version: 66.04
glider: 167
mission: 2
dive: 301
start: 7 12 109 20 41 13
data:
$ID,167
$MISSION,2
$DIVE,301
$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,-11211.247
$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,75
$R_STBD_OVSHOOT,32
$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
$GPS1,203025,2459.239,12414.950,47,1.4,48,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-65.2
$GPS2,204050,2459.413,12415.183,13,1.3,13,-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,196.1,23109,-23.2,-12.000
$D_GRID,1864
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,42,0.00,0.00,-24.48,0.000,2,0.000,0.000,140,2412,2322
$GC,45,-1.18,-121.7,3.0,-1.4,4,111,8.43,2.10,-51.80,0.000,4,0.242,0.040,2160,1031,3989
$GC,168,-0.77,-121.7,22.9,-22.3,25,175,0.50,2.12,0.00,0.000,6,0.168,0.029,2293,2446,3990
$GC,512,-0.90,-121.7,70.9,-13.3,86,519,0.12,2.00,0.00,0.000,4,0.075,0.044,2232,3757,3991
$GC,773,-0.82,-121.7,109.3,-13.9,132,779,0.17,1.90,0.00,0.000,6,0.164,0.022,2280,2405,3992
$GC,1118,-1.26,-121.7,141.8,-10.1,193,1125,0.35,2.08,0.00,0.000,4,0.051,0.043,2124,3754,3995
$GC,1373,-0.86,-121.7,188.8,-19.4,238,1380,0.50,1.80,0.00,0.000,6,0.169,0.024,2265,2471,3996
$GC,1722,-1.26,-121.7,225.7,-9.0,299,1729,0.32,1.98,0.00,0.000,4,0.054,0.044,2125,3755,3996
$GC,1978,-0.89,-121.7,266.3,-17.2,344,1984,0.45,1.75,0.00,0.000,6,0.166,0.025,2251,2513,3996
$GC,2320,-1.14,-121.7,305.8,-10.8,400,2325,0.20,1.92,0.00,0.000,4,0.062,0.044,2162,3765,3996
$GC,2464,-0.96,-121.7,325.1,-12.3,412,2471,0.25,1.73,0.00,0.000,6,0.159,0.024,2231,2540,3995
$GC,2790,-1.13,-121.7,355.7,-9.4,443,2794,0.15,1.88,0.00,0.000,4,0.071,0.045,2166,3757,3996
$GC,2907,-1.00,-121.7,370.5,-12.2,453,2913,0.20,1.70,0.00,0.000,6,0.162,0.025,2220,2555,3996
$GC,3234,-1.17,-121.7,403.5,-9.8,484,3238,0.15,1.85,0.00,0.000,4,0.070,0.044,2153,3756,3996
$GC,3488,-1.00,-121.7,438.7,-14.3,506,3494,0.25,1.67,0.00,0.000,6,0.160,0.026,2221,2578,3994
$GC,3813,-1.35,-121.7,471.5,-10.7,537,3818,0.28,2.20,0.00,0.000,4,0.059,0.025,2107,1053,3993
$GC,3903,-1.15,-121.7,485.2,-15.6,544,3909,0.28,2.20,0.00,0.000,6,0.170,0.032,2172,2523,3993
$GC,4235,-1.15,-121.7,525.2,-11.7,566,4238,0.00,1.88,0.00,0.000,4,0.000,0.046,2165,3757,3991
$GC,4366,-1.07,-121.7,541.3,-12.3,571,4373,0.12,1.73,0.00,0.000,6,0.166,0.026,2195,2553,3991
$GC,4682,-1.18,-121.7,574.5,-10.3,587,4687,0.00,1.88,0.00,0.000,4,0.000,0.049,2192,3760,3989
$GC,4761,-1.25,-121.7,583.2,-10.6,590,4765,0.15,1.70,0.00,0.000,6,0.074,0.027,2133,2576,3988
$GC,5082,-1.13,-121.7,624.4,-13.0,606,5087,0.17,1.85,0.00,0.000,4,0.173,0.048,2178,3760,3986
$GC,5262,-1.13,-121.7,645.3,-10.7,614,5266,0.00,1.70,0.00,0.000,6,0.000,0.028,2178,2605,3985
$GC,5595,-1.18,-121.7,678.3,-9.7,630,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2605,3982
$GC,5905,-1.24,-121.7,708.2,-10.3,645,5909,0.00,1.80,0.00,0.000,4,0.000,0.052,2178,3754,3980
$GC,5997,-1.24,-121.7,718.5,-11.4,649,6000,0.00,1.65,0.00,0.000,6,0.000,0.029,2178,2617,3980
$GC,6330,-1.30,-121.7,757.4,-11.9,665,6335,0.15,2.30,0.00,0.000,4,0.081,0.028,2119,1047,3977
$GC,6442,-1.18,-121.7,772.7,-13.6,670,6447,0.20,2.35,0.00,0.000,6,0.177,0.036,2162,2589,3976
$GC,6763,-1.18,-121.7,812.0,-12.5,686,6766,0.00,1.83,0.00,0.000,4,0.000,0.052,2156,3749,3974
$GC,6909,-1.12,-121.7,831.8,-13.5,692,6912,0.00,1.65,0.00,0.000,6,0.000,0.029,2156,2638,3973
$GC,7230,-1.12,-121.7,874.8,-13.5,708,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2638,3971
$GC,7540,-1.12,-121.7,914.4,-12.0,723,7544,0.00,2.33,0.00,0.000,4,0.000,0.030,2156,1055,3969
$GC,7573,-1.12,-121.7,918.7,-12.0,724,7577,0.12,2.38,0.00,0.000,6,0.176,0.038,2181,2603,3968
$GC,7889,-1.22,-121.7,949.6,-9.3,739,7897,0.00,1.80,0.00,0.000,4,0.000,0.055,2178,3755,3966
$GC,8052,-1.27,-121.7,965.1,-9.6,746,8056,0.10,1.65,0.00,0.000,6,0.073,0.031,2132,2657,3966
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8285,-0.22,0.0,991.7,11.6,757,8381,1.17,0.00,90.12,1.408,6,0.176,0.000,2464,2548,3532
$STATE,8382,end apogee,CONTROL_FINISHED_OK
$STATE,8382,begin climb
$GC,8384,1.18,121.7,996.0,0.0,762,8496,1.30,2.12,103.03,1.367,4,0.064,0.050,2925,3760,3034
$GC,8586,0.44,121.7,989.8,12.2,771,8591,0.98,1.95,0.00,0.000,6,0.212,0.026,2688,2477,3032
$GC,8903,0.67,207.8,968.5,6.3,786,8981,0.17,2.17,70.40,1.351,4,0.081,0.032,2762,1122,2685
$GC,9100,0.69,224.4,948.2,10.9,795,9123,0.00,2.15,15.07,1.246,6,0.000,0.037,2762,2487,2617
$GC,9431,0.72,246.7,912.2,10.5,811,9455,0.00,2.17,18.85,1.276,4,0.000,0.032,2762,1123,2525
$GC,9518,0.84,262.2,902.8,11.0,814,9538,0.15,2.15,14.07,1.230,6,0.084,0.037,2818,2496,2463
$GC,9857,0.74,262.2,858.0,13.7,831,9862,0.12,2.08,0.00,0.000,4,0.183,0.031,2796,1120,2459
$GC,10102,0.74,262.2,825.9,13.2,842,10106,0.00,2.05,0.00,0.000,6,0.000,0.036,2796,2454,2458
$GC,10429,0.74,262.2,784.1,12.4,858,10433,0.00,2.03,0.00,0.000,4,0.000,0.033,2799,1109,2456
$GC,10524,0.74,262.2,772.7,12.1,862,10528,0.00,2.03,0.00,0.000,6,0.000,0.037,2799,2435,2456
$GC,10852,0.75,266.5,735.4,11.7,878,10861,0.00,2.03,4.18,0.851,4,0.000,0.033,2801,1118,2445
$GC,11041,0.75,266.5,711.9,12.6,886,11045,0.00,1.98,0.00,0.000,6,0.000,0.037,2801,2395,2444
$GC,11363,0.75,266.5,669.1,13.7,902,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2395,2443
$GC,11671,0.75,266.5,628.9,12.3,917,11675,0.00,1.90,0.00,0.000,4,0.000,0.032,2802,1120,2443
$GC,11744,0.77,283.2,620.9,10.9,920,11764,0.00,1.95,15.30,1.132,6,0.000,0.036,2802,2406,2377
$GC,12092,0.79,297.9,583.0,11.0,937,12113,0.00,2.00,13.68,1.088,4,0.000,0.033,2806,1117,2315
$GC,12137,0.88,321.1,578.1,10.5,939,12163,0.00,1.98,20.02,1.095,6,0.000,0.036,2806,2393,2223
$GC,12494,0.96,321.5,536.0,12.0,956,12496,0.15,0.00,0.00,0.000,6,0.077,0.000,2865,2395,2218
$GC,12802,0.86,321.5,489.7,15.3,974,12806,0.17,1.92,0.00,0.000,4,0.184,0.029,2828,1108,2217
$GC,12881,0.91,321.5,478.8,13.3,981,12885,0.00,1.95,0.00,0.000,6,0.000,0.035,2828,2395,2217
$GC,13214,0.91,321.5,435.0,12.0,1012,13217,0.00,1.90,0.00,0.000,4,0.000,0.031,2828,1119,2217
$GC,13249,0.98,321.5,430.6,12.2,1015,13253,0.00,1.90,0.00,0.000,6,0.000,0.034,2828,2374,2217
$GC,13581,1.01,345.0,393.7,10.5,1046,13604,0.12,0.00,20.20,0.963,6,0.081,0.000,2879,2375,2124
$GC,13918,0.94,345.0,346.1,14.8,1078,13922,0.12,1.90,0.00,0.000,4,0.187,0.029,2856,1101,2121
$GC,14002,0.94,345.0,335.0,12.9,1085,14008,0.00,1.92,0.00,0.000,6,0.000,0.033,2856,2371,2120
$GC,14330,0.94,345.0,291.9,13.8,1121,14336,0.00,2.17,0.00,0.000,4,0.000,0.048,2856,3771,2120
$GC,14358,0.94,345.0,287.9,14.9,1126,14364,0.00,2.05,0.00,0.000,6,0.000,0.025,2866,2366,2120
$GC,14702,0.96,362.3,246.7,10.9,1187,14722,0.00,1.90,14.90,0.822,4,0.000,0.031,2869,1113,2054
$GC,14790,1.04,373.8,236.7,11.2,1202,14806,0.00,1.90,10.85,0.778,6,0.000,0.032,2869,2369,2007
$GC,15145,1.09,373.8,193.1,13.4,1264,15151,0.00,1.88,0.00,0.000,4,0.000,0.030,2871,1104,2004
$GC,15181,1.17,373.8,188.4,13.2,1270,15187,0.15,1.90,0.00,0.000,6,0.078,0.031,2929,2370,2004
$GC,15526,1.09,377.6,139.9,11.8,1331,15535,0.12,2.22,4.45,0.551,4,0.177,0.046,2899,3775,1992
$GC,15582,1.02,377.6,133.0,12.2,1340,15588,0.12,2.08,0.00,0.000,6,0.185,0.025,2876,2350,1991
$GC,15927,1.18,396.3,99.2,10.8,1401,15952,0.15,2.25,16.60,0.691,4,0.079,0.046,2934,3758,1915
$GC,15982,1.04,396.3,91.6,16.4,1410,15988,0.22,2.03,0.00,0.000,6,0.173,0.025,2881,2369,1913
$GC,16328,1.36,484.4,57.2,6.2,1471,16405,0.25,1.90,68.45,0.666,4,0.064,0.029,2996,1103,1555
$GC,16484,1.36,484.4,36.0,14.4,1498,16490,0.00,1.95,0.00,0.000,6,0.000,0.031,2997,2384,1549
$STATE,16741,end climb,SURFACE_DEPTH_REACHED
$STATE,16741,begin surface coast
$FINISH,1.7,1.021196
$STATE,16765,end surface coast,CONTROL_FINISHED_OK
$STATE,16766,begin surface
$SM_CCo,16843,0.00,0.000,0,0,1544,487.41
$SM_GC,2.60,7.68,0.00,0.00,0.054,0.000,0.000,141,2433,1544,-7.50,0.17,487.41
$IRIDIUM_FIX,2448.93,12415.70,061098,202036
$TT8_MAMPS,0.028379
$HUMID,1639
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.6,53.135
$10V_AH,10.8,29.978
$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,26.800,129.900,500.175,0.000,0.000,58.915,73.850,282.108,8.000,0.000,0.000,13.339,2776.011,10422.072,600.415,2867.801,787.198,0.000,2040.963,0.000,2803.212,0.000,56.052,0.000
$DEVICE_MAMPS,241.605,150.332,1408.212,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.375,1071.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82113,1548
$CAP_FILE_SIZE,175232,0
$CFSIZE,260165632,200843264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 59.8,1
$GPS,130709,012309,2458.624,12415.373,38,1.3,39,-3.7