version: 66.04
glider: 167
mission: 2
dive: 269
start: 7 6 109 7 17 41
data:
$ID,167
$MISSION,2
$DIVE,269
$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,-10525.356
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,071037,2521.441,12352.383,36,0.9,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-69.6
$GPS2,071720,2521.524,12352.608,13,1.2,13,-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,194.9,76575,-23.2,-12.000
$D_GRID,1911
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.15,0.000,2,0.000,0.000,139,2447,2341
$GC,43,-1.18,-121.7,3.1,-1.8,4,105,8.40,0.00,-50.38,0.000,6,0.241,0.000,2153,2447,3989
$GC,443,-0.68,-121.7,89.6,-23.8,74,450,0.55,2.05,0.00,0.000,4,0.171,0.044,2309,3773,3992
$GC,575,-0.87,-121.7,103.9,-8.5,97,582,0.12,1.98,0.00,0.000,6,0.077,0.023,2253,2378,3992
$GC,919,-0.93,-121.7,147.1,-13.6,158,925,0.00,2.12,0.00,0.000,4,0.000,0.044,2245,3758,3994
$GC,983,-0.97,-121.7,155.6,-13.5,169,989,0.00,1.88,0.00,0.000,6,0.000,0.023,2245,2426,3995
$GC,1326,-1.05,-121.7,194.8,-12.1,230,1332,0.12,0.00,0.00,0.000,6,0.078,0.000,2189,2426,3996
$GC,1670,-0.95,-121.7,239.8,-11.9,291,1676,0.17,2.08,0.00,0.000,4,0.157,0.043,2234,3774,3996
$GC,1853,-1.02,-121.7,258.4,-10.7,323,1859,0.00,1.88,0.00,0.000,6,0.000,0.024,2234,2442,3997
$GC,2197,-1.12,-121.7,298.7,-12.1,384,2204,0.15,2.05,0.00,0.000,4,0.073,0.044,2166,3771,3996
$GC,2436,-0.96,-121.7,334.3,-14.1,406,2440,0.25,1.83,0.00,0.000,6,0.160,0.024,2235,2483,3997
$GC,2767,-1.12,-121.7,366.6,-9.2,437,2771,0.15,1.98,0.00,0.000,4,0.072,0.045,2167,3761,3997
$GC,2897,-1.01,-121.7,383.1,-13.4,448,2905,0.20,1.77,0.00,0.000,6,0.163,0.025,2221,2511,3997
$GC,3223,-1.14,-121.7,418.1,-10.7,479,3227,0.12,1.95,0.00,0.000,4,0.079,0.047,2166,3767,3997
$GC,3302,-1.04,-121.7,428.3,-12.8,486,3306,0.17,1.77,0.00,0.000,6,0.166,0.025,2211,2520,3996
$GC,3633,-1.14,-121.7,464.4,-10.9,517,3637,0.12,1.92,0.00,0.000,4,0.079,0.047,2162,3758,3995
$GC,3739,-1.04,-121.7,478.9,-13.6,526,3746,0.17,1.75,0.00,0.000,6,0.168,0.026,2206,2532,3995
$GC,4063,-1.15,-121.7,514.2,-11.0,551,4067,0.00,1.92,0.00,0.000,4,0.000,0.049,2206,3767,3993
$GC,4154,-1.24,-121.7,524.6,-10.8,555,4159,0.17,1.73,0.00,0.000,6,0.074,0.026,2139,2564,3993
$GC,4488,-1.11,-121.7,569.0,-13.5,571,4490,0.17,0.00,0.00,0.000,6,0.172,0.000,2184,2562,3991
$GC,4796,-1.11,-121.7,605.0,-11.1,586,4799,0.00,1.88,0.00,0.000,4,0.000,0.050,2179,3762,3989
$GC,4834,-1.11,-121.7,609.8,-12.0,587,4840,0.00,1.73,0.00,0.000,6,0.000,0.027,2179,2585,3989
$GC,5151,-1.11,-121.7,645.2,-11.2,603,5154,0.00,1.85,0.00,0.000,4,0.000,0.051,2179,3767,3986
$GC,5228,-1.11,-121.7,654.4,-11.3,606,5232,0.00,1.67,0.00,0.000,6,0.000,0.028,2179,2605,3986
$GC,5549,-1.11,-121.7,689.3,-11.4,622,5553,0.00,1.83,0.00,0.000,4,0.000,0.052,2179,3767,3984
$GC,5640,-1.11,-121.7,699.7,-12.1,626,5645,0.00,1.65,0.00,0.000,6,0.000,0.028,2180,2626,3983
$GC,5972,-1.16,-121.7,735.1,-10.4,642,5976,0.00,2.30,0.00,0.000,4,0.000,0.028,2179,1054,3980
$GC,6085,-1.23,-121.7,747.2,-10.9,647,6089,0.00,2.38,0.00,0.000,6,0.000,0.038,2179,2605,3980
$GC,6412,-1.29,-121.7,781.1,-10.5,663,6414,0.15,0.00,0.00,0.000,6,0.083,0.000,2122,2606,3977
$GC,6721,-1.13,-121.7,821.1,-13.3,678,6725,0.17,1.80,0.00,0.000,4,0.181,0.052,2166,3758,3975
$GC,6810,-1.13,-121.7,832.3,-12.1,682,6814,0.00,1.67,0.00,0.000,6,0.000,0.028,2165,2609,3974
$GC,7143,-1.13,-121.7,870.1,-11.2,698,7146,0.00,1.83,0.00,0.000,4,0.000,0.054,2165,3760,3973
$GC,7198,-1.13,-121.7,876.9,-12.1,700,7202,0.00,1.67,0.00,0.000,6,0.000,0.030,2166,2616,3972
$GC,7519,-1.13,-121.7,915.3,-12.6,716,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2616,3971
$GC,7829,-1.13,-121.7,953.2,-11.8,731,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2616,3969
$GC,8138,-1.13,-121.7,987.0,-10.2,746,8142,0.00,2.30,0.00,0.000,4,0.000,0.031,2166,1061,3967
$STATE,8163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8163,begin apogee
$GC,8171,-0.22,0.0,990.1,11.4,747,8265,1.00,0.00,90.25,1.415,6,0.164,0.000,2463,2502,3532
$STATE,8266,end apogee,CONTROL_FINISHED_OK
$STATE,8266,begin climb
$GC,8269,1.18,121.7,993.6,0.0,752,8379,1.30,2.15,102.88,1.371,4,0.063,0.050,2925,3753,3035
$GC,8587,0.43,121.7,969.6,14.3,766,8592,0.98,1.83,0.00,0.000,6,0.217,0.027,2688,2531,3031
$GC,8903,0.65,205.5,948.0,6.5,781,8977,0.17,2.22,68.20,1.355,4,0.082,0.031,2760,1123,2693
$GC,9051,0.66,212.3,932.6,11.6,788,9065,0.00,2.20,7.05,1.082,6,0.000,0.036,2760,2507,2665
$GC,9382,0.67,221.7,895.0,11.4,804,9397,0.00,2.17,9.18,1.169,4,0.000,0.033,2760,1122,2627
$GC,9465,0.74,221.7,885.1,12.3,807,9471,0.00,2.15,0.00,0.000,6,0.000,0.036,2760,2501,2626
$GC,9780,0.74,221.7,847.1,12.4,823,9784,0.00,2.10,0.00,0.000,4,0.000,0.032,2759,1116,2624
$GC,9842,0.79,221.7,839.5,12.3,825,9850,0.12,2.12,0.00,0.000,6,0.091,0.037,2806,2492,2624
$GC,10157,0.67,221.7,795.6,14.0,841,10159,0.17,0.00,0.00,0.000,6,0.184,0.000,2762,2494,2623
$GC,10467,0.67,221.7,757.2,12.4,856,10470,0.00,2.08,0.00,0.000,4,0.000,0.031,2769,1112,2621
$GC,10528,0.72,221.7,749.5,13.0,858,10534,0.00,2.12,0.00,0.000,6,0.000,0.038,2769,2491,2622
$GC,10844,0.72,221.7,710.7,12.4,874,10848,0.00,2.08,0.00,0.000,4,0.000,0.031,2775,1107,2621
$GC,10979,0.74,238.2,694.9,10.9,880,11001,0.00,2.08,13.93,1.178,6,0.000,0.038,2775,2455,2559
$GC,11310,0.76,255.4,656.1,10.9,896,11331,0.00,2.10,14.80,1.155,4,0.000,0.054,2775,3764,2490
$GC,11405,0.69,255.4,644.1,13.8,900,11408,0.00,1.90,0.00,0.000,6,0.000,0.027,2780,2487,2488
$GC,11732,0.70,262.8,607.1,11.5,916,11745,0.00,2.12,7.30,1.012,4,0.000,0.032,2790,1108,2460
$GC,11776,0.71,272.7,602.0,11.3,918,11791,0.00,2.20,9.95,1.058,6,0.000,0.038,2790,2520,2420
$GC,12108,0.71,272.7,560.3,12.5,934,12111,0.00,2.12,0.00,0.000,4,0.000,0.033,2790,1123,2417
$GC,12214,0.77,272.7,546.6,12.5,938,12221,0.00,2.12,0.00,0.000,6,0.000,0.036,2791,2502,2417
$GC,12530,0.78,276.8,508.3,11.7,954,12537,0.00,0.00,4.78,0.823,6,0.000,0.000,2790,2501,2403
$GC,12848,0.84,286.2,471.9,11.4,980,12862,0.00,2.15,9.57,0.981,4,0.000,0.032,2790,1115,2365
$GC,12974,0.97,304.4,457.9,10.8,991,12997,0.20,2.12,16.38,1.018,6,0.074,0.035,2866,2490,2290
$GC,13314,0.82,304.4,407.0,15.0,1023,13319,0.20,2.08,0.00,0.000,4,0.183,0.030,2817,1120,2287
$GC,13355,0.87,308.6,402.0,11.7,1026,13366,0.00,2.08,4.72,0.755,6,0.000,0.034,2817,2474,2273
$GC,13684,0.87,309.5,362.6,11.9,1057,13688,0.00,2.05,0.00,0.000,4,0.000,0.031,2823,1109,2271
$GC,13734,0.94,309.5,356.3,12.5,1061,13742,0.00,2.10,0.00,0.000,6,0.000,0.037,2823,2473,2271
$GC,14061,0.99,310.1,317.0,12.0,1092,14065,0.12,2.05,0.00,0.000,4,0.081,0.031,2874,1117,2270
$GC,14141,0.91,310.1,305.8,13.4,1099,14145,0.15,2.05,0.00,0.000,6,0.183,0.036,2838,2450,2271
$GC,14481,0.93,322.4,263.7,11.2,1155,14500,0.00,2.12,12.32,0.844,4,0.000,0.053,2838,3768,2217
$GC,14518,0.93,328.3,259.4,11.6,1161,14532,0.00,1.92,6.43,0.731,6,0.000,0.025,2841,2470,2193
$GC,14871,1.01,329.2,220.3,11.9,1223,14877,0.00,2.03,0.00,0.000,4,0.000,0.031,2845,1098,2191
$GC,14896,1.10,330.8,217.3,11.9,1227,14902,0.15,2.10,0.00,0.000,6,0.078,0.032,2904,2483,2191
$GC,15241,0.99,330.8,172.6,12.5,1288,15254,0.15,2.10,3.67,0.514,4,0.185,0.028,2874,1096,2183
$GC,15484,0.99,330.8,144.1,12.6,1331,15490,0.00,2.00,0.00,0.000,6,0.000,0.031,2874,2429,2182
$GC,15828,1.12,394.9,108.4,7.8,1392,15888,0.00,2.03,51.05,0.725,4,0.000,0.029,2875,1101,1920
$GC,16051,1.34,408.2,84.0,11.1,1431,16071,0.28,1.98,11.43,0.645,6,0.064,0.030,2980,2403,1866
$GC,16410,1.25,408.2,33.5,12.2,1494,16417,0.15,1.92,0.00,0.000,4,0.184,0.026,2952,1102,1863
$GC,16617,1.39,449.1,11.3,9.3,1530,16657,0.12,1.92,32.58,0.621,6,0.083,0.029,2998,2396,1700
$STATE,16684,end climb,SURFACE_DEPTH_REACHED
$STATE,16684,begin surface coast
$FINISH,1.7,1.021155
$STATE,16710,end surface coast,CONTROL_FINISHED_OK
$STATE,16710,begin surface
$SM_CCo,16788,0.00,0.000,0,0,1694,450.86
$SM_GC,2.71,7.82,0.00,0.00,0.060,0.000,0.000,142,2402,1694,-7.50,-0.71,450.86
$IRIDIUM_FIX,2515.12,12349.34,300998,020239
$TT8_MAMPS,0.028379
$HUMID,1588
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,1
$24V_AH,23.4,47.433
$10V_AH,10.8,26.861
$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,24.500,132.125,476.450,0.000,0.000,24.392,39.925,198.051,8.250,0.000,0.000,13.898,2749.699,10474.704,583.551,2777.945,594.449,0.000,1991.195,0.000,2719.019,0.000,54.441,0.000
$DEVICE_MAMPS,240.838,54.457,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.209,1064.797,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81971,1546
$CAP_FILE_SIZE,172304,0
$CFSIZE,260165632,203706368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284, 75.6,1
$GPS,060709,115836,2520.562,12354.339,32,1.0,33,-3.8