version: 66.04
glider: 167
mission: 2
dive: 297
start: 7 12 109 0 33 28
data:
$ID,167
$MISSION,2
$DIVE,297
$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,-11150.175
$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,69
$R_STBD_OVSHOOT,52
$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
$GPS1,002630,2503.663,12414.751,38,1.4,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-67.9
$GPS2,003307,2503.655,12414.726,14,1.4,14,-3.7
$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,192.4,30968,-23.2,-12.000
$D_GRID,1840
$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,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,43,0.00,0.00,-26.23,0.000,2,0.000,0.000,142,2456,2335
$GC,47,-1.18,-121.7,3.3,-2.8,4,112,8.35,2.15,-48.85,0.000,4,0.239,0.039,2160,1030,3989
$GC,221,-0.80,-121.7,36.1,-22.9,34,228,0.47,2.10,0.00,0.000,6,0.166,0.030,2286,2433,3990
$GC,566,-0.95,-121.7,80.9,-10.3,95,572,0.15,2.05,0.00,0.000,4,0.070,0.025,2222,1027,3992
$GC,691,-0.95,-121.7,97.7,-14.2,117,698,0.00,2.10,0.00,0.000,6,0.000,0.030,2217,2444,3992
$GC,1036,-0.95,-121.7,146.4,-14.4,178,1042,0.00,2.00,0.00,0.000,4,0.000,0.044,2207,3771,3993
$GC,1144,-0.84,-121.7,162.7,-15.0,197,1152,0.22,1.90,0.00,0.000,6,0.156,0.023,2270,2418,3994
$GC,1494,-1.28,-121.7,198.2,-9.2,258,1500,0.35,1.95,0.00,0.000,4,0.051,0.025,2122,1045,3995
$GC,1507,-1.58,-121.7,199.8,-9.4,260,1518,0.22,2.08,0.00,0.000,6,0.070,0.029,2026,2459,3995
$GC,1858,-0.99,-121.7,267.9,-18.6,321,1866,0.70,1.95,0.00,0.000,4,0.197,0.041,2209,3753,3995
$GC,1940,-0.99,-121.7,278.8,-10.8,335,1946,0.00,1.83,0.00,0.000,6,0.000,0.024,2209,2452,3996
$GC,2276,-1.06,-121.7,315.6,-10.7,383,2280,0.00,2.00,0.00,0.000,4,0.000,0.045,2205,3753,3996
$GC,2338,-1.06,-121.7,322.9,-11.4,388,2344,0.00,1.77,0.00,0.000,6,0.000,0.025,2205,2494,3995
$GC,2664,-1.14,-121.7,357.2,-10.6,419,2667,0.00,1.95,0.00,0.000,4,0.000,0.046,2204,3761,3996
$GC,2818,-1.19,-121.7,372.4,-10.1,432,2824,0.12,1.75,0.00,0.000,6,0.075,0.025,2151,2526,3996
$GC,3143,-1.07,-121.7,412.6,-12.7,463,3147,0.17,1.90,0.00,0.000,4,0.163,0.044,2192,3756,3995
$GC,3178,-1.07,-121.7,416.7,-12.0,466,3181,0.00,1.75,0.00,0.000,6,0.000,0.025,2192,2524,3995
$GC,3509,-1.13,-121.7,455.6,-11.6,497,3512,0.00,1.90,0.00,0.000,4,0.000,0.048,2192,3753,3995
$GC,3544,-1.13,-121.7,459.6,-11.9,500,3548,0.00,1.75,0.00,0.000,6,0.000,0.025,2192,2519,3994
$GC,3877,-1.20,-121.7,493.1,-8.9,531,3880,0.00,1.92,0.00,0.000,4,0.000,0.048,2192,3760,3993
$GC,3904,-1.20,-121.7,496.1,-9.7,533,3911,0.00,1.75,0.00,0.000,6,0.000,0.026,2192,2539,3993
$GC,4223,-1.28,-121.7,526.5,-10.0,551,4225,0.17,0.00,0.00,0.000,6,0.074,0.000,2123,2538,3992
$GC,4531,-1.12,-121.7,565.8,-12.8,566,4535,0.17,2.15,0.00,0.000,4,0.172,0.026,2174,1058,3990
$GC,4581,-1.17,-121.7,571.8,-11.6,568,4586,0.00,2.22,0.00,0.000,6,0.000,0.035,2174,2532,3990
$GC,4897,-1.17,-121.7,607.5,-11.3,583,4901,0.00,1.88,0.00,0.000,4,0.000,0.050,2169,3754,3988
$GC,5021,-1.17,-121.7,622.4,-12.0,588,5025,0.00,1.73,0.00,0.000,6,0.000,0.027,2169,2557,3987
$GC,5343,-1.17,-121.7,657.4,-10.2,604,5346,0.00,1.88,0.00,0.000,4,0.000,0.051,2166,3756,3986
$GC,5421,-1.17,-121.7,665.9,-10.4,607,5425,0.00,1.67,0.00,0.000,6,0.000,0.028,2166,2590,3985
$GC,5743,-1.17,-121.7,696.6,-9.8,623,5747,0.00,2.22,0.00,0.000,4,0.000,0.028,2165,1070,3983
$GC,5789,-1.17,-121.7,701.2,-9.9,625,5793,0.00,2.30,0.00,0.000,6,0.000,0.036,2165,2568,3983
$GC,6116,-1.17,-121.7,737.8,-11.8,641,6120,0.00,2.22,0.00,0.000,4,0.000,0.027,2165,1067,3980
$GC,6166,-1.23,-121.7,744.3,-12.4,643,6170,0.00,2.30,0.00,0.000,6,0.000,0.037,2166,2568,3980
$GC,6488,-1.23,-121.7,782.1,-11.2,659,6491,0.00,1.85,0.00,0.000,4,0.000,0.053,2165,3743,3978
$GC,6561,-1.23,-121.7,790.2,-10.4,662,6564,0.00,1.67,0.00,0.000,6,0.000,0.028,2165,2588,3977
$GC,6888,-1.23,-121.7,821.5,-9.5,678,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2588,3975
$GC,7197,-1.23,-121.7,852.5,-10.9,693,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2588,3973
$GC,7508,-1.23,-121.7,885.3,-10.6,708,7511,0.00,2.25,0.00,0.000,4,0.000,0.029,2165,1065,3971
$GC,7603,-1.28,-121.7,896.3,-11.2,712,7607,0.00,2.33,0.00,0.000,6,0.000,0.039,2165,2566,3971
$GC,7925,-1.28,-121.7,932.8,-11.5,728,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2567,3969
$GC,8233,-1.28,-121.7,968.9,-11.7,743,8236,0.00,1.85,0.00,0.000,4,0.000,0.055,2162,3749,3967
$GC,8323,-1.28,-121.7,980.3,-13.7,747,8326,0.00,1.67,0.00,0.000,6,0.000,0.030,2162,2607,3967
$STATE,8405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8405,begin apogee
$GC,8412,-0.22,0.0,990.5,12.0,751,8508,1.05,0.00,90.62,1.404,6,0.161,0.000,2470,2606,3532
$STATE,8509,end apogee,CONTROL_FINISHED_OK
$STATE,8509,begin climb
$GC,8511,1.18,121.7,995.9,0.0,756,8623,1.30,2.38,103.45,1.367,4,0.064,0.031,2935,1150,3035
$GC,8876,0.65,154.4,975.9,9.8,772,8909,0.68,2.12,27.40,1.315,6,0.209,0.040,2762,2507,2902
$GC,9234,0.64,204.2,944.7,8.7,790,9281,0.00,2.15,41.45,1.332,4,0.000,0.031,2769,1139,2698
$GC,9398,0.67,224.9,927.3,10.6,797,9426,0.00,2.12,18.58,1.267,6,0.000,0.037,2769,2497,2615
$GC,9736,0.68,237.2,889.6,11.2,814,9752,0.00,2.08,11.00,1.200,4,0.000,0.031,2776,1139,2564
$GC,9865,0.69,245.7,874.4,11.4,819,9879,0.00,2.10,8.35,1.132,6,0.000,0.038,2776,2486,2530
$GC,10197,0.69,245.7,834.7,12.1,835,10201,0.00,2.03,0.00,0.000,4,0.000,0.032,2775,1143,2526
$GC,10275,0.74,246.4,825.7,12.0,838,10279,0.00,2.05,0.00,0.000,6,0.000,0.037,2776,2474,2526
$GC,10596,0.76,265.3,790.6,10.8,854,10619,0.00,2.10,17.05,1.233,4,0.000,0.033,2776,1140,2450
$GC,10689,0.86,280.0,780.5,11.0,858,10711,0.12,2.05,14.10,1.190,6,0.087,0.037,2822,2461,2389
$GC,11023,0.79,280.0,733.4,15.0,874,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2461,2385
$GC,11330,0.72,280.0,689.3,13.8,889,11334,0.17,2.00,0.00,0.000,4,0.178,0.031,2778,1138,2384
$GC,11353,0.72,280.0,686.2,13.5,890,11356,0.00,2.08,0.00,0.000,6,0.000,0.037,2778,2482,2384
$GC,11686,0.80,280.8,647.7,12.0,906,11689,0.00,2.00,0.00,0.000,4,0.000,0.032,2781,1144,2383
$GC,11725,0.91,280.8,642.6,12.8,907,11732,0.17,2.03,0.00,0.000,6,0.081,0.036,2846,2471,2383
$GC,12041,0.80,280.8,596.3,14.6,923,12045,0.17,2.00,0.00,0.000,4,0.186,0.031,2802,1142,2383
$GC,12096,0.80,280.8,589.4,12.4,925,12100,0.00,2.03,0.00,0.000,6,0.000,0.036,2802,2468,2383
$GC,12419,0.82,298.1,553.5,10.9,941,12442,0.00,2.00,15.60,1.081,4,0.000,0.031,2802,1148,2315
$GC,12476,0.93,324.2,547.3,10.3,943,12507,0.12,2.00,22.48,1.079,6,0.086,0.036,2849,2451,2208
$GC,12819,0.87,324.2,501.8,13.6,960,12822,0.00,1.98,0.00,0.000,4,0.000,0.031,2855,1140,2203
$GC,12920,0.81,324.2,487.7,13.4,968,12925,0.20,2.00,0.00,0.000,6,0.178,0.036,2805,2442,2203
$GC,13251,0.92,324.2,446.8,13.0,999,13255,0.12,1.95,0.00,0.000,4,0.087,0.030,2856,1136,2202
$GC,13289,0.92,324.2,441.4,14.5,1002,13295,0.00,1.98,0.00,0.000,6,0.000,0.035,2856,2429,2202
$GC,13617,0.87,324.2,392.6,15.0,1033,13624,0.12,0.00,0.00,0.000,6,0.180,0.000,2827,2431,2202
$GC,13945,0.94,329.6,351.3,11.6,1064,13957,0.00,1.92,5.15,0.740,4,0.000,0.031,2829,1140,2187
$GC,14042,1.03,329.6,339.0,12.2,1072,14048,0.12,1.95,0.00,0.000,6,0.085,0.034,2878,2432,2187
$GC,14367,0.95,329.6,297.8,12.1,1104,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2431,2187
$GC,14711,0.89,331.2,257.1,11.9,1165,14718,0.17,1.92,0.00,0.000,4,0.179,0.028,2834,1133,2187
$GC,14799,1.02,352.4,247.3,10.6,1180,14825,0.12,1.90,19.90,0.838,6,0.082,0.033,2884,2404,2095
$GC,15165,1.03,359.2,199.7,11.6,1244,15178,0.00,1.88,6.47,0.685,4,0.000,0.029,2889,1136,2068
$GC,15263,1.05,379.8,188.9,10.6,1261,15287,0.00,1.88,18.15,0.776,6,0.000,0.033,2889,2375,1982
$GC,15627,1.10,379.8,144.3,13.2,1325,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2375,1978
$GC,15971,1.26,432.7,107.0,8.5,1386,16020,0.17,1.92,42.28,0.716,4,0.074,0.030,2968,1138,1766
$GC,16167,1.26,432.7,80.7,12.7,1420,16173,0.00,1.83,0.00,0.000,6,0.000,0.030,2968,2353,1761
$GC,16511,1.26,432.7,37.9,12.7,1481,16518,0.00,1.80,0.00,0.000,4,0.000,0.029,2972,1124,1760
$GC,16684,1.35,432.7,17.9,12.2,1511,16690,0.00,1.83,0.00,0.000,6,0.000,0.030,2973,2357,1760
$STATE,16823,end climb,SURFACE_DEPTH_REACHED
$STATE,16823,begin surface coast
$FINISH,1.7,1.005622
$STATE,16852,end surface coast,CONTROL_FINISHED_OK
$STATE,16852,begin surface
$SM_CCo,16930,0.00,0.000,0,0,1759,434.92
$SM_GC,3.16,7.55,0.00,0.00,0.053,0.000,0.000,140,2451,1759,-7.50,0.71,434.92
$IRIDIUM_FIX,2456.07,12413.73,051098,191909
$TT8_MAMPS,0.029146
$HUMID,1611
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,52.355
$10V_AH,10.8,29.574
$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,23.525,134.850,462.025,0.000,0.000,32.055,36.479,185.777,8.000,0.000,0.000,15.683,2736.161,10633.775,589.745,2740.376,612.962,0.000,1981.185,0.000,2677.294,0.000,54.433,0.000
$DEVICE_MAMPS,239.304,82.069,1404.377,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.853,1072.376,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82008,1541
$CAP_FILE_SIZE,171095,0
$CFSIZE,260165632,201199616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 48.8,1
$GPS,120709,051655,2502.388,12414.484,41,1.5,42,-3.7