version: 66.04
glider: 167
mission: 2
dive: 298
start: 7 12 109 5 32 1
data:
$ID,167
$MISSION,2
$DIVE,298
$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,-11164.161
$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,100
$R_STBD_OVSHOOT,49
$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
$GPS1,051655,2502.388,12414.484,41,1.5,42,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-67.9
$GPS2,053138,2502.698,12414.558,13,1.5,13,-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,185.3,29279,-23.2,-12.000
$D_GRID,1723
$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,-23.20,0.000,2,0.000,0.000,140,2452,2360
$GC,43,-1.18,-121.7,3.2,-2.4,4,104,8.40,2.10,-46.92,0.000,4,0.239,0.039,2153,1055,3990
$GC,150,-0.77,-121.7,20.4,-22.6,22,157,0.52,2.05,0.00,0.000,6,0.171,0.031,2291,2426,3991
$GC,495,-0.87,-121.7,70.1,-12.3,83,501,0.00,2.03,0.00,0.000,4,0.000,0.047,2288,3748,3992
$GC,519,-0.97,-121.7,73.0,-12.3,87,525,0.15,1.90,0.00,0.000,6,0.069,0.023,2222,2407,3992
$GC,864,-0.92,-121.7,124.4,-13.6,148,871,0.00,2.08,0.00,0.000,4,0.000,0.044,2218,3758,3993
$GC,967,-0.85,-121.7,138.2,-12.7,166,974,0.20,1.90,0.00,0.000,6,0.158,0.023,2273,2406,3992
$GC,1314,-1.11,-121.7,172.5,-9.1,227,1320,0.20,2.08,0.00,0.000,4,0.061,0.044,2178,3758,3994
$GC,1345,-1.02,-121.7,176.2,-13.1,232,1353,0.15,1.90,0.00,0.000,6,0.163,0.023,2217,2400,3994
$GC,1691,-1.02,-121.7,215.7,-12.7,293,1697,0.00,2.08,0.00,0.000,4,0.000,0.044,2209,3758,3994
$GC,1821,-1.02,-121.7,232.7,-13.5,316,1828,0.00,1.88,0.00,0.000,6,0.000,0.024,2209,2416,3994
$GC,2167,-1.07,-121.7,276.5,-12.2,377,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2416,3994
$GC,2504,-1.15,-121.7,314.4,-9.2,425,2508,0.00,2.05,0.00,0.000,4,0.000,0.046,2205,3750,3994
$GC,2688,-1.15,-121.7,332.9,-9.7,441,2694,0.00,1.83,0.00,0.000,6,0.000,0.025,2205,2456,3994
$GC,3016,-1.24,-121.7,368.2,-12.4,472,3020,0.17,2.00,0.00,0.000,4,0.064,0.046,2124,3752,3994
$GC,3084,-0.98,-121.7,379.4,-17.2,478,3088,0.38,1.83,0.00,0.000,6,0.163,0.025,2229,2463,3994
$GC,3415,-1.32,-121.7,415.1,-8.8,509,3419,0.28,2.00,0.00,0.000,4,0.058,0.046,2111,3758,3993
$GC,3481,-1.02,-121.7,423.8,-14.3,514,3488,0.38,1.85,0.00,0.000,6,0.167,0.025,2215,2458,3992
$GC,3807,-1.19,-121.7,452.0,-9.0,545,3811,0.15,2.00,0.00,0.000,4,0.074,0.048,2152,3749,3991
$GC,3930,-1.06,-121.7,468.0,-12.4,556,3935,0.12,1.83,0.00,0.000,6,0.160,0.027,2201,2498,3991
$GC,4261,-1.18,-121.7,502.7,-10.1,586,4265,0.12,1.92,0.00,0.000,4,0.075,0.048,2149,3747,3989
$GC,4293,-1.07,-121.7,506.9,-12.9,587,4298,0.17,1.77,0.00,0.000,6,0.168,0.026,2195,2506,3988
$GC,4615,-1.18,-121.7,539.0,-9.9,603,4619,0.00,1.92,0.00,0.000,4,0.000,0.050,2192,3757,3986
$GC,4687,-1.23,-121.7,546.9,-10.7,606,4692,0.12,1.75,0.00,0.000,6,0.080,0.028,2142,2536,3986
$GC,5017,-1.15,-121.7,587.4,-12.3,622,5021,0.12,1.88,0.00,0.000,4,0.179,0.048,2165,3754,3983
$GC,5050,-1.15,-121.7,591.8,-11.4,623,5053,0.00,1.75,0.00,0.000,6,0.000,0.028,2166,2541,3983
$GC,5371,-1.15,-121.7,627.8,-12.2,639,5375,0.00,1.92,0.00,0.000,4,0.000,0.052,2165,3752,3981
$GC,5444,-1.15,-121.7,637.4,-12.8,642,5447,0.00,1.75,0.00,0.000,6,0.000,0.028,2165,2564,3980
$GC,5771,-1.15,-121.7,673.7,-10.3,658,5774,0.00,2.20,0.00,0.000,4,0.000,0.029,2165,1053,3978
$GC,5794,-1.15,-121.7,676.0,-10.5,659,5798,0.00,2.30,0.00,0.000,6,0.000,0.038,2165,2558,3978
$GC,6120,-1.15,-121.7,710.2,-11.0,675,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2558,3976
$GC,6429,-1.15,-121.7,747.0,-12.5,690,6433,0.00,2.25,0.00,0.000,4,0.000,0.029,2165,1038,3974
$GC,6474,-1.15,-121.7,752.7,-12.4,692,6478,0.00,2.33,0.00,0.000,6,0.000,0.038,2162,2562,3974
$GC,6795,-1.15,-121.7,791.2,-12.0,708,6798,0.00,1.85,0.00,0.000,4,0.000,0.054,2162,3754,3971
$GC,6833,-1.15,-121.7,796.0,-12.1,709,6839,0.00,1.75,0.00,0.000,6,0.000,0.029,2162,2578,3971
$GC,7150,-1.15,-121.7,830.9,-11.1,725,7154,0.00,2.25,0.00,0.000,4,0.000,0.029,2161,1050,3969
$GC,7220,-1.15,-121.7,838.5,-11.1,728,7224,0.00,2.33,0.00,0.000,6,0.000,0.039,2162,2554,3969
$GC,7547,-1.15,-121.7,872.3,-10.0,744,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2553,3967
$GC,7855,-1.15,-121.7,903.6,-10.6,759,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2554,3965
$GC,8165,-1.15,-121.7,937.9,-11.3,774,8168,0.00,1.88,0.00,0.000,4,0.000,0.056,2153,3754,3963
$GC,8256,-1.15,-121.7,948.6,-12.0,778,8260,0.00,1.77,0.00,0.000,6,0.000,0.030,2153,2573,3963
$GC,8588,-1.15,-121.7,986.3,-11.1,794,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2573,3961
$STATE,8626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8627,begin apogee
$GC,8632,-0.22,0.0,991.1,11.4,796,8732,1.08,0.00,89.62,1.407,6,0.166,0.000,2465,2573,3532
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8737,1.18,121.7,995.5,0.0,801,8849,1.30,2.05,103.12,1.373,4,0.061,0.051,2925,3746,3034
$GC,8950,0.44,128.9,988.8,11.5,811,8967,0.98,1.85,7.15,1.097,6,0.213,0.026,2689,2514,3006
$GC,9279,0.67,217.5,967.7,6.2,827,9358,0.17,2.20,73.57,1.355,4,0.079,0.032,2762,1120,2644
$GC,9427,0.73,223.4,952.4,11.6,833,9438,0.00,2.17,5.97,1.023,6,0.000,0.037,2762,2490,2620
$GC,9756,0.74,227.7,913.5,11.7,849,9762,0.00,0.00,5.00,0.964,6,0.000,0.000,2762,2490,2603
$GC,10063,0.75,235.8,877.3,11.5,864,10073,0.00,0.00,8.18,1.144,6,0.000,0.000,2762,2490,2570
$GC,10373,0.75,235.8,839.3,12.2,879,10377,0.00,2.08,0.00,0.000,4,0.000,0.033,2762,1119,2567
$GC,10526,0.84,250.3,821.7,11.0,885,10546,0.15,2.12,12.80,1.220,6,0.084,0.038,2819,2499,2511
$GC,10864,0.72,250.3,776.2,12.7,902,10868,0.15,2.08,0.00,0.000,4,0.184,0.030,2789,1130,2508
$GC,10955,0.75,275.2,765.5,10.4,906,10981,0.00,2.08,21.65,1.239,6,0.000,0.035,2790,2473,2410
$GC,11305,0.76,285.9,726.5,11.3,923,11320,0.00,2.05,10.18,1.135,4,0.000,0.032,2791,1123,2367
$GC,11354,0.83,285.9,720.2,12.2,924,11357,0.00,2.08,0.00,0.000,6,0.000,0.036,2791,2460,2365
$GC,11674,0.83,285.9,678.0,13.6,940,11678,0.00,2.03,0.00,0.000,4,0.000,0.030,2799,1111,2364
$GC,11691,0.83,285.9,675.7,13.5,940,11698,0.00,2.08,0.00,0.000,6,0.000,0.036,2799,2460,2363
$GC,12007,0.83,285.9,633.4,12.6,956,12010,0.00,2.03,0.00,0.000,4,0.000,0.031,2799,1112,2363
$GC,12085,0.90,297.6,624.0,11.2,959,12101,0.10,2.05,11.25,1.097,6,0.092,0.036,2838,2453,2317
$GC,12426,0.81,297.6,576.4,13.8,976,12430,0.12,2.05,0.00,0.000,4,0.183,0.050,2809,3762,2315
$GC,12464,0.71,297.6,570.4,14.0,977,12471,0.15,1.95,0.00,0.000,6,0.190,0.028,2776,2455,2315
$GC,12782,0.85,308.4,534.0,11.3,993,12797,0.12,2.03,10.18,1.025,4,0.085,0.032,2828,1095,2273
$GC,12852,0.85,308.4,524.0,14.6,996,12856,0.00,2.10,0.00,0.000,6,0.000,0.036,2828,2441,2271
$GC,13174,0.85,308.4,481.6,12.4,1018,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2441,2271
$GC,13493,0.85,313.3,442.4,11.7,1048,13506,0.00,2.03,5.22,0.810,4,0.000,0.031,2833,1090,2253
$GC,13586,0.86,319.9,430.8,11.6,1056,13600,0.00,2.05,7.20,0.884,6,0.000,0.035,2834,2438,2226
$GC,13916,0.88,332.5,393.9,11.2,1087,13933,0.00,2.08,11.90,0.936,4,0.000,0.030,2841,1098,2175
$GC,14017,0.88,332.5,381.7,12.5,1095,14023,0.00,2.05,0.00,0.000,6,0.000,0.034,2841,2439,2174
$GC,14344,0.88,332.5,336.9,14.2,1126,14347,0.00,2.00,0.00,0.000,4,0.000,0.031,2841,1101,2173
$GC,14414,0.93,332.5,327.7,12.1,1132,14418,0.00,2.00,0.00,0.000,6,0.000,0.033,2841,2421,2173
$GC,14745,1.01,356.0,289.6,10.4,1171,14770,0.00,2.17,20.10,0.880,4,0.000,0.051,2841,3765,2080
$GC,14828,1.01,356.0,280.0,12.9,1185,14834,0.00,1.98,0.00,0.000,6,0.000,0.026,2841,2440,2077
$GC,15173,1.13,375.2,242.6,10.7,1246,15198,0.17,2.03,16.42,0.821,4,0.074,0.031,2924,1104,2001
$GC,15286,1.01,375.2,226.9,15.1,1265,15292,0.20,2.05,0.00,0.000,6,0.171,0.035,2872,2440,1999
$GC,15631,1.10,390.9,186.5,11.0,1326,15651,0.00,2.08,13.60,0.758,4,0.000,0.028,2880,1090,1938
$GC,15721,1.20,395.5,175.7,11.7,1341,15734,0.15,2.00,5.40,0.617,6,0.080,0.031,2937,2415,1919
$GC,16074,1.14,395.5,124.0,14.5,1403,16080,0.00,1.95,0.00,0.000,4,0.000,0.028,2941,1094,1918
$GC,16210,1.08,395.5,103.6,14.9,1427,16217,0.17,1.90,0.00,0.000,6,0.166,0.031,2895,2370,1917
$GC,16555,1.26,431.9,61.5,9.6,1488,16592,0.15,1.90,30.10,0.672,4,0.079,0.029,2956,1095,1769
$GC,16706,1.27,441.7,44.4,11.4,1514,16724,0.00,1.88,9.05,0.592,6,0.000,0.029,2956,2349,1730
$GC,17063,1.38,441.7,7.4,12.1,1577,17069,0.00,2.17,0.00,0.000,4,0.000,0.046,2956,3764,1726
$STATE,17095,end climb,SURFACE_DEPTH_REACHED
$STATE,17095,begin surface coast
$FINISH,1.8,1.021118
$STATE,17119,end surface coast,CONTROL_FINISHED_OK
$STATE,17119,begin surface
$SM_CCo,17199,0.00,0.000,0,0,1723,443.75
$SM_GC,3.16,7.40,0.00,0.00,0.044,0.000,0.000,141,2408,1723,-7.49,-0.54,443.75
$IRIDIUM_FIX,2453.69,12413.73,061098,050558
$TT8_MAMPS,0.029146
$HUMID,1639
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.5,52.546
$10V_AH,10.8,29.674
$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,24.225,144.300,477.675,0.000,0.000,84.268,149.441,364.730,8.000,0.000,0.000,13.360,2814.025,10887.910,603.965,2769.062,996.506,0.000,2011.040,0.000,2706.472,0.000,54.430,0.000
$DEVICE_MAMPS,239.304,55.991,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.199,1094.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85247,1587
$CAP_FILE_SIZE,179672,0
$CFSIZE,260165632,201101312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 69.9,1
$GPS,120709,102007,2501.227,12415.141,51,1.2,52,-3.7