version: 66.04
glider: 167
mission: 2
dive: 252
start: 7 2 109 21 0 18
data:
$ID,167
$MISSION,2
$DIVE,252
$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,-10114.498
$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,61
$R_STBD_OVSHOOT,33
$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
$GPS1,205337,2526.973,12335.029,27,1.1,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-72.3
$GPS2,205956,2527.031,12335.113,13,1.2,13,-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,273.2,43646,-23.2,-12.000
$D_GRID,1360
$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,-24.45,0.000,2,0.000,0.000,139,2439,2303
$GC,44,-1.18,-121.7,3.0,-2.2,4,113,8.30,2.17,-54.55,0.000,4,0.239,0.038,2159,1011,3989
$GC,125,-0.54,-121.7,11.3,-23.5,17,132,0.77,2.17,0.00,0.000,6,0.176,0.031,2368,2447,3990
$GC,470,-0.80,-121.7,58.9,-13.0,78,477,0.20,2.03,0.00,0.000,4,0.061,0.045,2275,3763,3992
$GC,569,-0.71,-121.7,74.9,-17.4,95,575,0.15,1.92,0.00,0.000,6,0.160,0.024,2314,2409,3992
$GC,914,-0.91,-121.7,119.0,-9.6,156,920,0.17,2.10,0.00,0.000,4,0.064,0.044,2234,3767,3993
$GC,1151,-0.84,-121.7,155.0,-15.6,198,1159,0.15,1.83,0.00,0.000,6,0.159,0.022,2274,2468,3995
$GC,1498,-1.01,-121.7,193.7,-8.7,259,1505,0.17,2.00,0.00,0.000,4,0.064,0.044,2192,3766,3996
$GC,1726,-0.87,-121.7,223.8,-13.6,299,1732,0.25,1.77,0.00,0.000,6,0.157,0.023,2262,2497,3997
$GC,2072,-1.06,-121.7,263.0,-9.4,360,2079,0.17,1.95,0.00,0.000,4,0.067,0.044,2188,3764,3997
$GC,2248,-0.95,-121.7,288.1,-15.1,391,2255,0.17,1.75,0.00,0.000,6,0.160,0.023,2235,2519,3997
$GC,2586,-1.08,-121.7,326.6,-10.7,431,2590,0.12,1.92,0.00,0.000,4,0.075,0.044,2179,3767,3997
$GC,2631,-0.95,-121.7,332.5,-13.2,435,2635,0.20,1.77,0.00,0.000,6,0.162,0.023,2232,2511,3997
$GC,2962,-1.08,-121.7,370.0,-10.9,466,2966,0.12,1.92,0.00,0.000,4,0.078,0.045,2178,3757,3997
$GC,3013,-0.98,-121.7,376.7,-13.7,470,3021,0.17,1.75,0.00,0.000,6,0.165,0.025,2224,2520,3997
$GC,3338,-1.11,-121.7,411.2,-9.8,501,3342,0.12,1.92,0.00,0.000,4,0.076,0.046,2166,3764,3997
$GC,3429,-0.97,-121.7,422.9,-13.3,509,3433,0.22,1.75,0.00,0.000,6,0.165,0.025,2227,2532,3997
$GC,3759,-1.13,-121.7,460.5,-11.1,540,3763,0.15,1.90,0.00,0.000,4,0.073,0.048,2162,3754,3996
$GC,3876,-1.02,-121.7,476.4,-13.6,550,3884,0.20,1.73,0.00,0.000,6,0.166,0.027,2215,2550,3995
$GC,4212,-1.14,-121.7,512.0,-10.6,577,4217,0.12,1.88,0.00,0.000,4,0.079,0.048,2163,3753,3993
$GC,4259,-1.03,-121.7,518.0,-13.1,579,4263,0.20,1.73,0.00,0.000,6,0.171,0.026,2215,2553,3993
$GC,4593,-1.17,-121.7,553.8,-10.6,595,4598,0.15,1.88,0.00,0.000,4,0.075,0.049,2153,3753,3992
$GC,4639,-1.04,-121.7,559.9,-13.6,597,4643,0.20,1.70,0.00,0.000,6,0.171,0.027,2204,2575,3991
$GC,4973,-1.15,-121.7,595.6,-10.7,613,4977,0.00,1.88,0.00,0.000,4,0.000,0.051,2204,3753,3989
$GC,5069,-1.22,-121.7,606.6,-11.0,617,5073,0.12,1.70,0.00,0.000,6,0.062,0.028,2146,2598,3988
$GC,5400,-1.11,-121.7,651.1,-14.0,633,5404,0.15,2.25,0.00,0.000,4,0.180,0.027,2183,1061,3986
$GC,5434,-1.16,-121.7,656.2,-12.3,634,5441,0.00,2.30,0.00,0.000,6,0.000,0.036,2180,2572,3986
$GC,5750,-1.16,-121.7,693.8,-11.3,650,5753,0.00,1.83,0.00,0.000,4,0.000,0.053,2178,3753,3983
$GC,5850,-1.16,-121.7,705.9,-11.2,654,5854,0.00,1.65,0.00,0.000,6,0.000,0.028,2178,2617,3981
$GC,6171,-1.16,-121.7,741.3,-11.7,670,6175,0.00,1.80,0.00,0.000,4,0.000,0.054,2178,3757,3979
$GC,6255,-1.16,-121.7,751.8,-12.8,673,6260,0.00,1.65,0.00,0.000,6,0.000,0.029,2178,2622,3978
$GC,6570,-1.16,-121.7,790.1,-12.4,689,6573,0.00,1.80,0.00,0.000,4,0.000,0.054,2178,3760,3976
$GC,6660,-1.16,-121.7,801.4,-12.7,693,6663,0.00,1.65,0.00,0.000,6,0.000,0.030,2178,2637,3975
$GC,6992,-1.16,-121.7,840.8,-11.7,709,6996,0.00,1.77,0.00,0.000,4,0.000,0.054,2178,3756,3973
$GC,7042,-1.16,-121.7,846.8,-12.0,711,7046,0.00,1.65,0.00,0.000,6,0.000,0.030,2178,2629,3973
$GC,7370,-1.16,-121.7,885.0,-12.0,727,7374,0.00,1.83,0.00,0.000,4,0.000,0.056,2178,3757,3971
$GC,7402,-1.16,-121.7,889.3,-12.5,728,7406,0.00,1.65,0.00,0.000,6,0.000,0.030,2178,2652,3971
$GC,7724,-1.16,-121.7,927.9,-11.7,744,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2651,3969
$GC,8034,-1.20,-121.7,964.8,-12.0,759,8038,0.00,1.75,0.00,0.000,4,0.000,0.057,2178,3751,3967
$GC,8072,-1.20,-121.7,969.9,-12.9,760,8079,0.00,1.65,0.00,0.000,6,0.000,0.031,2178,2649,3967
$STATE,8241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8241,begin apogee
$GC,8248,-0.22,0.0,990.1,11.8,769,8344,0.98,0.00,90.00,1.421,6,0.160,0.000,2465,2540,3531
$STATE,8345,end apogee,CONTROL_FINISHED_OK
$STATE,8345,begin climb
$GC,8348,1.18,121.7,994.7,0.0,774,8458,1.30,2.12,102.22,1.379,4,0.057,0.051,2928,3751,3035
$GC,8526,0.41,121.7,992.2,12.6,782,8531,1.02,1.95,0.00,0.000,6,0.216,0.027,2684,2486,3033
$GC,8842,0.66,228.0,974.4,5.0,797,8936,0.20,2.17,87.53,1.366,4,0.077,0.031,2774,1115,2601
$GC,9077,0.66,228.0,949.0,12.3,808,9081,0.00,2.17,0.00,0.000,6,0.000,0.036,2774,2489,2595
$GC,9409,0.66,228.0,908.1,12.1,824,9413,0.00,2.10,0.00,0.000,4,0.000,0.031,2775,1113,2593
$GC,9482,0.68,237.6,899.5,11.4,827,9498,0.00,2.12,7.75,1.135,6,0.000,0.037,2776,2485,2563
$GC,9808,0.68,237.6,858.4,12.9,843,9812,0.00,2.08,0.00,0.000,4,0.000,0.032,2775,1113,2560
$GC,9921,0.68,237.6,843.8,12.8,848,9924,0.00,2.10,0.00,0.000,6,0.000,0.037,2776,2469,2560
$GC,10253,0.68,237.6,801.0,12.9,864,10257,0.00,2.05,0.00,0.000,4,0.000,0.032,2776,1105,2559
$GC,10342,0.68,237.6,789.6,12.6,868,10346,0.00,2.08,0.00,0.000,6,0.000,0.038,2776,2450,2558
$GC,10675,0.68,237.6,748.4,12.0,884,10678,0.00,2.03,0.00,0.000,4,0.000,0.033,2775,1106,2558
$GC,10713,0.68,237.6,743.8,12.0,885,10719,0.00,2.05,0.00,0.000,6,0.000,0.038,2775,2440,2558
$GC,11029,0.68,238.7,705.8,11.9,901,11033,0.00,2.08,0.00,0.000,4,0.000,0.054,2775,3764,2557
$GC,11062,0.57,238.7,701.3,13.6,902,11066,0.17,1.95,0.00,0.000,6,0.193,0.027,2733,2446,2557
$GC,11383,0.75,264.0,668.8,10.3,918,11410,0.15,2.05,21.38,1.195,4,0.079,0.034,2795,1118,2455
$GC,11556,0.75,264.0,645.2,13.4,925,11562,0.00,2.03,0.00,0.000,6,0.000,0.036,2795,2422,2452
$GC,11872,0.75,264.0,603.4,12.8,941,11876,0.00,1.98,0.00,0.000,4,0.000,0.031,2802,1112,2452
$GC,11910,0.75,264.0,598.3,12.8,942,11918,0.00,2.03,0.00,0.000,6,0.000,0.037,2802,2428,2451
$GC,12226,0.75,264.0,558.3,12.6,958,12230,0.00,1.98,0.00,0.000,4,0.000,0.032,2807,1113,2450
$GC,12332,0.75,264.0,545.5,12.1,962,12339,0.00,2.00,0.00,0.000,6,0.000,0.038,2807,2417,2450
$GC,12648,0.75,265.3,507.6,11.9,978,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2417,2450
$GC,12963,0.75,265.3,468.5,12.8,1004,12967,0.00,1.95,0.00,0.000,4,0.000,0.031,2813,1113,2449
$GC,13159,0.78,284.2,444.8,10.8,1021,13181,0.00,2.00,17.15,1.031,6,0.000,0.035,2813,2425,2373
$GC,13507,0.78,287.1,404.8,11.8,1054,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2425,2369
$GC,13827,0.79,294.0,368.7,11.5,1084,13841,0.00,2.03,9.35,0.907,4,0.000,0.032,2816,1109,2332
$GC,14000,0.89,310.9,348.3,10.9,1099,14020,0.00,2.00,15.02,0.931,6,0.000,0.035,2816,2418,2262
$GC,14346,0.95,310.9,305.9,12.4,1132,14350,0.00,1.98,0.00,0.000,4,0.000,0.031,2816,1106,2260
$GC,14465,1.09,327.3,292.1,10.9,1148,14486,0.22,1.98,13.93,0.877,6,0.067,0.034,2901,2404,2196
$GC,14825,0.92,327.3,239.8,15.5,1211,14831,0.20,0.00,0.00,0.000,6,0.187,0.000,2846,2406,2194
$GC,15169,0.93,336.5,199.8,11.4,1272,15187,0.00,2.00,8.82,0.753,4,0.000,0.030,2852,1103,2159
$GC,15280,1.04,341.9,186.8,11.6,1291,15292,0.00,1.98,5.85,0.668,6,0.000,0.033,2852,2409,2137
$GC,15632,1.16,348.6,149.5,11.6,1353,15645,0.17,0.00,7.20,0.677,6,0.071,0.000,2927,2409,2110
$GC,15984,1.14,379.6,103.0,10.0,1415,16014,0.00,2.00,25.05,0.719,4,0.000,0.028,2932,1112,1983
$GC,16172,1.17,406.4,83.4,10.2,1448,16201,0.00,1.95,22.20,0.686,6,0.000,0.032,2932,2402,1874
$GC,16540,1.27,420.0,37.7,11.1,1513,16559,0.00,1.95,11.60,0.611,4,0.000,0.028,2938,1098,1818
$GC,16674,1.45,462.6,24.3,9.2,1536,16717,0.20,1.90,34.38,0.629,6,0.065,0.029,3012,2368,1644
$STATE,16827,end climb,SURFACE_DEPTH_REACHED
$STATE,16827,begin surface coast
$FINISH,1.7,1.003590
$STATE,16852,end surface coast,CONTROL_FINISHED_OK
$STATE,16852,begin surface
$SM_CCo,16930,0.00,0.000,0,0,1636,464.84
$SM_GC,2.72,7.72,0.00,0.00,0.051,0.000,0.000,141,2445,1636,-7.50,0.51,464.84
$IRIDIUM_FIX,2515.12,12334.13,260998,161633
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.5,44.518
$10V_AH,10.8,25.243
$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,25.150,135.325,479.425,0.000,0.000,24.453,32.280,185.380,8.000,0.000,0.000,13.834,2777.033,10538.937,594.504,2808.686,579.786,0.000,2018.228,0.000,2750.914,0.000,54.417,0.000
$DEVICE_MAMPS,238.537,85.137,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.872,1090.049,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85128,1567
$CAP_FILE_SIZE,173070,0
$CFSIZE,260165632,205217792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 74.3,1
$GPS,030709,014337,2528.124,12335.030,34,0.9,35,-3.8