version: 66.04
glider: 167
mission: 2
dive: 256
start: 7 3 109 16 21 5
data:
$ID,167
$MISSION,2
$DIVE,256
$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,-10246.248
$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,73
$R_STBD_OVSHOOT,39
$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
$GPS1,161007,2527.286,12336.631,24,1.8,25,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-68.2
$GPS2,162046,2527.461,12336.689,15,2.9,34,-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,216.3,25539,-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,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-23.42,0.000,2,0.000,0.000,140,2443,2322
$GC,44,-1.18,-121.7,3.0,-2.8,4,116,8.35,2.15,-56.90,0.000,4,0.241,0.039,2160,1031,3989
$GC,215,-0.64,-121.7,33.5,-27.6,33,222,0.65,2.10,0.00,0.000,6,0.176,0.030,2334,2432,3991
$GC,561,-0.85,-121.7,78.9,-8.5,94,567,0.17,2.03,0.00,0.000,4,0.066,0.044,2246,3750,3992
$GC,758,-0.85,-121.7,107.0,-13.7,129,764,0.00,1.88,0.00,0.000,6,0.000,0.023,2246,2414,3992
$GC,1101,-0.85,-121.7,155.9,-13.3,190,1107,0.00,2.08,0.00,0.000,4,0.000,0.044,2237,3764,3994
$GC,1305,-0.79,-121.7,183.1,-12.1,226,1311,0.17,1.77,0.00,0.000,6,0.156,0.024,2285,2504,3994
$GC,1650,-1.03,-121.7,216.4,-9.9,287,1658,0.17,1.92,0.00,0.000,4,0.066,0.044,2203,3753,3995
$GC,1810,-0.93,-121.7,239.0,-14.2,315,1818,0.15,1.70,0.00,0.000,6,0.160,0.024,2243,2544,3996
$GC,2158,-1.05,-121.7,276.6,-10.0,376,2164,0.12,1.88,0.00,0.000,4,0.075,0.045,2188,3761,3995
$GC,2239,-0.93,-121.7,287.9,-14.5,390,2245,0.20,1.70,0.00,0.000,6,0.160,0.025,2243,2552,3995
$GC,2571,-1.09,-121.7,324.3,-10.6,430,2575,0.15,1.85,0.00,0.000,4,0.071,0.045,2178,3763,3995
$GC,2688,-0.95,-121.7,340.7,-13.7,440,2695,0.20,1.73,0.00,0.000,6,0.160,0.025,2232,2541,3996
$GC,3015,-1.08,-121.7,375.1,-10.3,471,3019,0.12,1.88,0.00,0.000,4,0.077,0.046,2178,3754,3996
$GC,3061,-0.97,-121.7,380.7,-13.2,475,3065,0.20,1.70,0.00,0.000,6,0.165,0.026,2231,2563,3995
$GC,3391,-1.13,-121.7,414.5,-10.4,506,3396,0.15,1.85,0.00,0.000,4,0.073,0.047,2166,3757,3995
$GC,3540,-1.00,-121.7,434.4,-14.4,519,3544,0.15,1.73,0.00,0.000,6,0.161,0.026,2212,2571,3994
$GC,3870,-1.09,-121.7,470.0,-10.2,550,3874,0.00,1.85,0.00,0.000,4,0.000,0.048,2205,3746,3993
$GC,4055,-1.09,-121.7,490.8,-12.1,566,4061,0.00,1.67,0.00,0.000,6,0.000,0.026,2205,2598,3992
$GC,4377,-1.18,-121.7,527.3,-11.8,586,4378,0.12,0.00,0.00,0.000,6,0.079,0.000,2154,2597,3990
$GC,4682,-1.08,-121.7,568.7,-13.0,601,4686,0.15,1.83,0.00,0.000,4,0.177,0.051,2191,3759,3988
$GC,4766,-1.08,-121.7,578.3,-10.7,604,4772,0.00,1.67,0.00,0.000,6,0.000,0.028,2191,2595,3987
$GC,5083,-1.13,-121.7,611.2,-11.0,620,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2594,3986
$GC,5392,-1.19,-121.7,645.9,-11.6,635,5395,0.00,1.83,0.00,0.000,4,0.000,0.051,2191,3757,3984
$GC,5476,-1.19,-121.7,656.4,-12.5,638,5481,0.00,1.67,0.00,0.000,6,0.000,0.029,2191,2600,3983
$GC,5792,-1.26,-121.7,693.3,-11.6,654,5796,0.15,1.80,0.00,0.000,4,0.080,0.050,2126,3748,3980
$GC,5899,-1.03,-121.7,709.9,-15.9,658,5905,0.30,1.62,0.00,0.000,6,0.178,0.028,2206,2626,3979
$GC,6215,-1.17,-121.7,744.5,-10.5,674,6219,0.12,1.77,0.00,0.000,4,0.082,0.051,2153,3754,3977
$GC,6270,-1.04,-121.7,751.8,-14.1,676,6274,0.17,1.65,0.00,0.000,6,0.174,0.028,2203,2644,3976
$GC,6591,-1.16,-121.7,787.3,-11.0,692,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2644,3974
$GC,6900,-1.29,-121.7,820.5,-10.9,707,6904,0.17,1.75,0.00,0.000,4,0.073,0.052,2125,3751,3972
$GC,6978,-1.08,-121.7,832.2,-16.0,710,6982,0.28,1.62,0.00,0.000,6,0.182,0.029,2197,2638,3971
$GC,7299,-1.18,-121.7,868.5,-10.9,726,7303,0.00,1.75,0.00,0.000,4,0.000,0.054,2192,3744,3969
$GC,7372,-1.25,-121.7,876.8,-11.0,729,7376,0.15,1.60,0.00,0.000,6,0.083,0.029,2137,2647,3969
$GC,7699,-1.12,-121.7,921.0,-13.6,745,7703,0.17,1.75,0.00,0.000,4,0.186,0.052,2179,3749,3967
$GC,7738,-1.12,-121.7,926.1,-12.6,746,7744,0.00,1.60,0.00,0.000,6,0.000,0.029,2179,2650,3967
$GC,8054,-1.12,-121.7,963.2,-11.7,762,8057,0.00,1.75,0.00,0.000,4,0.000,0.056,2179,3751,3966
$GC,8099,-1.12,-121.7,968.8,-12.8,764,8103,0.00,1.62,0.00,0.000,6,0.000,0.031,2178,2647,3965
$STATE,8284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8291,-0.22,0.0,991.2,12.1,773,8387,0.98,0.00,89.78,1.415,6,0.162,0.000,2465,2550,3531
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8391,1.18,121.7,996.3,0.0,778,8498,1.27,0.00,102.50,1.376,6,0.059,0.000,2923,2549,3035
$GC,8808,0.58,122.9,967.5,11.9,798,8813,0.70,2.20,0.00,0.000,4,0.209,0.029,2748,1092,3030
$GC,8915,0.65,175.5,958.6,8.5,803,8966,0.00,2.17,44.08,1.343,6,0.000,0.037,2747,2488,2816
$GC,9290,0.67,197.3,920.5,10.6,821,9315,0.00,2.22,18.15,1.284,4,0.000,0.031,2751,1092,2726
$GC,9418,0.76,214.9,905.9,10.8,826,9440,0.12,2.20,15.98,1.257,6,0.090,0.037,2796,2499,2656
$GC,9752,0.66,214.9,859.2,14.3,842,9756,0.15,2.12,0.00,0.000,4,0.193,0.031,2767,1101,2653
$GC,9874,0.66,214.9,842.3,12.7,847,9881,0.00,2.10,0.00,0.000,6,0.000,0.035,2767,2463,2651
$GC,10190,0.66,214.9,801.9,12.9,863,10194,0.00,2.05,0.00,0.000,4,0.000,0.031,2774,1100,2650
$GC,10290,0.66,214.9,789.1,12.7,867,10294,0.00,2.08,0.00,0.000,6,0.000,0.035,2774,2448,2650
$GC,10612,0.66,219.8,749.9,11.7,883,10621,0.00,2.05,4.93,0.946,4,0.000,0.033,2776,1098,2634
$GC,10724,0.69,237.9,737.0,10.8,888,10746,0.00,2.08,15.95,1.206,6,0.000,0.037,2776,2445,2562
$GC,11055,0.69,244.1,698.4,11.6,904,11066,0.00,2.10,6.50,1.022,4,0.000,0.032,2775,1106,2535
$GC,11151,0.78,262.1,687.6,10.8,908,11172,0.00,2.05,16.12,1.169,6,0.000,0.038,2776,2428,2463
$GC,11487,0.78,262.1,648.3,12.2,925,11491,0.00,2.03,0.00,0.000,4,0.000,0.033,2775,1096,2459
$GC,11601,0.88,262.1,634.4,12.8,930,11605,0.15,2.03,0.00,0.000,6,0.082,0.037,2831,2410,2459
$GC,11933,0.76,262.1,584.3,14.9,946,11935,0.15,0.00,0.00,0.000,6,0.185,0.000,2795,2412,2457
$GC,12242,0.77,263.0,546.0,11.9,961,12245,0.00,2.12,0.00,0.000,4,0.000,0.052,2794,3765,2457
$GC,12311,0.66,263.0,536.8,13.3,964,12315,0.17,2.08,0.00,0.000,6,0.190,0.028,2759,2368,2456
$GC,12643,0.83,291.5,501.3,10.1,980,12676,0.15,1.95,24.67,1.081,4,0.083,0.034,2818,1100,2342
$GC,12749,0.83,291.5,487.6,12.2,988,12755,0.00,2.00,0.00,0.000,6,0.000,0.035,2818,2395,2339
$GC,13075,0.83,291.5,446.4,12.4,1019,13079,0.00,1.95,0.00,0.000,4,0.000,0.031,2825,1090,2338
$GC,13125,0.83,291.5,439.9,12.5,1023,13132,0.00,2.00,0.00,0.000,6,0.000,0.035,2825,2398,2338
$GC,13451,0.83,291.5,397.8,13.7,1054,13455,0.00,1.95,0.00,0.000,4,0.000,0.031,2825,1098,2337
$GC,13496,0.83,291.5,391.3,12.9,1058,13500,0.00,2.00,0.00,0.000,6,0.000,0.034,2825,2412,2337
$GC,13829,0.85,307.0,349.8,11.0,1089,13844,0.00,0.00,13.05,0.925,6,0.000,0.000,2825,2412,2280
$GC,14158,0.85,307.0,309.1,13.1,1120,14162,0.00,2.12,0.00,0.000,4,0.000,0.051,2825,3764,2278
$GC,14181,0.85,307.0,305.8,14.7,1122,14184,0.00,2.10,0.00,0.000,6,0.000,0.026,2825,2342,2278
$GC,14522,0.91,310.4,262.6,11.8,1179,14531,0.00,1.90,4.28,0.639,4,0.000,0.031,2825,1090,2266
$GC,14663,1.06,341.1,248.4,10.0,1203,14696,0.17,1.92,25.52,0.862,6,0.073,0.032,2893,2365,2140
$GC,15035,0.99,341.1,200.3,13.0,1268,15041,0.00,1.90,0.00,0.000,4,0.000,0.030,2901,1093,2136
$GC,15132,0.99,341.1,186.4,13.4,1285,15139,0.15,1.90,0.00,0.000,6,0.176,0.033,2864,2344,2136
$GC,15477,1.09,364.6,147.7,10.5,1346,15502,0.00,1.92,19.38,0.753,4,0.000,0.029,2868,1098,2045
$GC,15570,1.26,383.7,137.5,10.7,1362,15595,0.22,1.88,16.12,0.727,6,0.071,0.031,2951,2337,1966
$GC,15935,1.16,383.7,83.9,13.2,1426,15941,0.12,1.85,0.00,0.000,4,0.178,0.028,2929,1091,1962
$GC,16099,1.27,395.9,65.3,11.2,1455,16118,0.00,1.85,10.95,0.641,6,0.000,0.031,2929,2328,1916
$GC,16457,1.40,432.6,29.9,9.6,1518,16495,0.17,1.85,29.55,0.640,4,0.068,0.028,3010,1085,1767
$GC,16576,1.31,432.6,14.1,15.1,1538,16583,0.17,1.90,0.00,0.000,6,0.179,0.032,2968,2343,1763
$STATE,16660,end climb,SURFACE_DEPTH_REACHED
$STATE,16660,begin surface coast
$FINISH,1.8,1.008984
$STATE,16686,end surface coast,CONTROL_FINISHED_OK
$STATE,16686,begin surface
$SM_CCo,16763,0.00,0.000,0,0,1760,434.43
$SM_GC,2.70,7.68,0.00,0.00,0.058,0.000,0.000,138,2463,1760,-7.51,1.02,434.43
$IRIDIUM_FIX,2517.50,12335.45,270998,161601
$TT8_MAMPS,0.029146
$HUMID,1589
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.5,45.196
$10V_AH,10.8,25.622
$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,25.325,129.575,457.500,0.000,0.000,56.679,68.823,292.216,8.000,0.000,0.000,35.009,2763.731,10509.250,572.399,2792.657,750.623,0.000,1972.714,0.000,2707.184,0.000,54.417,0.000
$DEVICE_MAMPS,240.838,69.030,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.382,1075.868,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82044,1557
$CAP_FILE_SIZE,175256,0
$CFSIZE,260165632,204869632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218, 71.9,1
$GPS,030709,210137,2526.896,12337.037,34,2.0,35,-3.8