version: 66.04
glider: 167
mission: 2
dive: 263
start: 7 5 109 2 7 53
data:
$ID,167
$MISSION,2
$DIVE,263
$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,-10418.827
$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,72
$R_STBD_OVSHOOT,31
$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
$GPS1,020106,2524.313,12342.523,27,1.1,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.6
$GPS2,020732,2524.399,12342.689,14,1.4,14,-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,242.0,19779,-23.2,-12.000
$D_GRID,1737
$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,-23.98,0.000,2,0.000,0.000,142,2391,2335
$GC,44,-1.18,-121.7,3.3,-2.8,4,113,8.38,2.00,-53.58,0.000,4,0.242,0.039,2157,1021,3989
$GC,126,-0.58,-121.7,11.2,-21.8,17,134,0.73,2.15,0.00,0.000,6,0.173,0.030,2353,2443,3989
$GC,473,-0.85,-121.7,57.2,-11.7,78,480,0.20,2.03,0.00,0.000,4,0.063,0.047,2260,3753,3991
$GC,576,-0.85,-121.7,73.6,-15.7,96,582,0.00,1.90,0.00,0.000,6,0.000,0.024,2261,2410,3991
$GC,919,-0.85,-121.7,124.6,-13.4,157,926,0.00,2.10,0.00,0.000,4,0.000,0.045,2258,3765,3993
$GC,1128,-0.85,-121.7,152.5,-13.0,194,1134,0.00,1.80,0.00,0.000,6,0.000,0.023,2258,2485,3993
$GC,1473,-0.96,-121.7,194.9,-12.3,255,1479,0.00,1.95,0.00,0.000,4,0.000,0.044,2250,3757,3995
$GC,1604,-1.04,-121.7,211.6,-12.6,278,1610,0.12,1.75,0.00,0.000,6,0.073,0.024,2193,2513,3995
$GC,1948,-0.97,-121.7,260.6,-13.4,339,1955,0.15,2.10,0.00,0.000,4,0.157,0.024,2233,1045,3996
$GC,1967,-0.97,-121.7,263.0,-12.9,342,1973,0.00,2.17,0.00,0.000,6,0.000,0.031,2233,2506,3996
$GC,2311,-1.08,-121.7,301.3,-11.8,402,2315,0.12,1.90,0.00,0.000,4,0.079,0.046,2178,3755,3997
$GC,2559,-0.95,-121.7,335.1,-13.0,424,2564,0.17,1.75,0.00,0.000,6,0.151,0.025,2243,2544,3996
$GC,2890,-1.15,-121.7,368.1,-9.7,455,2895,0.20,1.88,0.00,0.000,4,0.064,0.046,2153,3760,3996
$GC,2982,-0.99,-121.7,380.3,-13.3,463,2986,0.25,1.75,0.00,0.000,6,0.163,0.025,2221,2530,3997
$GC,3313,-1.11,-121.7,415.1,-9.6,494,3316,0.00,1.90,0.00,0.000,4,0.000,0.047,2218,3757,3996
$GC,3414,-1.21,-121.7,426.4,-10.7,503,3418,0.17,1.73,0.00,0.000,6,0.067,0.025,2146,2551,3996
$GC,3745,-1.07,-121.7,471.8,-13.2,534,3749,0.17,1.88,0.00,0.000,4,0.168,0.046,2192,3760,3995
$GC,3824,-1.07,-121.7,481.9,-12.8,541,3828,0.00,1.73,0.00,0.000,6,0.000,0.026,2192,2551,3994
$GC,4152,-1.12,-121.7,518.9,-10.6,564,4156,0.00,2.17,0.00,0.000,4,0.000,0.027,2192,1053,3993
$GC,4191,-1.20,-121.7,523.5,-11.0,565,4198,0.00,2.25,0.00,0.000,6,0.000,0.034,2192,2540,3993
$GC,4507,-1.20,-121.7,559.1,-11.4,581,4511,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3758,3990
$GC,4631,-1.20,-121.7,573.9,-11.8,586,4634,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2563,3990
$GC,4953,-1.26,-121.7,609.8,-11.0,602,4957,0.15,1.88,0.00,0.000,4,0.081,0.050,2125,3757,3987
$GC,5048,-1.03,-121.7,623.9,-15.0,606,5052,0.32,1.70,0.00,0.000,6,0.174,0.028,2213,2578,3987
$GC,5377,-1.18,-121.7,655.4,-9.1,622,5381,0.15,1.85,0.00,0.000,4,0.077,0.051,2153,3754,3984
$GC,5449,-1.07,-121.7,664.6,-12.9,625,5454,0.17,1.67,0.00,0.000,6,0.167,0.028,2197,2598,3983
$GC,5777,-1.16,-121.7,698.6,-10.3,641,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2598,3981
$GC,6086,-1.27,-121.7,731.0,-10.1,656,6091,0.17,1.83,0.00,0.000,4,0.074,0.051,2125,3755,3979
$GC,6209,-1.06,-121.7,748.3,-14.2,661,6214,0.28,1.67,0.00,0.000,6,0.176,0.028,2197,2601,3978
$GC,6533,-1.16,-121.7,781.8,-9.9,677,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2600,3976
$GC,6840,-1.28,-121.7,814.3,-10.4,692,6844,0.17,1.83,0.00,0.000,4,0.076,0.054,2124,3750,3974
$GC,6941,-1.07,-121.7,828.8,-14.9,696,6945,0.28,1.67,0.00,0.000,6,0.176,0.030,2196,2605,3973
$GC,7264,-1.18,-121.7,862.9,-10.0,712,7267,0.00,1.83,0.00,0.000,4,0.000,0.055,2194,3755,3971
$GC,7380,-1.27,-121.7,875.1,-10.2,717,7384,0.17,1.67,0.00,0.000,6,0.076,0.030,2128,2616,3970
$GC,7712,-1.11,-121.7,919.1,-13.3,733,7716,0.20,1.83,0.00,0.000,4,0.181,0.053,2178,3760,3969
$GC,7750,-1.11,-121.7,923.6,-11.2,734,7756,0.00,1.65,0.00,0.000,6,0.000,0.031,2179,2639,3969
$GC,8067,-1.16,-121.7,956.4,-10.6,750,8070,0.00,1.77,0.00,0.000,4,0.000,0.056,2179,3753,3967
$GC,8100,-1.16,-121.7,960.2,-11.2,751,8103,0.00,1.65,0.00,0.000,6,0.000,0.031,2179,2628,3967
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8384,-0.22,0.0,990.1,10.7,765,8484,0.98,0.00,90.05,1.421,6,0.159,0.000,2467,2548,3531
$STATE,8484,end apogee,CONTROL_FINISHED_OK
$STATE,8484,begin climb
$GC,8487,1.18,121.7,994.6,0.0,770,8598,1.27,2.38,102.53,1.380,4,0.061,0.031,2931,1102,3034
$GC,8854,0.62,128.0,972.5,11.6,786,8866,0.73,2.20,6.18,1.061,6,0.210,0.037,2746,2506,3010
$GC,9177,0.63,198.2,948.2,7.4,802,9240,0.00,2.30,57.85,1.359,4,0.000,0.032,2746,1106,2723
$GC,9358,0.74,227.3,930.7,10.1,810,9390,0.10,2.20,25.45,1.304,6,0.093,0.038,2782,2497,2604
$GC,9702,0.69,227.3,887.6,12.3,826,9706,0.00,2.12,0.00,0.000,4,0.000,0.032,2789,1105,2599
$GC,9763,0.69,227.3,879.7,12.1,828,9769,0.00,2.15,0.00,0.000,6,0.000,0.038,2789,2487,2599
$GC,10079,0.62,227.8,842.0,12.0,844,10081,0.17,0.00,0.00,0.000,6,0.187,0.000,2745,2488,2598
$GC,10389,0.74,258.2,811.4,10.0,859,10419,0.12,2.15,24.70,1.279,4,0.084,0.032,2800,1103,2478
$GC,10503,0.74,258.2,797.0,13.2,864,10507,0.00,2.17,0.00,0.000,6,0.000,0.037,2800,2488,2476
$GC,10831,0.69,258.2,754.0,13.4,880,10835,0.12,2.12,0.00,0.000,4,0.185,0.031,2776,1093,2474
$GC,10926,0.76,258.3,742.1,12.0,884,10929,0.00,2.12,0.00,0.000,6,0.000,0.036,2776,2470,2473
$GC,11247,0.76,258.3,702.7,12.4,900,11250,0.00,2.08,0.00,0.000,4,0.000,0.032,2776,1098,2472
$GC,11342,0.84,264.4,691.1,11.6,904,11353,0.12,2.10,5.68,0.984,6,0.087,0.036,2825,2463,2454
$GC,11665,0.73,264.4,644.8,14.1,919,11669,0.17,2.08,0.00,0.000,4,0.179,0.031,2782,1090,2453
$GC,11733,0.82,266.2,635.9,11.9,922,11737,0.00,2.10,0.00,0.000,6,0.000,0.036,2782,2459,2452
$GC,12060,0.82,266.2,593.6,13.5,938,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2459,2452
$GC,12370,0.86,266.2,554.7,12.4,953,12374,0.12,2.05,0.00,0.000,4,0.085,0.031,2831,1104,2451
$GC,12460,0.79,266.2,542.8,12.9,957,12464,0.12,2.08,0.00,0.000,6,0.188,0.036,2802,2454,2451
$GC,12792,0.82,291.2,506.7,10.3,973,12820,0.00,2.12,23.30,1.089,4,0.000,0.033,2804,1106,2343
$GC,12971,0.90,301.2,486.1,11.3,986,12989,0.00,2.05,9.35,0.981,6,0.000,0.037,2804,2430,2304
$GC,13308,0.96,308.3,446.4,11.5,1018,13321,0.15,2.08,7.22,0.907,4,0.077,0.031,2869,1104,2274
$GC,13440,0.85,308.3,427.1,14.0,1029,13448,0.20,2.03,0.00,0.000,6,0.186,0.037,2819,2418,2273
$GC,13765,0.86,318.5,388.4,11.3,1060,13779,0.00,2.03,9.55,0.923,4,0.000,0.031,2826,1104,2233
$GC,13949,0.93,318.5,366.8,12.0,1076,13955,0.00,1.98,0.00,0.000,6,0.000,0.035,2826,2395,2231
$GC,14276,0.98,318.5,325.3,12.9,1107,14280,0.10,1.95,0.00,0.000,4,0.087,0.030,2869,1094,2230
$GC,14418,0.92,318.5,304.2,13.9,1119,14424,0.00,1.95,0.00,0.000,6,0.000,0.033,2868,2381,2230
$GC,14759,0.86,318.5,258.8,12.2,1177,14766,0.17,0.00,0.00,0.000,6,0.183,0.000,2819,2384,2230
$GC,15105,1.02,345.6,225.2,10.2,1238,15135,0.15,1.95,22.85,0.845,4,0.078,0.031,2884,1089,2121
$GC,15326,1.02,346.8,198.2,11.9,1277,15333,0.00,1.92,0.00,0.000,6,0.000,0.035,2884,2354,2119
$GC,15672,1.02,346.8,155.7,13.0,1338,15678,0.00,2.20,0.00,0.000,4,0.000,0.051,2884,3762,2118
$GC,15695,1.02,346.8,152.3,14.0,1342,15701,0.00,2.08,0.00,0.000,6,0.000,0.025,2894,2344,2118
$GC,16039,1.03,351.6,109.7,11.7,1403,16051,0.00,2.20,6.07,0.614,4,0.000,0.046,2894,3760,2098
$GC,16064,1.03,355.8,106.8,11.7,1407,16076,0.00,2.08,5.25,0.571,6,0.000,0.025,2905,2330,2081
$GC,16415,1.08,389.8,68.2,9.8,1469,16447,0.00,1.88,27.27,0.683,4,0.000,0.030,2913,1095,1943
$GC,16545,1.20,404.8,53.4,11.0,1491,16564,0.00,1.92,13.55,0.634,6,0.000,0.031,2913,2374,1880
$GC,16904,1.47,464.3,12.8,8.1,1554,16958,0.25,1.92,46.38,0.626,4,0.064,0.027,3022,1097,1636
$STATE,16978,end climb,SURFACE_DEPTH_REACHED
$STATE,16978,begin surface coast
$FINISH,1.8,1.009610
$STATE,17000,end surface coast,CONTROL_FINISHED_OK
$STATE,17000,begin surface
$SM_CCo,17079,0.00,0.000,0,0,1630,466.56
$SM_GC,2.85,7.85,0.00,0.00,0.054,0.000,0.000,140,2446,1630,-7.50,0.54,466.56
$IRIDIUM_FIX,2517.50,12340.74,280998,212107
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.6,46.402
$10V_AH,10.7,26.291
$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,25.675,137.850,483.225,0.000,0.000,29.100,34.586,185.617,8.000,0.000,0.000,14.853,2818.973,10561.905,584.067,2904.784,583.483,0.000,2045.999,0.000,2836.777,0.000,54.418,0.000
$DEVICE_MAMPS,242.372,89.739,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.780,1088.125,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85177,1570
$CAP_FILE_SIZE,178289,0
$CFSIZE,260165632,204238848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.353, 92.3,1
$GPS,050709,065337,2523.870,12344.209,30,1.0,31,-3.8