version: 66.04
glider: 167
mission: 2
dive: 243
start: 7 1 109 1 46 25
data:
$ID,167
$MISSION,2
$DIVE,243
$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,-9904.3096
$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,77
$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
$GPS1,013607,2514.056,12337.649,25,1.5,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.3
$GPS2,014605,2514.261,12337.797,35,1.6,38,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,300.8,63604,-23.2,-12.000
$D_GRID,1958
$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,-24.15,0.000,2,0.000,0.000,141,2462,2417
$GC,44,-1.18,-121.7,3.2,-2.4,4,105,8.35,2.17,-46.55,0.000,4,0.242,0.039,2158,1030,3989
$GC,150,-0.61,-121.7,21.7,-29.0,22,158,0.68,2.10,0.00,0.000,6,0.176,0.031,2340,2426,3990
$GC,496,-0.77,-121.7,74.8,-12.5,83,503,0.15,2.05,0.00,0.000,4,0.071,0.047,2275,3757,3992
$GC,719,-0.72,-121.7,111.4,-14.3,122,726,0.12,1.88,0.00,0.000,6,0.163,0.024,2307,2428,3993
$GC,1065,-0.91,-121.7,154.4,-8.9,183,1072,0.17,2.05,0.00,0.000,4,0.062,0.044,2221,3757,3994
$GC,1129,-0.76,-121.7,162.4,-13.6,194,1137,0.28,1.83,0.00,0.000,6,0.160,0.023,2298,2455,3995
$GC,1478,-0.99,-121.7,199.2,-9.4,255,1485,0.20,2.00,0.00,0.000,4,0.063,0.044,2205,3754,3996
$GC,1503,-0.99,-121.7,202.6,-12.1,259,1509,0.00,1.83,0.00,0.000,6,0.000,0.023,2205,2440,3996
$GC,1847,-0.92,-121.7,250.8,-12.4,320,1853,0.15,2.03,0.00,0.000,4,0.160,0.044,2237,3757,3996
$GC,2023,-1.00,-121.7,269.6,-10.2,351,2029,0.00,1.77,0.00,0.000,6,0.000,0.025,2237,2487,3996
$GC,2363,-1.09,-121.7,309.9,-13.0,405,2367,0.12,1.98,0.00,0.000,4,0.078,0.047,2179,3764,3996
$GC,2547,-0.94,-121.7,339.7,-14.9,421,2553,0.22,1.75,0.00,0.000,6,0.163,0.025,2241,2523,3996
$GC,2872,-1.07,-121.7,371.4,-8.9,452,2877,0.12,2.10,0.00,0.000,4,0.077,0.025,2188,1061,3996
$GC,2950,-1.07,-121.7,380.4,-11.1,458,2958,0.00,2.15,0.00,0.000,6,0.000,0.034,2188,2497,3996
$GC,3277,-1.07,-121.7,418.5,-12.4,489,3281,0.00,1.92,0.00,0.000,4,0.000,0.050,2188,3757,3995
$GC,3391,-1.02,-121.7,432.7,-12.4,499,3394,0.00,1.75,0.00,0.000,6,0.000,0.026,2188,2524,3995
$GC,3724,-1.02,-121.7,472.6,-12.5,530,3728,0.00,1.92,0.00,0.000,4,0.000,0.050,2188,3762,3994
$GC,3792,-1.02,-121.7,481.6,-12.7,536,3795,0.00,1.75,0.00,0.000,6,0.000,0.026,2188,2534,3993
$GC,4118,-1.02,-121.7,520.8,-12.0,559,4121,0.00,1.90,0.00,0.000,4,0.000,0.051,2188,3754,3992
$GC,4179,-1.02,-121.7,528.6,-12.6,561,4185,0.00,1.75,0.00,0.000,6,0.000,0.027,2188,2528,3992
$GC,4494,-1.02,-121.7,568.7,-12.6,577,4498,0.00,1.92,0.00,0.000,4,0.000,0.051,2188,3760,3990
$GC,4636,-1.02,-121.7,585.9,-11.9,583,4639,0.00,1.73,0.00,0.000,6,0.000,0.028,2188,2564,3988
$GC,4963,-1.02,-121.7,619.4,-9.9,599,4967,0.00,1.88,0.00,0.000,4,0.000,0.052,2188,3758,3986
$GC,5048,-1.02,-121.7,628.6,-11.0,602,5055,0.00,1.73,0.00,0.000,6,0.000,0.028,2188,2567,3985
$GC,5363,-1.02,-121.7,661.9,-11.0,618,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2567,3983
$GC,5672,-1.02,-121.7,696.7,-11.4,633,5676,0.00,1.90,0.00,0.000,4,0.000,0.054,2188,3749,3981
$GC,5728,-1.02,-121.7,703.6,-11.9,635,5732,0.00,1.70,0.00,0.000,6,0.000,0.029,2188,2579,3980
$GC,6050,-1.02,-121.7,742.4,-12.2,651,6053,0.00,1.85,0.00,0.000,4,0.000,0.054,2188,3751,3978
$GC,6189,-1.02,-121.7,760.9,-12.9,657,6193,0.00,1.70,0.00,0.000,6,0.000,0.028,2188,2582,3976
$GC,6517,-1.07,-121.7,800.6,-12.8,673,6521,0.00,1.85,0.00,0.000,4,0.000,0.054,2188,3754,3974
$GC,6585,-1.07,-121.7,809.3,-12.3,676,6589,0.00,1.70,0.00,0.000,6,0.000,0.029,2188,2611,3974
$GC,6918,-1.12,-121.7,848.0,-11.7,692,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2610,3972
$GC,7227,-1.18,-121.7,882.0,-11.0,707,7231,0.00,1.80,0.00,0.000,4,0.000,0.055,2188,3747,3969
$GC,7296,-1.23,-121.7,890.0,-12.2,710,7300,0.12,1.67,0.00,0.000,6,0.084,0.031,2140,2607,3969
$GC,7628,-1.10,-121.7,934.9,-13.5,726,7630,0.17,0.00,0.00,0.000,6,0.176,0.000,2184,2607,3967
$GC,7938,-1.16,-121.7,968.8,-10.8,741,7942,0.00,1.85,0.00,0.000,4,0.000,0.056,2179,3750,3966
$GC,7989,-1.16,-121.7,974.7,-11.7,743,7994,0.00,1.67,0.00,0.000,6,0.000,0.031,2179,2610,3966
$STATE,8127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8127,begin apogee
$GC,8132,-0.22,0.0,990.0,10.7,750,8232,0.98,0.00,89.18,1.414,6,0.159,0.000,2468,2610,3531
$STATE,8233,end apogee,CONTROL_FINISHED_OK
$STATE,8233,begin climb
$GC,8236,1.18,121.7,993.4,0.0,755,8346,1.27,2.00,101.88,1.373,4,0.061,0.051,2927,3748,3034
$GC,8447,0.41,121.7,984.3,15.2,764,8454,1.02,1.85,0.00,0.000,6,0.219,0.027,2681,2529,3032
$GC,8763,0.63,193.3,959.8,7.3,780,8829,0.20,2.28,57.75,1.349,4,0.080,0.031,2762,1121,2744
$GC,9004,0.64,199.0,932.0,11.6,790,9015,0.00,2.15,5.93,1.032,6,0.000,0.035,2762,2498,2720
$GC,9344,0.64,201.6,890.9,11.8,807,9347,0.00,2.10,0.00,0.000,4,0.000,0.033,2762,1120,2717
$GC,9421,0.64,202.7,881.2,11.9,810,9434,0.00,2.12,4.47,0.913,6,0.000,0.036,2762,2493,2704
$GC,9742,0.64,202.7,841.8,12.5,826,9746,0.00,2.10,0.00,0.000,4,0.000,0.034,2763,1110,2703
$GC,9893,0.65,205.3,823.8,11.8,832,9899,0.00,2.10,0.00,0.000,6,0.000,0.038,2762,2472,2703
$GC,10209,0.66,219.0,788.1,11.1,848,10230,0.00,2.08,14.50,1.227,4,0.000,0.034,2762,1122,2638
$GC,10304,0.75,241.4,777.8,10.5,852,10329,0.00,2.10,19.80,1.235,6,0.000,0.036,2762,2479,2546
$GC,10652,0.80,241.4,735.6,12.7,869,10656,0.12,2.08,0.00,0.000,4,0.087,0.032,2815,1119,2540
$GC,10724,0.74,241.4,724.7,14.7,872,10729,0.12,2.08,0.00,0.000,6,0.185,0.036,2786,2463,2540
$GC,11045,0.74,241.4,681.1,13.4,888,11049,0.00,2.05,0.00,0.000,4,0.000,0.052,2786,3767,2539
$GC,11114,0.63,241.4,671.2,15.4,891,11118,0.17,1.92,0.00,0.000,6,0.190,0.028,2750,2466,2540
$GC,11447,0.76,263.3,634.9,10.6,907,11470,0.12,2.10,17.50,1.157,4,0.087,0.033,2802,1110,2458
$GC,11638,0.76,263.3,610.9,13.0,915,11643,0.00,2.15,0.00,0.000,6,0.000,0.038,2802,2472,2455
$GC,11961,0.76,263.3,570.0,13.1,931,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2472,2454
$GC,12269,0.76,263.3,531.7,12.1,946,12272,0.00,2.05,0.00,0.000,4,0.000,0.035,2802,1119,2454
$GC,12325,0.77,266.2,524.9,11.8,948,12328,0.00,2.08,0.00,0.000,6,0.000,0.036,2803,2473,2453
$GC,12648,0.77,266.2,487.8,12.1,968,12651,0.00,2.05,0.00,0.000,4,0.000,0.034,2803,1114,2453
$GC,12727,0.77,266.2,478.3,12.0,975,12731,0.00,2.05,0.00,0.000,6,0.000,0.037,2802,2455,2453
$GC,13059,0.77,270.9,437.9,11.7,1006,13073,0.00,2.08,7.07,0.907,4,0.000,0.034,2802,1120,2426
$GC,13215,0.85,278.9,420.0,11.5,1019,13232,0.00,2.00,8.10,0.915,6,0.000,0.035,2802,2433,2395
$GC,13551,0.85,282.8,380.5,11.7,1051,13562,0.00,2.10,5.18,0.779,4,0.000,0.053,2803,3768,2378
$GC,13586,0.80,283.2,376.2,12.0,1054,13590,0.00,2.00,0.00,0.000,6,0.000,0.026,2811,2407,2377
$GC,13918,0.81,289.6,338.8,11.6,1085,13931,0.00,1.98,7.18,0.834,4,0.000,0.032,2815,1111,2351
$GC,14022,0.92,302.2,326.8,11.2,1094,14038,0.00,2.00,11.62,0.886,6,0.000,0.035,2815,2426,2300
$GC,14364,1.00,310.2,287.7,11.5,1134,14378,0.15,2.10,7.95,0.802,4,0.076,0.052,2875,3758,2266
$GC,14419,0.78,310.2,279.9,15.5,1143,14426,0.32,2.00,0.00,0.000,6,0.184,0.025,2798,2409,2265
$GC,14764,0.95,322.6,240.2,11.2,1204,14784,0.15,1.92,11.25,0.806,4,0.079,0.032,2858,1116,2215
$GC,14959,0.97,334.8,216.0,11.2,1238,14977,0.00,1.95,11.23,0.776,6,0.000,0.033,2859,2402,2166
$GC,15316,0.98,348.2,175.0,11.1,1301,15334,0.00,1.95,11.93,0.747,4,0.000,0.032,2858,1114,2111
$GC,15438,1.13,360.6,162.2,11.2,1322,15457,0.15,1.88,11.52,0.727,6,0.077,0.032,2917,2357,2059
$GC,15797,1.14,371.7,117.7,11.3,1385,15810,0.00,1.92,9.77,0.674,4,0.000,0.029,2924,1106,2016
$GC,15991,1.21,381.9,94.6,11.3,1419,16008,0.00,1.92,9.38,0.645,6,0.000,0.033,2924,2383,1973
$GC,16348,1.35,427.8,59.3,9.0,1482,16390,0.15,0.00,36.40,0.662,6,0.073,0.000,2985,2383,1787
$GC,16728,1.35,427.8,10.4,13.0,1549,16734,0.00,1.90,0.00,0.000,4,0.000,0.030,2993,1102,1782
$STATE,16788,end climb,SURFACE_DEPTH_REACHED
$STATE,16788,begin surface coast
$FINISH,1.7,1.008639
$STATE,16812,end surface coast,CONTROL_FINISHED_OK
$STATE,16812,begin surface
$SM_CCo,16891,0.00,0.000,0,0,1779,430.01
$SM_GC,2.65,7.75,0.00,0.00,0.062,0.000,0.000,141,2449,1779,-7.49,0.59,430.01
$IRIDIUM_FIX,2505.59,12336.78,250998,010158
$TT8_MAMPS,0.027612
$HUMID,1579
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,43.003
$10V_AH,10.8,24.389
$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,23.575,136.875,459.575,0.000,0.000,49.121,149.629,178.894,8.000,0.000,0.000,38.442,2776.225,10555.646,588.354,2871.424,685.753,0.000,2014.026,0.000,2777.278,0.000,54.442,0.000
$DEVICE_MAMPS,242.372,55.991,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.986,1083.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85156,1564
$CAP_FILE_SIZE,172336,0
$CFSIZE,260165632,206016512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 77.7,1
$GPS,010709,062907,2515.917,12337.606,36,1.3,37,-3.7