version: 66.04
glider: 167
mission: 2
dive: 209
start: 6 24 109 11 2 4
data:
$ID,167
$MISSION,2
$DIVE,209
$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,-9185.3105
$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,86
$R_STBD_OVSHOOT,32
$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
$GPS1,105525,2502.610,12328.506,39,1.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.9
$GPS2,110143,2502.612,12328.646,11,1.4,16,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,194.2,48574,-23.2,-12.000
$D_GRID,2060
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-29.30,0.000,2,0.000,0.000,142,2389,2522
$GC,50,-1.18,-121.7,3.3,-2.8,5,109,8.30,2.15,-43.90,0.000,4,0.244,0.055,2148,3765,3989
$GC,207,-0.35,-121.7,42.1,-36.7,32,214,1.02,1.95,0.00,0.000,6,0.197,0.023,2426,2409,3990
$GC,553,-0.99,-121.7,76.4,-7.2,93,559,0.50,2.10,0.00,0.000,4,0.052,0.045,2219,3763,3992
$GC,656,-0.79,-121.7,92.6,-17.0,111,664,0.25,1.88,0.00,0.000,6,0.154,0.025,2290,2442,3992
$GC,1002,-0.90,-121.7,142.2,-12.6,172,1009,0.12,2.05,0.00,0.000,4,0.076,0.044,2232,3773,3993
$GC,1100,-0.80,-121.7,157.1,-14.9,189,1106,0.20,1.85,0.00,0.000,6,0.160,0.025,2288,2463,3994
$GC,1445,-0.97,-121.7,194.6,-9.7,250,1452,0.17,2.00,0.00,0.000,4,0.065,0.045,2205,3764,3995
$GC,1486,-0.86,-121.7,199.5,-13.2,257,1497,0.22,1.80,0.00,0.000,6,0.160,0.024,2269,2485,3995
$GC,1834,-1.00,-121.7,242.8,-14.6,318,1840,0.15,0.00,0.00,0.000,6,0.070,0.000,2205,2485,3996
$GC,2177,-1.00,-121.7,291.6,-11.5,379,2184,0.00,1.98,0.00,0.000,4,0.000,0.048,2204,3766,3996
$GC,2319,-0.95,-121.7,308.7,-12.7,398,2326,0.12,1.77,0.00,0.000,6,0.164,0.025,2235,2514,3997
$GC,2644,-1.06,-121.7,345.7,-13.6,429,2648,0.00,1.92,0.00,0.000,4,0.000,0.047,2232,3765,3997
$GC,2712,-1.15,-121.7,355.5,-14.4,435,2717,0.17,1.77,0.00,0.000,6,0.069,0.027,2161,2521,3996
$GC,3043,-1.00,-121.7,410.0,-14.5,466,3047,0.20,1.92,0.00,0.000,4,0.169,0.047,2211,3767,3996
$GC,3089,-1.00,-121.7,415.8,-11.8,470,3093,0.00,1.75,0.00,0.000,6,0.000,0.026,2211,2540,3997
$GC,3420,-1.06,-121.7,452.1,-10.8,501,3424,0.00,2.15,0.00,0.000,4,0.000,0.028,2211,1053,3996
$GC,3470,-1.14,-121.7,457.6,-10.5,505,3476,0.00,2.22,0.00,0.000,6,0.000,0.035,2207,2534,3995
$GC,3798,-1.19,-121.7,493.8,-11.3,536,3802,0.15,1.88,0.00,0.000,4,0.077,0.049,2141,3773,3994
$GC,3898,-0.97,-121.7,509.5,-16.2,542,3902,0.32,1.77,0.00,0.000,6,0.169,0.028,2231,2538,3993
$GC,4219,-1.14,-121.7,544.3,-10.4,558,4223,0.15,1.92,0.00,0.000,4,0.075,0.051,2166,3772,3992
$GC,4258,-1.02,-121.7,549.2,-13.1,559,4266,0.17,1.75,0.00,0.000,6,0.169,0.028,2211,2560,3991
$GC,4576,-1.12,-121.7,583.6,-11.1,575,4580,0.00,1.90,0.00,0.000,4,0.000,0.052,2205,3756,3990
$GC,4599,-1.20,-121.7,586.2,-10.4,576,4603,0.15,1.73,0.00,0.000,6,0.078,0.029,2146,2565,3990
$GC,4934,-1.06,-121.7,632.2,-14.1,592,4936,0.20,0.00,0.00,0.000,6,0.174,0.000,2198,2565,3987
$GC,5241,-1.14,-121.7,669.9,-12.0,607,5245,0.00,2.22,0.00,0.000,4,0.000,0.031,2198,1054,3985
$GC,5265,-1.22,-121.7,672.7,-12.5,608,5270,0.12,2.33,0.00,0.000,6,0.087,0.038,2148,2568,3985
$GC,5594,-1.11,-121.7,718.3,-13.5,624,5596,0.15,0.00,0.00,0.000,6,0.193,0.000,2183,2569,3982
$GC,5900,-1.11,-121.7,752.9,-11.1,639,5904,0.00,1.85,0.00,0.000,4,0.000,0.055,2178,3758,3980
$GC,5951,-1.11,-121.7,759.0,-11.8,641,5954,0.00,1.73,0.00,0.000,6,0.000,0.031,2178,2584,3979
$GC,6277,-1.11,-121.7,795.2,-11.1,657,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2584,3977
$GC,6587,-1.11,-121.7,829.7,-11.1,672,6591,0.00,2.25,0.00,0.000,4,0.000,0.032,2178,1060,3975
$GC,6649,-1.16,-121.7,836.8,-11.6,675,6653,0.00,2.30,0.00,0.000,6,0.000,0.041,2178,2551,3974
$GC,6982,-1.16,-121.7,873.1,-11.1,691,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2551,3972
$GC,7292,-1.16,-121.7,907.9,-11.6,706,7295,0.00,2.22,0.00,0.000,4,0.000,0.030,2177,1065,3970
$GC,7360,-1.21,-121.7,916.1,-12.3,709,7364,0.00,2.30,0.00,0.000,6,0.000,0.041,2178,2546,3970
$GC,7686,-1.21,-121.7,955.4,-12.3,725,7690,0.00,2.22,0.00,0.000,4,0.000,0.031,2177,1056,3968
$GC,7719,-1.26,-121.7,959.6,-12.5,726,7724,0.12,2.28,0.00,0.000,6,0.090,0.041,2132,2534,3968
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7929,begin apogee
$GC,7935,-0.22,0.0,990.3,14.5,736,8032,1.17,0.00,88.82,1.423,6,0.183,0.000,2463,2534,3531
$STATE,8033,end apogee,CONTROL_FINISHED_OK
$STATE,8033,begin climb
$GC,8035,1.18,121.7,995.0,0.0,741,8145,1.30,2.12,101.47,1.381,4,0.054,0.054,2931,3757,3034
$GC,8252,0.39,121.7,985.6,14.4,751,8257,1.00,1.90,0.00,0.000,6,0.221,0.029,2677,2540,3032
$GC,8574,0.62,209.2,964.4,6.2,767,8652,0.20,2.12,70.78,1.364,4,0.080,0.056,2757,3755,2678
$GC,8693,0.50,209.2,950.7,14.1,772,8697,0.22,1.92,0.00,0.000,6,0.187,0.030,2707,2509,2675
$GC,9014,0.69,237.3,916.9,10.1,788,9042,0.17,2.15,22.80,1.303,4,0.077,0.034,2785,1109,2566
$GC,9115,0.69,237.3,902.8,14.3,792,9122,0.00,2.22,0.00,0.000,6,0.000,0.040,2786,2512,2563
$GC,9431,0.63,237.3,858.4,13.9,808,9435,0.15,2.15,0.00,0.000,4,0.189,0.031,2758,1101,2560
$GC,9497,0.72,237.3,850.1,12.0,811,9501,0.00,2.17,0.00,0.000,6,0.000,0.040,2757,2497,2560
$GC,9818,0.75,261.5,814.8,10.4,827,9841,0.00,0.00,20.25,1.269,6,0.000,0.000,2757,2497,2465
$GC,10150,0.85,288.2,780.0,10.2,843,10180,0.17,2.20,22.98,1.251,4,0.084,0.035,2833,1118,2356
$GC,10239,0.77,288.2,768.0,14.9,847,10243,0.17,2.17,0.00,0.000,6,0.187,0.041,2792,2488,2354
$GC,10565,0.77,288.2,724.4,13.9,863,10569,0.00,2.03,0.00,0.000,4,0.000,0.056,2792,3765,2351
$GC,10678,0.65,288.2,706.6,16.5,868,10682,0.17,1.90,0.00,0.000,6,0.189,0.032,2756,2501,2350
$GC,11010,0.77,288.2,664.6,12.5,884,11014,0.12,2.08,0.00,0.000,4,0.090,0.035,2802,1122,2349
$GC,11048,0.77,288.2,659.0,15.1,885,11054,0.00,2.15,0.00,0.000,6,0.000,0.039,2802,2508,2349
$GC,11364,0.77,288.2,613.2,13.3,901,11367,0.00,2.12,0.00,0.000,4,0.000,0.035,2808,1106,2349
$GC,11499,0.77,288.2,595.0,13.8,907,11503,0.00,2.12,0.00,0.000,6,0.000,0.041,2808,2478,2348
$GC,11831,0.77,288.2,547.9,14.4,923,11835,0.00,2.00,0.00,0.000,4,0.000,0.058,2808,3758,2347
$GC,11858,0.67,288.2,543.4,16.3,924,11863,0.20,1.90,0.00,0.000,6,0.192,0.031,2765,2484,2348
$GC,12185,0.81,288.2,502.4,12.4,940,12189,0.12,2.05,0.00,0.000,4,0.088,0.035,2815,1107,2346
$GC,12267,0.81,288.2,490.4,14.7,946,12274,0.00,2.10,0.00,0.000,6,0.000,0.039,2815,2473,2346
$GC,12595,0.81,288.2,447.0,12.8,977,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2473,2346
$GC,12910,0.81,288.2,406.8,12.1,1007,12914,0.00,2.08,0.00,0.000,4,0.000,0.035,2815,1102,2346
$GC,13017,0.84,317.8,395.2,10.0,1016,13046,0.00,2.08,22.95,0.992,6,0.000,0.038,2815,2462,2235
$GC,13364,0.89,317.8,354.0,12.7,1049,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2462,2232
$GC,13684,0.96,317.8,305.7,16.9,1079,13689,0.12,2.05,0.00,0.000,4,0.084,0.033,2870,1102,2232
$GC,13803,0.89,317.8,284.5,17.2,1097,13810,0.15,2.08,0.00,0.000,6,0.189,0.037,2834,2457,2232
$GC,14147,0.89,317.8,242.1,12.2,1158,14153,0.00,2.03,0.00,0.000,4,0.000,0.031,2841,1097,2232
$GC,14205,0.93,318.7,235.4,11.9,1168,14212,0.00,2.03,0.00,0.000,6,0.000,0.036,2841,2430,2232
$GC,14550,0.98,318.7,193.7,12.1,1229,14556,0.00,2.08,0.00,0.000,4,0.000,0.054,2841,3762,2232
$GC,14579,0.98,318.7,189.8,13.0,1234,14585,0.00,1.98,0.00,0.000,6,0.000,0.028,2849,2415,2232
$GC,14923,1.04,318.7,151.2,12.8,1295,14929,0.00,1.92,0.00,0.000,4,0.000,0.031,2856,1094,2232
$GC,15078,1.12,325.5,133.3,11.6,1322,15091,0.15,2.03,7.30,0.662,6,0.082,0.035,2914,2442,2205
$GC,15431,1.16,359.4,94.5,9.8,1384,15464,0.00,2.12,27.60,0.705,4,0.000,0.049,2914,3767,2065
$GC,15516,1.04,384.7,85.4,10.3,1398,15542,0.17,1.95,20.38,0.677,6,0.184,0.025,2881,2428,1962
$GC,15882,1.31,428.9,53.0,9.1,1462,15924,0.20,1.98,34.33,0.653,4,0.074,0.031,2973,1095,1783
$GC,16088,1.31,428.9,25.2,14.0,1498,16093,0.00,2.05,0.00,0.000,6,0.000,0.035,2973,2441,1779
$STATE,16243,end climb,SURFACE_DEPTH_REACHED
$STATE,16243,begin surface coast
$FINISH,1.6,0.998990
$STATE,16261,end surface coast,CONTROL_FINISHED_OK
$STATE,16262,begin surface
$SM_CCo,16339,0.00,0.000,0,0,1774,431.24
$SM_GC,2.81,7.60,0.00,0.00,0.054,0.000,0.000,140,2447,1774,-7.50,0.57,431.24
$IRIDIUM_FIX,2451.31,12355.25,180998,060632
$TT8_MAMPS,0.028379
$HUMID,1568
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.7,37.310
$10V_AH,10.8,21.269
$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,26.600,133.950,439.650,0.000,0.000,23.442,32.787,184.055,8.000,0.000,0.000,16.870,2706.680,10252.060,560.885,2633.280,553.336,0.000,1899.441,0.000,2574.900,0.000,56.412,0.000
$DEVICE_MAMPS,243.906,57.525,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.180,1072.367,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81899,1529
$CAP_FILE_SIZE,167351,0
$CFSIZE,260165632,208945152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 37.2,1
$GPS,240609,153537,2502.032,12328.914,39,2.0,40,-3.7