version: 66.04
glider: 167
mission: 2
dive: 300
start: 7 12 109 15 33 19
data:
$ID,167
$MISSION,2
$DIVE,300
$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,-11197.278
$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,73
$R_STBD_OVSHOOT,62
$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
$GPS1,152324,2500.336,12414.987,41,1.5,42,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-53.9
$GPS2,153256,2500.485,12415.035,15,1.7,15,-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,194.9,25104,-23.2,-12.000
$D_GRID,1660
$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,-121.7,0.0,0.0,0,88,0.00,0.00,-70.70,0.000,2,0.000,0.000,140,2461,2235
$GC,91,-1.18,-121.7,3.1,-1.4,12,162,8.18,2.17,-54.45,0.000,4,0.235,0.038,2158,1019,3989
$GC,208,-0.75,-121.7,20.6,-24.2,31,215,0.52,2.08,0.00,0.000,6,0.168,0.028,2298,2413,3990
$GC,554,-0.89,-121.7,71.7,-11.4,92,560,0.12,2.05,0.00,0.000,4,0.074,0.043,2235,3760,3990
$GC,685,-0.78,-121.7,89.4,-12.7,115,692,0.20,1.92,0.00,0.000,6,0.159,0.022,2290,2388,3991
$GC,1030,-0.99,-121.7,126.7,-12.2,176,1037,0.17,2.10,0.00,0.000,4,0.062,0.042,2205,3756,3991
$GC,1129,-0.83,-121.7,142.2,-16.7,193,1135,0.25,1.85,0.00,0.000,6,0.160,0.022,2276,2433,3991
$GC,1474,-1.27,-121.7,179.3,-9.3,254,1482,0.35,2.03,0.00,0.000,4,0.051,0.042,2124,3754,3991
$GC,1696,-0.89,-121.7,218.2,-18.4,293,1703,0.47,1.80,0.00,0.000,6,0.166,0.022,2259,2468,3991
$GC,2042,-1.12,-121.7,253.6,-8.8,354,2050,0.17,1.98,0.00,0.000,4,0.064,0.043,2176,3757,3991
$GC,2254,-0.96,-121.7,283.0,-13.0,391,2261,0.22,1.77,0.00,0.000,6,0.157,0.024,2238,2493,3992
$GC,2589,-1.22,-121.7,317.2,-9.9,436,2594,0.20,1.95,0.00,0.000,4,0.060,0.044,2146,3758,3991
$GC,2786,-0.99,-121.7,346.1,-14.9,453,2792,0.28,1.73,0.00,0.000,6,0.163,0.025,2222,2538,3991
$GC,3112,-1.15,-121.7,377.1,-8.0,484,3117,0.15,1.88,0.00,0.000,4,0.070,0.044,2152,3756,3991
$GC,3208,-0.98,-121.7,389.3,-13.4,492,3215,0.28,1.70,0.00,0.000,6,0.161,0.025,2229,2554,3990
$GC,3534,-1.32,-121.7,424.3,-11.0,523,3538,0.28,1.85,0.00,0.000,4,0.059,0.047,2111,3750,3989
$GC,3573,-1.02,-121.7,430.2,-17.1,526,3581,0.38,1.67,0.00,0.000,6,0.173,0.025,2214,2568,3989
$GC,3898,-1.15,-121.7,466.4,-9.6,557,3903,0.12,1.83,0.00,0.000,4,0.078,0.047,2162,3748,3987
$GC,3984,-1.04,-121.7,475.9,-11.4,564,3990,0.17,1.67,0.00,0.000,6,0.164,0.025,2207,2572,3986
$GC,4308,-1.17,-121.7,504.4,-9.4,593,4312,0.12,1.83,0.00,0.000,4,0.078,0.047,2152,3749,3984
$GC,4431,-1.03,-121.7,520.6,-14.7,598,4435,0.22,1.67,0.00,0.000,6,0.165,0.026,2212,2577,3983
$GC,4755,-1.21,-121.7,555.4,-10.9,614,4759,0.17,1.83,0.00,0.000,4,0.070,0.048,2137,3750,3980
$GC,4939,-1.03,-121.7,582.4,-14.5,622,4943,0.28,1.65,0.00,0.000,6,0.168,0.027,2211,2602,3979
$GC,5268,-1.22,-121.7,613.7,-9.3,638,5273,0.17,1.80,0.00,0.000,4,0.069,0.049,2139,3756,3976
$GC,5346,-1.06,-121.7,623.8,-12.2,641,5351,0.22,1.65,0.00,0.000,6,0.170,0.028,2198,2607,3975
$GC,5670,-1.20,-121.7,652.8,-8.7,657,5674,0.12,1.80,0.00,0.000,4,0.080,0.050,2149,3760,3974
$GC,5793,-1.08,-121.7,666.7,-11.5,662,5797,0.17,1.62,0.00,0.000,6,0.171,0.028,2193,2636,3972
$GC,6115,-1.20,-121.7,696.5,-9.5,678,6117,0.12,0.00,0.00,0.000,6,0.081,0.000,2146,2636,3971
$GC,6423,-1.14,-121.7,734.9,-12.4,693,6427,0.12,1.75,0.00,0.000,4,0.179,0.050,2169,3752,3969
$GC,6478,-1.14,-121.7,741.5,-11.9,695,6481,0.00,1.60,0.00,0.000,6,0.000,0.028,2169,2642,3968
$GC,6801,-1.14,-121.7,773.0,-9.3,711,6805,0.00,2.33,0.00,0.000,4,0.000,0.028,2169,1054,3966
$GC,6839,-1.14,-121.7,776.8,-9.1,712,6845,0.00,2.35,0.00,0.000,6,0.000,0.035,2166,2595,3966
$GC,7154,-1.14,-121.7,806.9,-9.8,728,7158,0.00,1.83,0.00,0.000,4,0.000,0.054,2165,3750,3964
$GC,7284,-1.14,-121.7,819.9,-10.2,733,7290,0.00,1.60,0.00,0.000,6,0.000,0.028,2166,2645,3963
$GC,7601,-1.14,-121.7,851.7,-10.5,749,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2645,3961
$GC,7910,-1.14,-121.7,884.7,-10.6,764,7914,0.00,2.33,0.00,0.000,4,0.000,0.029,2165,1063,3959
$GC,7960,-1.18,-121.7,890.1,-10.4,766,7964,0.00,2.38,0.00,0.000,6,0.000,0.039,2165,2603,3959
$GC,8275,-1.18,-121.7,921.1,-10.0,781,8279,0.00,1.77,0.00,0.000,4,0.000,0.054,2166,3743,3957
$GC,8326,-1.18,-121.7,926.6,-11.1,783,8330,0.00,1.60,0.00,0.000,6,0.000,0.030,2165,2667,3957
$GC,8654,-1.18,-121.7,963.0,-11.7,799,8658,0.00,1.73,0.00,0.000,4,0.000,0.054,2165,3734,3955
$GC,8732,-1.18,-121.7,972.6,-12.7,802,8736,0.00,1.58,0.00,0.000,6,0.000,0.031,2165,2677,3955
$STATE,8886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8886,begin apogee
$GC,8892,-0.22,0.0,991.0,11.7,810,8983,1.02,0.00,87.53,1.407,6,0.162,0.000,2466,2554,3532
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8986,1.18,121.7,994.9,0.0,814,9100,1.27,2.08,102.95,1.368,4,0.061,0.051,2923,3747,3034
$GC,9252,0.45,121.7,983.6,12.2,826,9259,0.93,1.90,0.00,0.000,6,0.212,0.026,2696,2480,3031
$GC,9568,0.66,215.7,964.9,5.8,842,9653,0.17,2.15,77.25,1.355,4,0.079,0.032,2761,1124,2651
$GC,9695,0.73,224.0,952.7,11.5,847,9708,0.00,2.17,8.32,1.127,6,0.000,0.035,2762,2491,2618
$GC,10030,0.73,224.0,912.8,12.1,864,10033,0.00,2.00,0.00,0.000,4,0.000,0.054,2762,3759,2612
$GC,10047,0.73,224.0,910.3,12.9,864,10053,0.00,1.85,0.00,0.000,6,0.000,0.026,2765,2501,2612
$GC,10362,0.73,224.0,869.9,12.5,880,10366,0.00,2.05,0.00,0.000,4,0.000,0.031,2773,1121,2611
$GC,10567,0.73,227.7,845.9,11.8,889,10570,0.00,2.10,0.00,0.000,6,0.000,0.036,2773,2482,2610
$GC,10898,0.75,239.8,807.5,11.2,905,10920,0.00,2.12,12.65,1.214,4,0.000,0.032,2775,1125,2554
$GC,10968,0.83,255.1,799.6,11.0,908,10990,0.12,2.10,14.18,1.210,6,0.088,0.037,2823,2476,2491
$GC,11301,0.74,255.1,756.6,12.6,924,11305,0.15,2.05,0.00,0.000,4,0.178,0.031,2789,1133,2487
$GC,11454,0.74,261.1,739.7,11.6,930,11465,0.00,2.05,5.88,1.003,6,0.000,0.036,2789,2459,2467
$GC,11786,0.76,272.3,701.4,11.3,947,11799,0.00,0.00,11.18,1.141,6,0.000,0.000,2790,2460,2421
$GC,12095,0.76,273.4,665.0,11.9,962,12098,0.00,2.03,0.00,0.000,4,0.000,0.032,2790,1121,2418
$GC,12286,0.83,284.5,642.3,11.3,970,12302,0.00,2.00,11.55,1.111,6,0.000,0.035,2790,2432,2372
$GC,12626,0.90,287.6,602.3,11.8,987,12633,0.12,0.00,4.18,0.795,6,0.085,0.000,2837,2432,2359
$GC,12933,0.82,287.6,561.8,12.5,1002,12936,0.00,1.98,0.00,0.000,4,0.000,0.031,2844,1113,2357
$GC,13046,0.75,287.6,547.9,12.0,1007,13050,0.22,2.05,0.00,0.000,6,0.180,0.037,2786,2448,2357
$GC,13375,0.88,306.0,513.6,10.8,1023,13399,0.12,2.03,16.15,1.053,4,0.087,0.030,2836,1107,2285
$GC,13449,0.88,306.0,503.6,13.1,1026,13453,0.00,2.05,0.00,0.000,6,0.000,0.035,2836,2438,2283
$GC,13776,0.88,306.0,461.4,13.6,1055,13780,0.00,1.98,0.00,0.000,4,0.000,0.031,2843,1118,2282
$GC,13953,0.88,311.4,440.0,11.6,1070,13963,0.00,1.95,5.95,0.844,6,0.000,0.034,2843,2402,2262
$GC,14283,0.90,323.6,402.0,11.2,1101,14297,0.00,0.00,11.62,0.934,6,0.000,0.000,2843,2402,2212
$GC,14611,0.90,323.6,362.0,12.7,1132,14615,0.00,1.92,0.00,0.000,4,0.000,0.031,2849,1111,2209
$GC,14695,0.90,323.6,351.1,12.7,1139,14702,0.00,1.98,0.00,0.000,6,0.000,0.034,2849,2413,2209
$GC,15024,0.92,338.5,312.0,11.0,1170,15047,0.00,1.98,13.38,0.873,4,0.000,0.029,2857,1118,2150
$GC,15156,0.98,356.6,297.4,10.8,1183,15180,0.00,1.95,15.77,0.864,6,0.000,0.034,2857,2401,2078
$GC,15520,1.05,356.6,254.6,12.1,1247,15527,0.00,2.12,0.00,0.000,4,0.000,0.051,2857,3760,2074
$GC,15578,1.05,356.6,246.9,12.9,1257,15584,0.00,2.05,0.00,0.000,6,0.000,0.025,2867,2366,2074
$GC,15923,1.11,361.6,205.4,11.7,1318,15936,0.10,1.83,5.57,0.652,4,0.090,0.030,2912,1121,2056
$GC,16011,1.06,361.6,193.4,14.3,1333,16017,0.00,1.88,0.00,0.000,6,0.000,0.032,2912,2371,2056
$GC,16356,1.00,361.6,145.4,14.4,1394,16362,0.17,2.15,0.00,0.000,4,0.164,0.045,2860,3764,2056
$GC,16385,1.00,361.6,141.1,14.0,1399,16393,0.00,2.05,0.00,0.000,6,0.000,0.024,2868,2354,2057
$GC,16731,1.18,400.1,102.4,9.5,1460,16772,0.15,2.28,31.65,0.711,4,0.075,0.046,2927,3762,1899
$GC,16830,1.06,400.1,91.4,12.5,1477,16837,0.20,2.05,0.00,0.000,6,0.172,0.023,2885,2359,1895
$GC,17176,1.33,447.5,64.0,8.9,1538,17219,0.20,1.90,37.53,0.667,4,0.069,0.029,2984,1114,1706
$GC,17317,1.33,447.5,45.2,14.1,1562,17323,0.00,1.95,0.00,0.000,6,0.000,0.031,2984,2404,1702
$STATE,17643,end climb,SURFACE_DEPTH_REACHED
$STATE,17643,begin surface coast
$FINISH,1.8,1.021233
$STATE,17666,end surface coast,CONTROL_FINISHED_OK
$STATE,17666,begin surface
$SM_CCo,17743,0.00,0.000,0,0,1698,449.88
$SM_GC,3.01,7.53,0.00,0.00,0.048,0.000,0.000,140,2412,1698,-7.50,-0.42,449.88
$IRIDIUM_FIX,2453.69,12413.73,061098,101023
$TT8_MAMPS,0.028379
$HUMID,1622
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,2
$24V_AH,23.5,52.948
$10V_AH,10.8,29.880
$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,26.775,139.575,473.275,0.000,0.000,24.123,35.305,366.114,8.500,0.000,0.000,15.211,2897.060,10954.549,645.824,2983.321,822.459,0.000,2147.795,0.000,2916.965,0.000,57.030,0.000
$DEVICE_MAMPS,234.702,54.457,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.684,1125.730,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88476,1624
$CAP_FILE_SIZE,187857,0
$CFSIZE,260165632,200912896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 68.8,1
$GPS,120709,203025,2459.239,12414.950,47,1.4,48,-3.7