version: 66.04
glider: 167
mission: 2
dive: 254
start: 7 3 109 6 38 55
data:
$ID,167
$MISSION,2
$DIVE,254
$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,-10179.2
$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,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
$GPS1,063137,2528.697,12335.512,31,1.8,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.1
$GPS2,063835,2528.816,12335.633,17,1.9,26,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$TGT_RADIUS,2000.000
$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,213.9,28398,-23.2,-12.000
$D_GRID,1326
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,45,0.00,0.00,-29.02,0.000,2,0.000,0.000,139,2446,2506
$GC,49,-1.18,-121.7,3.4,-2.9,5,108,8.30,2.10,-45.55,0.000,4,0.239,0.057,2150,3758,3989
$GC,283,-0.54,-121.7,61.6,-27.8,46,290,0.77,1.95,0.00,0.000,6,0.174,0.022,2369,2385,3990
$GC,628,-0.93,-121.7,101.4,-10.3,107,636,0.30,2.12,0.00,0.000,4,0.056,0.044,2234,3754,3992
$GC,705,-0.82,-121.7,112.5,-14.7,120,712,0.17,1.88,0.00,0.000,6,0.160,0.023,2281,2425,3992
$GC,1050,-0.97,-121.7,155.6,-12.9,181,1057,0.15,2.05,0.00,0.000,4,0.071,0.043,2214,3756,3994
$GC,1153,-0.80,-121.7,172.0,-16.0,199,1161,0.25,1.88,0.00,0.000,6,0.157,0.023,2285,2425,3995
$GC,1501,-1.01,-121.7,204.8,-9.7,260,1508,0.17,2.05,0.00,0.000,4,0.065,0.044,2201,3756,3995
$GC,1656,-0.92,-121.7,226.1,-14.2,287,1664,0.17,1.85,0.00,0.000,6,0.156,0.023,2248,2436,3996
$GC,2003,-1.04,-121.7,263.9,-11.6,348,2009,0.12,2.03,0.00,0.000,4,0.075,0.044,2192,3754,3997
$GC,2106,-0.97,-121.7,277.7,-13.7,366,2113,0.15,1.83,0.00,0.000,6,0.160,0.024,2231,2455,3997
$GC,2443,-1.08,-121.7,314.3,-10.3,414,2447,0.00,2.00,0.00,0.000,4,0.000,0.046,2231,3751,3996
$GC,2482,-1.17,-121.7,318.5,-10.6,417,2489,0.17,1.80,0.00,0.000,6,0.067,0.024,2159,2473,3997
$GC,2808,-1.05,-121.7,359.3,-11.7,448,2812,0.17,1.98,0.00,0.000,4,0.165,0.045,2204,3753,3997
$GC,2857,-1.05,-121.7,364.8,-10.0,452,2863,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2476,3997
$GC,3185,-1.11,-121.7,398.2,-10.9,483,3188,0.00,1.98,0.00,0.000,4,0.000,0.047,2204,3753,3996
$GC,3253,-1.15,-121.7,406.2,-11.4,489,3256,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2487,3996
$GC,3586,-1.23,-121.7,445.1,-12.2,520,3591,0.17,2.08,0.00,0.000,4,0.067,0.026,2128,1050,3995
$GC,3619,-1.05,-121.7,450.0,-13.8,522,3626,0.28,2.15,0.00,0.000,6,0.167,0.033,2199,2481,3995
$GC,3944,-1.12,-121.7,487.3,-11.1,553,3948,0.00,1.95,0.00,0.000,4,0.000,0.048,2192,3757,3993
$GC,4103,-1.12,-121.7,506.4,-11.5,565,4107,0.00,1.80,0.00,0.000,6,0.000,0.027,2192,2502,3993
$GC,4436,-1.17,-121.7,545.8,-12.3,581,4440,0.00,1.95,0.00,0.000,4,0.000,0.050,2192,3761,3991
$GC,4526,-1.17,-121.7,557.5,-12.9,585,4530,0.00,1.80,0.00,0.000,6,0.000,0.028,2192,2537,3990
$GC,4860,-1.23,-121.7,596.6,-11.5,601,4861,0.12,0.00,0.00,0.000,6,0.084,0.000,2143,2537,3988
$GC,5168,-1.12,-121.7,635.4,-12.9,616,5170,0.15,0.00,0.00,0.000,6,0.179,0.000,2179,2537,3986
$GC,5477,-1.12,-121.7,670.0,-11.1,631,5481,0.00,1.92,0.00,0.000,4,0.000,0.053,2178,3760,3983
$GC,5590,-1.12,-121.7,682.9,-11.2,636,5594,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2566,3982
$GC,5923,-1.12,-121.7,720.6,-11.4,652,5926,0.00,1.88,0.00,0.000,4,0.000,0.053,2178,3753,3980
$GC,5996,-1.12,-121.7,729.4,-11.5,655,5999,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2555,3979
$GC,6323,-1.12,-121.7,766.4,-11.5,671,6326,0.00,1.90,0.00,0.000,4,0.000,0.053,2178,3757,3977
$GC,6413,-1.12,-121.7,777.0,-12.5,675,6416,0.00,1.73,0.00,0.000,6,0.000,0.029,2178,2577,3976
$GC,6745,-1.12,-121.7,815.1,-11.7,691,6749,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3743,3974
$GC,6778,-1.12,-121.7,819.1,-12.0,692,6782,0.00,1.70,0.00,0.000,6,0.000,0.028,2178,2579,3974
$GC,7101,-1.12,-121.7,855.5,-11.3,708,7105,0.00,2.22,0.00,0.000,4,0.000,0.029,2178,1058,3972
$GC,7157,-1.19,-121.7,862.5,-12.3,710,7161,0.00,2.28,0.00,0.000,6,0.000,0.039,2178,2537,3971
$GC,7473,-1.19,-121.7,900.6,-11.8,725,7477,0.00,1.90,0.00,0.000,4,0.000,0.054,2170,3754,3969
$GC,7574,-1.19,-121.7,913.1,-12.0,729,7577,0.00,1.73,0.00,0.000,6,0.000,0.031,2170,2586,3969
$GC,7895,-1.19,-121.7,949.8,-11.7,745,7900,0.00,1.85,0.00,0.000,4,0.000,0.054,2166,3752,3967
$GC,7933,-1.19,-121.7,954.6,-12.8,746,7939,0.00,1.73,0.00,0.000,6,0.000,0.028,2166,2573,3967
$STATE,8225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8226,begin apogee
$GC,8231,-0.22,0.0,991.5,12.7,761,8328,1.02,0.00,89.62,1.422,6,0.162,0.000,2466,2572,3532
$STATE,8329,end apogee,CONTROL_FINISHED_OK
$STATE,8329,begin climb
$GC,8331,1.18,121.7,996.8,0.0,766,8443,1.27,2.08,102.72,1.380,4,0.060,0.050,2924,3750,3034
$GC,8606,0.43,121.7,984.0,12.0,778,8611,0.98,1.85,0.00,0.000,6,0.217,0.027,2689,2521,3032
$GC,8922,0.67,226.3,967.3,5.1,793,9011,0.20,0.00,86.47,1.367,6,0.078,0.000,2762,2521,2609
$GC,9311,0.67,226.3,922.4,12.7,812,9315,0.00,2.12,0.00,0.000,4,0.000,0.033,2763,1120,2601
$GC,9390,0.72,226.3,912.2,13.6,815,9393,0.00,2.12,0.00,0.000,6,0.000,0.036,2763,2490,2601
$GC,9711,0.72,226.3,870.8,13.1,831,9715,0.00,2.08,0.00,0.000,4,0.000,0.032,2763,1118,2599
$GC,9761,0.79,226.3,864.1,13.5,833,9765,0.10,2.10,0.00,0.000,6,0.097,0.037,2802,2479,2598
$GC,10087,0.69,226.3,815.2,14.5,849,10091,0.15,2.05,0.00,0.000,4,0.190,0.031,2773,1120,2598
$GC,10177,0.69,226.3,802.8,13.4,853,10181,0.00,2.08,0.00,0.000,6,0.000,0.036,2773,2470,2597
$GC,10509,0.69,226.3,760.5,12.8,869,10512,0.00,2.05,0.00,0.000,4,0.000,0.055,2773,3768,2597
$GC,10542,0.57,226.3,755.8,14.5,870,10546,0.20,1.92,0.00,0.000,6,0.189,0.028,2730,2456,2596
$GC,10863,0.74,242.0,719.8,11.0,886,10877,0.15,0.00,11.73,1.174,6,0.080,0.000,2788,2453,2545
$GC,11193,0.74,242.0,675.7,13.0,902,11197,0.00,2.00,0.00,0.000,4,0.000,0.034,2794,1110,2542
$GC,11239,0.74,242.0,670.1,12.3,904,11243,0.00,2.10,0.00,0.000,6,0.000,0.037,2794,2470,2542
$GC,11572,0.74,242.0,627.6,12.3,920,11575,0.00,2.05,0.00,0.000,4,0.000,0.055,2794,3770,2541
$GC,11633,0.57,242.0,619.1,13.8,922,11639,0.28,1.92,0.00,0.000,6,0.189,0.029,2730,2467,2541
$GC,11949,0.78,266.3,587.2,10.4,938,11975,0.17,2.03,20.25,1.144,4,0.074,0.032,2813,1123,2445
$GC,12154,0.78,266.3,559.2,12.8,947,12158,0.00,2.08,0.00,0.000,6,0.000,0.038,2813,2459,2442
$GC,12475,0.73,266.3,516.5,12.9,963,12479,0.12,2.03,0.00,0.000,4,0.183,0.031,2790,1126,2442
$GC,12566,0.79,266.7,505.5,12.0,967,12570,0.00,2.03,0.00,0.000,6,0.000,0.035,2791,2440,2441
$GC,12897,0.79,268.8,467.4,11.9,995,12901,0.00,2.08,0.00,0.000,4,0.000,0.052,2791,3761,2440
$GC,12959,0.71,268.8,458.6,13.9,1000,12965,0.00,1.95,0.00,0.000,6,0.000,0.028,2799,2434,2440
$GC,13285,0.71,268.8,418.1,12.1,1031,13289,0.00,1.95,0.00,0.000,4,0.000,0.033,2802,1116,2440
$GC,13446,0.78,279.4,398.8,11.3,1045,13462,0.00,1.98,11.38,0.964,6,0.000,0.035,2802,2412,2393
$GC,13782,0.81,304.9,361.2,10.3,1076,13810,0.00,0.00,22.15,0.969,6,0.000,0.000,2802,2412,2287
$GC,14129,0.92,312.5,322.4,11.5,1109,14142,0.12,2.03,6.97,0.814,4,0.081,0.031,2859,1113,2257
$GC,14294,0.92,312.5,299.3,14.2,1123,14301,0.00,2.03,0.00,0.000,6,0.000,0.035,2859,2432,2256
$GC,14640,0.87,313.6,254.3,11.9,1184,14646,0.12,0.00,0.00,0.000,6,0.183,0.000,2830,2433,2255
$GC,14984,0.97,323.5,217.0,11.3,1245,15002,0.00,2.00,10.12,0.788,4,0.000,0.032,2834,1122,2212
$GC,15020,1.10,338.9,212.9,11.0,1251,15040,0.17,2.00,13.88,0.801,6,0.074,0.033,2900,2440,2150
$GC,15381,1.02,338.9,163.3,12.5,1314,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2440,2146
$GC,15725,1.02,345.3,122.8,11.6,1375,15738,0.00,2.00,6.45,0.639,4,0.000,0.028,2910,1098,2124
$GC,15992,1.16,396.1,94.8,8.6,1422,16039,0.00,2.00,40.33,0.716,6,0.000,0.031,2909,2432,1916
$GC,16379,1.37,443.0,57.6,8.9,1490,16422,0.17,2.05,36.97,0.663,4,0.068,0.028,2994,1116,1725
$GC,16479,1.37,443.0,44.1,13.0,1507,16486,0.00,2.03,0.00,0.000,6,0.000,0.031,2994,2440,1721
$STATE,16770,end climb,SURFACE_DEPTH_REACHED
$STATE,16770,begin surface coast
$FINISH,1.8,1.008499
$STATE,16794,end surface coast,CONTROL_FINISHED_OK
$STATE,16794,begin surface
$SM_CCo,16872,0.00,0.000,0,0,1717,445.22
$SM_GC,2.59,7.75,0.00,0.00,0.059,0.000,0.000,142,2446,1717,-7.49,0.54,445.22
$IRIDIUM_FIX,2519.89,12335.45,270998,010134
$TT8_MAMPS,0.029146
$HUMID,1604
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.5,44.851
$10V_AH,10.7,25.431
$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,24.650,129.750,459.050,0.000,0.000,27.727,31.020,210.565,8.000,0.000,0.000,26.757,2771.515,10544.422,581.330,2801.532,577.914,0.000,1974.304,0.000,2720.168,0.000,56.406,0.000
$DEVICE_MAMPS,238.537,56.758,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.893,1078.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82068,1563
$CAP_FILE_SIZE,170270,0
$CFSIZE,260165632,205049856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 70.6,1
$GPS,030709,112124,2528.182,12336.091,25,1.8,43,-3.8