version: 66.04
glider: 167
mission: 2
dive: 250
start: 7 2 109 11 31 26
data:
$ID,167
$MISSION,2
$DIVE,250
$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,-10081.762
$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,42
$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
$GPS1,112336,2524.582,12335.474,41,1.9,47,-3.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-64.7
$GPS2,113106,2524.623,12335.650,17,1.4,33,-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,284.0,47156,-23.2,-12.000
$D_GRID,1608
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.65,0.000,2,0.000,0.000,141,2448,2546
$GC,49,-1.18,-121.7,3.5,-3.4,4,104,8.43,2.10,-40.75,0.000,4,0.244,0.056,2151,3763,3989
$GC,167,-0.39,-121.7,28.9,-33.9,24,174,0.98,1.98,0.00,0.000,6,0.193,0.022,2414,2382,3990
$GC,512,-1.18,-121.7,63.8,-8.9,85,519,0.65,2.12,0.00,0.000,4,0.053,0.044,2153,3753,3992
$GC,772,-0.65,-121.7,122.5,-23.7,131,780,0.62,1.80,0.00,0.000,6,0.176,0.023,2328,2473,3993
$GC,1121,-1.04,-121.7,158.5,-9.8,192,1127,0.30,1.98,0.00,0.000,4,0.053,0.044,2192,3753,3995
$GC,1150,-1.04,-121.7,162.9,-14.3,197,1156,0.00,1.77,0.00,0.000,6,0.000,0.022,2192,2479,3995
$GC,1494,-0.91,-121.7,211.6,-12.6,258,1500,0.17,1.98,0.00,0.000,4,0.160,0.044,2237,3764,3996
$GC,1558,-0.97,-121.7,218.6,-10.0,269,1564,0.00,1.77,0.00,0.000,6,0.000,0.024,2237,2494,3996
$GC,1900,-1.06,-121.7,260.3,-12.7,330,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2494,3996
$GC,2244,-1.17,-121.7,299.1,-10.9,391,2251,0.17,2.08,0.00,0.000,4,0.067,0.026,2157,1050,3997
$GC,2292,-1.02,-121.7,305.5,-14.1,396,2297,0.22,2.17,0.00,0.000,6,0.164,0.031,2212,2504,3997
$GC,2618,-1.07,-121.7,343.0,-11.6,426,2621,0.00,1.90,0.00,0.000,4,0.000,0.046,2205,3754,3997
$GC,2690,-1.07,-121.7,352.8,-13.8,432,2696,0.00,1.77,0.00,0.000,6,0.000,0.025,2205,2493,3997
$GC,3016,-1.07,-121.7,394.5,-11.3,463,3020,0.00,1.95,0.00,0.000,4,0.000,0.048,2205,3754,3997
$GC,3086,-1.07,-121.7,402.4,-11.7,469,3089,0.00,1.77,0.00,0.000,6,0.000,0.025,2205,2506,3997
$GC,3421,-1.13,-121.7,435.5,-10.5,500,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2506,3997
$GC,3748,-1.20,-121.7,473.7,-11.5,531,3752,0.15,1.95,0.00,0.000,4,0.071,0.048,2139,3760,3995
$GC,3815,-1.01,-121.7,483.5,-14.8,537,3819,0.28,1.77,0.00,0.000,6,0.168,0.027,2213,2519,3994
$GC,4153,-1.14,-121.7,518.0,-10.7,561,4155,0.12,0.00,0.00,0.000,6,0.080,0.000,2164,2519,3993
$GC,4460,-1.08,-121.7,559.4,-13.0,576,4464,0.12,1.92,0.00,0.000,4,0.174,0.049,2192,3751,3991
$GC,4566,-1.08,-121.7,571.8,-11.5,580,4572,0.00,1.77,0.00,0.000,6,0.000,0.027,2192,2516,3990
$GC,4883,-1.14,-121.7,605.3,-10.3,596,4887,0.00,1.92,0.00,0.000,4,0.000,0.051,2192,3750,3988
$GC,4939,-1.14,-121.7,611.6,-11.3,598,4942,0.00,1.77,0.00,0.000,6,0.000,0.027,2192,2517,3987
$GC,5261,-1.20,-121.7,646.7,-11.4,614,5264,0.00,2.12,0.00,0.000,4,0.000,0.029,2192,1059,3986
$GC,5323,-1.29,-121.7,654.0,-11.4,616,5329,0.17,2.20,0.00,0.000,6,0.076,0.036,2127,2508,3985
$GC,5639,-1.11,-121.7,699.7,-15.0,632,5645,0.20,1.92,0.00,0.000,4,0.193,0.050,2176,3750,3981
$GC,5768,-1.11,-121.7,717.4,-13.5,637,5774,0.00,1.77,0.00,0.000,6,0.000,0.027,2176,2544,3981
$GC,6084,-1.11,-121.7,757.4,-12.8,653,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2544,3979
$GC,6394,-1.11,-121.7,797.3,-12.6,668,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2544,3976
$GC,6702,-1.11,-121.7,835.0,-11.8,683,6706,0.00,1.92,0.00,0.000,4,0.000,0.054,2176,3760,3974
$GC,6735,-1.11,-121.7,839.1,-12.2,684,6739,0.00,1.80,0.00,0.000,6,0.000,0.029,2175,2559,3974
$GC,7058,-1.11,-121.7,875.2,-11.3,700,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2559,3972
$GC,7366,-1.11,-121.7,910.6,-11.4,715,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2559,3970
$GC,7675,-1.11,-121.7,947.4,-12.0,730,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2559,3968
$GC,7984,-1.11,-121.7,986.0,-12.5,745,7987,0.00,1.90,0.00,0.000,4,0.000,0.055,2169,3753,3967
$STATE,8015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8015,begin apogee
$GC,8022,-0.22,0.0,990.5,14.4,746,8115,0.98,0.00,89.57,1.421,6,0.161,0.000,2463,2530,3532
$STATE,8116,end apogee,CONTROL_FINISHED_OK
$STATE,8116,begin climb
$GC,8119,1.18,121.7,996.0,0.0,751,8229,1.27,2.15,102.28,1.379,4,0.055,0.051,2924,3750,3035
$GC,8324,0.43,121.7,991.8,12.1,760,8330,1.00,1.95,0.00,0.000,6,0.218,0.026,2686,2474,3032
$GC,8647,0.67,225.1,974.3,5.2,776,8740,0.17,2.22,84.68,1.369,4,0.081,0.054,2759,3750,2613
$GC,8820,0.57,225.1,955.4,13.9,784,8824,0.12,1.88,0.00,0.000,6,0.193,0.026,2732,2515,2609
$GC,9153,0.70,240.8,919.2,11.0,800,9175,0.12,2.15,12.95,1.246,4,0.087,0.031,2787,1123,2549
$GC,9289,0.70,240.8,901.3,13.2,806,9293,0.00,2.15,0.00,0.000,6,0.000,0.036,2786,2506,2547
$GC,9622,0.70,240.8,854.8,13.8,822,9626,0.00,2.10,0.00,0.000,4,0.000,0.030,2789,1109,2545
$GC,9654,0.70,240.8,850.0,13.8,823,9658,0.00,2.15,0.00,0.000,6,0.000,0.037,2789,2499,2545
$GC,9976,0.70,240.8,803.8,14.5,839,9979,0.00,2.10,0.00,0.000,4,0.000,0.033,2789,1110,2544
$GC,10054,0.70,240.8,792.8,14.0,842,10057,0.00,2.12,0.00,0.000,6,0.000,0.038,2789,2488,2543
$GC,10375,0.70,240.8,747.7,14.2,858,10378,0.00,2.08,0.00,0.000,4,0.000,0.032,2789,1113,2542
$GC,10430,0.70,240.8,740.1,13.1,860,10434,0.00,2.12,0.00,0.000,6,0.000,0.039,2789,2490,2541
$GC,10752,0.70,240.8,699.7,12.1,876,10756,0.00,2.08,0.00,0.000,4,0.000,0.033,2790,1114,2541
$GC,10790,0.70,240.8,695.0,12.4,877,10797,0.00,2.10,0.00,0.000,6,0.000,0.038,2790,2480,2541
$GC,11106,0.71,249.0,658.3,11.5,893,11114,0.00,0.00,6.75,1.034,6,0.000,0.000,2790,2480,2516
$GC,11415,0.71,249.0,619.3,13.6,908,11419,0.00,2.08,0.00,0.000,4,0.000,0.032,2790,1103,2514
$GC,11590,0.71,249.0,596.9,13.0,915,11597,0.00,2.10,0.00,0.000,6,0.000,0.036,2790,2476,2514
$GC,11906,0.74,270.9,559.8,10.6,931,11928,0.00,0.00,19.00,1.120,6,0.000,0.000,2790,2476,2427
$GC,12235,0.74,270.9,521.1,12.1,947,12238,0.00,2.08,0.00,0.000,4,0.000,0.032,2790,1107,2424
$GC,12423,0.85,289.8,500.6,10.8,955,12444,0.00,2.10,16.60,1.059,6,0.000,0.037,2789,2469,2350
$GC,12770,0.94,296.8,460.8,11.5,987,12782,0.17,0.00,6.85,0.903,6,0.074,0.000,2858,2470,2322
$GC,13098,0.80,296.8,413.4,14.0,1018,13103,0.20,2.05,0.00,0.000,4,0.186,0.030,2810,1109,2320
$GC,13223,0.90,306.1,399.3,11.4,1028,13240,0.00,2.08,9.10,0.916,6,0.000,0.036,2810,2461,2283
$GC,13560,0.98,328.0,362.6,10.6,1060,13585,0.15,2.10,18.67,0.947,4,0.080,0.031,2876,1110,2195
$GC,13684,0.90,328.0,346.1,13.9,1071,13688,0.17,2.05,0.00,0.000,6,0.183,0.036,2833,2435,2191
$GC,14013,0.90,328.0,305.2,12.4,1102,14017,0.00,2.00,0.00,0.000,4,0.000,0.031,2834,1100,2190
$GC,14059,0.96,328.7,299.8,11.9,1106,14065,0.00,2.05,0.00,0.000,6,0.000,0.033,2834,2445,2190
$GC,14404,1.02,328.7,259.8,12.2,1167,14412,0.12,2.00,0.00,0.000,4,0.079,0.030,2886,1108,2190
$GC,14503,0.95,328.7,246.3,13.2,1184,14509,0.15,2.00,0.00,0.000,6,0.184,0.035,2848,2430,2190
$GC,14847,0.95,328.7,202.9,13.0,1245,14853,0.00,2.08,0.00,0.000,4,0.000,0.050,2848,3765,2190
$GC,14927,0.85,328.7,192.1,13.9,1259,14935,0.15,1.92,0.00,0.000,6,0.185,0.026,2819,2437,2191
$GC,15273,1.15,394.9,158.4,7.6,1320,15332,0.22,0.00,52.38,0.777,6,0.067,0.000,2915,2436,1922
$GC,15671,1.15,394.9,103.3,12.6,1390,15677,0.00,1.95,0.00,0.000,4,0.000,0.029,2923,1107,1916
$GC,15740,1.20,394.9,94.4,12.4,1402,15746,0.00,2.10,0.00,0.000,6,0.000,0.032,2922,2491,1916
$GC,16084,1.29,409.6,57.0,11.0,1463,16104,0.10,2.08,12.57,0.634,4,0.087,0.026,2976,1093,1860
$GC,16208,1.29,409.6,39.6,14.5,1484,16214,0.00,2.03,0.00,0.000,6,0.000,0.031,2976,2446,1859
$STATE,16509,end climb,SURFACE_DEPTH_REACHED
$STATE,16509,begin surface coast
$FINISH,1.7,1.008589
$STATE,16539,end surface coast,CONTROL_FINISHED_OK
$STATE,16539,begin surface
$SM_CCo,16556,10.00,0.572,0,0,1798,425.10
$SM_GC,3.72,0.00,0.00,10.00,0.000,0.000,0.572,140,2455,1798,-7.52,0.76,425.10
$IRIDIUM_FIX,2512.73,12334.13,260998,060604
$TT8_MAMPS,0.029146
$HUMID,1606
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.5,44.179
$10V_AH,10.8,25.055
$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,25.275,119.925,431.400,10.000,0.000,24.279,40.696,229.946,8.000,0.000,0.000,33.920,2715.027,10413.477,559.626,2717.479,601.361,0.000,1911.255,0.000,2635.053,0.000,54.429,0.000
$DEVICE_MAMPS,243.906,55.991,1421.251,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.450,1062.545,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82078,1543
$CAP_FILE_SIZE,164233,0
$CFSIZE,260165632,205398016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189, 85.0,1
$GPS,020709,160837,2525.513,12335.452,26,1.7,27,-3.8