version: 66.04
glider: 167
mission: 2
dive: 294
start: 7 11 109 9 58 22
data:
$ID,167
$MISSION,2
$DIVE,294
$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,-11059.338
$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,72
$R_STBD_OVSHOOT,50
$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
$GPS1,095107,2508.040,12415.244,29,1.8,30,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.5
$GPS2,095801,2508.120,12415.385,12,1.8,17,-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,205.6,38993,-23.2,-12.000
$D_GRID,1993
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.67,0.000,2,0.000,0.000,142,2461,2133
$GC,43,-1.18,-121.7,3.1,-3.1,4,124,8.35,2.15,-63.35,0.000,4,0.239,0.039,2154,1025,3990
$GC,195,-0.72,-121.7,27.4,-25.2,29,201,0.57,2.08,0.00,0.000,6,0.170,0.028,2307,2422,3990
$GC,539,-0.88,-121.7,73.9,-12.6,90,546,0.15,2.05,0.00,0.000,4,0.067,0.044,2235,3761,3992
$GC,701,-0.78,-121.7,98.6,-14.9,118,707,0.20,1.92,0.00,0.000,6,0.161,0.023,2290,2397,3992
$GC,1045,-0.97,-121.7,138.6,-10.3,179,1052,0.17,2.10,0.00,0.000,4,0.062,0.043,2205,3760,3994
$GC,1086,-0.85,-121.7,144.1,-13.9,186,1093,0.22,1.80,0.00,0.000,6,0.158,0.022,2268,2473,3994
$GC,1432,-1.03,-121.7,181.5,-10.6,247,1439,0.15,2.03,0.00,0.000,4,0.067,0.023,2202,1050,3995
$GC,1452,-1.13,-121.7,183.9,-11.2,250,1458,0.00,2.12,0.00,0.000,6,0.000,0.030,2195,2486,3995
$GC,1795,-1.07,-121.7,231.8,-15.0,311,1801,0.00,1.92,0.00,0.000,4,0.000,0.045,2192,3758,3995
$GC,1870,-0.98,-121.7,243.4,-15.9,324,1877,0.12,1.83,0.00,0.000,6,0.159,0.023,2224,2459,3996
$GC,2218,-1.10,-121.7,282.0,-10.6,385,2224,0.00,1.98,0.00,0.000,4,0.000,0.044,2220,3757,3996
$GC,2321,-1.17,-121.7,294.2,-11.6,403,2328,0.15,1.80,0.00,0.000,6,0.068,0.024,2157,2478,3996
$GC,2655,-1.06,-121.7,340.6,-13.9,438,2657,0.17,0.00,0.00,0.000,6,0.158,0.000,2203,2478,3996
$GC,2974,-1.13,-121.7,377.0,-11.2,468,2977,0.00,1.98,0.00,0.000,4,0.000,0.048,2203,3753,3996
$GC,3024,-1.19,-121.7,382.9,-11.0,472,3032,0.12,1.80,0.00,0.000,6,0.076,0.025,2152,2484,3996
$GC,3349,-1.08,-121.7,424.2,-12.8,503,3353,0.15,1.98,0.00,0.000,4,0.164,0.046,2191,3756,3995
$GC,3386,-1.08,-121.7,428.9,-12.2,506,3392,0.00,1.83,0.00,0.000,6,0.000,0.025,2190,2497,3995
$GC,3715,-1.14,-121.7,466.1,-11.7,537,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2496,3994
$GC,4052,-1.21,-121.7,505.6,-11.6,567,4056,0.00,1.95,0.00,0.000,4,0.000,0.048,2191,3748,3993
$GC,4130,-1.21,-121.7,515.2,-11.8,570,4134,0.00,1.77,0.00,0.000,6,0.000,0.027,2191,2506,3993
$GC,4453,-1.29,-121.7,550.8,-11.2,586,4457,0.17,1.95,0.00,0.000,4,0.072,0.048,2110,3755,3991
$GC,4554,-1.03,-121.7,565.7,-14.7,590,4558,0.38,1.77,0.00,0.000,6,0.170,0.027,2213,2520,3990
$GC,4875,-1.21,-121.7,597.1,-9.8,606,4879,0.17,1.92,0.00,0.000,4,0.072,0.049,2137,3748,3988
$GC,4898,-1.21,-121.7,599.7,-11.1,607,4903,0.00,1.75,0.00,0.000,6,0.000,0.027,2137,2532,3988
$GC,5230,-1.11,-121.7,644.4,-13.3,623,5232,0.17,0.00,0.00,0.000,6,0.170,0.000,2182,2531,3986
$GC,5540,-1.18,-121.7,677.8,-10.3,638,5544,0.00,1.90,0.00,0.000,4,0.000,0.051,2179,3746,3984
$GC,5590,-1.18,-121.7,683.6,-11.1,640,5594,0.00,1.75,0.00,0.000,6,0.000,0.028,2179,2535,3983
$GC,5918,-1.24,-121.7,718.6,-10.9,656,5921,0.00,2.15,0.00,0.000,4,0.000,0.028,2179,1061,3981
$GC,5964,-1.33,-121.7,723.8,-11.9,658,5969,0.17,2.22,0.00,0.000,6,0.077,0.036,2113,2518,3981
$GC,6292,-1.17,-121.7,768.9,-13.6,674,6294,0.20,0.00,0.00,0.000,6,0.189,0.000,2163,2518,3979
$GC,6601,-1.17,-121.7,804.0,-11.4,689,6605,0.00,2.15,0.00,0.000,4,0.000,0.029,2163,1067,3976
$GC,6674,-1.17,-121.7,812.6,-11.3,692,6678,0.00,2.22,0.00,0.000,6,0.000,0.038,2161,2517,3976
$GC,6995,-1.17,-121.7,848.8,-11.3,708,6998,0.00,1.92,0.00,0.000,4,0.000,0.053,2153,3754,3974
$GC,7068,-1.11,-121.7,857.7,-12.7,711,7072,0.12,1.75,0.00,0.000,6,0.174,0.030,2182,2562,3974
$GC,7396,-1.21,-121.7,889.1,-9.1,727,7400,0.00,2.20,0.00,0.000,4,0.000,0.030,2182,1069,3971
$GC,7466,-1.34,-121.7,895.8,-10.0,730,7471,0.20,2.22,0.00,0.000,6,0.076,0.038,2106,2513,3971
$GC,7794,-1.16,-121.7,938.3,-13.5,746,7796,0.25,0.00,0.00,0.000,6,0.189,0.000,2170,2513,3969
$GC,8103,-1.22,-121.7,971.3,-10.7,761,8107,0.00,1.95,0.00,0.000,4,0.000,0.054,2166,3757,3967
$GC,8137,-1.22,-121.7,975.3,-11.5,762,8141,0.00,1.80,0.00,0.000,6,0.000,0.029,2166,2534,3967
$STATE,8270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8270,begin apogee
$GC,8276,-0.22,0.0,990.3,10.9,769,8376,1.02,0.00,90.60,1.406,6,0.161,0.000,2467,2534,3531
$STATE,8376,end apogee,CONTROL_FINISHED_OK
$STATE,8376,begin climb
$GC,8379,1.18,121.7,994.8,0.0,774,8489,1.30,2.30,102.82,1.367,4,0.064,0.032,2933,1136,3034
$GC,8713,0.62,129.4,976.8,11.5,789,8726,0.73,2.15,7.35,1.111,6,0.212,0.038,2748,2508,3003
$GC,9051,0.66,207.2,953.1,6.9,806,9118,0.00,0.00,64.38,1.348,6,0.000,0.000,2749,2509,2687
$GC,9424,0.74,240.1,917.6,9.8,824,9459,0.10,2.20,27.50,1.302,4,0.091,0.032,2790,1144,2552
$GC,9504,0.74,240.1,907.6,12.5,827,9510,0.00,2.12,0.00,0.000,6,0.000,0.038,2790,2491,2549
$GC,9820,0.74,240.1,868.3,12.7,843,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2491,2546
$GC,10130,0.74,240.1,829.2,12.3,858,10134,0.00,2.05,0.00,0.000,4,0.000,0.033,2790,1137,2545
$GC,10191,0.74,240.1,821.8,12.1,860,10197,0.00,2.10,0.00,0.000,6,0.000,0.038,2790,2495,2544
$GC,10507,0.79,275.7,789.0,9.7,876,10541,0.00,2.12,28.98,1.266,4,0.000,0.032,2795,1146,2407
$GC,10639,0.83,311.3,775.5,9.7,882,10675,0.00,2.08,30.77,1.241,6,0.000,0.037,2794,2469,2263
$GC,10988,0.89,311.3,732.6,13.3,898,10992,0.10,2.05,0.00,0.000,4,0.095,0.053,2832,3759,2256
$GC,11011,0.82,311.3,728.7,15.3,899,11016,0.12,1.90,0.00,0.000,6,0.196,0.028,2813,2485,2256
$GC,11343,0.82,311.3,680.1,14.2,915,11347,0.00,2.05,0.00,0.000,4,0.000,0.033,2815,1113,2254
$GC,11404,0.82,311.3,671.3,14.0,917,11412,0.00,2.10,0.00,0.000,6,0.000,0.036,2815,2476,2254
$GC,11721,0.82,311.3,630.1,12.4,933,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2476,2253
$GC,12029,0.82,311.3,591.7,12.6,948,12033,0.00,2.05,0.00,0.000,4,0.000,0.033,2815,1116,2253
$GC,12075,0.87,311.3,585.9,12.8,950,12079,0.00,2.05,0.00,0.000,6,0.000,0.037,2815,2453,2253
$GC,12409,0.87,311.3,544.8,12.3,966,12412,0.00,2.03,0.00,0.000,4,0.000,0.031,2819,1105,2252
$GC,12448,0.94,322.8,539.8,11.2,967,12462,0.00,2.05,9.35,1.011,6,0.000,0.036,2819,2448,2215
$GC,12786,0.94,322.8,497.6,12.7,984,12789,0.00,2.00,0.00,0.000,4,0.000,0.031,2826,1113,2213
$GC,12875,0.94,322.8,485.9,12.2,992,12879,0.00,2.00,0.00,0.000,6,0.000,0.035,2826,2422,2213
$GC,13207,0.94,322.8,443.6,12.2,1023,13211,0.00,1.95,0.00,0.000,4,0.000,0.031,2828,1119,2213
$GC,13265,1.00,322.8,436.4,12.7,1028,13269,0.10,1.95,0.00,0.000,6,0.095,0.034,2867,2405,2213
$GC,13595,0.91,322.8,388.8,14.7,1059,13597,0.12,0.00,0.00,0.000,6,0.192,0.000,2837,2407,2213
$GC,13917,0.91,322.8,345.5,13.0,1089,13921,0.00,1.92,0.00,0.000,4,0.000,0.031,2845,1110,2212
$GC,14041,0.91,324.1,330.1,11.9,1100,14045,0.00,1.95,0.00,0.000,6,0.000,0.035,2845,2403,2213
$GC,14369,0.91,327.5,291.6,11.8,1136,14382,0.00,1.92,5.72,0.735,4,0.000,0.031,2848,1110,2196
$GC,14485,0.96,327.5,277.3,12.3,1156,14491,0.00,1.88,0.00,0.000,6,0.000,0.035,2848,2349,2196
$GC,14829,1.03,347.6,238.5,10.7,1217,14852,0.00,2.20,17.60,0.831,4,0.000,0.049,2848,3762,2114
$GC,14940,1.04,354.5,225.4,11.5,1236,14954,0.00,2.05,7.22,0.723,6,0.000,0.026,2858,2378,2086
$GC,15295,1.15,380.2,190.1,10.3,1298,15326,0.17,2.25,21.38,0.785,4,0.074,0.049,2932,3762,1979
$GC,15401,0.92,380.2,173.3,16.1,1316,15408,0.38,2.05,0.00,0.000,6,0.177,0.025,2840,2382,1977
$GC,15747,1.19,418.4,134.3,9.5,1377,15784,0.20,1.95,31.10,0.737,4,0.069,0.030,2931,1111,1825
$GC,15953,1.21,430.0,109.5,11.2,1413,15972,0.00,1.90,10.30,0.658,6,0.000,0.031,2931,2365,1777
$GC,16310,1.29,430.0,57.3,12.8,1476,16316,0.00,1.85,0.00,0.000,4,0.000,0.028,2937,1114,1774
$GC,16424,1.38,430.0,43.1,12.3,1496,16431,0.15,1.85,0.00,0.000,6,0.074,0.029,2994,2354,1774
$GC,16769,1.39,438.0,3.7,11.5,1557,16778,0.00,0.30,6.45,0.523,3,0.000,0.034,2996,2112,1746
$STATE,16779,end climb,SURFACE_DEPTH_REACHED
$STATE,16779,begin surface coast
$FINISH,1.9,1.018717
$STATE,16807,end surface coast,CONTROL_FINISHED_OK
$STATE,16807,begin surface
$SM_CCo,16885,0.00,0.000,0,0,1741,439.33
$SM_GC,2.83,7.62,0.00,0.00,0.054,0.000,0.000,140,2442,1741,-7.50,0.42,439.33
$IRIDIUM_FIX,2458.45,12415.07,051098,050533
$TT8_MAMPS,0.029146
$HUMID,1616
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,51.834
$10V_AH,10.8,29.288
$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,24.525,132.600,461.525,0.000,0.000,24.619,40.107,202.084,8.000,0.000,0.000,17.621,2762.074,10614.513,594.787,2694.001,619.016,0.000,1956.453,0.000,2626.750,0.000,54.434,0.000
$DEVICE_MAMPS,239.304,54.457,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.374,1080.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82163,1563
$CAP_FILE_SIZE,171010,0
$CFSIZE,260165632,201461760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 87.6,1
$GPS,110709,144101,2506.607,12415.117,38,2.0,39,-3.8