version: 66.04
glider: 167
mission: 2
dive: 293
start: 7 11 109 5 5 29
data:
$ID,167
$MISSION,2
$DIVE,293
$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,-11041.088
$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,93
$R_STBD_OVSHOOT,34
$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
$GPS1,045837,2509.166,12415.258,33,0.9,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.5
$GPS2,050507,2509.277,12415.254,14,1.0,14,-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,196.9,41147,-23.2,-12.000
$D_GRID,2004
$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,14,-1.18,-121.7,0.0,0.0,0,43,0.00,0.00,-26.17,0.000,2,0.000,0.000,141,2382,2307
$GC,46,-1.18,-121.7,3.0,-1.3,4,112,8.43,2.03,-51.47,0.000,4,0.242,0.039,2162,1038,3989
$GC,141,-0.72,-121.7,16.0,-24.0,20,148,0.55,2.12,0.00,0.000,6,0.166,0.031,2309,2443,3990
$GC,486,-0.86,-121.7,66.7,-13.0,81,492,0.12,2.03,0.00,0.000,4,0.076,0.044,2247,3764,3992
$GC,572,-0.77,-121.7,80.3,-15.9,96,579,0.17,1.90,0.00,0.000,6,0.163,0.023,2294,2419,3992
$GC,917,-0.99,-121.7,120.1,-10.7,157,924,0.17,2.08,0.00,0.000,4,0.064,0.044,2205,3763,3993
$GC,1104,-0.83,-121.7,150.3,-17.9,190,1112,0.25,1.85,0.00,0.000,6,0.161,0.023,2275,2443,3994
$GC,1453,-1.01,-121.7,188.9,-8.7,251,1459,0.17,2.03,0.00,0.000,4,0.064,0.044,2192,3759,3996
$GC,1608,-0.86,-121.7,209.5,-13.8,278,1616,0.25,1.83,0.00,0.000,6,0.156,0.023,2262,2458,3996
$GC,1956,-1.31,-121.7,243.9,-10.3,339,1962,0.35,2.00,0.00,0.000,4,0.053,0.044,2112,3758,3996
$GC,2095,-0.92,-121.7,266.5,-18.2,363,2102,0.47,1.80,0.00,0.000,6,0.168,0.022,2245,2471,3996
$GC,2442,-1.31,-121.7,300.4,-9.2,424,2447,0.30,2.00,0.00,0.000,4,0.054,0.044,2111,3768,3997
$GC,2589,-0.93,-121.7,324.7,-17.6,436,2600,0.45,1.80,0.00,0.000,6,0.167,0.023,2237,2487,3997
$GC,2915,-1.14,-121.7,358.9,-9.5,467,2920,0.17,1.98,0.00,0.000,4,0.067,0.045,2162,3764,3996
$GC,2966,-1.00,-121.7,365.2,-13.2,471,2972,0.20,1.77,0.00,0.000,6,0.160,0.024,2216,2506,3996
$GC,3292,-1.13,-121.7,400.1,-10.3,502,3296,0.12,1.95,0.00,0.000,4,0.077,0.045,2162,3766,3997
$GC,3441,-1.00,-121.7,419.7,-14.1,515,3445,0.22,1.75,0.00,0.000,6,0.161,0.025,2223,2537,3996
$GC,3771,-1.15,-121.7,454.9,-10.2,546,3775,0.15,1.90,0.00,0.000,4,0.072,0.047,2161,3760,3995
$GC,3878,-1.03,-121.7,469.1,-13.0,555,3885,0.20,1.73,0.00,0.000,6,0.163,0.025,2214,2551,3995
$GC,4203,-1.18,-121.7,503.0,-10.2,585,4207,0.15,1.88,0.00,0.000,4,0.074,0.048,2153,3755,3993
$GC,4437,-1.04,-121.7,532.6,-12.6,595,4441,0.20,1.67,0.00,0.000,6,0.163,0.027,2205,2585,3992
$GC,4760,-1.18,-121.7,563.5,-9.7,611,4762,0.12,0.00,0.00,0.000,6,0.080,0.000,2156,2584,3991
$GC,5068,-1.12,-121.7,597.0,-10.9,626,5072,0.00,1.83,0.00,0.000,4,0.000,0.050,2152,3756,3989
$GC,5114,-1.01,-121.7,602.6,-12.0,628,5118,0.25,1.70,0.00,0.000,6,0.163,0.027,2221,2579,3988
$GC,5449,-1.22,-121.7,632.0,-8.8,644,5453,0.17,1.85,0.00,0.000,4,0.071,0.048,2141,3761,3986
$GC,5539,-1.10,-121.7,643.2,-12.2,648,5543,0.17,1.67,0.00,0.000,6,0.170,0.028,2185,2603,3986
$GC,5874,-1.17,-121.7,677.9,-11.0,664,5877,0.00,1.80,0.00,0.000,4,0.000,0.051,2179,3753,3984
$GC,5996,-1.17,-121.7,693.7,-13.2,669,6000,0.00,1.70,0.00,0.000,6,0.000,0.028,2178,2603,3982
$GC,6319,-1.23,-121.7,732.6,-11.8,685,6323,0.00,2.28,0.00,0.000,4,0.000,0.028,2179,1050,3980
$GC,6366,-1.33,-121.7,738.1,-11.5,687,6370,0.17,2.33,0.00,0.000,6,0.077,0.038,2113,2568,3980
$GC,6701,-1.14,-121.7,785.5,-14.6,703,6705,0.20,1.85,0.00,0.000,4,0.191,0.051,2164,3751,3977
$GC,6800,-1.14,-121.7,799.7,-13.1,707,6805,0.00,1.70,0.00,0.000,6,0.000,0.028,2165,2609,3977
$GC,7121,-1.14,-121.7,839.0,-12.4,723,7125,0.00,1.83,0.00,0.000,4,0.000,0.053,2165,3764,3975
$GC,7172,-1.14,-121.7,845.6,-12.7,725,7175,0.00,1.70,0.00,0.000,6,0.000,0.029,2164,2597,3974
$GC,7499,-1.14,-121.7,885.0,-11.8,741,7503,0.00,1.85,0.00,0.000,4,0.000,0.054,2165,3747,3972
$GC,7537,-1.14,-121.7,889.9,-12.1,742,7545,0.00,1.67,0.00,0.000,6,0.000,0.028,2165,2618,3972
$GC,7855,-1.14,-121.7,926.3,-11.5,758,7858,0.00,1.80,0.00,0.000,4,0.000,0.054,2162,3754,3970
$GC,7939,-1.14,-121.7,936.7,-12.0,761,7944,0.00,1.67,0.00,0.000,6,0.000,0.030,2162,2606,3970
$GC,8255,-1.14,-121.7,971.6,-11.3,777,8259,0.00,1.83,0.00,0.000,4,0.000,0.055,2162,3754,3968
$GC,8301,-1.14,-121.7,977.1,-11.3,779,8305,0.00,1.67,0.00,0.000,6,0.000,0.030,2162,2614,3968
$STATE,8424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8424,begin apogee
$GC,8431,-0.22,0.0,991.0,10.9,785,8532,1.05,0.00,92.80,1.385,6,0.166,0.000,2466,2534,3532
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8536,1.18,121.7,995.3,0.0,790,8647,1.30,2.12,103.22,1.366,4,0.064,0.053,2926,3748,3034
$GC,8705,0.45,132.1,994.3,11.3,797,8721,0.98,1.92,10.15,1.183,6,0.214,0.026,2693,2489,2993
$GC,9040,0.70,235.5,974.1,5.2,814,9133,0.20,2.22,85.30,1.356,4,0.076,0.032,2775,1123,2571
$GC,9201,0.73,256.4,958.5,10.6,821,9225,0.00,2.17,18.42,1.261,6,0.000,0.036,2775,2490,2485
$GC,9542,0.73,256.4,917.0,12.5,838,9546,0.00,2.10,0.00,0.000,4,0.000,0.031,2775,1107,2480
$GC,9610,0.80,256.4,908.3,12.7,841,9614,0.00,2.12,0.00,0.000,6,0.000,0.037,2775,2476,2479
$GC,9943,0.80,256.4,866.0,12.7,857,9947,0.00,2.05,0.00,0.000,4,0.000,0.032,2775,1121,2477
$GC,10016,0.86,256.4,856.5,12.8,860,10020,0.12,2.05,0.00,0.000,6,0.086,0.036,2823,2458,2477
$GC,10342,0.75,256.4,808.7,14.8,876,10346,0.15,2.03,0.00,0.000,4,0.176,0.031,2789,1119,2475
$GC,10436,0.75,256.4,796.4,12.8,880,10440,0.00,2.05,0.00,0.000,6,0.000,0.035,2789,2454,2475
$GC,10763,0.75,256.4,755.8,12.6,896,10766,0.00,2.03,0.00,0.000,4,0.000,0.033,2790,1111,2474
$GC,10876,0.77,267.3,742.4,11.3,901,10890,0.00,2.03,8.68,1.119,6,0.000,0.037,2789,2435,2441
$GC,11207,0.77,267.3,701.0,12.7,917,11211,0.00,1.98,0.00,0.000,4,0.000,0.032,2789,1122,2439
$GC,11308,0.82,267.3,688.0,13.5,921,11311,0.00,2.00,0.00,0.000,6,0.000,0.037,2789,2431,2439
$GC,11630,0.82,267.3,645.0,13.5,937,11633,0.00,1.98,0.00,0.000,4,0.000,0.032,2790,1112,2438
$GC,11663,0.88,268.8,640.6,11.9,938,11667,0.12,2.00,0.00,0.000,6,0.086,0.036,2838,2423,2438
$GC,11985,0.77,268.8,598.6,12.3,954,11989,0.17,2.10,0.00,0.000,4,0.181,0.051,2789,3760,2438
$GC,12006,0.69,268.8,595.7,13.0,955,12010,0.00,1.98,0.00,0.000,6,0.000,0.027,2793,2417,2438
$GC,12334,0.72,291.6,560.6,10.5,971,12359,0.00,1.95,21.10,1.108,4,0.000,0.032,2802,1116,2342
$GC,12517,0.79,292.2,539.0,12.0,979,12520,0.00,2.00,0.00,0.000,6,0.000,0.035,2802,2416,2339
$GC,12838,0.85,292.2,499.0,12.6,995,12842,0.00,2.12,0.00,0.000,4,0.000,0.052,2802,3767,2338
$GC,12866,0.85,292.2,495.0,13.7,997,12872,0.00,2.03,0.00,0.000,6,0.000,0.027,2810,2394,2338
$GC,13193,0.91,306.0,456.8,11.1,1028,13214,0.00,1.98,12.57,0.987,4,0.000,0.032,2815,1107,2284
$GC,13266,0.98,309.3,448.6,11.8,1034,13276,0.12,2.00,4.50,0.741,6,0.086,0.035,2864,2412,2269
$GC,13590,0.89,309.3,406.1,13.2,1065,13595,0.12,1.95,0.00,0.000,4,0.187,0.030,2841,1113,2268
$GC,13716,0.90,316.3,391.0,11.5,1076,13727,0.00,1.92,7.05,0.849,6,0.000,0.035,2841,2377,2242
$GC,14046,0.91,328.6,352.4,11.2,1107,14062,0.00,1.98,11.75,0.897,4,0.000,0.031,2846,1106,2191
$GC,14170,0.91,328.6,337.4,12.2,1117,14176,0.00,1.90,0.00,0.000,6,0.000,0.035,2846,2350,2189
$GC,14497,0.91,328.6,297.1,12.0,1150,14504,0.00,1.85,0.00,0.000,4,0.000,0.031,2846,1112,2189
$GC,14556,0.98,337.5,290.1,11.4,1160,14568,0.00,1.85,8.52,0.807,6,0.000,0.034,2846,2333,2156
$GC,14909,1.08,369.7,250.7,9.9,1222,14941,0.12,2.33,27.20,0.851,4,0.081,0.051,2896,3758,2023
$GC,14966,0.96,369.7,243.5,13.6,1231,14972,0.20,2.12,0.00,0.000,6,0.186,0.025,2854,2328,2021
$GC,15311,1.11,399.4,205.2,10.0,1292,15342,0.12,1.80,24.15,0.801,4,0.085,0.029,2912,1107,1903
$GC,15424,1.11,399.4,190.5,12.7,1311,15430,0.00,1.83,0.00,0.000,6,0.000,0.034,2912,2304,1900
$GC,15769,1.11,399.4,145.4,13.9,1372,15774,0.00,1.77,0.00,0.000,4,0.000,0.030,2919,1107,1899
$GC,15825,1.11,399.4,136.9,15.3,1382,15832,0.00,1.77,0.00,0.000,6,0.000,0.032,2919,2285,1899
$GC,16173,1.18,410.4,94.6,11.3,1443,16190,0.00,1.77,10.07,0.655,4,0.000,0.030,2925,1117,1857
$GC,16394,1.28,429.9,70.4,10.7,1482,16418,0.00,1.65,16.75,0.661,6,0.000,0.031,2925,2223,1778
$GC,16759,1.54,483.2,33.4,8.5,1546,16808,0.28,2.50,42.12,0.639,4,0.062,0.047,3035,3772,1561
$GC,16915,1.33,483.2,9.1,17.1,1573,16922,0.28,2.38,0.00,0.000,6,0.196,0.023,2977,2151,1556
$STATE,16959,end climb,SURFACE_DEPTH_REACHED
$STATE,16959,begin surface coast
$FINISH,1.8,0.997577
$STATE,16994,end surface coast,CONTROL_FINISHED_OK
$STATE,16995,begin surface
$SM_CCo,17073,0.00,0.000,0,0,1553,485.45
$SM_GC,2.80,7.62,0.00,0.00,0.054,0.000,0.000,142,2462,1553,-7.49,0.96,485.45
$IRIDIUM_FIX,2500.82,12415.07,051098,000034
$TT8_MAMPS,0.028379
$HUMID,1615
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,51.661
$10V_AH,10.8,29.194
$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,27.200,151.675,504.375,0.000,0.000,22.273,32.275,193.199,8.000,0.000,0.000,15.735,2845.724,10458.104,616.403,2900.717,628.503,0.000,2095.340,0.000,2836.827,0.000,56.546,0.000
$DEVICE_MAMPS,241.605,86.671,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.964,1096.603,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85216,1587
$CAP_FILE_SIZE,182796,0
$CFSIZE,260165632,201535488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124, 67.9,1
$GPS,110709,095107,2508.040,12415.244,29,1.8,30,-3.8