version: 66.04
glider: 167
mission: 2
dive: 268
start: 7 6 109 2 30 53
data:
$ID,167
$MISSION,2
$DIVE,268
$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,-10510.827
$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,72
$R_STBD_OVSHOOT,48
$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
$GPS1,022337,2522.986,12349.880,32,1.2,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-70.9
$GPS2,023032,2523.034,12350.011,12,1.7,12,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,193.5,81357,-23.2,-12.000
$D_GRID,1781
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-19.25,0.000,2,0.000,0.000,140,2456,2294
$GC,39,-1.18,-121.7,3.2,-2.1,3,103,8.48,0.00,-51.25,0.000,6,0.244,0.000,2162,2456,3989
$GC,442,-0.75,-121.7,88.3,-21.4,74,450,0.45,2.00,0.00,0.000,4,0.171,0.044,2287,3747,3992
$GC,553,-0.85,-121.7,103.5,-11.9,93,559,0.00,1.90,0.00,0.000,6,0.000,0.022,2287,2395,3992
$GC,897,-1.01,-121.7,144.3,-11.3,154,905,0.17,2.10,0.00,0.000,4,0.069,0.043,2197,3755,3995
$GC,1080,-0.84,-121.7,174.3,-15.0,186,1088,0.28,1.83,0.00,0.000,6,0.160,0.023,2274,2459,3995
$GC,1427,-1.03,-121.7,210.5,-9.7,247,1433,0.17,2.00,0.00,0.000,4,0.067,0.044,2192,3754,3996
$GC,1620,-0.90,-121.7,237.2,-13.3,281,1627,0.22,1.80,0.00,0.000,6,0.159,0.024,2254,2477,3997
$GC,1965,-1.06,-121.7,273.3,-10.1,342,1972,0.15,1.98,0.00,0.000,4,0.066,0.044,2191,3758,3997
$GC,2207,-0.98,-121.7,306.9,-13.3,380,2214,0.10,1.77,0.00,0.000,6,0.157,0.025,2221,2523,3997
$GC,2534,-1.06,-121.7,342.3,-10.4,411,2537,0.00,1.90,0.00,0.000,4,0.000,0.046,2218,3758,3997
$GC,2698,-1.11,-121.7,359.8,-11.3,425,2704,0.00,1.75,0.00,0.000,6,0.000,0.024,2218,2515,3997
$GC,3025,-1.21,-121.7,395.8,-12.0,456,3029,0.17,1.90,0.00,0.000,4,0.067,0.044,2140,3746,3997
$GC,3152,-0.99,-121.7,416.2,-15.8,467,3156,0.30,1.70,0.00,0.000,6,0.166,0.025,2222,2545,3997
$GC,3483,-1.12,-121.7,452.6,-9.4,498,3487,0.12,1.88,0.00,0.000,4,0.078,0.046,2166,3753,3997
$GC,3675,-1.01,-121.7,477.3,-13.8,515,3679,0.20,1.67,0.00,0.000,6,0.166,0.027,2220,2580,3996
$GC,4005,-1.16,-121.7,512.1,-10.6,541,4010,0.15,1.83,0.00,0.000,4,0.072,0.048,2155,3751,3994
$GC,4100,-1.04,-121.7,525.8,-14.3,545,4105,0.20,1.65,0.00,0.000,6,0.168,0.027,2208,2598,3993
$GC,4429,-1.15,-121.7,559.7,-9.7,561,4433,0.00,1.80,0.00,0.000,4,0.000,0.051,2204,3753,3992
$GC,4503,-1.24,-121.7,567.3,-10.4,564,4507,0.17,1.65,0.00,0.000,6,0.071,0.028,2137,2606,3992
$GC,4831,-1.10,-121.7,608.7,-12.9,580,4835,0.17,1.77,0.00,0.000,4,0.174,0.049,2180,3753,3990
$GC,4944,-1.10,-121.7,622.6,-12.0,585,4947,0.00,1.65,0.00,0.000,6,0.000,0.028,2180,2612,3989
$GC,5276,-1.10,-121.7,659.5,-11.0,601,5279,0.00,1.77,0.00,0.000,4,0.000,0.052,2180,3741,3986
$GC,5343,-1.10,-121.7,667.4,-12.3,604,5347,0.00,1.62,0.00,0.000,6,0.000,0.028,2180,2619,3986
$GC,5676,-1.10,-121.7,704.5,-11.3,620,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2619,3984
$GC,5986,-1.10,-121.7,739.5,-11.4,635,5989,0.00,1.77,0.00,0.000,4,0.000,0.054,2179,3744,3981
$GC,6104,-1.10,-121.7,753.8,-12.2,640,6107,0.00,1.62,0.00,0.000,6,0.000,0.030,2179,2626,3981
$GC,6431,-1.10,-121.7,793.2,-11.8,656,6434,0.00,1.77,0.00,0.000,4,0.000,0.054,2179,3748,3978
$GC,6480,-1.10,-121.7,799.5,-12.2,658,6485,0.00,1.65,0.00,0.000,6,0.000,0.029,2179,2640,3978
$GC,6807,-1.10,-121.7,837.8,-11.9,674,6811,0.00,1.75,0.00,0.000,4,0.000,0.054,2178,3745,3976
$GC,6908,-1.10,-121.7,850.6,-12.7,678,6912,0.00,1.60,0.00,0.000,6,0.000,0.029,2178,2645,3975
$GC,7230,-1.10,-121.7,888.1,-11.4,694,7233,0.00,1.75,0.00,0.000,4,0.000,0.054,2178,3749,3973
$GC,7285,-1.10,-121.7,895.0,-12.6,696,7289,0.00,1.62,0.00,0.000,6,0.000,0.029,2178,2655,3973
$GC,7606,-1.10,-121.7,931.2,-11.2,712,7610,0.00,1.73,0.00,0.000,4,0.000,0.055,2178,3742,3971
$GC,7662,-1.10,-121.7,937.8,-12.1,714,7665,0.00,1.60,0.00,0.000,6,0.000,0.030,2178,2667,3971
$GC,7984,-1.15,-121.7,973.3,-10.7,730,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2667,3969
$STATE,8145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8145,begin apogee
$GC,8151,-0.22,0.0,990.2,10.1,738,8249,0.98,0.00,90.85,1.419,6,0.160,0.000,2465,2544,3531
$STATE,8250,end apogee,CONTROL_FINISHED_OK
$STATE,8250,begin climb
$GC,8253,1.18,121.7,993.7,0.0,743,8361,1.30,0.00,102.57,1.375,6,0.066,0.000,2925,2544,3035
$GC,8670,0.59,121.7,960.8,12.1,763,8675,0.70,2.20,0.00,0.000,4,0.211,0.030,2750,1089,3031
$GC,8788,0.63,192.2,950.8,7.3,768,8850,0.00,2.17,57.30,1.350,6,0.000,0.038,2750,2491,2748
$GC,9174,0.66,220.3,911.4,10.1,787,9204,0.00,2.22,24.38,1.302,4,0.000,0.033,2750,1104,2632
$GC,9267,0.77,232.3,901.3,11.2,791,9285,0.12,2.22,11.18,1.196,6,0.089,0.037,2794,2513,2584
$GC,9593,0.70,232.3,860.6,12.3,807,9597,0.00,2.15,0.00,0.000,4,0.000,0.031,2799,1099,2580
$GC,9694,0.70,232.3,848.4,12.3,811,9698,0.00,2.17,0.00,0.000,6,0.000,0.036,2799,2503,2579
$GC,10016,0.61,232.3,807.9,13.0,827,10020,0.17,2.15,0.00,0.000,4,0.184,0.030,2757,1083,2578
$GC,10158,0.73,249.1,792.6,10.9,833,10177,0.00,2.15,13.95,1.223,6,0.000,0.037,2757,2478,2515
$GC,10501,0.81,249.1,751.2,12.4,850,10505,0.15,2.10,0.00,0.000,4,0.084,0.031,2815,1096,2512
$GC,10564,0.74,249.1,742.4,14.3,853,10569,0.12,2.15,0.00,0.000,6,0.183,0.037,2787,2487,2511
$GC,10891,0.74,249.1,698.4,13.2,869,10894,0.00,2.10,0.00,0.000,4,0.000,0.031,2791,1094,2511
$GC,11036,0.74,249.1,680.3,12.0,875,11040,0.00,2.12,0.00,0.000,6,0.000,0.036,2791,2455,2510
$GC,11358,0.75,258.8,642.1,11.4,891,11372,0.00,2.10,8.88,1.084,4,0.000,0.033,2793,1097,2475
$GC,11452,0.75,259.4,631.2,12.0,895,11456,0.00,2.08,0.00,0.000,6,0.000,0.036,2793,2442,2474
$GC,11780,0.75,259.8,594.0,12.0,911,11783,0.00,2.08,0.00,0.000,4,0.000,0.053,2793,3762,2473
$GC,11807,0.67,259.8,590.0,13.4,912,11812,0.17,2.00,0.00,0.000,6,0.194,0.027,2759,2407,2473
$GC,12135,0.82,278.6,554.5,10.8,928,12157,0.15,2.03,17.20,1.104,4,0.084,0.035,2816,1102,2396
$GC,12248,0.82,278.6,540.0,12.5,933,12252,0.00,2.08,0.00,0.000,6,0.000,0.035,2816,2441,2394
$GC,12570,0.82,278.6,498.7,12.3,949,12574,0.00,2.08,0.00,0.000,4,0.000,0.052,2815,3759,2393
$GC,12598,0.69,278.6,495.0,13.3,951,12605,0.17,2.00,0.00,0.000,6,0.196,0.027,2773,2418,2393
$GC,12923,0.86,314.1,461.7,9.7,982,12959,0.15,2.08,29.62,1.053,4,0.083,0.032,2834,1085,2251
$GC,13027,0.86,314.1,448.6,13.2,991,13031,0.00,2.10,0.00,0.000,6,0.000,0.037,2834,2426,2247
$GC,13359,0.86,314.1,405.0,12.4,1022,13363,0.00,2.03,0.00,0.000,4,0.000,0.031,2842,1085,2245
$GC,13409,0.86,314.1,398.5,12.8,1026,13416,0.00,2.05,0.00,0.000,6,0.000,0.037,2841,2416,2245
$GC,13735,0.86,314.1,357.7,13.0,1057,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2416,2245
$GC,14053,0.86,314.1,316.3,13.2,1087,14057,0.00,1.98,0.00,0.000,4,0.000,0.032,2842,1099,2244
$GC,14115,0.90,314.1,308.2,12.2,1092,14121,0.00,2.00,0.00,0.000,6,0.000,0.034,2842,2418,2244
$GC,14454,0.92,330.3,266.8,10.9,1147,14472,0.00,2.17,13.60,0.853,4,0.000,0.051,2841,3768,2185
$GC,14547,0.84,330.3,255.0,13.1,1163,14554,0.12,2.03,0.00,0.000,6,0.186,0.026,2820,2386,2183
$GC,14892,1.06,379.5,220.8,8.8,1224,14935,0.17,0.00,39.62,0.834,6,0.077,0.000,2895,2384,1985
$GC,15274,1.06,379.5,168.4,13.2,1291,15280,0.00,1.92,0.00,0.000,4,0.000,0.031,2899,1087,1978
$GC,15516,1.06,379.5,136.3,13.2,1334,15523,0.00,2.08,0.00,0.000,6,0.000,0.034,2899,2450,1978
$GC,15863,1.14,384.9,90.0,11.6,1395,15875,0.00,2.05,5.05,0.555,4,0.000,0.030,2905,1080,1962
$GC,15985,1.28,433.2,77.5,8.8,1416,16032,0.15,1.98,39.38,0.694,6,0.080,0.031,2966,2398,1763
$GC,16373,1.28,433.2,29.7,13.4,1484,16379,0.00,2.12,0.00,0.000,4,0.000,0.047,2966,3762,1757
$GC,16453,1.21,433.2,17.7,13.4,1498,16462,0.15,2.17,0.00,0.000,6,0.179,0.023,2940,2269,1757
$STATE,16602,end climb,SURFACE_DEPTH_REACHED
$STATE,16602,begin surface coast
$FINISH,1.8,1.021431
$STATE,16635,end surface coast,CONTROL_FINISHED_OK
$STATE,16635,begin surface
$SM_CCo,16713,0.00,0.000,0,0,1756,435.65
$SM_GC,2.75,7.50,0.00,0.00,0.054,0.000,0.000,140,2446,1756,-7.51,0.57,435.65
$IRIDIUM_FIX,2512.73,12348.02,290998,212101
$TT8_MAMPS,0.028379
$HUMID,1608
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,47.263
$10V_AH,10.7,26.767
$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,23.825,128.275,453.575,0.000,0.000,31.734,34.135,208.691,8.000,0.000,0.000,13.002,2738.993,10448.250,537.385,2793.789,597.414,0.000,1946.082,0.000,2731.596,0.000,54.428,0.000
$DEVICE_MAMPS,243.906,55.224,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.507,1041.068,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82150,1530
$CAP_FILE_SIZE,169208,0
$CFSIZE,260165632,203796480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.344, 88.9,1
$GPS,060709,071037,2521.441,12352.383,36,0.9,37,-3.8