version: 66.04
glider: 167
mission: 2
dive: 299
start: 7 12 109 10 34 53
data:
$ID,167
$MISSION,2
$DIVE,299
$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,770.97791
$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,-11181.44
$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,33
$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
$GPS1,102007,2501.227,12415.141,51,1.2,52,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-64.1
$GPS2,103432,2501.442,12415.283,16,1.4,16,-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,201.5,26768,-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,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,36,0.00,0.00,-18.52,0.000,2,0.000,0.000,142,2409,2198
$GC,39,-1.18,-121.7,3.0,-3.2,3,114,8.12,2.08,-61.62,0.000,4,0.231,0.038,2160,1034,3989
$GC,197,-0.70,-121.7,26.0,-23.8,29,205,0.57,2.12,0.00,0.000,6,0.170,0.027,2315,2453,3990
$GC,544,-1.17,-121.7,67.6,-11.4,90,550,0.35,1.98,0.00,0.000,4,0.050,0.044,2155,3751,3992
$GC,781,-0.79,-121.7,113.4,-18.3,132,788,0.45,1.88,0.00,0.000,6,0.163,0.022,2283,2406,3992
$GC,1127,-1.01,-121.7,150.9,-11.1,193,1134,0.17,2.08,0.00,0.000,4,0.066,0.042,2192,3760,3993
$GC,1215,-0.83,-121.7,165.0,-17.8,208,1221,0.28,1.80,0.00,0.000,6,0.157,0.023,2270,2477,3993
$GC,1563,-1.26,-121.7,200.3,-9.0,269,1570,0.32,1.95,0.00,0.000,4,0.053,0.043,2124,3750,3993
$GC,1723,-0.89,-121.7,226.4,-17.1,297,1730,0.45,1.75,0.00,0.000,6,0.166,0.023,2251,2498,3993
$GC,2070,-1.08,-121.7,261.6,-9.7,358,2076,0.17,1.92,0.00,0.000,4,0.065,0.044,2166,3755,3993
$GC,2268,-0.90,-121.7,289.3,-14.1,393,2276,0.30,1.75,0.00,0.000,6,0.160,0.024,2250,2508,3993
$GC,2609,-1.27,-121.7,320.5,-9.6,434,2613,0.28,1.92,0.00,0.000,4,0.058,0.044,2124,3759,3993
$GC,2750,-0.97,-121.7,343.3,-16.9,446,2757,0.38,1.77,0.00,0.000,6,0.164,0.024,2229,2499,3993
$GC,3075,-1.17,-121.7,377.0,-9.2,477,3079,0.17,1.92,0.00,0.000,4,0.066,0.044,2152,3750,3993
$GC,3178,-0.99,-121.7,389.8,-12.4,486,3182,0.25,1.73,0.00,0.000,6,0.161,0.025,2221,2524,3993
$GC,3508,-1.16,-121.7,423.7,-10.8,517,3513,0.15,1.90,0.00,0.000,4,0.071,0.044,2155,3758,3992
$GC,3683,-1.01,-121.7,448.2,-13.5,532,3689,0.22,1.70,0.00,0.000,6,0.165,0.025,2216,2565,3992
$GC,4008,-1.18,-121.7,477.3,-8.0,563,4012,0.15,1.85,0.00,0.000,4,0.074,0.047,2152,3757,3990
$GC,4065,-1.05,-121.7,483.5,-12.3,568,4070,0.15,1.70,0.00,0.000,6,0.161,0.026,2198,2583,3990
$GC,4405,-1.14,-121.7,518.1,-10.7,592,4409,0.00,1.80,0.00,0.000,4,0.000,0.048,2192,3751,3988
$GC,4478,-1.14,-121.7,527.0,-11.3,595,4481,0.00,1.65,0.00,0.000,6,0.000,0.026,2192,2591,3987
$GC,4806,-1.23,-121.7,561.9,-10.6,611,4810,0.12,1.80,0.00,0.000,4,0.084,0.047,2137,3751,3985
$GC,4935,-1.05,-121.7,579.2,-13.4,616,4942,0.25,1.65,0.00,0.000,6,0.169,0.026,2204,2596,3983
$GC,5253,-1.20,-121.7,611.5,-10.2,632,5257,0.15,1.80,0.00,0.000,4,0.074,0.047,2139,3755,3981
$GC,5314,-1.04,-121.7,620.1,-14.4,634,5320,0.25,1.62,0.00,0.000,6,0.171,0.027,2205,2622,3981
$GC,5633,-1.20,-121.7,652.7,-9.5,650,5637,0.15,1.75,0.00,0.000,4,0.077,0.048,2146,3746,3980
$GC,5678,-1.09,-121.7,658.3,-12.6,652,5682,0.17,1.60,0.00,0.000,6,0.171,0.027,2191,2654,3978
$GC,6013,-1.20,-121.7,691.4,-10.5,668,6017,0.00,1.73,0.00,0.000,4,0.000,0.052,2191,3760,3976
$GC,6082,-1.27,-121.7,699.2,-10.8,671,6086,0.17,1.60,0.00,0.000,6,0.074,0.028,2124,2673,3976
$GC,6417,-1.14,-121.7,744.5,-13.5,687,6419,0.20,0.00,0.00,0.000,6,0.173,0.000,2177,2671,3974
$GC,6724,-1.20,-121.7,782.1,-12.0,702,6728,0.00,2.38,0.00,0.000,4,0.000,0.028,2177,1050,3972
$GC,6768,-1.31,-121.7,787.8,-12.0,704,6773,0.17,2.45,0.00,0.000,6,0.077,0.038,2112,2651,3972
$GC,7092,-1.14,-121.7,831.9,-13.1,720,7096,0.20,1.73,0.00,0.000,4,0.192,0.051,2162,3743,3969
$GC,7130,-1.14,-121.7,837.0,-11.6,721,7137,0.00,1.58,0.00,0.000,6,0.000,0.028,2162,2669,3969
$GC,7446,-1.14,-121.7,872.3,-11.2,737,7450,0.00,2.38,0.00,0.000,4,0.000,0.028,2162,1051,3967
$GC,7496,-1.14,-121.7,878.1,-11.0,739,7500,0.00,2.42,0.00,0.000,6,0.000,0.038,2154,2632,3966
$GC,7817,-1.14,-121.7,914.0,-10.8,755,7821,0.00,1.77,0.00,0.000,4,0.000,0.055,2153,3750,3965
$GC,7897,-1.08,-121.7,922.9,-11.4,758,7901,0.17,1.60,0.00,0.000,6,0.176,0.030,2195,2656,3964
$GC,8221,-1.24,-121.7,951.3,-8.6,774,8223,0.15,0.00,0.00,0.000,6,0.081,0.000,2142,2655,3963
$GC,8528,-1.17,-121.7,986.3,-11.7,789,8532,0.00,1.73,0.00,0.000,4,0.000,0.054,2137,3747,3962
$STATE,8559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8559,begin apogee
$GC,8566,-0.22,0.0,990.5,12.4,790,8659,1.12,0.00,89.25,1.404,6,0.173,0.000,2462,2518,3532
$STATE,8660,end apogee,CONTROL_FINISHED_OK
$STATE,8660,begin climb
$GC,8662,1.18,121.7,994.6,0.0,795,8773,1.27,2.12,102.72,1.364,4,0.060,0.049,2922,3743,3034
$GC,9026,0.44,121.7,968.1,12.6,811,9031,0.93,1.90,0.00,0.000,6,0.214,0.027,2694,2463,3030
$GC,9343,0.67,224.8,949.0,5.2,826,9435,0.20,2.22,84.28,1.348,4,0.078,0.054,2774,3747,2614
$GC,9519,0.52,224.8,929.3,13.6,834,9524,0.25,1.88,0.00,0.000,6,0.184,0.027,2718,2500,2610
$GC,9848,0.76,274.3,899.8,8.7,850,9894,0.17,2.15,40.58,1.309,4,0.076,0.032,2790,1120,2412
$GC,9968,0.76,274.3,884.5,13.1,855,9974,0.00,2.17,0.00,0.000,6,0.000,0.036,2790,2500,2407
$GC,10284,0.76,274.3,842.3,12.8,871,10288,0.00,2.10,0.00,0.000,4,0.000,0.032,2790,1123,2404
$GC,10413,0.81,274.9,826.2,12.0,876,10419,0.00,2.12,0.00,0.000,6,0.000,0.036,2790,2501,2404
$GC,10730,0.81,274.9,786.0,13.4,892,10733,0.00,2.10,0.00,0.000,4,0.000,0.032,2790,1113,2403
$GC,10785,0.86,274.9,778.7,12.8,894,10789,0.00,2.12,0.00,0.000,6,0.000,0.036,2790,2497,2402
$GC,11106,0.86,274.9,737.7,12.9,910,11110,0.00,2.08,0.00,0.000,4,0.000,0.033,2790,1124,2401
$GC,11208,0.92,278.4,725.1,11.8,914,11212,0.15,2.05,0.00,0.000,6,0.082,0.037,2847,2463,2401
$GC,11529,0.77,278.4,678.8,14.4,930,11533,0.20,2.03,0.00,0.000,4,0.181,0.030,2800,1121,2400
$GC,11579,0.77,278.4,672.0,12.3,932,11583,0.00,2.05,0.00,0.000,6,0.000,0.036,2800,2455,2400
$GC,11906,0.79,292.4,634.6,11.1,948,11927,0.00,2.10,14.30,1.130,4,0.000,0.054,2800,3764,2340
$GC,11938,0.79,295.4,630.7,11.8,949,11951,0.00,1.92,4.47,0.815,6,0.000,0.028,2807,2463,2326
$GC,12260,0.80,297.6,593.0,11.8,965,12264,0.00,2.00,0.00,0.000,4,0.000,0.032,2813,1116,2324
$GC,12405,0.81,307.8,575.7,11.3,971,12421,0.00,2.05,11.23,1.055,6,0.000,0.035,2813,2453,2277
$GC,12743,0.81,309.1,534.2,11.9,988,12746,0.00,2.00,0.00,0.000,4,0.000,0.031,2815,1122,2275
$GC,12782,0.88,325.6,529.7,10.9,989,12803,0.00,2.03,15.98,1.053,6,0.000,0.035,2815,2448,2203
$GC,13126,0.95,343.7,491.3,10.8,1009,13150,0.10,2.08,16.10,1.019,4,0.091,0.031,2863,1114,2129
$GC,13223,0.90,343.7,477.7,13.9,1017,13230,0.00,2.03,0.00,0.000,6,0.000,0.036,2863,2425,2127
$GC,13551,0.84,343.7,433.4,14.1,1048,13555,0.17,1.98,0.00,0.000,4,0.182,0.031,2816,1112,2126
$GC,13601,0.98,352.6,426.7,11.4,1052,13619,0.12,1.98,8.62,0.904,6,0.086,0.035,2864,2410,2093
$GC,13936,0.98,352.6,379.0,14.3,1084,13939,0.00,1.95,0.00,0.000,4,0.000,0.031,2868,1110,2091
$GC,14052,0.98,352.6,362.2,14.6,1094,14058,0.00,1.90,0.00,0.000,6,0.000,0.034,2868,2340,2091
$GC,14380,0.98,352.6,318.7,12.4,1125,14383,0.00,2.20,0.00,0.000,4,0.000,0.049,2868,3758,2091
$GC,14441,0.88,352.6,309.9,14.2,1130,14447,0.17,2.05,0.00,0.000,6,0.183,0.025,2829,2362,2091
$GC,14780,1.03,365.8,273.1,11.1,1182,14798,0.15,1.90,12.10,0.828,4,0.080,0.031,2897,1107,2040
$GC,14886,0.99,365.8,259.6,12.6,1200,14893,0.12,1.90,0.00,0.000,6,0.179,0.033,2867,2366,2038
$GC,15231,1.04,365.8,215.0,13.0,1261,15238,0.00,1.85,0.00,0.000,4,0.000,0.030,2868,1117,2037
$GC,15325,1.12,365.8,202.0,14.0,1277,15332,0.12,1.85,0.00,0.000,6,0.082,0.032,2917,2353,2038
$GC,15671,1.05,365.8,147.5,15.3,1338,15678,0.12,1.83,0.00,0.000,4,0.176,0.028,2894,1110,2038
$GC,15746,1.08,386.3,138.4,10.6,1351,15770,0.00,1.77,17.30,0.734,6,0.000,0.031,2894,2306,1957
$GC,16109,1.22,414.1,107.3,10.2,1415,16139,0.12,1.80,23.75,0.707,4,0.084,0.029,2951,1106,1841
$GC,16263,1.22,414.1,84.1,17.9,1442,16269,0.00,1.77,0.00,0.000,6,0.000,0.031,2952,2286,1838
$GC,16608,1.32,442.3,41.5,10.1,1503,16638,0.00,2.30,22.65,0.644,4,0.000,0.046,2952,3763,1728
$GC,16769,1.34,459.9,22.7,10.8,1531,16793,0.00,2.12,15.25,0.606,6,0.000,0.023,2962,2304,1655
$STATE,16948,end climb,SURFACE_DEPTH_REACHED
$STATE,16949,begin surface coast
$FINISH,1.7,1.021077
$STATE,16978,end surface coast,CONTROL_FINISHED_OK
$STATE,16978,begin surface
$SM_CCo,16996,233.98,0.601,0,0,388,770.98
$SM_GC,2.40,0.00,0.00,233.98,0.000,0.000,0.601,140,2461,388,-7.52,0.96,770.98
$IRIDIUM_FIX,2453.69,12413.73,061098,101023
$TT8_MAMPS,0.029146
$HUMID,1550
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.5,52.765
$10V_AH,10.8,29.777
$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,28.325,147.300,478.575,233.975,0.000,139.629,329.555,0.000,8.000,0.000,0.000,16.650,2820.591,10705.441,840.151,2855.641,862.051,0.000,2291.234,0.000,2789.599,0.000,56.002,0.000
$DEVICE_MAMPS,230.867,55.224,1404.377,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.104,1088.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85180,1568
$CAP_FILE_SIZE,181018,0
$CFSIZE,260165632,200978432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 63.0,1
$GPS,120709,152324,2500.336,12414.987,41,1.5,42,-3.7