version: 66.04
glider: 167
mission: 2
dive: 244
start: 7 1 109 6 36 11
data:
$ID,167
$MISSION,2
$DIVE,244
$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,-4
$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,-9940.1436
$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,35
$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
$GPS1,062907,2515.917,12337.606,36,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-69.5
$GPS2,063549,2516.079,12337.707,16,1.7,33,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,292.7,60892,-23.2,-12.000
$D_GRID,1893
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.58,0.000,2,0.000,0.000,141,2448,2406
$GC,44,-1.18,-121.7,3.3,-3.7,4,111,8.38,2.12,-48.85,0.000,4,0.244,0.040,2157,1020,3989
$GC,168,-0.56,-121.7,25.5,-29.3,25,175,0.75,2.12,0.00,0.000,6,0.179,0.031,2358,2435,3990
$GC,514,-0.79,-121.7,74.5,-11.9,86,521,0.20,2.03,0.00,0.000,4,0.061,0.045,2262,3755,3992
$GC,702,-0.65,-121.7,107.5,-16.8,119,708,0.25,1.90,0.00,0.000,6,0.154,0.023,2333,2406,3992
$GC,1046,-0.94,-121.7,145.2,-9.6,180,1053,0.22,2.08,0.00,0.000,4,0.061,0.044,2224,3753,3993
$GC,1116,-0.81,-121.7,155.5,-15.6,192,1122,0.20,1.83,0.00,0.000,6,0.160,0.023,2279,2450,3994
$GC,1462,-0.97,-121.7,196.5,-11.5,253,1468,0.15,2.00,0.00,0.000,4,0.070,0.044,2207,3752,3995
$GC,1508,-0.82,-121.7,203.7,-16.3,261,1515,0.25,1.83,0.00,0.000,6,0.160,0.024,2278,2455,3996
$GC,1853,-1.02,-121.7,241.4,-8.3,322,1860,0.17,2.00,0.00,0.000,4,0.066,0.045,2192,3755,3996
$GC,1976,-0.89,-121.7,257.3,-13.3,343,1983,0.22,1.77,0.00,0.000,6,0.161,0.025,2254,2495,3996
$GC,2322,-1.04,-121.7,292.4,-10.9,404,2328,0.12,1.95,0.00,0.000,4,0.071,0.045,2192,3761,3996
$GC,2471,-0.93,-121.7,314.7,-15.4,422,2475,0.17,1.77,0.00,0.000,6,0.162,0.025,2239,2507,3996
$GC,2801,-1.06,-121.7,352.9,-10.9,453,2806,0.12,1.92,0.00,0.000,4,0.074,0.046,2183,3754,3997
$GC,2930,-0.95,-121.7,369.9,-13.9,464,2937,0.20,1.75,0.00,0.000,6,0.162,0.025,2237,2520,3996
$GC,3257,-1.09,-121.7,400.6,-10.2,495,3261,0.15,1.92,0.00,0.000,4,0.069,0.048,2176,3760,3996
$GC,3440,-0.98,-121.7,426.3,-14.7,511,3446,0.20,1.75,0.00,0.000,6,0.162,0.027,2229,2536,3996
$GC,3765,-1.12,-121.7,461.9,-10.1,542,3769,0.12,1.90,0.00,0.000,4,0.077,0.049,2178,3755,3994
$GC,3856,-1.02,-121.7,473.8,-13.4,550,3860,0.15,1.73,0.00,0.000,6,0.170,0.027,2216,2551,3994
$GC,4183,-1.13,-121.7,511.8,-11.2,576,4187,0.12,1.88,0.00,0.000,4,0.078,0.050,2164,3750,3992
$GC,4327,-1.01,-121.7,530.7,-13.3,582,4331,0.20,1.70,0.00,0.000,6,0.170,0.028,2217,2572,3991
$GC,4655,-1.13,-121.7,564.5,-10.1,598,4659,0.12,1.85,0.00,0.000,4,0.081,0.051,2165,3750,3990
$GC,4778,-1.02,-121.7,581.2,-13.6,603,4782,0.20,1.67,0.00,0.000,6,0.171,0.028,2218,2589,3989
$GC,5100,-1.16,-121.7,613.6,-9.5,619,5105,0.15,1.83,0.00,0.000,4,0.075,0.051,2155,3753,3986
$GC,5146,-1.03,-121.7,619.4,-13.8,621,5151,0.22,1.67,0.00,0.000,6,0.173,0.028,2215,2597,3985
$GC,5481,-1.16,-121.7,652.5,-10.0,637,5483,0.12,0.00,0.00,0.000,6,0.082,0.000,2165,2597,3983
$GC,5788,-1.11,-121.7,691.2,-12.6,652,5792,0.00,1.83,0.00,0.000,4,0.000,0.054,2158,3755,3980
$GC,5949,-0.99,-121.7,712.4,-13.1,659,5953,0.25,1.70,0.00,0.000,6,0.170,0.030,2225,2593,3979
$GC,6282,-1.18,-121.7,744.3,-9.5,675,6286,0.17,1.83,0.00,0.000,4,0.074,0.054,2153,3748,3976
$GC,6314,-1.07,-121.7,748.8,-13.7,676,6319,0.17,1.67,0.00,0.000,6,0.177,0.029,2196,2599,3976
$GC,6636,-1.15,-121.7,787.3,-12.1,692,6640,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3750,3975
$GC,6798,-1.15,-121.7,808.7,-13.6,699,6802,0.00,1.70,0.00,0.000,6,0.000,0.030,2193,2610,3973
$GC,7126,-1.22,-121.7,848.5,-11.8,715,7130,0.12,1.80,0.00,0.000,4,0.090,0.054,2139,3748,3971
$GC,7154,-1.13,-121.7,852.4,-14.6,716,7158,0.15,1.67,0.00,0.000,6,0.186,0.030,2175,2604,3971
$GC,7480,-1.13,-121.7,891.3,-11.8,732,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2604,3969
$GC,7791,-1.13,-121.7,927.2,-11.4,747,7795,0.00,1.83,0.00,0.000,4,0.000,0.056,2169,3751,3967
$GC,7914,-1.13,-121.7,942.3,-12.2,752,7918,0.00,1.70,0.00,0.000,6,0.000,0.031,2169,2619,3967
$GC,8236,-1.13,-121.7,977.5,-10.9,768,8239,0.00,1.80,0.00,0.000,4,0.000,0.056,2166,3751,3965
$GC,8292,-1.07,-121.7,984.2,-11.3,770,8296,0.12,1.67,0.00,0.000,6,0.186,0.031,2194,2615,3965
$STATE,8363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8363,begin apogee
$GC,8369,-0.22,0.0,991.4,9.9,774,8466,0.93,0.00,89.07,1.419,6,0.157,0.000,2472,2536,3532
$STATE,8467,end apogee,CONTROL_FINISHED_OK
$STATE,8467,begin climb
$GC,8470,1.18,121.7,994.7,0.0,779,8579,1.27,2.38,101.80,1.378,4,0.064,0.031,2934,1093,3035
$GC,8832,0.60,121.7,965.3,13.3,795,8837,0.75,2.22,0.00,0.000,6,0.214,0.038,2743,2512,3031
$GC,9154,0.58,172.0,936.6,8.7,811,9200,0.00,2.22,41.03,1.344,4,0.000,0.031,2746,1105,2829
$GC,9437,0.63,206.1,908.4,9.7,824,9471,0.00,2.17,28.25,1.312,6,0.000,0.038,2746,2493,2690
$GC,9790,0.66,229.8,871.5,10.4,841,9815,0.00,2.17,20.55,1.280,4,0.000,0.033,2746,1101,2594
$GC,9947,0.82,259.2,855.3,10.1,848,9977,0.17,2.15,24.62,1.279,6,0.081,0.037,2809,2473,2475
$GC,10294,0.73,259.2,805.4,14.9,865,10298,0.00,2.10,0.00,0.000,4,0.000,0.034,2815,1101,2469
$GC,10385,0.68,259.2,791.6,15.2,869,10390,0.20,2.15,0.00,0.000,6,0.183,0.037,2765,2485,2469
$GC,10712,0.75,259.2,748.9,12.9,885,10715,0.00,2.00,0.00,0.000,4,0.000,0.053,2764,3757,2467
$GC,10734,0.75,259.2,745.7,13.6,886,10738,0.00,1.92,0.00,0.000,6,0.000,0.028,2772,2454,2467
$GC,11067,0.79,259.2,703.3,12.4,902,11071,0.00,2.03,0.00,0.000,4,0.000,0.033,2775,1094,2466
$GC,11168,0.87,259.2,691.0,12.0,906,11172,0.15,2.12,0.00,0.000,6,0.084,0.037,2831,2477,2466
$GC,11484,0.75,259.2,644.2,15.5,921,11488,0.17,2.03,0.00,0.000,4,0.186,0.052,2782,3769,2465
$GC,11506,0.67,259.2,640.8,14.8,922,11510,0.00,1.98,0.00,0.000,6,0.000,0.027,2786,2454,2465
$GC,11838,0.67,259.2,598.0,13.0,938,11842,0.00,2.03,0.00,0.000,4,0.000,0.033,2794,1086,2464
$GC,11989,0.72,259.2,578.2,12.0,944,11995,0.00,2.08,0.00,0.000,6,0.000,0.036,2794,2449,2464
$GC,12305,0.72,265.3,539.8,11.6,960,12314,0.00,2.05,4.80,0.852,4,0.000,0.032,2799,1092,2450
$GC,12354,0.72,266.1,533.7,12.0,962,12357,0.00,2.08,0.00,0.000,6,0.000,0.037,2800,2445,2449
$GC,12671,0.73,271.1,496.9,11.7,978,12684,0.00,2.10,6.68,0.937,4,0.000,0.031,2799,1090,2425
$GC,12769,0.80,273.3,484.9,11.9,986,12775,0.00,2.05,0.00,0.000,6,0.000,0.037,2799,2430,2425
$GC,13095,0.80,273.3,445.1,12.2,1017,13098,0.00,2.00,0.00,0.000,4,0.000,0.032,2799,1097,2424
$GC,13145,0.89,282.7,439.0,11.4,1021,13164,0.00,2.03,11.05,0.978,6,0.000,0.035,2800,2428,2379
$GC,13481,0.96,299.5,399.7,10.9,1053,13505,0.15,2.12,14.85,0.967,4,0.076,0.054,2859,3758,2310
$GC,13533,0.75,299.5,392.0,15.8,1057,13540,0.30,2.03,0.00,0.000,6,0.190,0.027,2790,2413,2309
$GC,13858,0.91,316.4,358.1,10.9,1088,13881,0.15,2.00,14.62,0.927,4,0.084,0.031,2853,1080,2241
$GC,13942,0.91,316.4,346.6,13.9,1095,13948,0.00,2.10,0.00,0.000,6,0.000,0.035,2853,2441,2240
$GC,14270,0.91,316.4,303.2,12.6,1126,14274,0.00,2.03,0.00,0.000,4,0.000,0.031,2859,1090,2239
$GC,14361,0.91,316.4,290.7,12.8,1140,14367,0.00,2.03,0.00,0.000,6,0.000,0.034,2859,2420,2239
$GC,14705,0.91,316.4,242.9,12.0,1201,14711,0.00,2.10,0.00,0.000,4,0.000,0.050,2859,3768,2238
$GC,14743,0.77,316.4,238.1,13.6,1207,14749,0.28,2.03,0.00,0.000,6,0.179,0.025,2794,2386,2238
$GC,15087,1.07,367.5,207.3,8.6,1268,15135,0.22,1.92,41.00,0.821,4,0.071,0.028,2898,1101,2031
$GC,15310,1.07,367.5,177.2,14.0,1307,15316,0.00,2.00,0.00,0.000,6,0.000,0.031,2898,2412,2027
$GC,15654,1.09,378.8,133.5,11.3,1368,15672,0.00,2.00,9.18,0.681,4,0.000,0.030,2902,1102,1986
$GC,15926,1.26,418.0,106.7,9.4,1416,15968,0.15,1.92,31.73,0.709,6,0.081,0.031,2962,2386,1826
$GC,16308,1.27,425.4,58.5,11.5,1483,16319,0.00,0.00,6.82,0.568,6,0.000,0.000,2962,2386,1796
$GC,16657,1.35,446.1,14.9,10.6,1545,16681,0.00,1.92,17.58,0.603,4,0.000,0.029,2968,1086,1713
$STATE,16754,end climb,SURFACE_DEPTH_REACHED
$STATE,16755,begin surface coast
$FINISH,1.8,1.013498
$STATE,16778,end surface coast,CONTROL_FINISHED_OK
$STATE,16778,begin surface
$SM_CCo,16858,0.00,0.000,0,0,1709,447.18
$SM_GC,2.71,7.57,0.00,0.00,0.052,0.000,0.000,140,2442,1709,-7.51,0.42,447.18
$IRIDIUM_FIX,2505.59,12340.08,250998,010122
$TT8_MAMPS,0.029146
$HUMID,1576
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.6,43.171
$10V_AH,10.8,24.486
$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,26.675,140.425,463.625,0.000,0.000,30.654,32.622,181.440,8.000,0.000,0.000,35.205,2816.114,10341.531,575.032,2940.485,576.457,0.000,2044.463,0.000,2852.537,0.000,54.422,0.000
$DEVICE_MAMPS,243.906,88.972,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.399,1078.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85215,1566
$CAP_FILE_SIZE,179058,0
$CFSIZE,260165632,205922304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 90.4,1
$GPS,010709,111825,2517.338,12337.134,41,1.0,42,-3.7