version: 66.04
glider: 167
mission: 2
dive: 264
start: 7 5 109 7 0 41
data:
$ID,167
$MISSION,2
$DIVE,264
$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,-10434.375
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,065337,2523.870,12344.209,30,1.0,31,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.7
$GPS2,070020,2523.955,12344.393,14,1.6,14,-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,250.6,19850,-23.2,-12.000
$D_GRID,1737
$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,-24.38,0.000,2,0.000,0.000,141,2446,2245
$GC,44,-1.18,-121.7,3.0,-1.6,4,117,8.25,2.20,-58.08,0.000,4,0.237,0.038,2157,998,3990
$GC,192,-0.72,-121.7,26.8,-23.6,29,199,0.55,2.17,0.00,0.000,6,0.168,0.031,2304,2439,3991
$GC,536,-0.82,-121.7,76.5,-14.5,90,542,0.00,2.03,0.00,0.000,4,0.000,0.045,2296,3759,3992
$GC,733,-0.91,-121.7,103.4,-12.4,124,740,0.12,1.92,0.00,0.000,6,0.074,0.023,2241,2395,3993
$GC,1077,-0.91,-121.7,155.2,-16.2,185,1083,0.00,2.10,0.00,0.000,4,0.000,0.043,2233,3760,3994
$GC,1319,-0.91,-121.7,193.7,-14.5,228,1325,0.00,1.80,0.00,0.000,6,0.000,0.024,2232,2476,3995
$GC,1664,-0.91,-121.7,232.6,-11.2,289,1670,0.00,1.98,0.00,0.000,4,0.000,0.044,2223,3766,3996
$GC,1754,-0.91,-121.7,243.8,-12.7,305,1761,0.10,1.80,0.00,0.000,6,0.163,0.023,2247,2484,3996
$GC,2102,-1.06,-121.7,284.8,-10.9,366,2109,0.12,1.98,0.00,0.000,4,0.076,0.045,2192,3763,3996
$GC,2200,-0.98,-121.7,297.3,-11.5,383,2208,0.12,1.77,0.00,0.000,6,0.160,0.024,2224,2501,3996
$GC,2530,-1.08,-121.7,328.1,-9.6,416,2534,0.00,1.92,0.00,0.000,4,0.000,0.046,2221,3754,3996
$GC,2614,-1.13,-121.7,337.4,-10.6,423,2622,0.12,1.73,0.00,0.000,6,0.077,0.025,2166,2534,3996
$GC,2939,-1.04,-121.7,380.7,-13.4,454,2944,0.15,1.90,0.00,0.000,4,0.163,0.046,2204,3761,3996
$GC,3034,-1.04,-121.7,392.5,-12.0,462,3040,0.00,1.77,0.00,0.000,6,0.000,0.026,2205,2543,3996
$GC,3360,-1.10,-121.7,429.1,-11.2,493,3364,0.00,1.90,0.00,0.000,4,0.000,0.048,2205,3746,3996
$GC,3428,-1.15,-121.7,436.9,-11.4,499,3432,0.00,1.70,0.00,0.000,6,0.000,0.026,2205,2555,3996
$GC,3761,-1.23,-121.7,473.0,-10.8,530,3765,0.17,1.88,0.00,0.000,4,0.067,0.046,2126,3760,3994
$GC,3840,-0.96,-121.7,484.6,-14.5,537,3844,0.38,1.70,0.00,0.000,6,0.168,0.027,2230,2572,3993
$GC,4178,-1.14,-121.7,515.1,-8.5,561,4182,0.15,1.85,0.00,0.000,4,0.073,0.049,2166,3757,3992
$GC,4278,-1.04,-121.7,527.0,-12.6,565,4282,0.15,1.70,0.00,0.000,6,0.165,0.026,2204,2570,3991
$GC,4599,-1.13,-121.7,555.7,-8.7,581,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2570,3990
$GC,4909,-1.22,-121.7,584.1,-9.1,596,4913,0.15,1.85,0.00,0.000,4,0.072,0.049,2140,3753,3987
$GC,5082,-1.05,-121.7,605.9,-12.6,603,5090,0.22,1.70,0.00,0.000,6,0.170,0.027,2199,2575,3985
$GC,5398,-1.15,-121.7,636.1,-9.3,619,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2575,3984
$GC,5707,-1.26,-121.7,667.9,-10.5,634,5712,0.17,1.85,0.00,0.000,4,0.072,0.050,2124,3751,3981
$GC,5803,-1.04,-121.7,681.4,-14.1,638,5807,0.30,1.70,0.00,0.000,6,0.173,0.028,2205,2577,3979
$GC,6131,-1.17,-121.7,716.4,-10.5,654,6135,0.12,1.85,0.00,0.000,4,0.082,0.051,2152,3751,3978
$GC,6209,-1.07,-121.7,726.9,-12.8,657,6213,0.17,1.67,0.00,0.000,6,0.170,0.028,2197,2591,3977
$GC,6530,-1.17,-121.7,759.3,-9.5,673,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2591,3976
$GC,6840,-1.27,-121.7,789.4,-9.8,688,6844,0.17,1.85,0.00,0.000,4,0.075,0.051,2127,3761,3974
$GC,6890,-1.06,-121.7,795.8,-13.5,690,6894,0.28,1.70,0.00,0.000,6,0.176,0.029,2199,2598,3974
$GC,7219,-1.18,-121.7,827.2,-9.3,706,7223,0.00,1.85,0.00,0.000,4,0.000,0.053,2192,3750,3972
$GC,7303,-1.27,-121.7,835.4,-9.9,709,7309,0.17,1.67,0.00,0.000,6,0.075,0.030,2126,2605,3971
$GC,7619,-1.11,-121.7,872.9,-12.7,725,7621,0.22,0.00,0.00,0.000,6,0.179,0.000,2184,2605,3969
$GC,7929,-1.17,-121.7,905.0,-10.5,740,7932,0.00,1.83,0.00,0.000,4,0.000,0.055,2179,3752,3968
$GC,7990,-1.17,-121.7,912.4,-12.1,742,7996,0.00,1.70,0.00,0.000,6,0.000,0.030,2179,2617,3967
$GC,8306,-1.17,-121.7,945.8,-10.4,758,8310,0.00,1.83,0.00,0.000,4,0.000,0.056,2179,3744,3966
$GC,8367,-1.17,-121.7,952.8,-11.7,760,8373,0.00,1.65,0.00,0.000,6,0.000,0.031,2178,2623,3966
$GC,8683,-1.23,-121.7,989.6,-12.2,776,8687,0.00,1.80,0.00,0.000,4,0.000,0.056,2178,3751,3964
$STATE,8691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8691,begin apogee
$GC,8699,-0.22,0.0,991.0,12.0,776,8792,0.95,0.00,89.62,1.425,6,0.160,0.000,2464,2528,3532
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8795,1.18,121.7,996.7,0.0,781,8906,1.27,2.38,103.03,1.381,4,0.061,0.031,2930,1084,3035
$GC,9150,0.65,156.0,980.3,9.7,797,9185,0.68,2.25,28.83,1.332,6,0.211,0.040,2759,2510,2896
$GC,9503,0.66,222.2,952.7,7.6,814,9567,0.00,2.28,55.03,1.356,4,0.000,0.033,2760,1096,2625
$GC,9686,0.73,225.2,933.8,11.8,822,9690,0.00,2.20,0.00,0.000,6,0.000,0.037,2759,2489,2621
$GC,10007,0.74,234.7,897.4,11.4,838,10023,0.00,2.15,10.90,1.220,4,0.000,0.031,2760,1094,2574
$GC,10107,0.82,239.2,885.7,11.7,841,10117,0.15,2.15,5.22,0.989,6,0.085,0.035,2816,2474,2556
$GC,10447,0.69,239.2,838.0,14.4,858,10451,0.17,2.10,0.00,0.000,4,0.178,0.030,2774,1091,2553
$GC,10593,0.70,250.2,820.4,11.3,864,10609,0.00,2.10,9.73,1.180,6,0.000,0.038,2774,2449,2512
$GC,10937,0.70,250.2,776.5,12.7,881,10941,0.00,2.08,0.00,0.000,4,0.000,0.032,2776,1081,2511
$GC,10999,0.76,250.2,768.6,12.5,883,11004,0.00,2.10,0.00,0.000,6,0.000,0.037,2776,2442,2510
$GC,11314,0.76,250.2,728.2,13.2,899,11317,0.00,2.05,0.00,0.000,4,0.000,0.032,2775,1084,2509
$GC,11375,0.83,250.2,720.2,12.7,901,11382,0.10,2.05,0.00,0.000,6,0.096,0.038,2815,2421,2509
$GC,11692,0.73,250.2,674.7,14.3,917,11694,0.15,0.00,0.00,0.000,6,0.187,0.000,2779,2423,2508
$GC,12001,0.74,257.3,638.3,11.5,932,12014,0.00,2.08,7.03,1.032,4,0.000,0.031,2785,1081,2482
$GC,12116,0.81,263.4,624.7,11.6,937,12127,0.00,2.05,6.65,1.002,6,0.000,0.038,2785,2417,2458
$GC,12436,0.81,269.1,587.0,11.6,952,12447,0.00,2.12,6.03,0.957,4,0.000,0.053,2785,3771,2437
$GC,12499,0.72,269.1,578.9,13.3,955,12503,0.00,2.05,0.00,0.000,6,0.000,0.028,2793,2403,2437
$GC,12831,0.74,285.1,541.4,10.9,971,12853,0.00,1.98,15.57,1.088,4,0.000,0.032,2802,1089,2368
$GC,12932,0.79,289.3,529.6,11.7,975,12944,0.00,2.08,4.95,0.837,6,0.000,0.038,2802,2425,2352
$GC,13255,0.80,297.7,491.9,11.4,994,13266,0.00,0.00,8.30,0.973,6,0.000,0.000,2802,2424,2318
$GC,13587,0.84,327.9,456.8,10.0,1025,13619,0.00,2.08,25.48,1.043,4,0.000,0.033,2802,1088,2194
$GC,13677,0.99,351.7,447.2,10.4,1033,13703,0.17,2.10,20.75,1.008,6,0.074,0.036,2869,2430,2098
$GC,14023,0.88,351.7,393.9,17.2,1065,14027,0.15,2.05,0.00,0.000,4,0.184,0.030,2839,1085,2092
$GC,14137,0.94,351.7,376.2,14.0,1075,14140,0.00,2.05,0.00,0.000,6,0.000,0.035,2840,2411,2092
$GC,14468,0.94,351.7,327.3,13.8,1106,14472,0.00,2.12,0.00,0.000,4,0.000,0.052,2840,3761,2091
$GC,14484,0.94,351.7,324.6,13.8,1107,14490,0.00,2.10,0.00,0.000,6,0.000,0.027,2843,2345,2091
$GC,14817,1.00,358.7,280.6,11.5,1151,14831,0.00,1.85,5.88,0.755,4,0.000,0.032,2847,1081,2071
$GC,14888,1.10,358.7,271.3,13.3,1163,14894,0.15,1.98,0.00,0.000,6,0.080,0.035,2905,2380,2071
$GC,15232,0.99,358.7,218.5,16.0,1224,15240,0.17,2.17,0.00,0.000,4,0.186,0.051,2855,3768,2070
$GC,15292,0.94,358.7,209.5,14.5,1234,15298,0.00,2.10,0.00,0.000,6,0.000,0.026,2859,2338,2069
$GC,15636,1.02,364.4,167.6,11.6,1295,15650,0.00,2.30,6.80,0.696,4,0.000,0.048,2860,3762,2045
$GC,15712,1.02,364.4,157.6,12.8,1308,15719,0.00,2.05,0.00,0.000,6,0.000,0.025,2869,2362,2044
$GC,16058,1.19,390.2,119.7,10.3,1369,16088,0.17,1.92,21.65,0.737,4,0.075,0.031,2942,1085,1939
$GC,16291,1.19,390.2,89.8,12.4,1410,16297,0.00,1.98,0.00,0.000,6,0.000,0.032,2942,2397,1936
$GC,16635,1.19,390.2,44.0,13.5,1471,16641,0.00,1.92,0.00,0.000,4,0.000,0.027,2950,1084,1937
$GC,16694,1.19,390.2,36.8,12.4,1481,16700,0.00,1.92,0.00,0.000,6,0.000,0.031,2950,2370,1936
$STATE,16980,end climb,SURFACE_DEPTH_REACHED
$STATE,16980,begin surface coast
$FINISH,1.8,1.009241
$STATE,17014,end surface coast,CONTROL_FINISHED_OK
$STATE,17014,begin surface
$SM_CCo,17031,24.85,0.624,0,0,1799,425.10
$SM_GC,3.08,0.00,0.00,24.85,0.000,0.000,0.624,141,2455,1799,-7.51,0.79,425.10
$IRIDIUM_FIX,2515.12,12342.73,290998,020205
$TT8_MAMPS,0.029146
$HUMID,1631
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.6,46.573
$10V_AH,10.7,26.385
$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,24.225,137.125,431.425,24.850,0.000,29.010,34.771,199.484,8.000,0.000,0.000,14.921,2770.771,10705.853,579.675,2800.170,593.607,0.000,1995.615,0.000,2733.458,0.000,54.415,0.000
$DEVICE_MAMPS,237.003,85.137,1425.086,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.412,1056.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82174,1538
$CAP_FILE_SIZE,175570,0
$CFSIZE,260165632,204152832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277, 82.3,1
$GPS,050709,114606,2524.005,12345.037,31,1.5,32,-3.8