version: 66.04
glider: 167
mission: 2
dive: 261
start: 7 4 109 16 30 29
data:
$ID,167
$MISSION,2
$DIVE,261
$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,-10388.91
$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,71
$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
$GPS1,161731,2525.258,12340.676,42,1.2,43,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-71.4
$GPS2,163006,2525.348,12340.702,12,1.4,16,-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,232.0,21050,-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,14,-1.18,-121.7,0.0,0.0,0,46,0.00,0.00,-29.38,0.000,2,0.000,0.000,140,2452,2384
$GC,49,-1.18,-121.7,3.3,-2.0,5,114,8.27,2.12,-48.85,0.000,4,0.237,0.040,2160,1024,3988
$GC,201,-0.66,-121.7,32.5,-27.2,31,209,0.62,2.12,0.00,0.000,6,0.173,0.031,2327,2433,3989
$GC,549,-0.90,-121.7,80.0,-11.6,92,555,0.17,2.03,0.00,0.000,4,0.064,0.044,2238,3754,3990
$GC,674,-0.82,-121.7,98.1,-15.1,114,681,0.15,1.88,0.00,0.000,6,0.159,0.023,2278,2430,3990
$GC,1019,-0.93,-121.7,140.4,-11.5,175,1026,0.00,2.05,0.00,0.000,4,0.000,0.045,2275,3767,3992
$GC,1168,-1.05,-121.7,158.7,-12.2,201,1175,0.20,1.80,0.00,0.000,6,0.063,0.024,2189,2485,3991
$GC,1513,-0.92,-121.7,212.0,-14.7,262,1520,0.17,1.95,0.00,0.000,4,0.156,0.043,2234,3757,3992
$GC,1571,-0.92,-121.7,220.0,-13.0,272,1577,0.00,1.80,0.00,0.000,6,0.000,0.025,2235,2471,3992
$GC,1914,-1.01,-121.7,260.0,-11.4,333,1920,0.00,2.00,0.00,0.000,4,0.000,0.047,2232,3767,3992
$GC,2119,-1.09,-121.7,283.6,-11.3,369,2125,0.12,1.77,0.00,0.000,6,0.077,0.024,2176,2504,3992
$GC,2457,-0.99,-121.7,327.8,-13.1,411,2461,0.17,1.95,0.00,0.000,4,0.158,0.045,2218,3767,3992
$GC,2528,-0.99,-121.7,336.6,-12.4,417,2535,0.00,1.83,0.00,0.000,6,0.000,0.024,2217,2492,3992
$GC,2856,-1.08,-121.7,374.0,-11.6,448,2860,0.00,1.98,0.00,0.000,4,0.000,0.047,2210,3771,3992
$GC,2936,-1.08,-121.7,384.0,-12.0,455,2939,0.00,1.83,0.00,0.000,6,0.000,0.025,2210,2507,3992
$GC,3268,-1.16,-121.7,420.9,-11.3,486,3272,0.12,1.95,0.00,0.000,4,0.080,0.047,2152,3763,3992
$GC,3437,-0.96,-121.7,445.0,-15.0,501,3441,0.28,1.77,0.00,0.000,6,0.163,0.027,2228,2527,3991
$GC,3769,-1.13,-121.7,479.1,-9.8,532,3773,0.15,1.92,0.00,0.000,4,0.073,0.050,2165,3758,3990
$GC,3852,-1.02,-121.7,489.9,-12.8,539,3859,0.20,1.75,0.00,0.000,6,0.166,0.027,2217,2540,3989
$GC,4184,-1.15,-121.7,523.5,-9.6,560,4188,0.12,1.90,0.00,0.000,4,0.079,0.049,2165,3754,3986
$GC,4336,-1.06,-121.7,542.1,-12.7,566,4343,0.15,1.75,0.00,0.000,6,0.170,0.028,2202,2544,3985
$GC,4653,-1.16,-121.7,572.1,-9.6,582,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2544,3983
$GC,4962,-1.26,-121.7,604.4,-10.5,597,4966,0.17,1.90,0.00,0.000,4,0.067,0.051,2124,3753,3980
$GC,5007,-1.03,-121.7,610.7,-14.2,599,5011,0.32,1.75,0.00,0.000,6,0.173,0.028,2212,2549,3980
$GC,5342,-1.17,-121.7,643.0,-9.0,615,5346,0.15,1.90,0.00,0.000,4,0.075,0.052,2153,3751,3978
$GC,5419,-1.06,-121.7,652.5,-12.3,618,5423,0.20,1.73,0.00,0.000,6,0.167,0.028,2205,2561,3977
$GC,5741,-1.18,-121.7,685.0,-10.6,634,5745,0.12,1.90,0.00,0.000,4,0.081,0.052,2152,3763,3975
$GC,5802,-1.06,-121.7,693.4,-14.4,636,5808,0.17,1.73,0.00,0.000,6,0.171,0.028,2196,2575,3974
$GC,6120,-1.16,-121.7,728.7,-11.0,652,6124,0.00,1.85,0.00,0.000,4,0.000,0.052,2192,3751,3972
$GC,6212,-1.20,-121.7,739.2,-11.4,656,6215,0.00,1.70,0.00,0.000,6,0.000,0.028,2192,2583,3972
$GC,6547,-1.29,-121.7,775.7,-11.4,672,6549,0.17,0.00,0.00,0.000,6,0.078,0.000,2126,2584,3969
$GC,6854,-1.13,-121.7,820.7,-14.8,687,6858,0.17,1.88,0.00,0.000,4,0.183,0.052,2168,3764,3967
$GC,6960,-1.07,-121.7,834.8,-12.6,691,6968,0.12,1.70,0.00,0.000,6,0.179,0.029,2196,2601,3966
$GC,7276,-1.18,-121.7,868.7,-10.2,707,7280,0.00,1.83,0.00,0.000,4,0.000,0.054,2192,3754,3965
$GC,7332,-1.26,-121.7,874.9,-11.3,709,7338,0.12,1.70,0.00,0.000,6,0.069,0.031,2137,2618,3964
$GC,7654,-1.14,-121.7,916.0,-12.7,725,7658,0.15,1.80,0.00,0.000,4,0.186,0.054,2166,3750,3963
$GC,7689,-1.09,-121.7,920.2,-12.1,726,7692,0.00,1.67,0.00,0.000,6,0.000,0.031,2166,2606,3962
$GC,8011,-1.09,-121.7,956.8,-11.4,742,8014,0.00,1.83,0.00,0.000,4,0.000,0.057,2166,3753,3961
$GC,8111,-1.09,-121.7,969.2,-12.8,746,8115,0.00,1.67,0.00,0.000,6,0.000,0.030,2166,2634,3961
$STATE,8306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8306,begin apogee
$GC,8313,-0.22,0.0,991.9,11.6,756,8411,1.02,0.00,88.38,1.417,6,0.164,0.000,2465,2539,3531
$STATE,8412,end apogee,CONTROL_FINISHED_OK
$STATE,8412,begin climb
$GC,8415,1.18,121.7,996.5,0.0,761,8525,1.30,2.08,102.68,1.378,4,0.058,0.051,2928,3750,3034
$GC,8689,0.42,121.7,981.4,13.5,774,8695,0.93,1.92,0.00,0.000,6,0.212,0.027,2688,2493,3031
$GC,9017,0.63,208.4,960.3,6.3,790,9094,0.17,2.20,70.57,1.361,4,0.079,0.033,2764,1124,2681
$GC,9128,0.63,211.2,948.9,11.8,795,9132,0.00,2.22,0.00,0.000,6,0.000,0.037,2764,2513,2678
$GC,9449,0.64,215.0,911.2,11.8,811,9460,0.00,2.15,5.93,1.042,4,0.000,0.030,2773,1109,2655
$GC,9561,0.64,215.0,897.7,12.5,816,9565,0.00,2.17,0.00,0.000,6,0.000,0.038,2772,2503,2655
$GC,9882,0.64,218.0,859.3,11.8,832,9891,0.00,2.15,4.18,0.876,4,0.000,0.032,2773,1118,2643
$GC,10003,0.64,218.0,844.4,12.1,837,10008,0.00,2.12,0.00,0.000,6,0.000,0.036,2773,2473,2642
$GC,10326,0.64,218.0,805.9,12.1,853,10329,0.00,2.05,0.00,0.000,4,0.000,0.032,2773,1114,2641
$GC,10495,0.66,227.6,785.5,11.4,860,10509,0.00,2.08,9.35,1.162,6,0.000,0.037,2773,2463,2604
$GC,10816,0.66,227.6,745.7,12.4,876,10819,0.00,2.05,0.00,0.000,4,0.000,0.031,2773,1106,2602
$GC,10911,0.71,227.6,733.7,12.4,880,10914,0.00,2.03,0.00,0.000,6,0.000,0.036,2773,2428,2601
$GC,11238,0.71,227.6,692.7,12.4,896,11241,0.00,1.98,0.00,0.000,4,0.000,0.032,2773,1114,2600
$GC,11283,0.76,227.6,687.2,12.5,898,11287,0.00,2.00,0.00,0.000,6,0.000,0.037,2773,2419,2600
$GC,11616,0.76,232.4,647.4,11.7,914,11625,0.00,1.98,5.18,0.931,4,0.000,0.031,2776,1106,2583
$GC,11740,0.83,245.1,633.0,11.2,919,11757,0.10,1.98,11.68,1.114,6,0.097,0.036,2815,2400,2532
$GC,12074,0.74,245.1,587.0,13.3,936,12079,0.12,2.15,0.00,0.000,4,0.183,0.051,2786,3758,2529
$GC,12119,0.62,245.1,580.6,13.7,938,12123,0.17,2.05,0.00,0.000,6,0.191,0.026,2746,2378,2529
$GC,12440,0.83,294.9,550.4,8.7,954,12486,0.17,1.95,41.05,1.125,4,0.074,0.031,2816,1106,2329
$GC,12588,0.83,294.9,532.1,12.4,961,12591,0.00,2.00,0.00,0.000,6,0.000,0.037,2817,2380,2325
$GC,12912,0.83,294.9,490.7,13.3,979,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2380,2322
$GC,13232,0.83,294.9,447.5,12.7,1009,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2380,2321
$GC,13548,0.83,294.9,406.7,13.1,1039,13551,0.00,2.17,0.00,0.000,4,0.000,0.054,2816,3758,2321
$GC,13598,0.73,294.9,399.1,15.3,1043,13604,0.17,2.08,0.00,0.000,6,0.185,0.027,2782,2350,2321
$GC,13923,0.92,331.4,365.2,9.6,1074,13958,0.17,1.92,29.00,0.970,4,0.074,0.031,2856,1106,2180
$GC,14038,0.92,331.4,350.2,13.5,1084,14041,0.00,1.95,0.00,0.000,6,0.000,0.035,2857,2364,2177
$GC,14369,0.92,331.4,302.8,14.9,1115,14373,0.00,2.20,0.00,0.000,4,0.000,0.051,2857,3761,2175
$GC,14420,0.75,331.4,294.2,16.5,1122,14427,0.30,2.10,0.00,0.000,6,0.179,0.026,2786,2346,2174
$GC,14766,1.05,366.5,256.9,9.7,1183,14802,0.22,2.28,28.30,0.866,4,0.070,0.048,2882,3761,2036
$GC,14927,0.88,366.5,232.4,15.0,1211,14933,0.22,2.08,0.00,0.000,6,0.181,0.026,2835,2361,2033
$GC,15273,1.05,366.5,194.3,12.4,1272,15280,0.15,1.85,0.00,0.000,4,0.075,0.031,2898,1108,2032
$GC,15418,1.05,366.5,172.7,15.0,1297,15424,0.00,1.90,0.00,0.000,6,0.000,0.033,2898,2366,2032
$GC,15762,1.09,404.1,126.8,9.5,1358,15797,0.00,1.95,30.15,0.743,4,0.000,0.029,2903,1108,1883
$GC,15907,1.19,404.1,109.9,13.1,1383,15913,0.00,1.85,0.00,0.000,6,0.000,0.031,2903,2324,1880
$GC,16251,1.35,450.3,65.6,8.9,1444,16294,0.17,1.90,36.72,0.681,4,0.067,0.028,2988,1100,1695
$GC,16412,1.35,450.3,44.2,13.8,1472,16419,0.00,1.80,0.00,0.000,6,0.000,0.029,2988,2295,1691
$STATE,16725,end climb,SURFACE_DEPTH_REACHED
$STATE,16726,begin surface coast
$FINISH,1.8,1.021700
$STATE,16749,end surface coast,CONTROL_FINISHED_OK
$STATE,16750,begin surface
$SM_CCo,16828,0.00,0.000,0,0,1687,452.33
$SM_GC,2.83,7.68,0.00,0.00,0.056,0.000,0.000,141,2460,1687,-7.49,0.96,452.33
$IRIDIUM_FIX,2517.50,12342.73,280998,161613
$TT8_MAMPS,0.029146
$HUMID,1636
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.5,46.060
$10V_AH,10.7,26.100
$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,25.925,136.275,463.150,0.000,0.000,72.645,98.902,311.588,8.000,0.000,0.000,16.136,2749.699,10630.452,569.751,2795.208,828.455,0.000,1983.284,0.000,2731.696,0.000,54.426,0.000
$DEVICE_MAMPS,237.003,68.263,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.513,1048.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82125,1532
$CAP_FILE_SIZE,177915,0
$CFSIZE,260165632,204423168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260, 81.3,1
$GPS,040709,211207,2524.738,12341.406,35,1.5,36,-3.8