version: 66.04
glider: 167
mission: 2
dive: 272
start: 7 6 109 21 50 17
data:
$ID,167
$MISSION,2
$DIVE,272
$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,-10606.948
$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,80
$R_STBD_OVSHOOT,30
$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
$GPS1,214336,2517.886,12357.747,32,1.0,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.6
$GPS2,214956,2517.909,12357.933,12,1.1,12,-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,198.1,66129,-23.2,-12.000
$D_GRID,1997
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-29.12,0.000,2,0.000,0.000,141,2417,2352
$GC,50,-1.18,-121.7,3.4,-2.9,5,110,8.38,0.00,-48.78,0.000,6,0.241,0.000,2162,2418,3989
$GC,448,-0.79,-121.7,87.5,-20.1,75,455,0.40,2.10,0.00,0.000,4,0.164,0.042,2274,3770,3992
$GC,574,-0.90,-121.7,104.8,-12.5,97,580,0.00,1.92,0.00,0.000,6,0.000,0.022,2274,2400,3992
$GC,918,-1.05,-121.7,145.4,-11.4,158,926,0.17,2.12,0.00,0.000,4,0.064,0.044,2188,3775,3994
$GC,1106,-0.83,-121.7,174.9,-16.4,191,1113,0.30,1.88,0.00,0.000,6,0.162,0.023,2273,2443,3994
$GC,1451,-1.01,-121.7,211.1,-9.0,252,1458,0.15,2.05,0.00,0.000,4,0.069,0.044,2205,3774,3995
$GC,1683,-0.92,-121.7,240.9,-12.8,293,1689,0.15,1.83,0.00,0.000,6,0.160,0.024,2245,2481,3995
$GC,2029,-1.02,-121.7,275.9,-10.9,354,2036,0.00,1.98,0.00,0.000,4,0.000,0.045,2241,3762,3995
$GC,2290,-1.13,-121.7,304.9,-10.3,396,2294,0.17,1.77,0.00,0.000,6,0.068,0.025,2167,2506,3995
$GC,2621,-1.01,-121.7,351.6,-14.4,427,2625,0.17,1.95,0.00,0.000,4,0.161,0.044,2211,3771,3995
$GC,2659,-1.01,-121.7,356.7,-12.6,430,2666,0.00,1.80,0.00,0.000,6,0.000,0.023,2211,2512,3995
$GC,2986,-1.09,-121.7,392.4,-10.0,461,2990,0.00,1.92,0.00,0.000,4,0.000,0.046,2205,3764,3995
$GC,3171,-1.09,-121.7,413.3,-11.3,477,3177,0.00,1.73,0.00,0.000,6,0.000,0.026,2205,2555,3995
$GC,3499,-1.16,-121.7,447.9,-10.4,508,3502,0.00,1.88,0.00,0.000,4,0.000,0.048,2205,3765,3995
$GC,3647,-1.16,-121.7,463.7,-10.4,521,3650,0.00,1.70,0.00,0.000,6,0.000,0.026,2205,2570,3994
$GC,3981,-1.25,-121.7,496.9,-10.3,552,3985,0.17,1.85,0.00,0.000,4,0.068,0.045,2126,3766,3993
$GC,4099,-1.00,-121.7,513.8,-14.5,559,4103,0.32,1.70,0.00,0.000,6,0.171,0.026,2214,2577,3993
$GC,4428,-1.14,-121.7,544.1,-9.2,575,4432,0.12,1.85,0.00,0.000,4,0.081,0.049,2163,3761,3991
$GC,4553,-1.05,-121.7,558.3,-11.3,580,4557,0.17,1.67,0.00,0.000,6,0.170,0.027,2207,2594,3991
$GC,4874,-1.17,-121.7,591.5,-10.7,596,4878,0.12,1.83,0.00,0.000,4,0.081,0.048,2153,3764,3989
$GC,4991,-1.05,-121.7,607.7,-14.7,601,4995,0.20,1.67,0.00,0.000,6,0.170,0.027,2204,2598,3988
$GC,5320,-1.18,-121.7,645.0,-11.3,617,5322,0.12,0.00,0.00,0.000,6,0.081,0.000,2157,2598,3986
$GC,5627,-1.12,-121.7,685.1,-13.0,632,5630,0.00,1.83,0.00,0.000,4,0.000,0.051,2152,3766,3983
$GC,5797,-1.01,-121.7,707.8,-13.4,639,5801,0.17,1.73,0.00,0.000,6,0.166,0.028,2218,2598,3981
$GC,6118,-1.20,-121.7,737.3,-8.7,655,6123,0.17,1.83,0.00,0.000,4,0.074,0.050,2140,3769,3980
$GC,6152,-1.07,-121.7,741.3,-12.5,656,6156,0.22,1.70,0.00,0.000,6,0.173,0.028,2198,2598,3979
$GC,6473,-1.19,-121.7,771.3,-9.3,672,6475,0.12,0.00,0.00,0.000,6,0.082,0.000,2152,2598,3977
$GC,6782,-1.14,-121.7,807.8,-12.0,687,6786,0.00,1.85,0.00,0.000,4,0.000,0.053,2149,3771,3974
$GC,6874,-1.03,-121.7,819.8,-13.6,691,6878,0.22,1.70,0.00,0.000,6,0.176,0.028,2207,2605,3974
$GC,7209,-1.19,-121.7,854.5,-10.6,707,7213,0.15,1.85,0.00,0.000,4,0.080,0.053,2152,3770,3972
$GC,7264,-1.11,-121.7,862.2,-14.3,709,7269,0.15,1.67,0.00,0.000,6,0.179,0.028,2187,2621,3972
$GC,7586,-1.20,-121.7,899.3,-11.4,725,7590,0.00,1.80,0.00,0.000,4,0.000,0.055,2188,3758,3970
$GC,7665,-1.26,-121.7,908.8,-12.5,728,7669,0.12,1.67,0.00,0.000,6,0.068,0.030,2132,2634,3970
$GC,7985,-1.13,-121.7,953.1,-13.8,744,7990,0.17,1.80,0.00,0.000,4,0.183,0.053,2178,3765,3968
$GC,8054,-1.13,-121.7,961.2,-11.3,747,8058,0.00,1.65,0.00,0.000,6,0.000,0.029,2178,2640,3967
$STATE,8343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8343,begin apogee
$GC,8349,-0.22,0.0,991.8,10.0,761,8446,0.98,0.00,90.28,1.417,6,0.162,0.000,2465,2542,3532
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8450,1.18,121.7,995.0,0.0,766,8560,1.30,2.10,103.00,1.370,4,0.063,0.049,2927,3768,3034
$GC,8722,0.43,121.7,975.5,14.9,778,8730,0.98,1.92,0.00,0.000,6,0.218,0.026,2689,2491,3031
$GC,9039,0.62,187.5,950.5,7.7,794,9098,0.17,2.22,53.60,1.346,4,0.083,0.032,2763,1109,2766
$GC,9221,0.63,196.9,929.7,11.4,801,9236,0.00,2.20,8.77,1.151,6,0.000,0.037,2762,2505,2729
$GC,9564,0.65,209.5,890.2,11.2,818,9586,0.00,2.20,11.95,1.222,4,0.000,0.031,2768,1106,2676
$GC,9677,0.66,219.0,877.5,11.4,823,9692,0.00,2.15,9.45,1.169,6,0.000,0.037,2768,2482,2639
$GC,10009,0.69,238.4,841.5,10.7,839,10032,0.00,2.17,17.08,1.254,4,0.000,0.032,2774,1109,2560
$GC,10169,0.69,243.7,823.0,11.7,846,10179,0.00,2.12,5.50,0.993,6,0.000,0.038,2775,2466,2538
$GC,10495,0.69,243.7,783.6,12.1,862,10499,0.00,2.05,0.00,0.000,4,0.000,0.032,2775,1112,2536
$GC,10556,0.75,243.7,775.7,12.4,864,10562,0.00,2.08,0.00,0.000,6,0.000,0.038,2775,2453,2535
$GC,10872,0.75,243.7,737.2,12.4,880,10875,0.00,2.03,0.00,0.000,4,0.000,0.034,2776,1112,2534
$GC,11025,0.82,251.4,718.8,11.5,886,11037,0.00,2.03,7.50,1.081,6,0.000,0.038,2775,2429,2506
$GC,11358,0.82,251.4,677.8,12.1,903,11362,0.00,2.10,0.00,0.000,4,0.000,0.055,2775,3760,2504
$GC,11375,0.82,251.4,675.5,12.6,903,11381,0.00,1.98,0.00,0.000,6,0.000,0.028,2776,2435,2504
$GC,11691,0.83,262.3,638.7,11.3,919,11706,0.10,1.98,10.35,1.108,4,0.096,0.033,2815,1118,2461
$GC,11779,0.83,262.3,627.1,13.5,922,11783,0.00,2.03,0.00,0.000,6,0.000,0.035,2814,2437,2460
$GC,12106,0.78,262.3,586.9,12.4,938,12110,0.00,2.00,0.00,0.000,4,0.000,0.033,2815,1109,2459
$GC,12219,0.78,262.3,573.0,12.3,943,12223,0.00,2.00,0.00,0.000,6,0.000,0.037,2815,2416,2458
$GC,12552,0.72,262.3,530.1,12.9,959,12557,0.15,1.95,0.00,0.000,4,0.176,0.030,2784,1112,2458
$GC,12625,0.81,266.7,521.2,11.7,962,12634,0.00,2.00,4.93,0.849,6,0.000,0.036,2784,2422,2444
$GC,12958,0.90,288.1,483.5,10.6,985,12980,0.15,0.00,19.20,1.056,6,0.082,0.000,2839,2423,2357
$GC,13294,0.82,288.1,442.3,12.5,1017,13298,0.12,1.98,0.00,0.000,4,0.183,0.031,2815,1118,2353
$GC,13385,0.90,309.2,432.4,10.6,1025,13408,0.00,2.00,18.10,1.006,6,0.000,0.035,2815,2425,2270
$GC,13725,0.90,309.2,389.8,13.5,1057,13728,0.00,1.98,0.00,0.000,4,0.000,0.032,2815,1121,2268
$GC,13741,0.95,309.2,387.4,13.3,1058,13749,0.10,2.00,0.00,0.000,6,0.096,0.035,2853,2428,2267
$GC,14066,0.95,309.2,340.2,13.1,1089,14069,0.00,1.98,0.00,0.000,4,0.000,0.032,2854,1118,2266
$GC,14248,0.99,339.6,319.3,10.0,1105,14282,0.00,1.98,25.10,0.924,6,0.000,0.034,2854,2420,2145
$GC,14611,0.99,339.6,275.2,13.2,1155,14617,0.00,1.98,0.00,0.000,4,0.000,0.031,2854,1106,2141
$GC,14707,1.05,339.6,262.6,13.0,1172,14713,0.00,1.98,0.00,0.000,6,0.000,0.035,2854,2399,2141
$GC,15052,1.11,339.6,216.5,12.2,1233,15058,0.12,1.92,0.00,0.000,4,0.084,0.028,2912,1105,2141
$GC,15121,1.02,339.6,207.7,12.3,1245,15128,0.15,1.90,0.00,0.000,6,0.175,0.033,2875,2364,2141
$GC,15467,1.04,358.7,168.6,10.7,1306,15491,0.00,1.90,16.02,0.755,4,0.000,0.029,2882,1116,2068
$GC,15509,1.05,363.9,163.6,11.7,1313,15522,0.00,1.88,5.78,0.621,6,0.000,0.032,2882,2357,2048
$GC,15863,1.11,372.3,119.9,11.4,1375,15875,0.00,2.25,8.10,0.653,4,0.000,0.048,2881,3765,2013
$GC,15921,1.06,372.3,111.6,14.5,1385,15927,0.00,2.08,0.00,0.000,6,0.000,0.024,2891,2341,2013
$GC,16265,1.21,406.6,74.8,9.7,1446,16302,0.12,2.30,28.23,0.683,4,0.084,0.046,2941,3764,1873
$GC,16495,1.16,406.6,44.3,12.8,1486,16503,0.12,2.15,0.00,0.000,6,0.179,0.025,2921,2291,1869
$GC,16842,1.41,460.5,15.8,8.4,1547,16890,0.17,1.80,42.15,0.621,4,0.071,0.029,3003,1108,1652
$GC,16932,1.41,461.8,5.7,11.9,1562,16939,0.00,1.80,0.00,0.000,6,0.000,0.029,3003,2304,1649
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,1.6,1.008381
$STATE,16978,end surface coast,CONTROL_FINISHED_OK
$STATE,16978,begin surface
$SM_CCo,17056,0.00,0.000,0,0,1647,462.64
$SM_GC,2.78,7.75,0.00,0.00,0.054,0.000,0.000,141,2467,1647,-7.50,1.16,462.64
$IRIDIUM_FIX,2507.97,12334.80,300998,171736
$TT8_MAMPS,0.028379
$HUMID,1595
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,47.953
$10V_AH,10.8,27.150
$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,25.175,135.675,485.075,0.000,0.000,23.838,32.088,185.627,8.000,0.000,0.000,14.215,2812.259,10541.307,593.563,2905.048,571.242,0.000,2053.554,0.000,2834.379,0.000,54.419,0.000
$DEVICE_MAMPS,240.838,65.962,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.017,1080.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85224,1570
$CAP_FILE_SIZE,178196,0
$CFSIZE,260165632,203431936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246, 89.3,1
$GPS,070709,023537,2516.456,12359.226,29,1.0,30,-3.8