version: 66.04
glider: 167
mission: 2
dive: 260
start: 7 4 109 11 34 49
data:
$ID,167
$MISSION,2
$DIVE,260
$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,-10372.145
$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,74
$R_STBD_OVSHOOT,45
$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
$GPS1,112736,2525.832,12339.939,39,1.2,51,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-71.1
$GPS2,113428,2525.895,12339.995,15,3.4,34,-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,228.8,22030,-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,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,-24.17,0.000,2,0.000,0.000,141,2450,2387
$GC,44,-1.18,-121.7,3.2,-2.7,4,110,8.30,2.15,-47.47,0.000,4,0.239,0.041,2159,1039,3990
$GC,245,-0.72,-121.7,45.1,-24.7,39,252,0.55,2.10,0.00,0.000,6,0.169,0.031,2306,2434,3991
$GC,591,-0.87,-121.7,94.4,-11.3,100,597,0.12,2.03,0.00,0.000,4,0.074,0.044,2246,3757,3992
$GC,764,-0.81,-121.7,117.2,-12.2,130,772,0.12,1.88,0.00,0.000,6,0.162,0.023,2278,2426,3993
$GC,1111,-0.96,-121.7,156.9,-12.3,191,1117,0.12,2.05,0.00,0.000,4,0.076,0.044,2218,3754,3995
$GC,1293,-0.86,-121.7,187.2,-16.1,223,1299,0.17,1.80,0.00,0.000,6,0.160,0.025,2264,2476,3996
$GC,1638,-1.03,-121.7,224.1,-9.6,284,1644,0.15,1.98,0.00,0.000,4,0.071,0.045,2192,3755,3997
$GC,1760,-0.89,-121.7,240.2,-14.7,305,1766,0.22,1.77,0.00,0.000,6,0.157,0.025,2254,2496,3997
$GC,2107,-1.08,-121.7,276.5,-9.2,366,2115,0.17,1.95,0.00,0.000,4,0.061,0.044,2169,3760,3997
$GC,2224,-0.89,-121.7,292.4,-14.5,386,2232,0.30,1.77,0.00,0.000,6,0.160,0.025,2252,2504,3997
$GC,2557,-1.11,-121.7,326.8,-10.4,422,2561,0.17,1.95,0.00,0.000,4,0.065,0.047,2178,3766,3997
$GC,2579,-1.11,-121.7,329.8,-12.1,424,2583,0.00,1.77,0.00,0.000,6,0.000,0.025,2178,2504,3997
$GC,2912,-1.04,-121.7,373.0,-13.6,455,2916,0.12,1.95,0.00,0.000,4,0.167,0.046,2205,3764,3997
$GC,3062,-1.04,-121.7,391.5,-12.3,468,3065,0.00,1.75,0.00,0.000,6,0.000,0.025,2205,2524,3997
$GC,3393,-1.12,-121.7,429.0,-11.3,499,3397,0.00,1.92,0.00,0.000,4,0.000,0.049,2205,3761,3997
$GC,3450,-1.18,-121.7,435.8,-11.6,504,3454,0.12,1.75,0.00,0.000,6,0.077,0.028,2152,2545,3996
$GC,3781,-1.07,-121.7,478.4,-12.3,535,3785,0.17,1.90,0.00,0.000,4,0.166,0.048,2192,3764,3995
$GC,3848,-1.07,-121.7,485.9,-11.1,541,3851,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2558,3995
$GC,4174,-1.07,-121.7,522.0,-11.7,563,4177,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3757,3993
$GC,4291,-1.07,-121.7,536.7,-12.2,568,4295,0.00,1.73,0.00,0.000,6,0.000,0.028,2192,2582,3993
$GC,4619,-1.13,-121.7,574.7,-11.8,584,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2582,3991
$GC,4928,-1.20,-121.7,609.5,-11.0,599,4932,0.00,1.85,0.00,0.000,4,0.000,0.053,2192,3760,3988
$GC,4998,-1.25,-121.7,617.3,-10.6,602,5002,0.15,1.73,0.00,0.000,6,0.076,0.029,2133,2576,3988
$GC,5332,-1.09,-121.7,663.8,-14.0,618,5336,0.20,1.85,0.00,0.000,4,0.174,0.051,2183,3751,3985
$GC,5446,-1.09,-121.7,677.9,-12.5,623,5450,0.00,1.67,0.00,0.000,6,0.000,0.028,2183,2598,3984
$GC,5780,-1.14,-121.7,713.9,-10.8,639,5783,0.00,1.83,0.00,0.000,4,0.000,0.053,2180,3757,3981
$GC,5825,-1.14,-121.7,719.3,-12.0,641,5828,0.00,1.70,0.00,0.000,6,0.000,0.030,2179,2592,3981
$GC,6158,-1.14,-121.7,755.7,-10.7,657,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2591,3979
$GC,6466,-1.14,-121.7,788.8,-10.8,672,6470,0.00,1.85,0.00,0.000,4,0.000,0.055,2179,3758,3977
$GC,6522,-1.14,-121.7,794.9,-10.9,674,6525,0.00,1.67,0.00,0.000,6,0.000,0.030,2179,2612,3976
$GC,6844,-1.14,-121.7,828.8,-10.5,690,6847,0.00,1.83,0.00,0.000,4,0.000,0.055,2179,3743,3974
$GC,6889,-1.14,-121.7,833.6,-10.2,692,6893,0.00,1.67,0.00,0.000,6,0.000,0.030,2179,2623,3974
$GC,7221,-1.14,-121.7,870.5,-11.5,708,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2623,3972
$GC,7532,-1.14,-121.7,905.2,-11.2,723,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2623,3970
$GC,7840,-1.19,-121.7,939.2,-11.0,738,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2623,3969
$GC,8150,-1.24,-121.7,973.3,-10.9,753,8154,0.00,1.80,0.00,0.000,4,0.000,0.058,2178,3748,3967
$GC,8289,-1.24,-121.7,989.7,-12.2,759,8293,0.00,1.67,0.00,0.000,6,0.000,0.030,2178,2631,3967
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8304,-0.22,0.0,991.0,11.0,759,8398,0.95,0.00,90.30,1.422,6,0.156,0.000,2465,2535,3532
$STATE,8398,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,1.18,121.7,994.8,0.0,764,8511,1.27,2.15,102.75,1.378,4,0.058,0.051,2924,3750,3035
$GC,8720,0.43,121.7,974.6,12.7,778,8725,0.98,1.90,0.00,0.000,6,0.215,0.027,2685,2486,3031
$GC,9041,0.65,215.1,954.6,5.8,794,9121,0.20,0.00,76.85,1.361,6,0.076,0.000,2761,2486,2655
$GC,9430,0.65,215.1,910.2,12.4,813,9434,0.00,2.08,0.00,0.000,4,0.000,0.033,2763,1111,2647
$GC,9476,0.70,219.2,904.6,11.7,815,9486,0.00,2.15,3.72,0.794,6,0.000,0.038,2762,2486,2638
$GC,9809,0.70,221.3,864.5,11.9,831,9812,0.00,2.08,0.00,0.000,4,0.000,0.031,2762,1113,2638
$GC,9910,0.78,237.5,853.0,10.9,835,9931,0.00,2.10,16.52,1.262,6,0.000,0.036,2763,2475,2563
$GC,10247,0.80,251.6,813.9,11.1,852,10269,0.12,2.15,12.48,1.213,4,0.084,0.033,2815,1119,2505
$GC,10338,0.73,251.6,801.7,13.7,856,10342,0.12,2.12,0.00,0.000,6,0.181,0.038,2787,2474,2503
$GC,10664,0.73,252.0,762.6,12.0,872,10667,0.00,2.08,0.00,0.000,4,0.000,0.033,2789,1109,2502
$GC,10759,0.73,252.0,750.7,13.1,876,10763,0.00,2.10,0.00,0.000,6,0.000,0.038,2789,2465,2501
$GC,11085,0.73,252.0,709.1,13.1,892,11088,0.00,2.05,0.00,0.000,4,0.000,0.032,2789,1106,2501
$GC,11162,0.73,252.0,698.5,13.3,895,11166,0.00,2.08,0.00,0.000,6,0.000,0.037,2789,2436,2500
$GC,11485,0.73,252.0,655.7,12.9,911,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2436,2500
$GC,11793,0.73,252.0,616.5,12.6,926,11796,0.00,2.08,0.00,0.000,4,0.000,0.052,2789,3761,2499
$GC,11808,0.73,252.0,614.2,12.7,926,11816,0.00,1.98,0.00,0.000,6,0.000,0.027,2798,2438,2499
$GC,12125,0.73,252.0,574.8,12.4,942,12128,0.00,1.95,0.00,0.000,4,0.000,0.032,2802,1117,2499
$GC,12219,0.73,252.0,563.0,12.8,946,12223,0.00,2.05,0.00,0.000,6,0.000,0.035,2802,2457,2498
$GC,12546,0.73,252.1,522.4,12.0,962,12550,0.00,2.03,0.00,0.000,4,0.000,0.031,2802,1106,2499
$GC,12608,0.76,271.9,515.1,10.7,964,12629,0.00,2.05,16.70,1.082,6,0.000,0.036,2802,2447,2423
$GC,12945,0.78,287.2,475.9,11.0,990,12968,0.00,2.15,14.05,1.035,4,0.000,0.055,2802,3761,2360
$GC,12996,0.68,287.2,469.5,13.8,994,13004,0.17,1.98,0.00,0.000,6,0.188,0.028,2767,2439,2359
$GC,13321,0.89,332.5,439.8,9.0,1025,13365,0.17,0.00,37.42,1.036,6,0.077,0.000,2830,2439,2175
$GC,13684,0.89,333.4,393.8,11.9,1059,13688,0.00,2.00,0.00,0.000,4,0.000,0.033,2834,1104,2170
$GC,13740,0.89,333.4,386.9,12.0,1064,13744,0.00,2.12,0.00,0.000,6,0.000,0.037,2834,2470,2169
$GC,14071,0.89,333.4,346.3,13.4,1095,14075,0.00,2.05,0.00,0.000,4,0.000,0.030,2842,1106,2168
$GC,14166,0.94,333.4,333.0,14.0,1103,14172,0.00,2.08,0.00,0.000,6,0.000,0.036,2842,2456,2168
$GC,14496,0.95,333.9,287.8,12.0,1142,14503,0.00,2.03,0.00,0.000,4,0.000,0.031,2850,1102,2168
$GC,14611,1.02,352.9,274.1,10.7,1162,14635,0.00,2.03,16.60,0.873,6,0.000,0.035,2849,2430,2092
$GC,14974,1.11,361.4,233.1,11.4,1226,14987,0.15,0.00,8.23,0.765,6,0.074,0.000,2910,2431,2057
$GC,15325,1.01,361.4,179.6,16.0,1288,15331,0.15,1.98,0.00,0.000,4,0.182,0.028,2880,1106,2055
$GC,15373,1.10,366.7,173.6,11.7,1296,15385,0.00,2.03,5.62,0.649,6,0.000,0.034,2880,2442,2037
$GC,15727,1.19,392.5,131.0,10.3,1358,15758,0.12,2.05,21.92,0.742,4,0.084,0.029,2937,1110,1930
$GC,15787,1.14,392.5,122.4,13.5,1368,15793,0.00,2.08,0.00,0.000,6,0.000,0.035,2937,2459,1928
$GC,16131,1.14,392.5,72.3,13.5,1429,16137,0.00,2.00,0.00,0.000,4,0.000,0.028,2943,1109,1927
$GC,16239,1.16,407.7,59.3,11.0,1448,16258,0.00,2.00,13.32,0.650,6,0.000,0.031,2943,2438,1868
$GC,16599,1.26,429.0,22.1,10.6,1511,16624,0.00,2.05,17.85,0.623,4,0.000,0.028,2950,1097,1781
$GC,16744,1.43,462.5,7.3,9.8,1536,16780,0.15,2.03,27.33,0.612,6,0.077,0.030,3007,2445,1644
$STATE,16784,end climb,SURFACE_DEPTH_REACHED
$STATE,16784,begin surface coast
$FINISH,1.8,1.009314
$STATE,16808,end surface coast,CONTROL_FINISHED_OK
$STATE,16808,begin surface
$SM_CCo,16885,0.00,0.000,0,0,1639,464.35
$SM_GC,2.89,7.75,0.00,0.00,0.052,0.000,0.000,140,2452,1639,-7.50,0.68,464.35
$IRIDIUM_FIX,2515.12,12340.74,280998,060620
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,45.879
$10V_AH,10.7,26.003
$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,23.525,128.775,481.675,0.000,0.000,28.049,36.653,187.588,8.000,0.000,0.000,37.416,2736.854,10634.955,594.271,2744.133,575.005,0.000,1970.430,0.000,2661.288,0.000,54.413,0.000
$DEVICE_MAMPS,238.537,68.263,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.348,1057.155,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82073,1547
$CAP_FILE_SIZE,169262,0
$CFSIZE,260165632,204513280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267, 83.8,1
$GPS,040709,161731,2525.258,12340.676,42,1.2,43,-3.8