version: 66.04
glider: 167
mission: 2
dive: 248
start: 7 2 109 1 54 32
data:
$ID,167
$MISSION,2
$DIVE,248
$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,-10035.843
$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,44
$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
$GPS1,014707,2521.991,12335.904,27,1.5,28,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-71.2
$GPS2,015412,2522.056,12335.963,27,2.0,33,-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,291.3,50768,-23.2,-12.000
$D_GRID,1828
$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,-24.25,0.000,2,0.000,0.000,140,2442,2416
$GC,44,-1.18,-121.7,3.1,-2.3,4,109,8.40,2.15,-46.90,0.000,4,0.242,0.038,2162,1022,3990
$GC,155,-0.64,-121.7,22.4,-28.3,23,163,0.65,2.12,0.00,0.000,6,0.176,0.030,2335,2435,3990
$GC,501,-0.83,-121.7,67.9,-11.8,84,508,0.17,2.03,0.00,0.000,4,0.067,0.044,2246,3752,3992
$GC,756,-0.71,-121.7,110.6,-16.6,129,763,0.22,1.88,0.00,0.000,6,0.160,0.024,2309,2426,3993
$GC,1101,-0.97,-121.7,150.5,-9.7,190,1107,0.17,2.05,0.00,0.000,4,0.061,0.044,2219,3754,3995
$GC,1316,-0.89,-121.7,178.6,-13.6,228,1323,0.15,1.80,0.00,0.000,6,0.157,0.025,2259,2483,3996
$GC,1661,-1.04,-121.7,221.8,-12.7,289,1666,0.15,0.00,0.00,0.000,6,0.067,0.000,2193,2483,3996
$GC,2004,-0.95,-121.7,272.9,-14.0,350,2011,0.17,1.98,0.00,0.000,4,0.166,0.045,2236,3761,3997
$GC,2109,-1.01,-121.7,285.8,-11.9,368,2115,0.00,1.80,0.00,0.000,6,0.000,0.025,2236,2486,3997
$GC,2447,-1.11,-121.7,326.0,-12.2,410,2452,0.15,1.98,0.00,0.000,4,0.072,0.047,2166,3761,3997
$GC,2709,-0.91,-121.7,365.3,-14.5,433,2713,0.30,1.77,0.00,0.000,6,0.162,0.026,2249,2510,3997
$GC,3039,-1.10,-121.7,395.2,-9.6,464,3044,0.17,1.92,0.00,0.000,4,0.069,0.047,2166,3752,3997
$GC,3067,-1.05,-121.7,399.1,-14.2,466,3074,0.15,1.77,0.00,0.000,6,0.170,0.025,2203,2500,3997
$GC,3392,-1.05,-121.7,436.5,-10.4,497,3396,0.00,1.95,0.00,0.000,4,0.000,0.049,2203,3754,3996
$GC,3620,-1.05,-121.7,463.2,-13.4,517,3626,0.00,1.77,0.00,0.000,6,0.000,0.027,2203,2538,3995
$GC,3956,-1.11,-121.7,503.1,-11.3,548,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2538,3993
$GC,4266,-1.19,-121.7,538.2,-10.8,563,4270,0.12,1.90,0.00,0.000,4,0.077,0.051,2153,3750,3993
$GC,4396,-1.03,-121.7,556.1,-14.4,568,4403,0.22,1.77,0.00,0.000,6,0.167,0.028,2212,2521,3992
$GC,4713,-1.16,-121.7,591.0,-10.7,584,4717,0.12,1.95,0.00,0.000,4,0.079,0.051,2162,3761,3990
$GC,4796,-1.06,-121.7,601.9,-13.2,587,4803,0.15,1.77,0.00,0.000,6,0.175,0.028,2199,2536,3989
$GC,5112,-1.14,-121.7,633.7,-10.0,603,5115,0.00,1.90,0.00,0.000,4,0.000,0.051,2192,3750,3987
$GC,5258,-1.14,-121.7,649.5,-11.3,609,5261,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2544,3986
$GC,5580,-1.20,-121.7,684.4,-11.4,625,5583,0.00,1.90,0.00,0.000,4,0.000,0.053,2192,3750,3984
$GC,5703,-1.25,-121.7,699.1,-11.5,630,5708,0.15,1.73,0.00,0.000,6,0.077,0.029,2134,2567,3982
$GC,6025,-1.09,-121.7,743.8,-14.0,646,6029,0.17,1.88,0.00,0.000,4,0.182,0.051,2179,3753,3980
$GC,6131,-1.09,-121.7,757.2,-12.5,650,6137,0.00,1.70,0.00,0.000,6,0.000,0.028,2179,2581,3979
$GC,6446,-1.09,-121.7,795.2,-12.5,666,6450,0.00,1.85,0.00,0.000,4,0.000,0.053,2179,3754,3977
$GC,6592,-1.09,-121.7,814.3,-13.6,672,6596,0.00,1.70,0.00,0.000,6,0.000,0.028,2179,2588,3976
$GC,6914,-1.09,-121.7,853.6,-11.7,688,6917,0.00,1.85,0.00,0.000,4,0.000,0.054,2179,3757,3974
$GC,6982,-1.09,-121.7,861.6,-11.7,691,6985,0.00,1.70,0.00,0.000,6,0.000,0.029,2179,2617,3973
$GC,7315,-1.09,-121.7,898.2,-11.0,707,7318,0.00,1.80,0.00,0.000,4,0.000,0.055,2178,3753,3971
$GC,7415,-1.09,-121.7,909.4,-11.2,711,7419,0.00,1.65,0.00,0.000,6,0.000,0.030,2178,2626,3971
$GC,7737,-1.09,-121.7,941.3,-9.8,727,7740,0.00,1.80,0.00,0.000,4,0.000,0.055,2179,3760,3969
$GC,7815,-1.09,-121.7,949.2,-10.2,730,7819,0.00,1.67,0.00,0.000,6,0.000,0.030,2178,2619,3968
$GC,8136,-1.09,-121.7,979.0,-9.6,746,8140,0.00,1.80,0.00,0.000,4,0.000,0.056,2179,3750,3967
$GC,8232,-1.09,-121.7,989.0,-10.9,750,8235,0.00,1.65,0.00,0.000,6,0.000,0.030,2178,2625,3966
$STATE,8240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8240,begin apogee
$GC,8246,-0.22,0.0,990.2,10.8,750,8339,0.95,0.00,89.60,1.421,6,0.162,0.000,2464,2524,3532
$STATE,8339,end apogee,CONTROL_FINISHED_OK
$STATE,8340,begin climb
$GC,8342,1.18,121.7,992.8,0.0,755,8452,1.27,2.30,102.43,1.375,4,0.057,0.031,2932,1098,3035
$GC,8536,0.61,121.7,987.9,12.6,764,8541,0.75,2.25,0.00,0.000,6,0.214,0.036,2747,2505,3032
$GC,8858,0.60,184.2,962.2,7.9,780,8914,0.00,2.22,50.80,1.351,4,0.000,0.031,2747,1101,2780
$GC,9007,0.68,212.6,947.9,10.1,786,9036,0.00,2.20,24.58,1.300,6,0.000,0.036,2747,2491,2665
$GC,9361,0.69,215.0,907.6,11.8,803,9365,0.00,2.12,0.00,0.000,4,0.000,0.032,2747,1098,2661
$GC,9445,0.79,216.7,897.5,11.9,806,9455,0.15,2.15,4.50,0.915,6,0.084,0.037,2802,2483,2648
$GC,9785,0.67,216.7,850.3,13.5,823,9789,0.15,2.10,0.00,0.000,4,0.196,0.031,2773,1097,2646
$GC,9874,0.68,226.0,839.0,11.4,827,9888,0.00,2.12,9.02,1.167,6,0.000,0.037,2773,2472,2610
$GC,10206,0.69,236.6,800.4,11.3,843,10220,0.00,2.10,9.90,1.174,4,0.000,0.034,2776,1106,2567
$GC,10333,0.71,247.5,785.8,11.3,848,10347,0.00,2.10,10.20,1.166,6,0.000,0.038,2776,2459,2523
$GC,10670,0.72,259.6,747.3,11.2,865,10686,0.00,2.08,11.40,1.172,4,0.000,0.032,2776,1101,2472
$GC,10760,0.80,263.0,736.8,11.8,868,10769,0.00,2.08,3.97,0.808,6,0.000,0.035,2776,2440,2461
$GC,11085,0.80,263.0,696.8,12.6,884,11089,0.00,2.10,0.00,0.000,4,0.000,0.053,2776,3770,2459
$GC,11102,0.80,263.0,694.3,13.1,884,11108,0.00,2.00,0.00,0.000,6,0.000,0.027,2782,2420,2459
$GC,11417,0.80,263.0,653.5,12.9,900,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2419,2458
$GC,11726,0.80,263.0,615.9,12.4,915,11730,0.00,1.95,0.00,0.000,4,0.000,0.031,2789,1097,2458
$GC,11891,0.85,264.7,596.8,11.9,922,11894,0.00,2.03,0.00,0.000,6,0.000,0.035,2790,2426,2457
$GC,12217,0.85,264.7,555.6,12.1,938,12221,0.00,1.98,0.00,0.000,4,0.000,0.033,2790,1107,2457
$GC,12291,0.92,271.5,547.2,11.5,941,12308,0.15,1.98,8.00,1.010,6,0.081,0.038,2846,2402,2427
$GC,12618,0.79,271.5,499.9,15.2,957,12623,0.17,2.15,0.00,0.000,4,0.185,0.054,2802,3765,2426
$GC,12652,0.67,271.5,494.6,15.2,959,12659,0.17,2.05,0.00,0.000,6,0.189,0.027,2763,2378,2426
$GC,12977,0.87,315.1,461.5,9.1,990,13021,0.17,1.98,36.50,1.057,4,0.075,0.032,2842,1109,2246
$GC,13139,0.87,315.1,441.3,12.6,1004,13145,0.00,2.00,0.00,0.000,6,0.000,0.037,2841,2394,2242
$GC,13465,0.87,315.1,393.8,16.0,1035,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2394,2239
$GC,13784,0.89,328.6,350.2,11.1,1065,13800,0.00,1.95,11.10,0.903,4,0.000,0.031,2843,1093,2193
$GC,13816,0.89,328.6,345.7,13.6,1067,13824,0.00,1.98,0.00,0.000,6,0.000,0.035,2843,2382,2192
$GC,14144,0.89,328.6,302.2,13.2,1098,14148,0.00,2.17,0.00,0.000,4,0.000,0.054,2843,3761,2190
$GC,14218,0.77,328.6,291.3,14.1,1109,14225,0.20,2.05,0.00,0.000,6,0.186,0.027,2793,2376,2190
$GC,14563,1.00,357.7,257.6,10.1,1170,14594,0.17,1.98,24.75,0.861,4,0.076,0.032,2871,1096,2072
$GC,14634,1.00,357.7,248.3,13.9,1182,14640,0.00,2.00,0.00,0.000,6,0.000,0.035,2871,2399,2070
$GC,14977,1.00,357.7,200.7,13.0,1243,14984,0.00,1.95,0.00,0.000,4,0.000,0.031,2871,1100,2068
$GC,15175,1.07,357.7,175.5,13.3,1278,15181,0.00,1.92,0.00,0.000,6,0.000,0.033,2871,2375,2068
$GC,15519,1.21,401.0,133.4,9.1,1339,15561,0.17,1.95,34.38,0.751,4,0.075,0.031,2952,1091,1895
$GC,15691,1.21,401.0,109.6,15.0,1369,15697,0.00,1.90,0.00,0.000,6,0.000,0.032,2953,2340,1891
$GC,16034,1.21,401.0,59.4,13.7,1430,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2340,1890
$GC,16377,1.31,434.6,22.6,9.8,1491,16409,0.00,1.92,26.60,0.634,4,0.000,0.030,2957,1092,1759
$STATE,16547,end climb,SURFACE_DEPTH_REACHED
$STATE,16547,begin surface coast
$FINISH,1.8,1.021267
$STATE,16571,end surface coast,CONTROL_FINISHED_OK
$STATE,16571,begin surface
$SM_CCo,16651,0.00,0.000,0,0,1753,436.39
$SM_GC,2.84,7.60,0.00,0.00,0.056,0.000,0.000,141,2441,1753,-7.50,0.40,436.39
$IRIDIUM_FIX,2510.35,12336.11,250998,212148
$TT8_MAMPS,0.028379
$HUMID,1597
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.5,43.844
$10V_AH,10.8,24.867
$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,23.925,132.675,457.725,0.000,0.000,29.371,34.777,203.305,8.250,0.000,0.000,33.425,2732.178,10320.173,559.393,2859.668,591.446,0.000,1985.877,0.000,2773.865,0.000,61.410,0.000
$DEVICE_MAMPS,242.372,68.263,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.794,1057.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82195,1525
$CAP_FILE_SIZE,171104,0
$CFSIZE,260165632,205570048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 82.0,1
$GPS,020709,063307,2523.386,12335.889,29,1.1,30,-3.8