version: 66.04
glider: 167
mission: 2
dive: 246
start: 7 1 109 16 7 42
data:
$ID,167
$MISSION,2
$DIVE,246
$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,-9988.1914
$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,54
$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
$GPS1,160106,2519.249,12337.065,34,1.2,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-68.0
$GPS2,160720,2519.385,12337.057,16,1.6,16,-3.8
$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,293.3,55585,-23.2,-12.000
$D_GRID,1853
$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,14,-1.18,-121.7,0.0,0.0,0,36,0.00,0.00,-19.67,0.000,2,0.000,0.000,140,2457,2252
$GC,39,-1.18,-121.7,3.1,-3.2,3,114,8.27,2.12,-59.83,0.000,4,0.239,0.039,2160,1020,3984
$GC,212,-0.66,-121.7,35.6,-26.8,32,219,0.62,2.10,-0.08,0.000,6,0.171,0.031,2329,2421,3992
$GC,557,-0.83,-121.7,85.7,-12.3,93,564,0.15,2.05,0.00,0.000,4,0.071,0.046,2261,3754,3993
$GC,796,-0.83,-121.7,124.8,-16.2,135,802,0.00,1.90,0.00,0.000,6,0.000,0.024,2261,2407,3994
$GC,1140,-0.91,-121.7,172.0,-12.1,196,1146,0.00,2.08,0.00,0.000,4,0.000,0.045,2258,3753,3996
$GC,1181,-0.99,-121.7,176.8,-12.0,203,1186,0.00,1.83,0.00,0.000,6,0.000,0.024,2258,2445,3996
$GC,1525,-1.10,-121.7,216.6,-11.7,264,1532,0.17,2.03,0.00,0.000,4,0.064,0.045,2175,3757,3997
$GC,1647,-0.88,-121.7,236.0,-16.9,285,1655,0.30,1.83,0.00,0.000,6,0.161,0.024,2259,2461,3997
$GC,1993,-1.06,-121.7,274.7,-9.2,346,2001,0.17,2.00,0.00,0.000,4,0.067,0.045,2178,3757,3997
$GC,2047,-0.93,-121.7,281.9,-13.6,355,2054,0.22,1.83,0.00,0.000,6,0.157,0.025,2240,2465,3997
$GC,2383,-1.05,-121.7,318.1,-10.7,400,2386,0.00,2.00,0.00,0.000,4,0.000,0.047,2240,3759,3997
$GC,2440,-1.17,-121.7,324.4,-10.8,405,2445,0.20,1.80,0.00,0.000,6,0.065,0.025,2160,2488,3997
$GC,2771,-1.01,-121.7,370.5,-13.9,436,2775,0.20,1.95,0.00,0.000,4,0.165,0.044,2211,3753,3998
$GC,2854,-1.01,-121.7,381.4,-12.3,443,2860,0.00,1.77,0.00,0.000,6,0.000,0.025,2210,2495,3997
$GC,3182,-1.09,-121.7,421.1,-11.9,474,3186,0.00,1.95,0.00,0.000,4,0.000,0.048,2207,3757,3997
$GC,3254,-1.09,-121.7,430.5,-12.0,480,3260,0.00,1.80,0.00,0.000,6,0.000,0.026,2207,2517,3997
$GC,3582,-1.17,-121.7,465.3,-10.2,511,3586,0.12,1.92,0.00,0.000,4,0.080,0.048,2153,3753,3997
$GC,3754,-1.01,-121.7,488.7,-13.4,526,3760,0.25,1.75,0.00,0.000,6,0.163,0.027,2221,2532,3995
$GC,4075,-1.15,-121.7,521.3,-10.3,547,4080,0.15,1.90,0.00,0.000,4,0.071,0.050,2162,3756,3993
$GC,4153,-1.03,-121.7,531.9,-13.0,550,4157,0.17,1.75,0.00,0.000,6,0.170,0.028,2206,2541,3993
$GC,4475,-1.14,-121.7,565.2,-10.4,566,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2540,3992
$GC,4783,-1.24,-121.7,598.4,-10.9,581,4787,0.17,1.90,0.00,0.000,4,0.072,0.052,2138,3746,3990
$GC,4929,-1.07,-121.7,619.6,-14.4,587,4934,0.22,1.73,0.00,0.000,6,0.174,0.028,2196,2551,3989
$GC,5253,-1.15,-121.7,654.7,-10.6,603,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2551,3986
$GC,5561,-1.24,-121.7,686.8,-10.6,618,5565,0.15,1.90,0.00,0.000,4,0.079,0.052,2138,3754,3984
$GC,5674,-1.07,-121.7,702.9,-14.7,623,5678,0.22,1.75,0.00,0.000,6,0.176,0.028,2196,2555,3983
$GC,6008,-1.17,-121.7,737.0,-10.0,639,6011,0.00,1.88,0.00,0.000,4,0.000,0.053,2192,3746,3980
$GC,6070,-1.23,-121.7,744.1,-11.2,641,6078,0.12,1.73,0.00,0.000,6,0.085,0.029,2145,2565,3980
$GC,6385,-1.12,-121.7,787.1,-14.3,657,6389,0.15,1.88,0.00,0.000,4,0.186,0.052,2178,3747,3978
$GC,6418,-1.12,-121.7,791.9,-13.3,658,6422,0.00,1.75,0.00,0.000,6,0.000,0.029,2179,2573,3977
$GC,6740,-1.12,-121.7,831.0,-11.7,674,6744,0.00,1.88,0.00,0.000,4,0.000,0.055,2178,3755,3975
$GC,6773,-1.12,-121.7,835.4,-12.7,675,6777,0.00,1.75,0.00,0.000,6,0.000,0.030,2178,2586,3975
$GC,7095,-1.12,-121.7,871.5,-10.9,691,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2586,3973
$GC,7405,-1.12,-121.7,905.2,-11.1,706,7408,0.00,1.85,0.00,0.000,4,0.000,0.055,2175,3750,3971
$GC,7460,-1.12,-121.7,912.1,-13.0,708,7464,0.00,1.73,0.00,0.000,6,0.000,0.031,2175,2597,3971
$GC,7782,-1.12,-121.7,950.3,-12.5,724,7786,0.00,1.85,0.00,0.000,4,0.000,0.055,2168,3743,3969
$GC,7838,-1.12,-121.7,957.6,-12.8,726,7841,0.00,1.70,0.00,0.000,6,0.000,0.031,2168,2585,3969
$STATE,8094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8095,begin apogee
$GC,8100,-0.22,0.0,990.2,12.4,739,8201,1.02,0.00,91.68,1.391,6,0.163,0.000,2469,2584,3532
$STATE,8201,end apogee,CONTROL_FINISHED_OK
$STATE,8201,begin climb
$GC,8204,1.18,121.7,995.1,0.0,744,8313,1.30,2.00,102.10,1.374,4,0.062,0.051,2927,3754,3034
$GC,8567,0.41,121.7,966.0,14.4,761,8573,1.00,1.85,0.00,0.000,6,0.219,0.028,2684,2515,3030
$GC,8895,0.61,181.5,940.1,8.1,777,8948,0.17,2.20,48.17,1.345,4,0.081,0.033,2750,1115,2791
$GC,9044,0.61,181.5,922.6,13.2,784,9048,0.00,2.17,0.00,0.000,6,0.000,0.037,2749,2490,2787
$GC,9377,0.61,184.6,882.3,11.8,800,9380,0.00,2.00,0.00,0.000,4,0.000,0.054,2750,3757,2785
$GC,9410,0.48,184.6,877.9,13.3,801,9414,0.22,1.88,0.00,0.000,6,0.189,0.028,2701,2491,2784
$GC,9731,0.69,219.8,846.2,9.7,817,9768,0.20,2.12,31.52,1.301,4,0.082,0.034,2789,1120,2634
$GC,9819,0.69,219.8,834.7,13.0,821,9823,0.00,2.17,0.00,0.000,6,0.000,0.037,2789,2494,2632
$GC,10151,0.62,219.8,788.5,14.1,837,10156,0.17,2.10,0.00,0.000,4,0.189,0.031,2748,1106,2629
$GC,10202,0.73,219.8,782.1,12.8,839,10206,0.00,2.15,0.00,0.000,6,0.000,0.037,2748,2493,2629
$GC,10530,0.81,233.5,745.4,11.1,855,10547,0.17,2.15,11.50,1.173,4,0.077,0.032,2829,1122,2578
$GC,10633,0.69,233.5,730.6,14.5,858,10640,0.22,2.10,0.00,0.000,6,0.186,0.036,2773,2479,2577
$GC,10949,0.69,237.6,692.7,11.7,874,10955,0.00,0.00,4.38,0.862,6,0.000,0.000,2773,2479,2562
$GC,11257,0.71,251.5,657.8,11.1,889,11280,0.00,2.15,12.60,1.141,4,0.000,0.033,2775,1112,2505
$GC,11336,0.79,251.5,648.5,12.3,892,11340,0.00,2.10,0.00,0.000,6,0.000,0.036,2775,2468,2504
$GC,11657,0.79,251.5,608.2,12.9,908,11660,0.00,2.05,0.00,0.000,4,0.000,0.032,2775,1113,2503
$GC,11770,0.87,257.0,593.9,11.6,913,11781,0.15,2.08,5.70,0.937,6,0.083,0.037,2830,2457,2484
$GC,12099,0.75,257.0,547.2,13.8,929,12103,0.17,2.05,0.00,0.000,4,0.186,0.050,2781,3764,2483
$GC,12144,0.66,257.0,540.9,12.7,931,12149,0.12,1.95,0.00,0.000,6,0.195,0.028,2758,2447,2483
$GC,12478,0.81,279.9,506.9,10.5,947,12503,0.15,2.00,20.00,1.076,4,0.085,0.034,2815,1124,2390
$GC,12633,0.81,279.9,486.2,12.9,958,12637,0.00,2.05,0.00,0.000,6,0.000,0.036,2815,2447,2387
$GC,12965,0.81,279.9,443.6,12.3,989,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2447,2386
$GC,13283,0.82,289.9,405.4,11.3,1019,13297,0.00,2.05,9.25,0.931,4,0.000,0.033,2815,1123,2350
$GC,13366,0.88,294.2,395.1,11.7,1026,13376,0.00,2.05,5.40,0.794,6,0.000,0.035,2815,2459,2332
$GC,13702,0.88,295.7,354.3,11.9,1058,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2459,2330
$GC,14022,0.90,307.6,319.6,11.2,1088,14039,0.00,2.10,11.98,0.887,4,0.000,0.031,2815,1107,2278
$GC,14101,1.00,308.8,310.1,11.9,1094,14107,0.15,2.05,0.00,0.000,6,0.081,0.035,2874,2445,2276
$GC,14440,0.89,308.8,261.6,13.8,1148,14446,0.17,2.00,0.00,0.000,4,0.187,0.030,2831,1113,2275
$GC,14509,0.97,329.4,253.6,10.6,1160,14534,0.00,2.00,18.30,0.858,6,0.000,0.034,2831,2432,2188
$GC,14874,1.08,345.6,213.9,10.9,1224,14893,0.17,2.05,14.10,0.798,4,0.070,0.031,2912,1118,2122
$GC,14957,0.97,345.6,203.0,13.3,1238,14963,0.20,1.98,0.00,0.000,6,0.178,0.033,2860,2415,2120
$GC,15302,1.05,352.6,163.0,11.5,1299,15314,0.00,2.00,6.95,0.676,4,0.000,0.029,2868,1112,2093
$GC,15452,1.17,359.0,146.2,11.6,1325,15466,0.15,1.95,6.70,0.655,6,0.080,0.033,2925,2402,2068
$GC,15806,1.18,369.4,101.9,11.3,1387,15824,0.00,1.95,9.88,0.666,4,0.000,0.029,2933,1114,2024
$GC,15876,1.20,386.1,93.4,10.9,1399,15895,0.00,1.92,14.30,0.680,6,0.000,0.033,2933,2389,1956
$GC,16233,1.21,395.1,51.3,11.4,1462,16246,0.00,1.98,8.50,0.601,4,0.000,0.028,2938,1101,1920
$GC,16397,1.33,411.1,33.5,10.9,1490,16421,0.10,1.90,13.88,0.618,6,0.088,0.029,2978,2370,1855
$STATE,16644,end climb,SURFACE_DEPTH_REACHED
$STATE,16644,begin surface coast
$FINISH,1.7,1.008913
$STATE,16673,end surface coast,CONTROL_FINISHED_OK
$STATE,16673,begin surface
$SM_CCo,16691,8.88,0.562,0,0,1799,425.10
$SM_GC,3.84,0.00,0.00,8.88,0.000,0.000,0.562,140,2435,1799,-7.51,0.20,425.10
$IRIDIUM_FIX,2507.97,12338.10,250998,111123
$TT8_MAMPS,0.029146
$HUMID,1604
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.5,43.502
$10V_AH,10.8,24.673
$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,25.675,132.950,446.875,8.875,0.000,23.390,33.534,179.320,8.000,0.000,0.000,16.466,2756.766,10422.688,568.623,2758.454,560.600,0.000,1959.738,0.000,2688.860,0.000,54.442,0.000
$DEVICE_MAMPS,239.304,100.477,1391.338,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.456,1060.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82161,1539
$CAP_FILE_SIZE,173904,0
$CFSIZE,260165632,205746176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117, 74.1,1
$GPS,010709,204707,2520.696,12336.184,27,1.2,28,-3.8