version: 66.04
glider: 167
mission: 2
dive: 245
start: 7 1 109 11 25 51
data:
$ID,167
$MISSION,2
$DIVE,245
$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,-9971.0967
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,111825,2517.338,12337.134,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-67.9
$GPS2,112531,2517.416,12337.197,13,1.2,30,-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,303.6,58455,-23.2,-12.000
$D_GRID,1860
$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,-22.73,0.000,2,0.000,0.000,140,2442,2284
$GC,43,-1.18,-121.7,3.1,-2.8,4,117,8.50,2.15,-56.03,0.000,4,0.246,0.038,2158,1015,3989
$GC,152,-0.65,-121.7,18.2,-26.7,21,160,0.65,2.15,0.00,0.000,6,0.176,0.031,2332,2441,3991
$GC,498,-0.77,-121.7,73.2,-12.0,82,504,0.00,2.03,0.00,0.000,4,0.000,0.048,2328,3758,3992
$GC,757,-0.92,-121.7,109.7,-14.5,128,764,0.22,1.92,0.00,0.000,6,0.062,0.023,2231,2399,3993
$GC,1102,-0.80,-121.7,161.3,-16.3,189,1110,0.17,2.10,0.00,0.000,4,0.159,0.044,2276,3761,3994
$GC,1179,-0.88,-121.7,172.4,-14.0,202,1185,0.00,1.83,0.00,0.000,6,0.000,0.024,2276,2462,3995
$GC,1524,-1.04,-121.7,213.4,-11.3,263,1531,0.17,2.00,0.00,0.000,4,0.067,0.045,2192,3760,3996
$GC,1662,-0.86,-121.7,235.0,-14.9,287,1669,0.25,1.77,0.00,0.000,6,0.162,0.025,2261,2500,3996
$GC,2007,-1.04,-121.7,272.3,-9.5,348,2013,0.15,1.95,0.00,0.000,4,0.072,0.045,2192,3766,3997
$GC,2267,-0.91,-121.7,307.2,-14.7,390,2271,0.22,1.77,0.00,0.000,6,0.159,0.024,2255,2500,3996
$GC,2597,-1.09,-121.7,344.2,-12.0,421,2599,0.17,0.00,0.00,0.000,6,0.064,0.000,2180,2500,3996
$GC,2915,-1.00,-121.7,387.9,-13.5,451,2920,0.17,1.95,0.00,0.000,4,0.166,0.046,2219,3760,3996
$GC,3175,-1.05,-121.7,417.6,-10.9,474,3179,0.00,1.77,0.00,0.000,6,0.000,0.027,2219,2535,3996
$GC,3506,-1.15,-121.7,454.1,-11.2,505,3511,0.12,1.90,0.00,0.000,4,0.081,0.049,2164,3754,3995
$GC,3755,-1.01,-121.7,489.8,-13.8,527,3759,0.20,1.73,0.00,0.000,6,0.169,0.028,2217,2552,3994
$GC,4080,-1.13,-121.7,523.0,-9.9,547,4084,0.10,1.88,0.00,0.000,4,0.087,0.050,2176,3751,3993
$GC,4135,-1.05,-121.7,529.9,-12.4,549,4140,0.12,1.73,0.00,0.000,6,0.174,0.027,2205,2549,3993
$GC,4457,-1.13,-121.7,566.6,-11.5,565,4461,0.00,1.90,0.00,0.000,4,0.000,0.052,2205,3763,3991
$GC,4525,-1.18,-121.7,574.8,-12.1,568,4531,0.08,1.77,0.00,0.000,6,0.069,0.028,2163,2564,3990
$GC,4860,-1.11,-121.7,619.6,-12.7,584,4863,0.00,1.85,0.00,0.000,4,0.000,0.051,2159,3757,3987
$GC,4960,-0.97,-121.7,633.2,-13.5,588,4964,0.28,1.73,0.00,0.000,6,0.168,0.028,2233,2567,3986
$GC,5282,-1.18,-121.7,660.0,-8.0,604,5286,0.17,2.20,0.00,0.000,4,0.074,0.028,2161,1063,3984
$GC,5314,-1.18,-121.7,663.5,-10.9,605,5322,0.00,2.22,0.00,0.000,6,0.000,0.036,2153,2527,3984
$GC,5630,-1.07,-121.7,703.8,-13.2,621,5634,0.17,1.90,0.00,0.000,4,0.181,0.051,2192,3751,3981
$GC,5802,-1.07,-121.7,725.4,-11.9,628,5806,0.00,1.73,0.00,0.000,6,0.000,0.028,2192,2565,3979
$GC,6124,-1.13,-121.7,765.1,-12.7,644,6128,0.00,1.88,0.00,0.000,4,0.000,0.054,2192,3751,3977
$GC,6179,-1.13,-121.7,772.6,-12.8,646,6183,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2574,3977
$GC,6502,-1.20,-121.7,811.4,-11.7,662,6505,0.00,1.88,0.00,0.000,4,0.000,0.055,2192,3757,3974
$GC,6580,-1.20,-121.7,821.4,-12.9,665,6583,0.00,1.70,0.00,0.000,6,0.000,0.030,2192,2591,3974
$GC,6901,-1.27,-121.7,860.0,-12.0,681,6903,0.17,0.00,0.00,0.000,6,0.080,0.000,2126,2592,3972
$GC,7211,-1.11,-121.7,905.4,-14.4,696,7215,0.20,1.85,0.00,0.000,4,0.188,0.053,2175,3756,3970
$GC,7283,-1.11,-121.7,915.0,-12.8,699,7286,0.00,1.75,0.00,0.000,6,0.000,0.030,2175,2588,3969
$GC,7610,-1.11,-121.7,955.7,-12.6,715,7613,0.00,1.85,0.00,0.000,4,0.000,0.056,2175,3753,3967
$GC,7665,-1.11,-121.7,963.3,-14.0,717,7669,0.00,1.73,0.00,0.000,6,0.000,0.030,2176,2598,3967
$STATE,7880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7880,begin apogee
$GC,7885,-0.22,0.0,990.5,12.5,728,7982,1.00,0.00,89.12,1.416,6,0.163,0.000,2470,2598,3531
$STATE,7983,end apogee,CONTROL_FINISHED_OK
$STATE,7983,begin climb
$GC,7985,1.18,121.7,995.4,0.0,733,8096,1.25,2.03,101.82,1.373,4,0.058,0.052,2922,3748,3035
$GC,8309,0.43,121.7,973.8,13.1,747,8314,0.95,1.83,0.00,0.000,6,0.219,0.028,2692,2531,3031
$GC,8626,0.63,207.5,953.3,6.3,762,8703,0.17,2.28,69.45,1.353,4,0.084,0.033,2759,1122,2684
$GC,8762,0.68,207.6,939.5,12.0,768,8766,0.00,2.20,0.00,0.000,6,0.000,0.035,2759,2507,2681
$GC,9083,0.68,207.6,898.8,13.0,784,9086,0.00,2.12,0.00,0.000,4,0.000,0.030,2759,1107,2678
$GC,9265,0.73,207.6,876.4,12.5,792,9268,0.00,2.15,0.00,0.000,6,0.000,0.038,2759,2491,2677
$GC,9597,0.74,213.5,836.4,11.6,808,9607,0.00,2.10,5.05,0.974,4,0.000,0.031,2759,1106,2660
$GC,9730,0.82,230.0,822.3,10.9,814,9752,0.15,2.12,15.20,1.237,6,0.087,0.038,2816,2478,2593
$GC,10063,0.68,230.0,778.3,13.1,830,10068,0.17,2.08,0.00,0.000,4,0.186,0.031,2775,1110,2590
$GC,10174,0.69,238.7,764.8,11.4,835,10191,0.00,2.08,7.85,1.106,6,0.000,0.036,2775,2455,2558
$GC,10500,0.69,238.7,724.6,12.2,851,10504,0.00,2.03,0.00,0.000,4,0.000,0.033,2775,1119,2557
$GC,10628,0.71,255.1,709.5,10.9,856,10648,0.00,2.03,14.45,1.182,6,0.000,0.035,2775,2438,2491
$GC,10965,0.72,261.8,669.4,11.6,873,10979,0.00,2.08,6.80,1.023,4,0.000,0.032,2775,1113,2464
$GC,11013,0.82,261.8,663.5,12.6,875,11017,0.10,2.05,0.00,0.000,6,0.097,0.035,2814,2442,2463
$GC,11339,0.75,261.8,618.8,13.7,891,11343,0.00,2.00,0.00,0.000,4,0.000,0.031,2816,1113,2462
$GC,11535,0.75,261.8,593.3,12.8,899,11541,0.00,2.03,0.00,0.000,6,0.000,0.036,2816,2439,2461
$GC,11851,0.69,261.8,553.5,12.4,915,11853,0.17,0.00,0.00,0.000,6,0.176,0.000,2771,2441,2460
$GC,12161,0.82,295.2,522.4,9.8,930,12196,0.12,2.08,28.15,1.100,4,0.090,0.031,2825,1112,2327
$GC,12331,0.82,296.4,500.7,11.9,937,12338,0.00,2.03,0.00,0.000,6,0.000,0.036,2825,2420,2323
$GC,12659,0.83,302.6,461.9,11.6,967,12671,0.00,2.17,6.90,0.905,4,0.000,0.052,2825,3761,2297
$GC,12688,0.75,302.6,457.6,12.4,969,12695,0.20,2.00,0.00,0.000,6,0.189,0.027,2784,2411,2297
$GC,13013,0.89,311.2,421.9,11.4,1000,13028,0.15,2.20,8.50,0.917,4,0.079,0.051,2840,3765,2262
$GC,13046,0.77,311.2,417.2,15.2,1003,13050,0.20,2.00,0.00,0.000,6,0.191,0.028,2794,2433,2262
$GC,13376,0.91,311.2,375.6,12.3,1034,13381,0.12,1.95,0.00,0.000,4,0.088,0.030,2842,1116,2261
$GC,13524,0.91,311.2,356.4,12.6,1047,13528,0.00,2.00,0.00,0.000,6,0.000,0.035,2842,2428,2260
$GC,13857,0.91,311.2,312.4,13.9,1078,13861,0.00,1.98,0.00,0.000,4,0.000,0.031,2844,1107,2261
$GC,13992,0.91,311.2,293.9,13.6,1094,13998,0.00,1.95,0.00,0.000,6,0.000,0.035,2844,2398,2260
$GC,14336,0.91,313.0,250.4,11.9,1155,14342,0.00,1.92,0.00,0.000,4,0.000,0.031,2845,1104,2261
$GC,14389,1.00,336.1,244.6,10.5,1164,14418,0.00,1.95,20.90,0.849,6,0.000,0.034,2844,2401,2161
$GC,14758,1.10,354.4,201.3,10.8,1229,14782,0.15,1.98,15.68,0.787,4,0.076,0.029,2912,1113,2086
$GC,14817,1.02,354.4,193.0,14.5,1239,14824,0.15,1.92,0.00,0.000,6,0.179,0.035,2875,2372,2084
$GC,15161,1.10,381.0,150.2,10.2,1300,15191,0.00,1.92,21.55,0.752,4,0.000,0.028,2882,1117,1978
$GC,15433,1.32,428.5,120.7,8.9,1348,15476,0.25,1.80,37.88,0.726,6,0.067,0.031,2978,2314,1785
$GC,15816,1.24,428.5,66.7,14.9,1415,15823,0.15,1.80,0.00,0.000,4,0.183,0.027,2949,1101,1778
$GC,15904,1.32,433.5,55.8,11.7,1430,15915,0.00,1.77,4.93,0.509,6,0.000,0.030,2949,2291,1763
$GC,16254,1.42,433.5,13.6,12.3,1492,16260,0.15,1.75,0.00,0.000,4,0.074,0.028,3013,1100,1762
$GC,16328,1.42,433.5,3.4,13.9,1505,16335,0.00,1.75,0.00,0.000,6,0.000,0.028,3014,2288,1762
$STATE,16339,end climb,SURFACE_DEPTH_REACHED
$STATE,16339,begin surface coast
$FINISH,1.8,1.016903
$STATE,16369,end surface coast,CONTROL_FINISHED_OK
$STATE,16369,begin surface
$SM_CCo,16446,0.00,0.000,0,0,1760,434.43
$SM_GC,2.71,7.62,0.00,0.00,0.051,0.000,0.000,140,2457,1760,-7.50,0.85,434.43
$IRIDIUM_FIX,2505.59,12336.78,250998,060606
$TT8_MAMPS,0.029146
$HUMID,1606
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.6,43.339
$10V_AH,10.8,24.580
$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,25.575,132.600,454.225,0.000,0.000,24.250,41.274,206.332,8.000,0.000,0.000,30.325,2722.857,10125.318,568.025,2850.604,592.137,0.000,1993.895,0.000,2767.238,0.000,54.427,0.000
$DEVICE_MAMPS,246.207,56.758,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.229,1040.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82074,1512
$CAP_FILE_SIZE,172087,0
$CFSIZE,260165632,205836288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 74.2,1
$GPS,010709,160106,2519.249,12337.065,34,1.2,35,-3.8