version: 66.04
glider: 167
mission: 2
dive: 249
start: 7 2 109 6 39 54
data:
$ID,167
$MISSION,2
$DIVE,249
$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,-10047.212
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,063307,2523.386,12335.889,29,1.1,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.0
$GPS2,063932,2523.478,12336.026,10,1.5,10,-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,282.5,49034,-23.2,-12.000
$D_GRID,1759
$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,-24.30,0.000,2,0.000,0.000,141,2441,2371
$GC,44,-1.18,-121.7,3.1,-2.2,4,109,8.30,2.08,-49.88,0.000,4,0.239,0.056,2148,3774,3989
$GC,196,-0.47,-121.7,35.9,-30.6,30,203,0.88,2.00,0.00,0.000,6,0.183,0.024,2391,2382,3990
$GC,541,-1.19,-121.7,70.1,-10.5,91,549,0.57,2.15,0.00,0.000,4,0.050,0.044,2154,3765,3992
$GC,802,-0.71,-121.7,130.0,-22.1,137,809,0.57,1.85,0.00,0.000,6,0.174,0.024,2317,2453,3993
$GC,1147,-1.01,-121.7,167.3,-8.9,198,1154,0.25,2.03,0.00,0.000,4,0.058,0.044,2204,3765,3995
$GC,1217,-0.86,-121.7,176.3,-13.9,210,1223,0.22,1.83,0.00,0.000,6,0.160,0.024,2266,2467,3995
$GC,1562,-1.01,-121.7,213.0,-10.4,271,1569,0.15,2.00,0.00,0.000,4,0.071,0.045,2201,3763,3996
$GC,1616,-0.92,-121.7,219.8,-13.2,280,1622,0.17,1.80,0.00,0.000,6,0.162,0.024,2247,2490,3996
$GC,1962,-1.05,-121.7,260.6,-11.4,341,1969,0.12,1.98,0.00,0.000,4,0.077,0.046,2192,3767,3996
$GC,2072,-0.92,-121.7,275.9,-13.2,360,2078,0.20,1.77,0.00,0.000,6,0.162,0.024,2246,2502,3996
$GC,2410,-1.06,-121.7,311.0,-10.2,411,2415,0.12,1.95,0.00,0.000,4,0.077,0.047,2193,3763,3996
$GC,2460,-0.97,-121.7,317.7,-13.3,415,2468,0.15,1.77,0.00,0.000,6,0.164,0.025,2231,2509,3997
$GC,2786,-1.08,-121.7,354.5,-11.1,446,2789,0.00,1.95,0.00,0.000,4,0.000,0.048,2231,3767,3996
$GC,3045,-1.18,-121.7,384.3,-11.4,469,3049,0.20,1.73,0.00,0.000,6,0.066,0.025,2151,2554,3996
$GC,3376,-1.00,-121.7,429.1,-14.4,500,3380,0.22,1.88,0.00,0.000,4,0.164,0.045,2209,3764,3995
$GC,3517,-1.00,-121.7,446.3,-11.4,512,3523,0.00,1.70,0.00,0.000,6,0.000,0.026,2209,2571,3995
$GC,3842,-1.08,-121.7,479.2,-9.1,543,3846,0.00,1.85,0.00,0.000,4,0.000,0.050,2208,3760,3994
$GC,3900,-1.08,-121.7,484.8,-10.6,548,3904,0.00,1.73,0.00,0.000,6,0.000,0.027,2208,2580,3993
$GC,4237,-1.17,-121.7,520.6,-11.2,571,4242,0.12,1.85,0.00,0.000,4,0.082,0.049,2153,3764,3992
$GC,4339,-1.01,-121.7,534.6,-13.5,575,4343,0.25,1.70,0.00,0.000,6,0.170,0.028,2220,2582,3991
$GC,4660,-1.16,-121.7,565.3,-9.6,591,4664,0.15,1.85,0.00,0.000,4,0.073,0.050,2154,3766,3990
$GC,4784,-1.03,-121.7,582.1,-13.6,596,4788,0.22,1.67,0.00,0.000,6,0.169,0.028,2214,2605,3989
$GC,5106,-1.17,-121.7,614.5,-9.3,612,5111,0.15,1.83,0.00,0.000,4,0.077,0.051,2153,3768,3987
$GC,5140,-1.06,-121.7,618.4,-12.1,613,5144,0.20,1.70,0.00,0.000,6,0.170,0.027,2205,2587,3986
$GC,5462,-1.17,-121.7,647.8,-8.5,629,5466,0.12,2.25,0.00,0.000,4,0.081,0.028,2158,1048,3984
$GC,5500,-1.17,-121.7,651.9,-11.4,631,5504,0.00,2.35,0.00,0.000,6,0.000,0.035,2152,2587,3984
$GC,5828,-1.07,-121.7,688.9,-11.7,647,5832,0.17,1.83,0.00,0.000,4,0.184,0.050,2194,3764,3981
$GC,5957,-1.07,-121.7,703.3,-11.7,652,5963,0.00,1.67,0.00,0.000,6,0.000,0.028,2194,2606,3980
$GC,6274,-1.15,-121.7,736.9,-10.6,668,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2606,3978
$GC,6582,-1.23,-121.7,772.5,-11.9,683,6586,0.12,1.83,0.00,0.000,4,0.090,0.051,2142,3762,3975
$GC,6667,-1.07,-121.7,785.3,-15.3,686,6673,0.22,1.65,0.00,0.000,6,0.181,0.028,2199,2630,3975
$GC,6983,-1.17,-121.7,822.3,-11.5,702,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2630,3973
$GC,7292,-1.28,-121.7,857.2,-10.8,717,7296,0.20,1.80,0.00,0.000,4,0.074,0.052,2114,3766,3971
$GC,7364,-1.01,-121.7,868.2,-15.6,720,7369,0.32,1.67,0.00,0.000,6,0.183,0.029,2214,2643,3970
$GC,7695,-1.18,-121.7,901.2,-9.8,736,7699,0.15,1.77,0.00,0.000,4,0.082,0.052,2153,3763,3969
$GC,7763,-1.07,-121.7,910.0,-13.0,739,7767,0.17,1.65,0.00,0.000,6,0.179,0.029,2195,2640,3968
$GC,8095,-1.18,-121.7,945.0,-10.6,755,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3967
$GC,8406,-1.29,-121.7,977.0,-10.2,770,8410,0.17,1.77,0.00,0.000,4,0.081,0.054,2126,3757,3965
$STATE,8497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8498,begin apogee
$GC,8505,-0.22,0.0,990.5,14.4,774,8601,1.17,0.00,89.75,1.420,6,0.179,0.000,2463,2528,3531
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8605,1.18,121.7,994.5,0.0,779,8716,1.27,2.35,102.25,1.378,4,0.059,0.031,2925,1106,3034
$GC,8766,0.63,143.0,993.9,10.6,786,8791,0.70,2.28,18.95,1.285,6,0.212,0.038,2754,2507,2948
$GC,9115,0.60,176.2,959.6,9.8,803,9148,0.00,2.20,28.00,1.326,4,0.000,0.030,2760,1106,2813
$GC,9223,0.61,180.1,947.4,11.7,808,9232,0.00,2.22,4.45,0.899,6,0.000,0.038,2760,2506,2797
$GC,9555,0.63,199.7,911.4,10.7,824,9578,0.00,2.17,17.17,1.284,4,0.000,0.032,2760,1107,2716
$GC,9731,0.64,211.1,891.5,11.3,831,9747,0.00,2.17,10.50,1.204,6,0.000,0.038,2760,2495,2673
$GC,10070,0.66,223.1,853.3,11.2,848,10091,0.00,2.20,11.77,1.221,4,0.000,0.033,2760,1107,2622
$GC,10169,0.74,226.3,841.7,11.8,852,10181,0.00,2.15,4.28,0.877,6,0.000,0.038,2759,2482,2609
$GC,10491,0.74,234.0,805.3,11.5,868,10505,0.00,2.15,7.85,1.124,4,0.000,0.031,2760,1104,2577
$GC,10551,0.87,278.2,799.2,9.1,870,10594,0.20,2.12,37.55,1.278,6,0.080,0.036,2832,2473,2397
$GC,10906,0.74,278.2,746.0,15.4,887,10911,0.20,2.10,0.00,0.000,4,0.185,0.031,2786,1097,2390
$GC,10956,0.80,278.2,738.7,13.8,889,10959,0.00,2.12,0.00,0.000,6,0.000,0.037,2786,2464,2389
$GC,11276,0.80,278.2,694.9,13.6,905,11280,0.00,2.08,0.00,0.000,4,0.000,0.031,2790,1098,2389
$GC,11372,0.86,278.2,681.8,13.4,909,11375,0.00,2.08,0.00,0.000,6,0.000,0.036,2790,2448,2388
$GC,11698,0.86,278.2,637.3,13.5,925,11702,0.00,2.08,0.00,0.000,4,0.000,0.055,2789,3763,2387
$GC,11726,0.78,278.2,633.2,14.8,926,11729,0.00,1.98,0.00,0.000,6,0.000,0.027,2790,2437,2387
$GC,12052,0.78,278.2,591.9,12.2,942,12056,0.00,1.98,0.00,0.000,4,0.000,0.033,2790,1107,2387
$GC,12228,0.87,278.2,571.6,12.2,949,12234,0.10,2.00,0.00,0.000,6,0.094,0.037,2829,2418,2387
$GC,12543,0.77,278.2,525.3,15.2,965,12545,0.15,0.00,0.00,0.000,6,0.184,0.000,2792,2420,2386
$GC,12856,0.83,282.7,485.9,11.7,985,12860,0.00,1.98,0.00,0.000,4,0.000,0.031,2799,1094,2386
$GC,12895,0.92,282.7,480.9,12.3,988,12901,0.12,1.98,0.00,0.000,6,0.087,0.035,2847,2400,2385
$GC,13220,0.80,282.7,436.0,13.4,1019,13221,0.17,0.00,0.00,0.000,6,0.187,0.000,2803,2402,2384
$GC,13540,0.83,304.4,402.7,10.6,1049,13565,0.00,1.98,20.35,1.005,4,0.000,0.031,2810,1097,2291
$GC,13595,0.95,319.8,396.4,11.0,1054,13619,0.12,1.98,13.73,0.951,6,0.086,0.035,2859,2384,2226
$GC,13935,0.89,319.8,350.4,13.0,1086,13939,0.00,2.20,0.00,0.000,4,0.000,0.054,2859,3768,2224
$GC,13953,0.77,319.8,348.2,12.9,1087,13961,0.28,2.12,0.00,0.000,6,0.188,0.027,2797,2346,2223
$GC,14278,0.95,344.6,315.9,10.4,1118,14302,0.15,0.00,20.88,0.915,6,0.084,0.000,2855,2344,2126
$GC,14629,0.95,344.6,266.3,13.4,1171,14636,0.00,1.85,0.00,0.000,4,0.000,0.032,2859,1095,2122
$GC,14659,0.95,344.6,262.4,12.8,1176,14665,0.00,1.98,0.00,0.000,6,0.000,0.035,2860,2385,2122
$GC,15003,0.95,344.6,217.7,12.1,1237,15009,0.00,1.92,0.00,0.000,4,0.000,0.031,2868,1097,2122
$GC,15094,0.95,344.6,206.2,12.1,1253,15099,0.00,1.92,0.00,0.000,6,0.000,0.034,2867,2370,2122
$GC,15437,1.00,344.6,162.6,12.4,1314,15443,0.00,2.17,0.00,0.000,4,0.000,0.050,2867,3768,2122
$GC,15635,0.97,368.9,139.5,10.4,1349,15660,0.00,2.08,20.02,0.752,6,0.000,0.026,2872,2341,2028
$GC,16000,1.13,371.6,101.2,11.8,1413,16012,0.10,1.85,3.67,0.468,4,0.089,0.031,2913,1105,2017
$GC,16036,1.19,371.6,96.6,12.5,1419,16043,0.00,1.92,0.00,0.000,6,0.000,0.032,2913,2387,2016
$GC,16382,1.29,387.5,57.1,11.0,1480,16406,0.15,1.98,13.90,0.647,4,0.076,0.030,2984,1096,1951
$GC,16660,1.31,405.6,29.5,10.8,1529,16683,0.00,1.90,15.90,0.622,6,0.000,0.031,2984,2369,1876
$STATE,16883,end climb,SURFACE_DEPTH_REACHED
$STATE,16884,begin surface coast
$FINISH,1.8,1.021538
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16925,12.65,0.586,0,0,1798,425.10
$SM_GC,3.70,0.00,0.00,12.65,0.000,0.000,0.586,141,2448,1798,-7.51,0.59,425.10
$IRIDIUM_FIX,2515.12,12334.13,260998,010104
$TT8_MAMPS,0.029146
$HUMID,1597
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.5,44.011
$10V_AH,10.8,24.962
$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,27.275,137.000,440.975,12.650,0.000,29.450,33.863,186.881,8.000,0.000,0.000,10.740,2819.476,10519.092,575.637,2822.732,578.625,0.000,2000.474,0.000,2756.169,0.000,54.413,0.000
$DEVICE_MAMPS,239.304,85.904,1419.717,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.812,1090.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85395,1573
$CAP_FILE_SIZE,178412,0
$CFSIZE,260165632,205475840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154, 74.1,1
$GPS,020709,112336,2524.582,12335.474,41,1.9,47,-3.8