version: 66.04
glider: 167
mission: 2
dive: 265
start: 7 5 109 11 53 13
data:
$ID,167
$MISSION,2
$DIVE,265
$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,-10467.141
$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,44
$R_STBD_OVSHOOT,51
$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
$GPS1,114606,2524.005,12345.037,31,1.5,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-71.7
$GPS2,115252,2524.075,12345.182,10,3.1,29,-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,253.8,20580,-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,-121.7,0.0,0.0,0,34,0.00,0.00,-16.65,0.000,2,0.000,0.000,141,2455,2218
$GC,37,-1.18,-121.7,3.0,-1.5,3,111,8.43,2.20,-57.78,0.000,4,0.242,0.038,2156,995,3989
$GC,163,-0.76,-121.7,20.7,-21.7,24,170,0.52,2.15,0.00,0.000,6,0.173,0.030,2295,2421,3990
$GC,508,-0.81,-121.7,72.8,-15.5,85,514,0.00,2.05,0.00,0.000,4,0.000,0.047,2289,3752,3992
$GC,691,-0.87,-121.7,98.8,-13.8,117,697,0.00,1.92,0.00,0.000,6,0.000,0.024,2288,2393,3992
$GC,1035,-1.02,-121.7,142.7,-11.3,178,1041,0.17,2.12,0.00,0.000,4,0.066,0.045,2204,3763,3994
$GC,1105,-0.84,-121.7,152.9,-15.0,190,1111,0.22,1.83,0.00,0.000,6,0.160,0.024,2266,2469,3995
$GC,1450,-0.97,-121.7,190.2,-11.1,251,1457,0.12,2.00,0.00,0.000,4,0.075,0.044,2205,3767,3995
$GC,1595,-0.88,-121.7,210.9,-15.0,276,1601,0.20,1.80,0.00,0.000,6,0.157,0.023,2260,2488,3996
$GC,1940,-1.07,-121.7,247.1,-8.9,337,1946,0.17,1.95,0.00,0.000,4,0.067,0.045,2178,3753,3997
$GC,2155,-0.92,-121.7,274.2,-13.2,375,2163,0.25,1.77,0.00,0.000,6,0.157,0.025,2248,2497,3997
$GC,2498,-1.10,-121.7,310.7,-10.8,427,2502,0.17,1.92,0.00,0.000,4,0.065,0.045,2175,3754,3997
$GC,2610,-0.97,-121.7,327.6,-15.4,437,2614,0.20,1.75,0.00,0.000,6,0.156,0.025,2229,2514,3997
$GC,2941,-1.11,-121.7,367.9,-11.4,468,2945,0.12,1.92,0.00,0.000,4,0.074,0.047,2175,3756,3997
$GC,3000,-1.01,-121.7,375.3,-13.5,473,3004,0.15,1.77,0.00,0.000,6,0.162,0.025,2214,2509,3997
$GC,3331,-1.11,-121.7,408.7,-10.1,504,3335,0.00,1.92,0.00,0.000,4,0.000,0.047,2206,3754,3997
$GC,3502,-1.11,-121.7,427.3,-11.0,519,3506,0.00,1.75,0.00,0.000,6,0.000,0.026,2206,2549,3997
$GC,3834,-1.20,-121.7,462.8,-11.0,550,3836,0.15,0.00,0.00,0.000,6,0.071,0.000,2146,2549,3995
$GC,4150,-1.08,-121.7,503.5,-12.1,579,4154,0.17,1.90,0.00,0.000,4,0.170,0.048,2193,3763,3994
$GC,4255,-1.08,-121.7,515.4,-10.6,583,4263,0.00,1.75,0.00,0.000,6,0.000,0.027,2192,2544,3993
$GC,4572,-1.13,-121.7,549.7,-11.4,599,4580,0.00,1.90,0.00,0.000,4,0.000,0.051,2192,3758,3992
$GC,4703,-1.13,-121.7,565.9,-12.2,604,4709,0.00,1.75,0.00,0.000,6,0.000,0.027,2192,2566,3991
$GC,5021,-1.19,-121.7,601.3,-11.3,620,5025,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3761,3989
$GC,5161,-1.19,-121.7,617.3,-11.6,626,5164,0.00,1.70,0.00,0.000,6,0.000,0.028,2192,2583,3988
$GC,5489,-1.26,-121.7,652.8,-11.2,642,5493,0.15,1.85,0.00,0.000,4,0.080,0.050,2126,3763,3986
$GC,5534,-1.04,-121.7,659.0,-14.5,644,5538,0.30,1.67,0.00,0.000,6,0.171,0.027,2207,2606,3986
$GC,5869,-1.18,-121.7,695.3,-10.6,660,5874,0.12,1.80,0.00,0.000,4,0.083,0.051,2153,3750,3983
$GC,6000,-1.08,-121.7,712.5,-13.0,665,6006,0.15,1.65,0.00,0.000,6,0.173,0.028,2190,2615,3982
$GC,6316,-1.16,-121.7,748.7,-12.0,681,6319,0.00,1.80,0.00,0.000,4,0.000,0.054,2190,3755,3980
$GC,6445,-1.22,-121.7,764.6,-12.4,686,6451,0.12,1.65,0.00,0.000,6,0.083,0.030,2143,2625,3979
$GC,6760,-1.11,-121.7,809.3,-14.2,702,6765,0.17,1.80,0.00,0.000,4,0.178,0.053,2192,3758,3977
$GC,6811,-1.18,-121.7,815.8,-12.4,704,6814,0.00,1.65,0.00,0.000,6,0.000,0.030,2192,2626,3976
$GC,7139,-1.28,-121.7,850.9,-10.5,720,7144,0.17,2.33,0.00,0.000,4,0.078,0.028,2126,1054,3974
$GC,7172,-1.17,-121.7,855.4,-13.5,721,7177,0.17,2.38,0.00,0.000,6,0.179,0.038,2168,2596,3974
$GC,7489,-1.17,-121.7,893.1,-11.9,736,7492,0.00,1.80,0.00,0.000,4,0.000,0.054,2166,3750,3972
$GC,7629,-1.12,-121.7,910.7,-12.8,742,7633,0.00,1.60,0.00,0.000,6,0.000,0.030,2165,2652,3972
$GC,7956,-1.12,-121.7,949.0,-11.0,758,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2653,3969
$STATE,8180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8180,begin apogee
$GC,8186,-0.22,0.0,974.3,11.3,769,8283,1.02,0.00,90.20,1.409,6,0.163,0.000,2465,2545,3532
$STATE,8283,end apogee,CONTROL_FINISHED_OK
$STATE,8284,begin climb
$GC,8286,1.18,121.7,978.9,0.0,774,8398,1.27,2.12,102.50,1.365,4,0.055,0.050,2926,3748,3034
$GC,8510,0.43,121.7,970.5,13.6,784,8516,0.98,1.95,0.00,0.000,6,0.216,0.026,2692,2486,3032
$GC,8827,0.65,206.9,949.2,6.4,799,8904,0.17,2.22,69.65,1.348,4,0.081,0.032,2760,1118,2687
$GC,9001,0.73,228.6,931.4,10.6,807,9025,0.00,2.17,19.20,1.267,6,0.000,0.036,2760,2489,2600
$GC,9332,0.73,228.6,890.0,13.1,823,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2489,2595
$GC,9640,0.73,228.6,850.6,12.9,838,9644,0.00,2.08,0.00,0.000,4,0.000,0.032,2759,1122,2593
$GC,9799,0.80,228.6,831.3,12.2,845,9803,0.12,2.12,0.00,0.000,6,0.091,0.037,2807,2494,2592
$GC,10125,0.69,228.6,784.8,14.3,861,10130,0.15,2.10,0.00,0.000,4,0.191,0.031,2778,1105,2591
$GC,10254,0.69,228.6,767.7,13.3,867,10258,0.00,2.12,0.00,0.000,6,0.000,0.038,2778,2486,2591
$GC,10586,0.69,228.6,725.3,12.3,883,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2486,2590
$GC,10896,0.71,245.8,689.6,10.9,898,10917,0.00,2.10,13.35,1.171,4,0.000,0.031,2783,1122,2528
$GC,11031,0.71,252.5,674.2,11.6,904,11045,0.00,2.12,6.95,1.031,6,0.000,0.036,2783,2493,2502
$GC,11362,0.72,256.1,635.7,11.8,920,11368,0.00,0.00,4.47,0.854,6,0.000,0.000,2783,2493,2487
$GC,11671,0.73,261.2,599.4,11.7,935,11681,0.00,2.08,5.55,0.933,4,0.000,0.032,2789,1119,2469
$GC,11823,0.78,264.3,581.8,11.8,942,11832,0.00,2.12,4.85,0.867,6,0.000,0.036,2789,2493,2454
$GC,12156,0.79,271.6,544.4,11.5,958,12170,0.00,2.15,7.72,0.997,4,0.000,0.032,2793,1117,2423
$GC,12238,0.86,281.3,534.5,11.4,961,12253,0.00,2.10,9.75,1.025,6,0.000,0.036,2793,2477,2384
$GC,12566,0.86,281.3,494.2,12.7,979,12570,0.00,2.05,0.00,0.000,4,0.000,0.031,2800,1120,2382
$GC,12657,0.94,288.0,483.2,11.6,987,12670,0.15,2.05,6.82,0.927,6,0.079,0.035,2856,2453,2358
$GC,12987,0.80,288.0,435.3,13.9,1018,12991,0.20,2.03,0.00,0.000,4,0.182,0.031,2807,1120,2356
$GC,13194,0.89,302.5,411.4,11.0,1036,13212,0.00,2.00,13.45,0.979,6,0.000,0.036,2807,2419,2298
$GC,13530,0.97,312.1,371.7,11.4,1068,13546,0.15,2.15,9.02,0.898,4,0.079,0.052,2867,3755,2259
$GC,13603,0.74,312.1,360.5,16.8,1074,13609,0.35,2.00,0.00,0.000,6,0.184,0.025,2783,2417,2257
$GC,13928,0.94,325.9,324.8,11.1,1105,13949,0.17,2.00,12.45,0.897,4,0.075,0.031,2856,1110,2202
$GC,14040,0.94,325.9,310.5,13.6,1115,14044,0.00,1.98,0.00,0.000,6,0.000,0.036,2856,2398,2200
$GC,14380,0.94,325.9,269.2,12.3,1168,14386,0.00,2.15,0.00,0.000,4,0.000,0.051,2856,3769,2200
$GC,14600,0.81,325.9,238.0,14.0,1207,14609,0.22,1.98,0.00,0.000,6,0.179,0.025,2806,2412,2199
$GC,14947,1.10,396.4,207.1,7.3,1268,15011,0.22,2.00,55.83,0.828,4,0.067,0.030,2910,1117,1915
$GC,15107,1.10,396.4,185.6,13.6,1296,15113,0.00,2.03,0.00,0.000,6,0.000,0.033,2910,2432,1910
$GC,15451,1.10,396.4,136.7,12.7,1357,15457,0.00,1.98,0.00,0.000,4,0.000,0.030,2916,1114,1908
$GC,15542,1.10,396.4,125.2,12.2,1373,15548,0.00,1.98,0.00,0.000,6,0.000,0.031,2916,2422,1907
$GC,15885,1.10,396.4,82.1,13.0,1434,15891,0.00,1.95,0.00,0.000,4,0.000,0.028,2922,1103,1907
$GC,16010,1.16,396.4,66.5,12.2,1456,16016,0.00,1.92,0.00,0.000,6,0.000,0.031,2923,2396,1908
$GC,16354,1.26,399.9,24.8,11.8,1517,16360,0.00,1.90,0.00,0.000,4,0.000,0.028,2929,1097,1908
$GC,16491,1.51,459.7,11.3,8.1,1541,16549,0.28,1.90,49.40,0.627,6,0.064,0.030,3031,2382,1655
$STATE,16564,end climb,SURFACE_DEPTH_REACHED
$STATE,16564,begin surface coast
$FINISH,1.8,1.021252
$STATE,16590,end surface coast,CONTROL_FINISHED_OK
$STATE,16590,begin surface
$SM_CCo,16667,0.00,0.000,0,0,1648,462.15
$SM_GC,2.68,7.72,0.00,0.00,0.047,0.000,0.000,142,2388,1648,-7.50,-1.07,462.15
$IRIDIUM_FIX,2512.73,12344.71,290998,070735
$TT8_MAMPS,0.029146
$HUMID,1591
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,951.3,47.4
$24V_AH,23.4,46.744
$10V_AH,10.7,26.481
$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,25.650,129.400,481.175,0.000,0.000,27.666,33.773,190.679,8.500,0.000,0.000,32.137,2773.469,10244.453,585.836,2883.016,573.562,0.000,2027.658,0.000,2798.558,0.000,63.626,0.000
$DEVICE_MAMPS,242.372,59.059,1408.979,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.557,1074.322,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82143,1558
$CAP_FILE_SIZE,173431,0
$CFSIZE,260165632,204062720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.332, 91.9,1
$GPS,050709,163207,2523.969,12346.404,32,1.0,33,-3.8