version: 66.04
glider: 167
mission: 2
dive: 247
start: 7 1 109 20 59 35
data:
$ID,167
$MISSION,2
$DIVE,247
$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,-10001.79
$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,72
$R_STBD_OVSHOOT,41
$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
$GPS1,204707,2520.696,12336.184,27,1.2,28,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-69.3
$GPS2,205914,2520.757,12336.214,12,1.4,12,-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,295.7,52774,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,38,0.00,0.00,-18.83,0.000,2,0.000,0.000,140,2435,2285
$GC,41,-1.18,-121.7,3.1,-3.6,3,113,8.43,2.15,-56.60,0.000,4,0.245,0.039,2158,1018,3989
$GC,159,-0.65,-121.7,21.1,-29.0,23,166,0.65,2.12,0.00,0.000,6,0.178,0.030,2331,2432,3990
$GC,504,-0.81,-121.7,73.0,-12.3,84,510,0.15,2.05,0.00,0.000,4,0.071,0.045,2261,3766,3992
$GC,713,-0.71,-121.7,108.6,-17.8,121,719,0.17,1.92,0.00,0.000,6,0.149,0.022,2311,2399,3992
$GC,1058,-0.95,-121.7,147.0,-10.8,182,1066,0.17,2.10,0.00,0.000,4,0.064,0.044,2221,3762,3993
$GC,1117,-0.85,-121.7,155.5,-15.0,192,1124,0.17,1.83,0.00,0.000,6,0.155,0.024,2269,2463,3994
$GC,1463,-0.99,-121.7,193.8,-11.1,253,1469,0.12,2.00,0.00,0.000,4,0.072,0.044,2207,3764,3994
$GC,1554,-0.87,-121.7,206.9,-15.8,269,1561,0.20,1.83,0.00,0.000,6,0.160,0.023,2262,2460,3995
$GC,1901,-1.04,-121.7,245.7,-11.5,330,1909,0.15,2.03,0.00,0.000,4,0.071,0.025,2196,1043,3995
$GC,1944,-0.98,-121.7,251.6,-14.7,337,1951,0.12,2.12,0.00,0.000,6,0.160,0.032,2224,2472,3995
$GC,2289,-1.05,-121.7,293.0,-11.4,398,2296,0.00,1.95,0.00,0.000,4,0.000,0.047,2221,3758,3995
$GC,2520,-1.05,-121.7,321.7,-12.1,423,2526,0.00,1.85,0.00,0.000,6,0.000,0.025,2220,2469,3995
$GC,2846,-1.14,-121.7,356.7,-11.1,454,2850,0.12,2.00,0.00,0.000,4,0.076,0.047,2165,3761,3995
$GC,2941,-0.98,-121.7,369.9,-14.5,462,2948,0.22,1.83,0.00,0.000,6,0.163,0.025,2226,2474,3995
$GC,3266,-1.10,-121.7,405.5,-10.3,493,3270,0.12,2.00,0.00,0.000,4,0.077,0.048,2176,3763,3995
$GC,3472,-1.02,-121.7,431.2,-11.7,511,3479,0.15,1.80,0.00,0.000,6,0.164,0.026,2214,2503,3994
$GC,3798,-1.12,-121.7,463.2,-10.0,542,3802,0.00,1.95,0.00,0.000,4,0.000,0.048,2207,3757,3992
$GC,3882,-1.19,-121.7,472.6,-10.6,549,3889,0.12,1.77,0.00,0.000,6,0.081,0.026,2155,2514,3993
$GC,4207,-1.08,-121.7,514.0,-12.5,575,4211,0.15,1.95,0.00,0.000,4,0.171,0.048,2192,3764,3990
$GC,4229,-1.03,-121.7,517.3,-13.3,576,4233,0.00,1.77,0.00,0.000,6,0.000,0.026,2192,2521,3990
$GC,4562,-1.03,-121.7,553.6,-11.3,592,4565,0.00,1.92,0.00,0.000,4,0.000,0.050,2192,3755,3988
$GC,4668,-1.03,-121.7,567.1,-13.5,596,4674,0.00,1.73,0.00,0.000,6,0.000,0.028,2192,2556,3987
$GC,4984,-1.09,-121.7,605.3,-11.7,612,4987,0.00,2.20,0.00,0.000,4,0.000,0.028,2191,1050,3985
$GC,5017,-1.16,-121.7,609.4,-11.6,613,5021,0.00,2.28,0.00,0.000,6,0.000,0.036,2192,2541,3985
$GC,5334,-1.22,-121.7,644.7,-10.8,628,5338,0.12,1.88,0.00,0.000,4,0.085,0.051,2139,3754,3982
$GC,5424,-1.06,-121.7,657.2,-13.6,632,5428,0.22,1.75,0.00,0.000,6,0.173,0.028,2198,2552,3981
$GC,5759,-1.16,-121.7,691.7,-10.1,648,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2552,3979
$GC,6066,-1.26,-121.7,721.3,-9.7,663,6070,0.17,1.90,0.00,0.000,4,0.076,0.052,2126,3766,3976
$GC,6144,-1.05,-121.7,732.3,-14.2,666,6148,0.28,1.75,0.00,0.000,6,0.176,0.029,2199,2568,3975
$GC,6465,-1.15,-121.7,766.4,-10.7,682,6469,0.00,1.88,0.00,0.000,4,0.000,0.053,2192,3759,3973
$GC,6511,-1.21,-121.7,771.7,-11.8,684,6516,0.12,1.73,0.00,0.000,6,0.084,0.030,2144,2582,3973
$GC,6846,-1.10,-121.7,816.1,-13.0,700,6847,0.17,0.00,0.00,0.000,6,0.183,0.000,2188,2582,3970
$GC,7154,-1.18,-121.7,849.1,-10.2,715,7158,0.00,1.88,0.00,0.000,4,0.000,0.056,2188,3746,3969
$GC,7227,-1.24,-121.7,856.9,-10.6,718,7231,0.12,1.73,0.00,0.000,6,0.084,0.030,2141,2570,3968
$GC,7553,-1.13,-121.7,896.6,-11.9,734,7555,0.15,0.00,0.00,0.000,6,0.187,0.000,2176,2569,3966
$GC,7863,-1.13,-121.7,928.1,-10.6,749,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2570,3965
$GC,8171,-1.13,-121.7,961.4,-11.2,764,8175,0.00,1.90,0.00,0.000,4,0.000,0.057,2175,3760,3963
$GC,8204,-1.13,-121.7,965.4,-12.1,765,8208,0.00,1.77,0.00,0.000,6,0.000,0.031,2175,2582,3963
$STATE,8420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8420,begin apogee
$GC,8425,-0.22,0.0,990.0,11.4,776,8517,1.00,0.00,88.47,1.426,6,0.160,0.000,2471,2581,3532
$STATE,8518,end apogee,CONTROL_FINISHED_OK
$STATE,8518,begin climb
$GC,8521,1.18,121.7,993.3,0.0,780,8630,1.25,2.08,101.90,1.381,4,0.058,0.053,2922,3757,3035
$GC,8849,0.42,121.7,971.2,12.8,794,8857,0.98,1.85,0.00,0.000,6,0.218,0.027,2685,2518,3031
$GC,9165,0.65,213.4,951.4,5.9,810,9249,0.17,2.28,74.60,1.364,4,0.082,0.035,2759,1123,2660
$GC,9340,0.72,227.3,933.6,11.1,818,9363,0.00,2.17,12.75,1.226,6,0.000,0.038,2759,2492,2604
$GC,9671,0.72,227.8,894.6,12.0,834,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2492,2600
$GC,9980,0.72,228.7,857.6,11.9,849,9984,0.00,2.10,0.00,0.000,4,0.000,0.034,2759,1110,2599
$GC,10098,0.80,230.6,843.9,11.9,854,10103,0.12,2.15,0.00,0.000,6,0.091,0.038,2806,2499,2598
$GC,10419,0.69,230.6,801.2,13.4,870,10424,0.15,2.10,0.00,0.000,4,0.193,0.032,2776,1113,2597
$GC,10513,0.70,242.3,789.9,11.2,874,10530,0.00,2.10,12.07,1.210,6,0.000,0.038,2775,2477,2544
$GC,10859,0.71,252.5,750.3,11.3,891,10870,0.00,0.00,9.68,1.153,6,0.000,0.000,2776,2477,2502
$GC,11167,0.71,252.5,713.9,12.2,906,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2477,2499
$GC,11476,0.71,252.5,676.1,12.4,921,11480,0.00,2.05,0.00,0.000,4,0.000,0.035,2776,1125,2498
$GC,11640,0.78,252.5,656.7,12.1,928,11644,0.00,2.08,0.00,0.000,6,0.000,0.038,2776,2473,2497
$GC,11967,0.80,266.9,619.6,11.0,944,11986,0.00,0.00,12.93,1.131,6,0.000,0.000,2776,2473,2442
$GC,12296,0.84,266.9,578.4,12.3,960,12300,0.12,2.08,0.00,0.000,4,0.087,0.033,2828,1114,2440
$GC,12364,0.77,266.9,569.1,13.8,963,12369,0.12,2.12,0.00,0.000,6,0.183,0.039,2799,2479,2440
$GC,12697,0.78,269.0,528.7,11.9,979,12701,0.00,2.00,0.00,0.000,4,0.000,0.053,2800,3759,2439
$GC,12883,0.69,269.0,502.6,13.8,987,12888,0.15,1.85,0.00,0.000,6,0.188,0.028,2768,2502,2439
$GC,13208,0.82,282.3,465.6,11.1,1016,13231,0.12,2.10,13.50,1.025,4,0.088,0.032,2815,1122,2380
$GC,13327,0.82,283.0,450.8,12.0,1026,13335,0.00,2.10,0.00,0.000,6,0.000,0.035,2815,2486,2378
$GC,13654,0.86,311.8,415.2,10.1,1057,13682,0.00,0.00,24.67,1.009,6,0.000,0.000,2815,2486,2261
$GC,14001,0.86,318.8,376.7,11.5,1090,14012,0.00,0.00,6.82,0.838,6,0.000,0.000,2815,2486,2232
$GC,14331,0.93,318.8,334.8,12.8,1121,14335,0.00,2.08,0.00,0.000,4,0.000,0.031,2815,1113,2230
$GC,14382,1.07,324.0,328.2,11.7,1125,14393,0.20,2.10,5.88,0.771,6,0.073,0.034,2892,2484,2210
$GC,14719,0.91,324.0,279.1,14.5,1168,14726,0.17,2.08,0.00,0.000,4,0.193,0.028,2852,1098,2209
$GC,14766,0.91,324.0,273.3,12.6,1176,14772,0.00,2.05,0.00,0.000,6,0.000,0.033,2851,2447,2208
$GC,15109,0.91,324.0,229.5,13.1,1237,15115,0.00,2.00,0.00,0.000,4,0.000,0.030,2858,1103,2208
$GC,15177,0.91,324.0,221.1,12.1,1249,15183,0.00,2.05,0.00,0.000,6,0.000,0.034,2858,2450,2208
$GC,15522,0.94,341.8,180.7,10.8,1310,15546,0.00,2.05,15.77,0.781,4,0.000,0.031,2858,1115,2137
$GC,15672,1.07,354.2,163.6,11.2,1336,15691,0.00,2.03,11.35,0.736,6,0.000,0.033,2858,2446,2086
$GC,16031,1.25,376.7,125.4,10.5,1399,16056,0.20,2.08,18.48,0.726,4,0.070,0.029,2951,1107,1995
$GC,16293,1.17,376.7,89.9,13.0,1445,16299,0.00,1.98,0.00,0.000,6,0.000,0.035,2951,2404,1992
$GC,16638,1.13,386.3,48.7,11.4,1506,16652,0.15,2.17,8.70,0.603,4,0.173,0.048,2913,3767,1956
$GC,16793,1.13,386.3,30.0,12.0,1533,16799,0.00,2.00,0.00,0.000,6,0.000,0.023,2919,2370,1955
$STATE,17106,end climb,SURFACE_DEPTH_REACHED
$STATE,17106,begin surface coast
$FINISH,1.8,1.014706
$STATE,17141,end surface coast,CONTROL_FINISHED_OK
$STATE,17142,begin surface
$SM_CCo,17159,27.80,0.616,0,0,1798,425.10
$SM_GC,2.57,0.00,0.00,27.80,0.000,0.000,0.616,140,2442,1798,-7.52,0.42,425.10
$IRIDIUM_FIX,2510.35,12332.81,250998,212105
$TT8_MAMPS,0.029146
$HUMID,1595
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.5,43.675
$10V_AH,10.8,24.772
$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,24.975,123.250,417.575,27.800,0.000,89.720,191.235,188.313,8.000,0.000,0.000,12.970,2832.069,10863.564,581.846,2833.373,794.975,0.000,1991.070,0.000,2773.253,0.000,54.419,0.000
$DEVICE_MAMPS,244.673,79.001,1425.853,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.487,1109.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85248,1595
$CAP_FILE_SIZE,175038,0
$CFSIZE,260165632,205656064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146, 82.9,1
$GPS,020709,014707,2521.991,12335.904,27,1.5,28,-3.8