version: 66.04
glider: 167
mission: 2
dive: 253
start: 7 3 109 1 50 38
data:
$ID,167
$MISSION,2
$DIVE,253
$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,-10151.814
$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
$GPS1,014337,2528.124,12335.030,34,0.9,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.7
$GPS2,015016,2528.201,12335.092,15,2.2,34,-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,267.7,42340,-23.2,-12.000
$D_GRID,1341
$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,-24.35,0.000,2,0.000,0.000,140,2445,2248
$GC,44,-1.18,-121.7,3.0,-2.4,4,119,8.32,2.10,-60.53,0.000,4,0.240,0.057,2154,3760,3990
$GC,372,-0.63,-121.7,78.5,-24.7,61,379,0.62,1.95,0.00,0.000,6,0.177,0.023,2333,2389,3992
$GC,717,-0.91,-121.7,118.6,-11.0,122,724,0.20,2.12,0.00,0.000,4,0.061,0.043,2234,3763,3993
$GC,770,-0.84,-121.7,126.6,-16.1,131,778,0.15,1.88,0.00,0.000,6,0.158,0.022,2274,2430,3993
$GC,1119,-0.97,-121.7,169.9,-9.9,192,1125,0.12,2.05,0.00,0.000,4,0.074,0.043,2211,3764,3995
$GC,1154,-0.86,-121.7,175.0,-14.3,198,1161,0.20,1.85,0.00,0.000,6,0.161,0.022,2265,2442,3995
$GC,1499,-1.02,-121.7,214.6,-11.1,259,1507,0.15,2.03,0.00,0.000,4,0.071,0.043,2192,3758,3996
$GC,1615,-0.91,-121.7,230.2,-13.5,279,1623,0.20,1.80,0.00,0.000,6,0.158,0.024,2247,2477,3996
$GC,1961,-1.05,-121.7,267.2,-11.3,340,1968,0.12,1.98,0.00,0.000,4,0.075,0.044,2192,3760,3997
$GC,2059,-0.99,-121.7,281.2,-14.6,357,2065,0.12,1.80,0.00,0.000,6,0.162,0.023,2224,2485,3997
$GC,2394,-1.08,-121.7,321.0,-10.9,401,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2484,3997
$GC,2713,-1.19,-121.7,354.0,-9.7,431,2718,0.17,1.98,0.00,0.000,4,0.067,0.046,2152,3759,3997
$GC,2798,-1.02,-121.7,365.3,-13.3,438,2804,0.22,1.77,0.00,0.000,6,0.163,0.025,2213,2509,3997
$GC,3123,-1.11,-121.7,399.3,-10.1,469,3127,0.00,2.10,0.00,0.000,4,0.000,0.026,2213,1045,3997
$GC,3159,-1.22,-121.7,402.5,-9.2,472,3163,0.17,2.20,0.00,0.000,6,0.071,0.032,2147,2517,3997
$GC,3484,-1.08,-121.7,445.2,-13.8,502,3488,0.20,1.90,0.00,0.000,4,0.181,0.045,2195,3760,3995
$GC,3632,-1.08,-121.7,463.8,-12.4,515,3635,0.00,1.75,0.00,0.000,6,0.000,0.027,2195,2539,3995
$GC,3962,-1.13,-121.7,502.7,-11.4,545,3966,0.00,1.90,0.00,0.000,4,0.000,0.049,2192,3760,3993
$GC,4001,-1.13,-121.7,507.2,-11.6,546,4007,0.00,1.75,0.00,0.000,6,0.000,0.027,2192,2538,3993
$GC,4317,-1.18,-121.7,540.4,-10.4,562,4321,0.00,1.90,0.00,0.000,4,0.000,0.051,2192,3755,3991
$GC,4391,-1.18,-121.7,548.5,-11.0,565,4395,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2556,3991
$GC,4719,-1.24,-121.7,585.3,-10.9,581,4723,0.15,1.88,0.00,0.000,4,0.081,0.048,2126,3755,3989
$GC,4751,-1.05,-121.7,589.9,-14.3,582,4756,0.28,1.73,0.00,0.000,6,0.173,0.028,2199,2558,3988
$GC,5076,-1.15,-121.7,625.2,-10.5,598,5080,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3755,3986
$GC,5123,-1.20,-121.7,630.6,-10.7,600,5126,0.00,1.73,0.00,0.000,6,0.000,0.028,2192,2565,3986
$GC,5456,-1.28,-121.7,664.9,-10.1,616,5461,0.17,2.22,0.00,0.000,4,0.080,0.028,2120,1046,3983
$GC,5535,-1.11,-121.7,675.6,-14.0,619,5540,0.28,2.28,0.00,0.000,6,0.183,0.036,2182,2540,3982
$GC,5850,-1.11,-121.7,710.2,-11.0,634,5854,0.00,1.88,0.00,0.000,4,0.000,0.052,2179,3750,3980
$GC,5979,-1.11,-121.7,726.5,-13.3,639,5986,0.00,1.70,0.00,0.000,6,0.000,0.028,2179,2579,3979
$GC,6294,-1.11,-121.7,766.7,-12.9,655,6298,0.00,2.22,0.00,0.000,4,0.000,0.028,2178,1067,3977
$GC,6340,-1.15,-121.7,772.7,-13.6,657,6344,0.00,2.30,0.00,0.000,6,0.000,0.038,2178,2557,3976
$GC,6666,-1.15,-121.7,814.2,-12.3,673,6670,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3760,3974
$GC,6727,-1.15,-121.7,821.7,-12.7,675,6734,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2587,3974
$GC,7043,-1.15,-121.7,859.0,-11.9,691,7047,0.00,1.85,0.00,0.000,4,0.000,0.054,2177,3757,3972
$GC,7111,-1.15,-121.7,867.6,-13.2,694,7114,0.00,1.70,0.00,0.000,6,0.000,0.029,2177,2595,3972
$GC,7443,-1.15,-121.7,905.2,-11.0,710,7447,0.00,1.83,0.00,0.000,4,0.000,0.054,2177,3746,3969
$GC,7494,-1.15,-121.7,910.9,-11.5,712,7497,0.00,1.67,0.00,0.000,6,0.000,0.029,2177,2601,3969
$GC,7821,-1.20,-121.7,947.0,-11.3,728,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2601,3968
$GC,8130,-1.20,-121.7,981.7,-11.1,743,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2601,3967
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8215,-0.22,0.0,990.3,10.5,747,8313,0.98,0.00,89.72,1.421,6,0.160,0.000,2466,2601,3532
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8314,begin climb
$GC,8316,1.18,121.7,993.8,0.0,752,8426,1.30,2.38,102.78,1.380,4,0.061,0.031,2935,1136,3034
$GC,8679,0.59,122.0,968.7,12.0,768,8686,0.75,2.15,0.00,0.000,6,0.210,0.039,2743,2500,3031
$GC,8996,0.59,175.5,941.9,8.5,784,9046,0.00,2.20,43.70,1.351,4,0.000,0.033,2746,1143,2815
$GC,9162,0.62,202.4,925.2,10.2,791,9190,0.00,2.12,23.10,1.299,6,0.000,0.037,2746,2492,2705
$GC,9499,0.64,216.9,887.6,11.0,807,9519,0.00,0.00,13.07,1.239,6,0.000,0.000,2746,2491,2647
$GC,9829,0.73,238.4,851.5,10.6,823,9853,0.10,2.15,18.52,1.269,4,0.091,0.033,2789,1143,2560
$GC,9926,0.73,238.4,839.3,12.6,827,9930,0.00,2.12,0.00,0.000,6,0.000,0.038,2789,2496,2557
$GC,10254,0.68,238.4,797.9,13.0,843,10257,0.00,2.08,0.00,0.000,4,0.000,0.031,2789,1129,2556
$GC,10314,0.68,238.4,789.9,13.2,845,10321,0.00,2.10,0.00,0.000,6,0.000,0.038,2789,2479,2555
$GC,10631,0.68,238.4,748.6,13.3,861,10634,0.00,2.03,0.00,0.000,4,0.000,0.031,2795,1134,2554
$GC,10759,0.68,238.4,732.5,13.5,866,10765,0.00,2.08,0.00,0.000,6,0.000,0.038,2795,2477,2553
$GC,11074,0.68,238.4,693.5,12.2,882,11078,0.00,2.03,0.00,0.000,4,0.000,0.054,2795,3765,2552
$GC,11131,0.50,238.4,685.7,14.3,884,11135,0.30,1.90,0.00,0.000,6,0.191,0.028,2709,2500,2552
$GC,11452,0.79,279.4,655.9,9.3,900,11494,0.22,2.15,33.03,1.205,4,0.075,0.034,2802,1122,2392
$GC,11630,0.79,279.4,631.1,13.7,908,11634,0.00,2.12,0.00,0.000,6,0.000,0.037,2803,2479,2389
$GC,11963,0.79,279.4,585.4,13.4,924,11966,0.00,2.08,0.00,0.000,4,0.000,0.032,2803,1114,2386
$GC,12114,0.79,279.4,566.5,12.1,930,12121,0.00,2.05,0.00,0.000,6,0.000,0.036,2803,2445,2386
$GC,12429,0.79,279.4,526.3,13.2,946,12433,0.00,2.08,0.00,0.000,4,0.000,0.053,2803,3765,2385
$GC,12452,0.73,279.4,523.0,14.1,947,12457,0.12,2.00,0.00,0.000,6,0.196,0.027,2783,2412,2385
$GC,12780,0.80,279.4,480.4,12.9,969,12784,0.00,2.15,0.00,0.000,4,0.000,0.051,2783,3764,2385
$GC,12841,0.80,279.4,470.9,15.7,974,12847,0.00,1.95,0.00,0.000,6,0.000,0.029,2789,2444,2384
$GC,13168,0.89,297.0,431.0,10.8,1005,13191,0.12,2.03,14.60,1.006,4,0.086,0.034,2844,1098,2320
$GC,13252,0.85,297.0,420.3,12.8,1012,13258,0.00,2.08,0.00,0.000,6,0.000,0.037,2844,2442,2319
$GC,13579,0.75,297.0,381.4,12.3,1043,13584,0.20,2.00,0.00,0.000,4,0.179,0.031,2795,1114,2319
$GC,13705,0.91,313.6,367.3,10.9,1054,13729,0.12,1.98,14.35,0.943,6,0.088,0.035,2842,2413,2253
$GC,14045,0.91,313.6,323.7,12.8,1086,14046,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2413,2251
$GC,14371,0.91,313.6,281.7,13.6,1128,14377,0.00,1.95,0.00,0.000,4,0.000,0.031,2845,1109,2252
$GC,14515,0.97,319.1,263.9,11.6,1153,14527,0.00,1.95,5.85,0.733,6,0.000,0.035,2845,2394,2231
$GC,14866,1.03,327.4,224.6,11.5,1215,14880,0.00,1.98,8.40,0.766,4,0.000,0.030,2845,1111,2197
$GC,14904,1.11,327.4,220.0,12.5,1221,14910,0.17,1.95,0.00,0.000,6,0.074,0.032,2913,2403,2196
$GC,15248,1.00,327.4,172.1,13.2,1282,15254,0.17,0.00,0.00,0.000,6,0.178,0.000,2863,2406,2196
$GC,15592,1.13,369.9,138.0,9.2,1343,15629,0.15,0.00,34.35,0.754,6,0.081,0.000,2921,2406,2024
$GC,15968,1.17,401.4,90.0,9.9,1409,15998,0.00,2.03,25.33,0.695,4,0.000,0.029,2927,1098,1894
$GC,16146,1.30,413.3,72.3,11.2,1440,16163,0.10,1.95,10.40,0.627,6,0.091,0.030,2968,2389,1846
$GC,16503,1.32,431.3,25.9,10.8,1503,16526,0.00,1.95,15.38,0.612,4,0.000,0.026,2976,1101,1771
$GC,16567,1.32,431.3,17.9,12.2,1514,16573,0.00,1.90,0.00,0.000,6,0.000,0.028,2976,2370,1770
$STATE,16694,end climb,SURFACE_DEPTH_REACHED
$STATE,16695,begin surface coast
$FINISH,1.8,1.008828
$STATE,16715,end surface coast,CONTROL_FINISHED_OK
$STATE,16715,begin surface
$SM_CCo,16793,0.00,0.000,0,0,1767,432.95
$SM_GC,2.71,7.60,0.00,0.00,0.052,0.000,0.000,140,2446,1767,-7.50,0.54,432.95
$IRIDIUM_FIX,2517.50,12332.14,260998,212129
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.5,44.683
$10V_AH,10.8,25.337
$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,24.300,134.700,452.575,0.000,0.000,29.001,32.995,179.147,8.000,0.000,0.000,36.688,2743.171,10479.259,595.196,2791.283,572.363,0.000,1991.564,0.000,2707.496,0.000,56.010,0.000
$DEVICE_MAMPS,240.071,85.137,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.849,1058.854,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82081,1540
$CAP_FILE_SIZE,171466,0
$CFSIZE,260165632,205135872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263, 83.1,1
$GPS,030709,063137,2528.697,12335.512,31,1.8,32,-3.8