version: 66.04
glider: 167
mission: 2
dive: 258
start: 7 4 109 2 1 42
data:
$ID,167
$MISSION,2
$DIVE,258
$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,-10319.572
$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,47
$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
$GPS1,015437,2526.299,12337.828,28,1.3,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.9
$GPS2,020122,2526.390,12337.949,13,3.1,32,-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,220.3,23202,-23.2,-12.000
$D_GRID,1699
$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,14,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.52,0.000,2,0.000,0.000,140,2449,2371
$GC,42,-1.18,-121.7,3.1,-2.2,4,110,8.30,2.08,-50.25,0.000,4,0.237,0.058,2150,3755,3990
$GC,251,-0.56,-121.7,49.4,-28.4,40,259,0.75,1.92,0.00,0.000,6,0.172,0.024,2362,2411,3992
$GC,597,-1.18,-121.7,90.3,-9.6,101,604,0.50,2.10,0.00,0.000,4,0.046,0.045,2151,3758,3993
$GC,857,-0.77,-121.7,143.5,-20.7,147,864,0.50,1.83,0.00,0.000,6,0.166,0.024,2294,2460,3994
$GC,1203,-1.03,-121.7,180.1,-10.4,208,1210,0.20,2.00,0.00,0.000,4,0.064,0.045,2201,3754,3996
$GC,1307,-0.90,-121.7,195.4,-15.6,226,1313,0.17,1.83,0.00,0.000,6,0.156,0.024,2248,2458,3996
$GC,1653,-1.03,-121.7,234.4,-11.1,287,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2457,3997
$GC,1996,-1.19,-121.7,267.6,-9.0,348,2003,0.20,2.00,0.00,0.000,4,0.064,0.045,2152,3751,3997
$GC,2162,-0.95,-121.7,290.7,-14.5,377,2168,0.30,1.83,0.00,0.000,6,0.160,0.025,2236,2456,3997
$GC,2493,-1.10,-121.7,327.0,-10.7,415,2497,0.12,2.00,0.00,0.000,4,0.076,0.045,2179,3750,3997
$GC,2549,-1.00,-121.7,334.5,-13.9,420,2553,0.15,1.83,0.00,0.000,6,0.163,0.025,2218,2461,3998
$GC,2881,-1.11,-121.7,368.4,-10.3,451,2884,0.00,2.00,0.00,0.000,4,0.000,0.048,2217,3754,3998
$GC,3018,-1.19,-121.7,383.1,-11.3,463,3022,0.17,1.80,0.00,0.000,6,0.069,0.026,2146,2493,3998
$GC,3348,-1.05,-121.7,429.5,-14.8,494,3352,0.20,1.95,0.00,0.000,4,0.167,0.046,2194,3750,3997
$GC,3403,-1.05,-121.7,437.1,-13.3,499,3407,0.00,1.80,0.00,0.000,6,0.000,0.026,2194,2482,3997
$GC,3737,-1.10,-121.7,475.8,-10.8,530,3741,0.00,1.98,0.00,0.000,4,0.000,0.048,2192,3753,3996
$GC,3782,-1.10,-121.7,481.6,-12.3,534,3786,0.00,1.80,0.00,0.000,6,0.000,0.027,2192,2496,3996
$GC,4121,-1.16,-121.7,518.8,-11.2,558,4124,0.00,1.95,0.00,0.000,4,0.000,0.050,2192,3744,3993
$GC,4190,-1.16,-121.7,526.9,-11.1,561,4193,0.00,1.77,0.00,0.000,6,0.000,0.027,2192,2509,3993
$GC,4523,-1.23,-121.7,563.5,-10.9,577,4527,0.12,1.95,0.00,0.000,4,0.085,0.049,2138,3755,3992
$GC,4718,-1.05,-121.7,591.3,-14.5,585,4724,0.25,1.77,0.00,0.000,6,0.170,0.028,2204,2525,3990
$GC,5034,-1.17,-121.7,624.7,-10.6,601,5040,0.12,1.92,0.00,0.000,4,0.082,0.050,2152,3753,3988
$GC,5126,-1.06,-121.7,636.8,-14.0,605,5130,0.17,1.75,0.00,0.000,6,0.170,0.028,2197,2548,3987
$GC,5460,-1.17,-121.7,671.3,-9.9,621,5464,0.00,1.90,0.00,0.000,4,0.000,0.051,2192,3737,3985
$GC,5517,-1.24,-121.7,677.8,-11.0,623,5521,0.15,1.73,0.00,0.000,6,0.078,0.028,2135,2545,3984
$GC,5838,-1.10,-121.7,721.1,-13.8,639,5840,0.20,0.00,0.00,0.000,6,0.177,0.000,2186,2545,3982
$GC,6148,-1.17,-121.7,756.1,-11.3,654,6151,0.00,1.90,0.00,0.000,4,0.000,0.054,2184,3748,3979
$GC,6197,-1.17,-121.7,762.3,-12.2,656,6201,0.00,1.75,0.00,0.000,6,0.000,0.028,2184,2569,3979
$GC,6525,-1.23,-121.7,798.9,-11.4,672,6529,0.12,1.88,0.00,0.000,4,0.091,0.053,2137,3747,3976
$GC,6603,-1.08,-121.7,809.8,-14.1,675,6607,0.22,1.73,0.00,0.000,6,0.178,0.028,2195,2566,3976
$GC,6924,-1.20,-121.7,845.4,-11.1,691,6926,0.12,0.00,0.00,0.000,6,0.087,0.000,2150,2567,3974
$GC,7233,-1.14,-121.7,888.1,-13.7,706,7237,0.00,1.88,0.00,0.000,4,0.000,0.054,2144,3751,3972
$GC,7334,-1.02,-121.7,902.6,-14.6,710,7338,0.25,1.73,0.00,0.000,6,0.173,0.029,2209,2569,3972
$GC,7655,-1.20,-121.7,934.6,-9.5,726,7659,0.15,1.88,0.00,0.000,4,0.081,0.054,2153,3745,3970
$GC,7705,-1.13,-121.7,941.2,-13.2,728,7709,0.00,1.70,0.00,0.000,6,0.000,0.028,2153,2578,3970
$GC,8032,-1.13,-121.7,980.6,-12.1,744,8035,0.00,1.85,0.00,0.000,4,0.000,0.054,2152,3740,3968
$GC,8065,-1.06,-121.7,984.8,-12.8,745,8070,0.15,1.70,0.00,0.000,6,0.173,0.029,2195,2602,3968
$STATE,8116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8116,begin apogee
$GC,8121,-0.22,0.0,990.4,10.5,748,8221,0.90,0.00,90.57,1.417,6,0.153,0.000,2467,2602,3531
$STATE,8222,end apogee,CONTROL_FINISHED_OK
$STATE,8222,begin climb
$GC,8225,1.18,121.7,994.5,0.0,753,8334,1.30,1.98,102.75,1.378,4,0.062,0.051,2924,3753,3034
$GC,8588,0.42,121.7,968.7,13.4,770,8594,0.98,1.85,0.00,0.000,6,0.219,0.027,2688,2510,3030
$GC,8916,0.64,223.0,949.1,5.3,786,9004,0.17,2.10,82.72,1.356,4,0.082,0.054,2752,3741,2622
$GC,9028,0.59,223.0,938.0,13.0,791,9032,0.00,1.92,0.00,0.000,6,0.000,0.027,2759,2493,2620
$GC,9356,0.60,233.5,900.1,11.3,807,9370,0.00,2.12,9.02,1.164,4,0.000,0.034,2762,1119,2580
$GC,9433,0.68,236.2,891.1,11.8,810,9444,0.00,2.12,3.95,0.821,6,0.000,0.036,2762,2480,2568
$GC,9754,0.68,239.4,854.7,11.8,826,9759,0.00,0.00,4.10,0.858,6,0.000,0.000,2762,2480,2556
$GC,10063,0.70,252.8,819.0,11.1,841,10084,0.00,2.15,12.30,1.214,4,0.000,0.033,2762,1117,2501
$GC,10180,0.82,270.7,806.0,10.8,846,10202,0.12,2.15,16.52,1.231,6,0.089,0.037,2810,2499,2428
$GC,10525,0.74,270.7,758.9,14.0,863,10529,0.00,2.12,0.00,0.000,4,0.000,0.031,2815,1103,2423
$GC,10586,0.69,270.7,749.8,14.7,865,10593,0.17,2.12,0.00,0.000,6,0.183,0.036,2773,2480,2422
$GC,10903,0.74,270.7,708.5,13.6,881,10907,0.00,2.08,0.00,0.000,4,0.000,0.032,2776,1104,2422
$GC,10987,0.84,270.7,696.9,13.1,884,10994,0.12,2.08,0.00,0.000,6,0.087,0.036,2823,2455,2422
$GC,11303,0.74,270.7,646.7,15.5,900,11307,0.15,2.03,0.00,0.000,4,0.179,0.031,2790,1113,2421
$GC,11336,0.74,270.7,641.8,14.0,901,11340,0.00,2.05,0.00,0.000,6,0.000,0.036,2790,2453,2421
$GC,11658,0.74,271.6,600.6,11.9,917,11662,0.00,2.03,0.00,0.000,4,0.000,0.033,2790,1107,2420
$GC,11704,0.81,281.8,595.2,11.3,919,11718,0.00,2.05,9.57,1.070,6,0.000,0.038,2791,2440,2383
$GC,12034,0.81,284.5,556.7,11.8,935,12043,0.00,2.10,4.05,0.770,4,0.000,0.053,2791,3752,2372
$GC,12102,0.73,284.5,547.5,14.8,938,12106,0.00,1.95,0.00,0.000,6,0.000,0.027,2791,2465,2371
$GC,12435,0.78,288.6,506.6,11.7,954,12445,0.00,2.03,5.30,0.866,4,0.000,0.034,2790,1107,2354
$GC,12519,0.87,290.2,496.6,11.9,959,12524,0.10,2.08,0.00,0.000,6,0.092,0.038,2828,2456,2354
$GC,12850,0.82,291.2,454.7,11.9,990,12862,0.00,2.08,3.67,0.673,4,0.000,0.033,2832,1107,2345
$GC,12896,0.82,291.2,448.9,12.3,994,12899,0.00,2.05,0.00,0.000,6,0.000,0.038,2832,2444,2344
$GC,13229,0.76,291.2,407.9,12.7,1025,13233,0.17,2.03,0.00,0.000,4,0.177,0.029,2789,1100,2344
$GC,13388,0.89,291.2,387.5,13.1,1039,13393,0.12,2.08,0.00,0.000,6,0.086,0.035,2836,2459,2344
$GC,13718,0.89,291.2,343.2,12.3,1070,13721,0.00,2.03,0.00,0.000,4,0.000,0.030,2841,1101,2344
$GC,13786,0.91,302.9,335.1,11.2,1076,13802,0.00,2.03,11.18,0.897,6,0.000,0.033,2841,2441,2296
$GC,14125,0.91,302.9,294.0,13.5,1111,14131,0.00,2.00,0.00,0.000,4,0.000,0.030,2841,1101,2295
$GC,14255,0.91,302.9,277.6,12.6,1134,14261,0.00,2.03,0.00,0.000,6,0.000,0.033,2841,2440,2294
$GC,14599,0.94,330.1,236.6,10.2,1195,14628,0.00,2.03,22.55,0.845,4,0.000,0.031,2841,1106,2186
$GC,14669,1.07,352.3,229.3,10.5,1207,14694,0.15,2.05,19.10,0.819,6,0.076,0.032,2898,2448,2094
$GC,15033,1.03,352.3,175.9,14.1,1271,15039,0.00,2.03,0.00,0.000,4,0.000,0.029,2904,1095,2090
$GC,15275,1.03,352.3,146.5,12.3,1314,15281,0.00,2.00,0.00,0.000,6,0.000,0.033,2904,2414,2089
$GC,15619,1.07,384.3,107.1,9.9,1375,15650,0.00,2.03,25.17,0.715,4,0.000,0.028,2913,1100,1964
$GC,15730,1.14,390.5,94.0,11.6,1394,15742,0.00,1.95,6.25,0.589,6,0.000,0.031,2912,2393,1940
$GC,16083,1.25,403.5,56.5,11.1,1456,16102,0.10,1.92,12.23,0.631,4,0.094,0.028,2967,1097,1885
$GC,16316,1.28,426.0,27.3,10.5,1497,16341,0.00,1.90,18.62,0.621,6,0.000,0.031,2967,2368,1794
$STATE,16536,end climb,SURFACE_DEPTH_REACHED
$STATE,16536,begin surface coast
$FINISH,1.8,1.011309
$STATE,16566,end surface coast,CONTROL_FINISHED_OK
$STATE,16566,begin surface
$SM_CCo,16644,0.00,0.000,0,0,1789,427.56
$SM_GC,2.83,7.65,0.00,0.00,0.058,0.000,0.000,141,2444,1789,-7.49,0.48,427.56
$IRIDIUM_FIX,2519.89,12335.45,270998,212130
$TT8_MAMPS,0.029146
$HUMID,1589
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,45.529
$10V_AH,10.7,25.813
$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,25.850,136.825,459.650,0.000,0.000,27.345,33.713,185.416,8.000,0.000,0.000,34.613,2766.370,10338.626,560.255,2789.904,579.588,0.000,1964.665,0.000,2707.425,0.000,54.428,0.000
$DEVICE_MAMPS,237.003,85.904,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.634,1060.106,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82044,1541
$CAP_FILE_SIZE,174532,0
$CFSIZE,260165632,204689408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294, 78.5,1
$GPS,040709,064007,2525.804,12339.109,26,1.1,27,-3.8