version: 66.04
glider: 167
mission: 2
dive: 251
start: 7 2 109 16 15 22
data:
$ID,167
$MISSION,2
$DIVE,251
$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,-10100.035
$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,68
$R_STBD_OVSHOOT,38
$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
$GPS1,160837,2525.513,12335.452,26,1.7,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.0
$GPS2,161501,2525.578,12335.550,12,1.8,17,-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,281.5,45887,-23.2,-12.000
$D_GRID,1443
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.38,0.000,2,0.000,0.000,140,2455,2389
$GC,44,-1.18,-121.7,3.0,-2.6,3,108,8.32,2.03,-48.92,0.000,4,0.240,0.057,2149,3755,3989
$GC,171,-0.41,-121.7,28.8,-33.6,25,178,0.93,1.95,0.00,0.000,6,0.177,0.022,2408,2385,3991
$GC,516,-1.13,-121.7,65.7,-11.4,86,524,0.57,2.12,0.00,0.000,4,0.048,0.043,2172,3757,3992
$GC,778,-0.79,-121.7,119.8,-18.2,132,784,0.40,1.80,0.00,0.000,6,0.167,0.024,2284,2476,3993
$GC,1123,-0.94,-121.7,162.5,-11.7,193,1129,0.12,1.98,0.00,0.000,4,0.076,0.043,2220,3761,3995
$GC,1231,-0.87,-121.7,177.4,-12.7,212,1238,0.15,1.77,0.00,0.000,6,0.158,0.023,2259,2493,3996
$GC,1576,-1.02,-121.7,212.0,-9.9,273,1582,0.12,1.95,0.00,0.000,4,0.077,0.044,2205,3758,3997
$GC,1731,-0.94,-121.7,231.6,-14.2,300,1738,0.12,1.75,0.00,0.000,6,0.160,0.023,2237,2506,3997
$GC,2076,-1.04,-121.7,273.7,-11.4,361,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2505,3997
$GC,2416,-1.16,-121.7,308.2,-11.0,415,2420,0.20,1.95,0.00,0.000,4,0.063,0.046,2149,3769,3997
$GC,2462,-0.91,-121.7,315.0,-16.2,419,2466,0.35,1.77,0.00,0.000,6,0.165,0.024,2247,2506,3997
$GC,2792,-1.09,-121.7,351.6,-9.7,450,2797,0.15,2.10,0.00,0.000,4,0.071,0.025,2183,1041,3997
$GC,2847,-1.09,-121.7,358.2,-13.1,454,2854,0.00,2.17,0.00,0.000,6,0.000,0.032,2179,2500,3997
$GC,3176,-1.02,-121.7,400.3,-12.2,485,3182,0.15,0.00,0.00,0.000,6,0.171,0.000,2217,2500,3997
$GC,3503,-1.12,-121.7,436.2,-10.8,516,3507,0.00,1.92,0.00,0.000,4,0.000,0.050,2218,3767,3997
$GC,3538,-1.21,-121.7,440.0,-10.3,519,3543,0.17,1.80,0.00,0.000,6,0.070,0.026,2146,2511,3997
$GC,3869,-1.06,-121.7,484.8,-14.0,550,3873,0.20,1.95,0.00,0.000,4,0.169,0.048,2203,3761,3995
$GC,3937,-1.11,-121.7,493.1,-12.0,556,3940,0.00,1.75,0.00,0.000,6,0.000,0.027,2204,2534,3995
$GC,4273,-1.20,-121.7,529.5,-10.9,575,4277,0.15,1.92,0.00,0.000,4,0.073,0.048,2139,3767,3993
$GC,4356,-1.00,-121.7,541.3,-14.0,578,4364,0.30,1.75,0.00,0.000,6,0.169,0.026,2221,2547,3993
$GC,4672,-1.18,-121.7,572.7,-10.1,594,4674,0.17,0.00,0.00,0.000,6,0.071,0.000,2154,2546,3992
$GC,4981,-1.09,-121.7,612.9,-12.9,609,4985,0.15,2.17,0.00,0.000,4,0.178,0.027,2190,1054,3990
$GC,5008,-1.14,-121.7,616.3,-11.6,610,5012,0.00,2.25,0.00,0.000,6,0.000,0.035,2190,2539,3990
$GC,5325,-1.20,-121.7,650.9,-10.5,625,5329,0.00,1.88,0.00,0.000,4,0.000,0.052,2190,3753,3987
$GC,5394,-1.26,-121.7,658.4,-11.3,628,5398,0.15,1.73,0.00,0.000,6,0.078,0.028,2133,2568,3987
$GC,5728,-1.11,-121.7,703.9,-13.8,644,5733,0.17,2.22,0.00,0.000,4,0.179,0.028,2182,1049,3985
$GC,5806,-1.18,-121.7,713.2,-10.3,647,5812,0.00,2.25,0.00,0.000,6,0.000,0.036,2179,2524,3984
$GC,6122,-1.18,-121.7,747.7,-10.8,663,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2525,3981
$GC,6431,-1.18,-121.7,780.1,-10.5,678,6434,0.00,1.92,0.00,0.000,4,0.000,0.054,2178,3758,3979
$GC,6521,-1.18,-121.7,790.0,-11.4,682,6525,0.00,1.77,0.00,0.000,6,0.000,0.029,2178,2552,3978
$GC,6855,-1.18,-121.7,825.8,-11.0,698,6858,0.00,1.90,0.00,0.000,4,0.000,0.054,2179,3751,3976
$GC,6893,-1.18,-121.7,830.7,-12.2,699,6899,0.00,1.77,0.00,0.000,6,0.000,0.029,2178,2559,3975
$GC,7210,-1.18,-121.7,866.8,-11.7,715,7213,0.00,1.90,0.00,0.000,4,0.000,0.055,2179,3754,3974
$GC,7282,-1.18,-121.7,876.1,-13.2,718,7285,0.00,1.77,0.00,0.000,6,0.000,0.029,2178,2565,3973
$GC,7609,-1.23,-121.7,914.6,-11.5,734,7613,0.00,2.22,0.00,0.000,4,0.000,0.030,2178,1061,3971
$GC,7649,-1.29,-121.7,919.5,-12.4,735,7655,0.15,2.28,0.00,0.000,6,0.083,0.040,2124,2533,3971
$GC,7965,-1.13,-121.7,965.3,-14.4,751,7969,0.17,1.92,0.00,0.000,4,0.195,0.052,2165,3757,3969
$GC,8044,-1.13,-121.7,975.4,-11.9,754,8047,0.00,1.77,0.00,0.000,6,0.000,0.030,2165,2550,3969
$STATE,8177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8177,begin apogee
$GC,8182,-0.22,0.0,991.1,11.6,761,8280,1.02,0.00,90.20,1.416,6,0.162,0.000,2467,2549,3532
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8280,begin climb
$GC,8283,1.18,121.7,994.8,0.0,766,8393,1.30,2.10,102.15,1.376,4,0.058,0.051,2929,3750,3034
$GC,8556,0.41,121.7,977.2,14.4,778,8561,1.02,1.85,0.00,0.000,6,0.216,0.027,2680,2524,3031
$GC,8872,0.64,203.8,955.6,6.6,793,8945,0.20,2.28,66.60,1.357,4,0.077,0.034,2762,1115,2700
$GC,9017,0.64,203.8,939.8,12.1,799,9024,0.00,2.20,0.00,0.000,6,0.000,0.036,2762,2496,2697
$GC,9334,0.65,208.0,902.8,11.7,815,9340,0.00,0.00,4.30,0.888,6,0.000,0.000,2762,2496,2683
$GC,9643,0.67,224.9,867.6,10.9,830,9666,0.00,2.12,15.45,1.262,4,0.000,0.033,2762,1120,2614
$GC,9735,0.75,239.2,857.4,11.1,834,9757,0.00,2.15,13.23,1.225,6,0.000,0.037,2762,2493,2555
$GC,10065,0.75,239.2,817.9,12.2,850,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2493,2551
$GC,10374,0.75,239.2,779.0,12.5,865,10378,0.00,2.10,0.00,0.000,4,0.000,0.033,2763,1107,2550
$GC,10414,0.85,239.2,774.1,12.7,866,10422,0.15,2.12,0.00,0.000,6,0.084,0.038,2820,2482,2550
$GC,10730,0.71,239.2,728.1,14.4,882,10735,0.17,2.08,0.00,0.000,4,0.180,0.029,2777,1101,2549
$GC,10774,0.77,239.2,721.9,13.3,884,10778,0.00,2.10,0.00,0.000,6,0.000,0.035,2777,2473,2549
$GC,11101,0.77,239.2,679.6,13.2,900,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2473,2548
$GC,11411,0.77,239.2,639.4,13.0,915,11415,0.00,2.05,0.00,0.000,4,0.000,0.032,2784,1113,2547
$GC,11524,0.77,239.2,624.6,12.9,920,11527,0.00,2.08,0.00,0.000,6,0.000,0.038,2783,2461,2547
$GC,11856,0.77,239.2,582.3,12.4,936,11860,0.00,2.05,0.00,0.000,4,0.000,0.052,2783,3768,2547
$GC,11969,0.64,239.2,566.4,13.3,941,11973,0.15,1.92,0.00,0.000,6,0.195,0.028,2753,2469,2547
$GC,12303,0.81,300.0,535.4,8.0,957,12358,0.15,2.15,48.53,1.125,4,0.081,0.033,2815,1113,2306
$GC,12543,0.81,300.0,505.4,13.2,968,12547,0.00,2.12,0.00,0.000,6,0.000,0.037,2816,2466,2300
$GC,12873,0.81,300.0,459.4,13.8,997,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2466,2297
$GC,13192,0.81,300.0,417.5,12.6,1027,13196,0.00,2.05,0.00,0.000,4,0.000,0.031,2816,1107,2297
$GC,13308,0.87,301.8,403.2,11.9,1037,13312,0.00,2.10,0.00,0.000,6,0.000,0.037,2816,2471,2296
$GC,13638,0.87,303.2,360.3,11.9,1068,13642,0.00,2.05,0.00,0.000,4,0.000,0.032,2816,1107,2296
$GC,13718,0.98,326.0,351.6,10.5,1075,13743,0.12,2.05,19.90,0.952,6,0.084,0.035,2865,2452,2202
$GC,14069,0.90,326.0,299.3,15.7,1108,14075,0.12,2.03,0.00,0.000,4,0.187,0.029,2844,1105,2199
$GC,14172,0.95,326.0,284.4,13.9,1126,14179,0.00,2.00,0.00,0.000,6,0.000,0.035,2844,2415,2199
$GC,14517,0.95,326.0,242.3,13.0,1187,14523,0.00,1.95,0.00,0.000,4,0.000,0.029,2844,1100,2198
$GC,14563,1.02,326.0,236.4,12.3,1195,14569,0.00,1.98,0.00,0.000,6,0.000,0.031,2844,2412,2198
$GC,14908,1.09,334.0,197.3,11.5,1256,14921,0.15,2.15,7.95,0.736,4,0.075,0.048,2905,3759,2170
$GC,14973,0.83,334.0,187.9,15.1,1267,14980,0.38,1.98,0.00,0.000,6,0.184,0.024,2813,2397,2169
$GC,15318,1.14,397.9,155.2,7.8,1328,15377,0.25,1.98,50.62,0.775,4,0.064,0.029,2925,1090,1908
$GC,15447,1.14,397.9,138.1,15.0,1350,15454,0.00,2.08,0.00,0.000,6,0.000,0.033,2925,2436,1904
$GC,15792,1.16,416.2,91.3,10.8,1411,15809,0.00,0.00,14.65,0.680,6,0.000,0.000,2925,2437,1835
$GC,16147,1.26,418.1,49.8,11.9,1474,16154,0.00,2.00,0.00,0.000,4,0.000,0.028,2925,1090,1831
$GC,16408,1.48,449.9,21.9,9.9,1520,16443,0.28,2.00,27.67,0.627,6,0.062,0.030,3027,2434,1696
$STATE,16539,end climb,SURFACE_DEPTH_REACHED
$STATE,16539,begin surface coast
$FINISH,1.7,0.997943
$STATE,16555,end surface coast,CONTROL_FINISHED_OK
$STATE,16555,begin surface
$SM_CCo,16633,0.00,0.000,0,0,1690,451.84
$SM_GC,2.83,7.70,0.00,0.00,0.048,0.000,0.000,139,2440,1690,-7.51,0.37,451.84
$IRIDIUM_FIX,2517.50,12335.45,260998,111133
$TT8_MAMPS,0.029146
$HUMID,1584
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.5,44.347
$10V_AH,10.7,25.148
$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,26.575,128.050,461.250,0.000,0.000,28.999,35.232,181.616,8.000,0.000,0.000,17.643,2736.836,10405.394,573.754,2728.240,562.459,0.000,1950.611,0.000,2662.081,0.000,56.407,0.000
$DEVICE_MAMPS,240.071,56.758,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.883,1069.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81967,1546
$CAP_FILE_SIZE,168819,0
$CFSIZE,260165632,205307904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171, 62.4,1
$GPS,020709,205337,2526.973,12335.029,27,1.1,28,-3.8