version: 66.04
glider: 167
mission: 2
dive: 259
start: 7 4 109 6 50 17
data:
$ID,167
$MISSION,2
$DIVE,259
$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,-10334.099
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,064007,2525.804,12339.109,26,1.1,27,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.0
$GPS2,064956,2525.906,12339.193,13,1.4,13,-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,225.3,22090,-23.2,-12.000
$D_GRID,1713
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,43,0.00,0.00,-24.38,0.000,2,0.000,0.000,142,2444,2411
$GC,46,-1.18,-121.7,3.1,-1.7,4,111,8.32,2.08,-47.92,0.000,4,0.239,0.057,2153,3753,3990
$GC,359,-0.54,-121.7,76.5,-26.6,59,367,0.75,1.95,0.00,0.000,6,0.176,0.022,2367,2375,3992
$GC,706,-1.17,-121.7,111.2,-9.0,120,712,0.50,1.98,0.00,0.000,4,0.046,0.025,2158,1001,3993
$GC,769,-0.92,-121.7,120.5,-16.1,131,777,0.35,2.25,0.00,0.000,6,0.161,0.031,2248,2507,3993
$GC,1117,-0.92,-121.7,165.0,-11.8,192,1123,0.00,1.90,0.00,0.000,4,0.000,0.046,2244,3757,3994
$GC,1219,-0.92,-121.7,179.1,-14.3,210,1225,0.00,1.83,0.00,0.000,6,0.000,0.024,2244,2454,3995
$GC,1563,-1.00,-121.7,220.6,-11.3,271,1570,0.00,2.00,0.00,0.000,4,0.000,0.045,2235,3756,3996
$GC,1732,-1.00,-121.7,241.7,-12.8,300,1738,0.00,1.75,0.00,0.000,6,0.000,0.025,2235,2510,3996
$GC,2076,-1.11,-121.7,279.2,-11.0,361,2083,0.15,1.92,0.00,0.000,4,0.071,0.045,2165,3757,3996
$GC,2337,-0.90,-121.7,319.0,-16.0,397,2341,0.30,1.70,0.00,0.000,6,0.160,0.025,2249,2551,3996
$GC,2668,-1.10,-121.7,352.3,-10.4,428,2672,0.17,1.88,0.00,0.000,4,0.067,0.048,2177,3761,3996
$GC,2809,-1.00,-121.7,372.1,-14.2,440,2816,0.17,1.67,0.00,0.000,6,0.163,0.027,2223,2581,3996
$GC,3135,-1.13,-121.7,407.3,-10.5,471,3139,0.12,1.83,0.00,0.000,4,0.077,0.048,2166,3760,3996
$GC,3218,-1.00,-121.7,418.6,-13.3,478,3225,0.20,1.65,0.00,0.000,6,0.166,0.026,2219,2601,3996
$GC,3544,-1.13,-121.7,450.9,-9.3,509,3549,0.12,2.25,0.00,0.000,4,0.077,0.027,2169,1051,3994
$GC,3577,-1.13,-121.7,454.8,-12.4,511,3584,0.00,2.33,0.00,0.000,6,0.000,0.035,2166,2590,3994
$GC,3903,-1.05,-121.7,495.0,-12.5,542,3907,0.15,1.80,0.00,0.000,4,0.177,0.049,2203,3764,3993
$GC,3943,-1.10,-121.7,499.8,-11.4,545,3950,0.00,1.67,0.00,0.000,6,0.000,0.027,2203,2589,3992
$GC,4259,-1.19,-121.7,533.8,-10.4,561,4263,0.12,1.83,0.00,0.000,4,0.081,0.050,2152,3756,3991
$GC,4422,-1.03,-121.7,555.9,-14.4,568,4426,0.22,1.65,0.00,0.000,6,0.167,0.028,2211,2615,3989
$GC,4751,-1.16,-121.7,589.9,-10.2,584,4755,0.12,1.80,0.00,0.000,4,0.079,0.051,2162,3761,3987
$GC,4888,-1.06,-121.7,607.3,-13.2,590,4892,0.12,1.67,0.00,0.000,6,0.172,0.029,2198,2636,3986
$GC,5221,-1.15,-121.7,644.5,-11.4,606,5225,0.00,2.30,0.00,0.000,4,0.000,0.028,2199,1064,3984
$GC,5278,-1.30,-121.7,650.9,-11.1,608,5284,0.20,2.33,0.00,0.000,6,0.075,0.036,2122,2592,3983
$GC,5594,-1.10,-121.7,693.8,-13.4,624,5598,0.20,1.80,0.00,0.000,4,0.184,0.050,2170,3755,3980
$GC,5731,-1.06,-121.7,709.3,-10.9,630,5735,0.12,1.65,0.00,0.000,6,0.176,0.030,2198,2626,3979
$GC,6065,-1.16,-121.7,741.4,-10.1,646,6069,0.00,1.80,0.00,0.000,4,0.000,0.053,2192,3749,3977
$GC,6098,-1.21,-121.7,745.4,-11.9,647,6103,0.12,1.62,0.00,0.000,6,0.084,0.029,2144,2631,3977
$GC,6420,-1.10,-121.7,787.4,-13.5,663,6425,0.17,1.80,0.00,0.000,4,0.182,0.052,2181,3766,3974
$GC,6458,-1.10,-121.7,792.4,-12.1,664,6464,0.00,1.67,0.00,0.000,6,0.000,0.029,2181,2644,3974
$GC,6776,-1.10,-121.7,827.0,-10.8,680,6779,0.00,1.75,0.00,0.000,4,0.000,0.054,2179,3751,3972
$GC,6826,-1.10,-121.7,832.9,-11.0,682,6829,0.00,1.62,0.00,0.000,6,0.000,0.030,2179,2654,3971
$GC,7153,-1.10,-121.7,868.5,-10.9,698,7156,0.00,1.75,0.00,0.000,4,0.000,0.056,2179,3758,3969
$GC,7186,-1.10,-121.7,872.5,-11.6,699,7190,0.00,1.62,0.00,0.000,6,0.000,0.031,2179,2650,3970
$GC,7508,-1.15,-121.7,907.8,-11.0,715,7511,0.00,1.75,0.00,0.000,4,0.000,0.057,2178,3750,3967
$GC,7541,-1.15,-121.7,911.6,-11.8,716,7544,0.00,1.62,0.00,0.000,6,0.000,0.031,2178,2663,3968
$GC,7864,-1.20,-121.7,947.1,-11.0,732,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2662,3966
$GC,8172,-1.24,-121.7,981.8,-11.3,747,8175,0.00,1.73,0.00,0.000,4,0.000,0.057,2178,3747,3964
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8251,-0.22,0.0,990.3,11.1,750,8347,0.95,0.00,89.40,1.417,6,0.159,0.000,2465,2540,3532
$STATE,8348,end apogee,CONTROL_FINISHED_OK
$STATE,8348,begin climb
$GC,8351,1.18,121.7,994.9,0.0,755,8460,1.30,2.08,102.75,1.377,4,0.059,0.050,2926,3750,3034
$GC,8713,0.42,121.7,968.3,12.9,771,8721,0.98,1.90,0.00,0.000,6,0.216,0.025,2687,2474,3030
$GC,9029,0.66,219.4,949.6,5.5,787,9112,0.20,0.00,80.32,1.357,6,0.079,0.000,2762,2473,2637
$GC,9419,0.67,229.4,907.2,11.3,806,9433,0.00,2.10,8.88,1.160,4,0.000,0.034,2762,1125,2596
$GC,9541,0.75,241.6,893.0,11.2,811,9556,0.00,2.12,11.15,1.203,6,0.000,0.037,2761,2489,2547
$GC,9888,0.82,255.5,854.3,11.1,828,9909,0.12,2.17,12.52,1.222,4,0.086,0.031,2813,1112,2489
$GC,10162,0.82,255.5,818.4,13.1,840,10166,0.00,2.10,0.00,0.000,6,0.000,0.039,2813,2460,2486
$GC,10489,0.74,255.5,774.9,13.5,856,10492,0.00,2.05,0.00,0.000,4,0.000,0.054,2813,3762,2485
$GC,10629,0.53,255.5,752.9,15.9,862,10634,0.35,1.98,0.00,0.000,6,0.187,0.028,2719,2430,2484
$GC,10950,0.83,297.4,721.8,9.2,878,10994,0.22,2.03,35.30,1.240,4,0.071,0.034,2812,1117,2318
$GC,11247,0.88,297.4,682.6,13.1,891,11251,0.00,2.03,0.00,0.000,6,0.000,0.038,2812,2418,2313
$GC,11574,0.88,297.4,637.4,13.7,907,11577,0.00,1.98,0.00,0.000,4,0.000,0.032,2813,1116,2311
$GC,11831,0.95,297.4,602.1,13.5,918,11835,0.10,1.95,0.00,0.000,6,0.097,0.038,2851,2385,2310
$GC,12152,0.87,297.4,557.2,12.9,934,12156,0.00,2.17,0.00,0.000,4,0.000,0.054,2851,3758,2310
$GC,12220,0.65,297.4,547.2,14.5,937,12225,0.38,2.12,0.00,0.000,6,0.186,0.028,2760,2324,2309
$GC,12547,0.90,326.9,515.2,10.1,953,12577,0.20,1.85,23.40,1.091,4,0.076,0.033,2843,1118,2198
$GC,12701,0.90,326.9,491.5,14.8,962,12705,0.00,1.88,0.00,0.000,6,0.000,0.035,2843,2336,2195
$GC,13033,0.90,326.9,440.3,15.2,993,13037,0.00,1.83,0.00,0.000,4,0.000,0.032,2849,1119,2194
$GC,13072,0.90,326.9,434.3,14.5,996,13078,0.00,1.88,0.00,0.000,6,0.000,0.035,2849,2324,2194
$GC,13400,0.90,326.9,384.9,15.6,1027,13403,0.00,1.80,0.00,0.000,4,0.000,0.031,2855,1118,2193
$GC,13506,0.90,326.9,368.3,15.3,1036,13512,0.00,1.83,0.00,0.000,6,0.000,0.035,2856,2317,2193
$GC,13833,0.90,326.9,322.4,13.3,1067,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2317,2193
$GC,14167,0.90,326.9,279.0,12.8,1112,14172,0.00,1.80,0.00,0.000,4,0.000,0.032,2861,1103,2193
$GC,14259,0.90,326.9,266.5,13.4,1128,14265,0.00,1.80,0.00,0.000,6,0.000,0.035,2861,2302,2193
$GC,14603,0.90,326.9,221.7,12.7,1189,14609,0.00,2.28,0.00,0.000,4,0.000,0.050,2861,3765,2193
$GC,14661,0.78,326.9,213.2,14.8,1199,14668,0.28,2.17,0.00,0.000,6,0.178,0.026,2797,2290,2193
$GC,15007,1.11,381.3,178.5,8.4,1260,15056,0.28,2.42,42.83,0.808,4,0.064,0.049,2911,3761,1976
$GC,15098,0.94,381.3,166.8,14.3,1275,15106,0.28,2.20,0.00,0.000,6,0.178,0.025,2848,2295,1972
$GC,15444,1.14,389.0,125.9,11.5,1336,15456,0.17,0.00,6.88,0.641,6,0.072,0.000,2922,2291,1945
$GC,15794,1.17,411.8,80.5,10.5,1398,15819,0.00,1.80,19.70,0.688,4,0.000,0.031,2925,1110,1852
$GC,15924,1.30,428.7,65.8,10.9,1420,15948,0.10,1.80,14.57,0.653,6,0.092,0.031,2966,2306,1782
$GC,16288,1.30,428.7,22.9,12.8,1484,16294,0.00,1.77,0.00,0.000,4,0.000,0.029,2972,1101,1779
$GC,16306,1.34,428.7,20.3,13.2,1487,16313,0.00,1.77,0.00,0.000,6,0.000,0.030,2972,2294,1779
$STATE,16447,end climb,SURFACE_DEPTH_REACHED
$STATE,16447,begin surface coast
$FINISH,1.8,1.008049
$STATE,16476,end surface coast,CONTROL_FINISHED_OK
$STATE,16476,begin surface
$SM_CCo,16554,0.00,0.000,0,0,1777,430.50
$SM_GC,2.67,7.68,0.00,0.00,0.060,0.000,0.000,141,2450,1777,-7.49,0.65,430.50
$IRIDIUM_FIX,2515.12,12337.43,280998,060605
$TT8_MAMPS,0.028379
$HUMID,1595
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,45.705
$10V_AH,10.7,25.909
$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,26.325,129.850,447.700,0.000,0.000,62.162,73.007,249.811,8.000,0.000,0.000,13.896,2740.500,10232.040,582.335,2855.542,720.679,0.000,2003.455,0.000,2790.677,0.000,54.430,0.000
$DEVICE_MAMPS,238.537,56.758,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.053,1049.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82067,1517
$CAP_FILE_SIZE,173200,0
$CFSIZE,260165632,204599296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 75.3,1
$GPS,040709,112736,2525.832,12339.939,39,1.2,51,-3.8