00,1.80,0.00,0.000,6,0.000,0.023,2205,2487,3996
$GC,2958,-1.20,-121.7,363.8,-9.9,468,2962,0.12,1.98,0.00,0.000,4,0.076,0.045,2151,3764,3996
$GC,3008,-1.03,-121.7,370.4,-13.4,472,3014,0.22,1.80,0.00,0.000,6,0.162,0.024,2212,2490,3996
$GC,3333,-1.15,-121.7,403.9,-10.9,503,3337,0.12,1.98,0.00,0.000,4,0.077,0.046,2155,3767,3996
$GC,3447,-1.01,-121.7,419.7,-14.5,513,3451,0.22,1.77,0.00,0.000,6,0.162,0.025,2217,2514,3995
$GC,3777,-1.18,-121.7,454.2,-9.2,544,3779,0.15,0.00,0.00,0.000,6,0.074,0.000,2157,2514,3994
$GC,4098,-1.11,-121.7,491.6,-12.2,574,4103,0.12,1.92,0.00,0.000,4,0.172,0.046,2179,3754,3992
$GC,4211,-1.11,-121.7,505.5,-11.7,582,4215,0.00,1.75,0.00,0.000,6,0.000,0.026,2179,2531,3992
$GC,4545,-1.11,-121.7,543.5,-11.3,598,4548,0.00,1.90,0.00,0.000,4,0.000,0.049,2178,3753,3990
$GC,4680,-1.11,-121.7,559.1,-11.1,604,4684,0.00,1.73,0.00,0.000,6,0.000,0.027,2178,2555,3989
$GC,5013,-1.11,-121.7,595.8,-10.9,620,5017,0.00,1.88,0.00,0.000,4,0.000,0.050,2178,3756,3987
$GC,5053,-1.11,-121.7,600.6,-12.0,621,5060,0.00,1.75,0.00,0.000,6,0.000,0.028,2178,2542,3987
$GC,5369,-1.17,-121.7,635.3,-11.1,637,5372,0.00,1.90,0.00,0.000,4,0.000,0.051,2174,3754,3986
$GC,5425,-1.17,-121.7,642.1,-12.0,639,5429,0.00,1.75,0.00,0.000,6,0.000,0.028,2175,2569,3985
$GC,5747,-1.17,-121.7,678.8,-11.4,655,5750,0.00,1.88,0.00,0.000,4,0.000,0.052,2175,3761,3982
$GC,5770,-1.17,-121.7,681.6,-11.6,656,5773,0.00,1.75,0.00,0.000,6,0.000,0.028,2175,2559,3982
$GC,6103,-1.17,-121.7,720.7,-11.8,672,6107,0.00,2.20,0.00,0.000,4,0.000,0.028,2175,1053,3980
$GC,6154,-1.26,-121.7,726.8,-11.8,674,6158,0.00,2.25,0.00,0.000,6,0.000,0.036,2168,2533,3979
$GC,6475,-1.26,-121.7,765.0,-11.9,690,6479,0.00,1.90,0.00,0.000,4,0.000,0.053,2166,3757,3976
$GC,6604,-1.26,-121.7,780.8,-12.1,695,6610,0.00,1.73,0.00,0.000,6,0.000,0.028,2165,2571,3975
$GC,6920,-1.26,-121.7,817.0,-11.2,711,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2570,3974
$GC,7231,-1.26,-121.7,851.2,-11.3,726,7235,0.00,2.22,0.00,0.000,4,0.000,0.029,2165,1065,3972
$GC,7287,-1.26,-121.7,857.7,-10.8,728,7291,0.00,2.28,0.00,0.000,6,0.000,0.038,2165,2541,3972
$GC,7603,-1.26,-121.7,892.3,-11.0,743,7606,0.00,1.90,0.00,0.000,4,0.000,0.054,2165,3757,3969
$GC,7636,-1.26,-121.7,896.4,-12.0,744,7640,0.00,1.75,0.00,0.000,6,0.000,0.029,2165,2566,3969
$GC,7957,-1.26,-121.7,933.3,-11.8,760,7961,0.00,2.22,0.00,0.000,4,0.000,0.030,2165,1061,3968
$GC,7996,-1.30,-121.7,938.1,-12.2,761,8004,0.12,2.30,0.00,0.000,6,0.089,0.039,2120,2550,3967
$GC,8313,-1.17,-121.7,983.4,-14.4,777,8317,0.17,1.90,0.00,0.000,4,0.187,0.052,2165,3760,3967
$GC,8340,-1.17,-121.7,987.3,-13.7,778,8343,0.00,1.77,0.00,0.000,6,0.000,0.030,2165,2578,3966
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8383,-0.22,0.0,991.9,12.3,780,8478,1.02,0.00,90.25,1.406,6,0.162,0.000,2466,2577,3532
$STATE,8479,end apogee,CONTROL_FINISHED_OK
$STATE,8479,begin climb
$GC,8483,1.18,121.7,997.4,0.0,785,8592,1.30,2.08,102.78,1.371,4,0.060,0.051,2926,3758,3035
$GC,8825,0.43,121.7,975.8,12.5,800,8832,0.98,1.85,0.00,0.000,6,0.216,0.027,2686,2515,3031
$GC,9141,0.67,211.1,955.6,6.1,816,9220,0.20,2.17,72.93,1.354,4,0.077,0.032,2773,1127,2671
$GC,9268,0.68,219.7,942.9,11.4,821,9282,0.00,2.17,8.80,1.142,6,0.000,0.037,2772,2496,2635
$GC,9598,0.68,219.7,902.0,12.3,837,9602,0.00,2.10,0.00,0.000,4,0.000,0.032,2773,1117,2631
$GC,9699,0.69,225.1,890.3,11.6,841,9712,0.00,2.12,5.15,0.975,6,0.000,0.036,2772,2486,2614
$GC,10020,0.69,230.4,852.6,11.7,857,10028,0.00,0.00,6.18,1.053,6,0.000,0.000,2773,2486,2592
$GC,10329,0.70,232.2,816.6,11.9,872,10332,0.00,2.08,0.00,0.000,4,0.000,0.031,2775,1112,2590
$GC,10424,0.70,237.1,805.8,11.7,876,10435,0.00,2.12,6.70,1.074,6,0.000,0.038,2775,2490,2565
$GC,10744,0.72,248.1,769.5,11.3,891,10759,0.00,2.08,10.45,1.166,4,0.000,0.031,2776,1125,2519
$GC,10811,0.79,254.4,761.7,11.6,893,10827,0.00,2.10,6.75,1.048,6,0.000,0.036,2775,2480,2494
$GC,11135,0.80,261.3,724.4,11.5,909,11149,0.00,2.08,7.18,1.059,4,0.000,0.051,2775,3762,2466
$GC,11211,0.73,261.3,714.2,14.4,912,11215,0.00,1.90,0.00,0.000,6,0.000,0.027,2775,2488,2465
$GC,11534,0.80,270.8,677.5,11.4,928,11548,0.00,2.10,9.55,1.101,4,0.000,0.034,2775,1101,2427
$GC,11633,0.91,275.6,665.9,11.7,932,11646,0.17,2.12,5.80,0.958,6,0.078,0.035,2840,2478,2407
$GC,11956,0.79,275.6,620.6,14.3,948,11958,0.15,0.00,0.00,0.000,6,0.181,0.000,2804,2479,2405
$GC,12263,0.80,279.7,583.0,11.7,963,12272,0.00,2.08,4.80,0.858,4,0.000,0.031,2811,1106,2391
$GC,12324,0.80,284.1,575.6,11.7,965,12335,0.00,2.10,5.47,0.899,6,0.000,0.037,2812,2472,2374
$GC,12663,0.80,284.1,534.3,12.1,982,12667,0.00,2.05,0.00,0.000,4,0.000,0.031,2813,1109,2372
$GC,12709,0.81,289.6,529.0,11.6,984,12719,0.00,2.08,6.35,0.923,6,0.000,0.036,2812,2459,2351
$GC,13040,0.82,297.7,488.0,11.5,1004,13055,0.00,2.10,8.35,0.960,4,0.000,0.050,2813,3764,2317
$GC,13130,0.72,299.1,476.8,11.9,1012,13134,0.15,1.98,0.00,0.000,6,0.189,0.026,2776,2435,2316
$GC,13460,0.94,345.6,447.0,8.9,1043,13506,0.20,2.08,39.60,1.027,4,0.075,0.031,2867,1109,2121
$GC,13613,0.94,345.6,426.2,14.0,1056,13619,0.00,2.05,0.00,0.000,6,0.000,0.036,2867,2429,2116
$GC,13941,0.88,345.6,380.2,14.2,1087,13945,0.15,2.00,0.00,0.000,4,0.186,0.031,2830,1106,2115
$GC,14059,0.97,345.6,365.1,12.5,1097,14066,0.00,1.95,0.00,0.000,6,0.000,0.033,2830,2387,2115
$GC,14385,1.06,345.6,323.4,12.7,1128,14389,0.15,1.92,0.00,0.000,4,0.074,0.029,2897,1097,2114
$GC,14443,0.96,345.6,315.3,14.1,1133,14447,0.15,1.95,0.00,0.000,6,0.183,0.034,2860,2382,2114
$GC,14778,0.96,345.6,273.8,12.9,1182,14785,0.00,1.92,0.00,0.000,4,0.000,0.030,2867,1106,2114
$GC,14848,0.96,345.6,265.1,12.7,1194,14854,0.00,1.90,0.00,0.000,6,0.000,0.035,2867,2364,2114
$GC,15192,0.96,345.6,220.4,12.9,1255,15198,0.00,1.88,0.00,0.000,4,0.000,0.030,2872,1104,2114
$GC,15261,1.01,345.6,211.8,12.4,1267,15267,0.00,1.88,0.00,0.000,6,0.000,0.031,2872,2359,2114
$GC,15605,1.02,356.6,174.0,11.3,1328,15619,0.00,2.25,9.48,0.720,4,0.000,0.049,2872,3772,2077
$GC,15661,0.97,356.6,166.7,14.1,1337,15668,0.00,2.08,0.00,0.000,6,0.000,0.024,2881,2367,2077
$GC,16007,1.09,388.1,127.4,9.9,1398,16037,0.00,1.92,25.60,0.732,4,0.000,0.031,2881,1104,1950
$GC,16190,1.31,430.4,109.1,9.2,1430,16231,0.25,1.85,34.40,0.709,6,0.067,0.030,2978,2337,1776
$GC,16571,1.24,430.4,58.2,12.9,1497,16580,0.15,2.22,0.00,0.000,4,0.183,0.045,2943,3772,1769
$GC,16609,1.24,430.4,52.7,13.0,1503,16615,0.00,2.17,0.00,0.000,6,0.000,0.022,2950,2288,1769
$GC,16953,1.41,478.9,16.5,8.8,1564,16996,0.15,1.80,37.78,0.621,4,0.077,0.028,3015,1096,1578
$STATE,17062,end climb,SURFACE_DEPTH_REACHED
$STATE,17062,begin surface coast
$FINISH,1.8,0.998964
$STATE,17086,end surface coast,CONTROL_FINISHED_OK
$STATE,17086,begin surface
$SM_CCo,17166,0.00,0.000,0,0,1569,481.28
$SM_GC,2.79,7.90,0.00,0.00,0.063,0.000,0.000,140,2445,1569,-7.50,0.51,481.28
$IRIDIUM_FIX,2505.59,12417.75,041098,141406
$TT8_MAMPS,0.028379
$HUMID,1595
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,51.307
$10V_AH,10.8,28.999
$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,24.825,151.400,504.325,0.000,0.000,31.262,33.537,189.675,8.000,0.000,0.000,21.652,2831.319,10641.250,624.298,2850.275,607.600,0.000,2075.593,0.000,2774.434,0.000,54.425,0.000
$DEVICE_MAMPS,240.071,54.457,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.364,1099.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85175,1587
$CAP_FILE_SIZE,178635,0
$CFSIZE,260165632,201719808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 97.6,1
$GPS,110709,000337,2510.703,12415.892,26,1.8,27,-3.8