version: 66.04
glider: 167
mission: 2
dive: 214
start: 6 25 109 10 3 24
data:
$ID,167
$MISSION,2
$DIVE,214
$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,-9272.377
$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,66
$R_STBD_OVSHOOT,69
$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
$GPS1,095631,2456.301,12332.560,40,2.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.3
$GPS2,100302,2456.360,12332.758,12,1.8,12,-3.6
$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,173.9,35123,-23.2,-12.000
$D_GRID,1933
$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,-121.7,0.0,0.0,0,45,0.00,0.00,-28.27,0.000,2,0.000,0.000,142,2473,2519
$GC,48,-1.18,-121.7,3.5,-3.6,4,107,8.43,1.98,-41.67,0.000,4,0.249,0.059,2149,3720,3990
$GC,226,-0.35,-121.7,50.4,-35.5,35,233,1.00,1.90,0.00,0.000,6,0.184,0.023,2428,2385,3992
$GC,571,-1.13,-121.7,83.8,-7.4,96,577,0.62,2.08,0.00,0.000,4,0.048,0.045,2171,3724,3992
$GC,657,-0.66,-121.7,100.4,-23.7,111,664,0.55,1.83,0.00,0.000,6,0.169,0.024,2328,2433,3993
$GC,1002,-0.87,-121.7,144.3,-12.8,172,1008,0.17,2.00,0.00,0.000,4,0.067,0.045,2246,3729,3995
$GC,1152,-0.80,-121.7,168.1,-16.3,198,1159,0.15,1.80,0.00,0.000,6,0.163,0.025,2285,2452,3995
$GC,1499,-1.01,-121.7,206.3,-10.1,259,1505,0.17,1.98,0.00,0.000,4,0.067,0.044,2203,3736,3997
$GC,1585,-0.91,-121.7,218.6,-14.8,274,1592,0.17,1.85,0.00,0.000,6,0.160,0.025,2251,2425,3997
$GC,1931,-1.01,-121.7,262.4,-13.1,335,1937,0.00,2.00,0.00,0.000,4,0.000,0.046,2246,3726,3997
$GC,2028,-1.08,-121.7,274.8,-12.3,352,2035,0.15,1.83,0.00,0.000,6,0.071,0.024,2181,2431,3997
$GC,2372,-0.95,-121.7,322.6,-14.7,399,2376,0.17,1.98,0.00,0.000,4,0.163,0.026,2234,1054,3998
$GC,2394,-0.95,-121.7,325.8,-12.6,401,2398,0.00,2.05,0.00,0.000,6,0.000,0.032,2232,2433,3998
$GC,2724,-1.05,-121.7,366.7,-13.2,432,2728,0.00,2.03,0.00,0.000,4,0.000,0.048,2231,3764,3998
$GC,2831,-1.15,-121.7,381.2,-13.6,441,2837,0.15,1.83,0.00,0.000,6,0.074,0.025,2168,2480,3998
$GC,3156,-1.03,-121.7,431.5,-15.2,472,3160,0.17,1.98,0.00,0.000,4,0.164,0.046,2206,3756,3998
$GC,3245,-1.03,-121.7,443.4,-12.6,480,3249,0.00,1.77,0.00,0.000,6,0.000,0.026,2207,2503,3998
$GC,3577,-1.03,-121.7,479.9,-10.7,511,3580,0.00,2.10,0.00,0.000,4,0.000,0.028,2206,1049,3997
$GC,3611,-1.11,-121.7,483.7,-10.9,514,3615,0.00,2.17,0.00,0.000,6,0.000,0.034,2205,2494,3997
$GC,3949,-1.16,-121.7,521.8,-11.5,537,3953,0.00,1.95,0.00,0.000,4,0.000,0.051,2205,3764,3995
$GC,3982,-1.16,-121.7,526.0,-12.3,538,3986,0.00,1.83,0.00,0.000,6,0.000,0.027,2205,2491,3995
$GC,4304,-1.22,-121.7,560.4,-10.4,554,4308,0.15,1.98,0.00,0.000,4,0.075,0.050,2138,3757,3993
$GC,4387,-0.98,-121.7,572.5,-15.2,557,4393,0.32,1.80,0.00,0.000,6,0.173,0.028,2226,2508,3992
$GC,4705,-1.14,-121.7,602.6,-9.8,573,4709,0.15,1.98,0.00,0.000,4,0.078,0.051,2166,3766,3991
$GC,4754,-1.04,-121.7,609.4,-13.3,575,4758,0.15,1.80,0.00,0.000,6,0.173,0.028,2203,2520,3990
$GC,5082,-1.13,-121.7,648.5,-12.3,591,5086,0.00,1.95,0.00,0.000,4,0.000,0.053,2203,3764,3988
$GC,5177,-1.21,-121.7,660.6,-12.4,595,5181,0.15,1.77,0.00,0.000,6,0.077,0.028,2146,2537,3987
$GC,5506,-1.09,-121.7,703.7,-12.1,611,5510,0.17,2.17,0.00,0.000,4,0.175,0.030,2195,1046,3985
$GC,5533,-1.09,-121.7,707.1,-10.5,612,5537,0.00,2.25,0.00,0.000,6,0.000,0.038,2192,2523,3985
$GC,5854,-1.15,-121.7,736.9,-9.2,628,5858,0.00,1.92,0.00,0.000,4,0.000,0.054,2192,3764,3982
$GC,5916,-1.15,-121.7,743.3,-10.5,630,5923,0.00,1.77,0.00,0.000,6,0.000,0.029,2192,2545,3981
$GC,6234,-1.22,-121.7,776.3,-11.0,646,6238,0.12,1.92,0.00,0.000,4,0.091,0.052,2138,3765,3980
$GC,6257,-1.16,-121.7,779.5,-12.6,647,6262,0.12,1.80,0.00,0.000,6,0.187,0.029,2167,2537,3979
$GC,6590,-1.16,-121.7,823.7,-13.7,663,6594,0.00,2.17,0.00,0.000,4,0.000,0.031,2167,1050,3976
$GC,6645,-1.16,-121.7,831.4,-13.7,665,6649,0.00,2.28,0.00,0.000,6,0.000,0.040,2165,2530,3976
$GC,6968,-1.16,-121.7,875.5,-13.8,681,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2530,3974
$GC,7275,-1.16,-121.7,918.3,-13.9,696,7279,0.00,1.92,0.00,0.000,4,0.000,0.058,2165,3757,3972
$GC,7309,-1.11,-121.7,923.1,-14.9,697,7312,0.00,1.80,0.00,0.000,6,0.000,0.031,2165,2532,3971
$GC,7630,-1.11,-121.7,967.4,-13.5,713,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2532,3969
$STATE,7812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7813,begin apogee
$GC,7818,-0.22,0.0,991.9,13.2,722,7918,1.02,0.00,89.00,1.419,6,0.165,0.000,2467,2532,3532
$STATE,7918,end apogee,CONTROL_FINISHED_OK
$STATE,7918,begin climb
$GC,7921,1.18,121.7,996.3,0.0,727,8029,1.25,2.15,101.07,1.374,4,0.058,0.054,2921,3752,3035
$GC,8233,0.41,121.7,972.6,15.2,741,8238,0.98,1.85,0.00,0.000,6,0.220,0.029,2684,2523,3030
$GC,8560,0.62,203.0,949.2,6.6,757,8628,0.17,0.00,65.53,1.355,6,0.082,0.000,2747,2523,2704
$GC,8929,0.64,220.3,909.4,10.9,775,8948,0.00,0.00,14.98,1.254,6,0.000,0.000,2747,2523,2634
$GC,9258,0.66,240.4,873.2,10.7,791,9278,0.00,0.00,17.17,1.265,6,0.000,0.000,2747,2522,2552
$GC,9588,0.73,240.5,835.3,12.0,807,9592,0.10,2.12,0.00,0.000,4,0.091,0.035,2789,1116,2548
$GC,9671,0.73,240.5,823.8,14.1,810,9678,0.00,2.17,0.00,0.000,6,0.000,0.038,2789,2508,2548
$GC,9987,0.68,240.5,775.1,15.7,826,9991,0.00,2.12,0.00,0.000,4,0.000,0.034,2790,1106,2546
$GC,10087,0.68,240.5,759.5,14.6,830,10091,0.00,2.15,0.00,0.000,6,0.000,0.040,2790,2493,2545
$GC,10409,0.63,240.5,709.4,15.6,846,10411,0.17,0.00,0.00,0.000,6,0.189,0.000,2746,2496,2544
$GC,10718,0.75,253.9,672.0,11.1,861,10734,0.12,2.08,10.45,1.131,4,0.086,0.034,2799,1120,2498
$GC,10848,0.75,253.9,655.6,12.4,866,10852,0.00,2.12,0.00,0.000,6,0.000,0.038,2799,2490,2496
$GC,11181,0.69,253.9,613.9,12.6,882,11186,0.12,2.10,0.00,0.000,4,0.191,0.033,2775,1106,2496
$GC,11232,0.78,260.4,607.7,11.6,884,11248,0.00,2.12,7.15,1.018,6,0.000,0.038,2775,2485,2469
$GC,11558,0.83,260.4,565.1,13.5,900,11562,0.10,2.08,0.00,0.000,4,0.101,0.032,2812,1122,2468
$GC,11631,0.83,260.4,554.1,15.2,903,11635,0.00,2.08,0.00,0.000,6,0.000,0.038,2813,2464,2467
$GC,11959,0.76,260.4,504.3,14.1,919,11962,0.00,2.03,0.00,0.000,4,0.000,0.054,2813,3759,2467
$GC,11993,0.57,260.4,499.1,14.7,920,11998,0.32,1.92,0.00,0.000,6,0.190,0.028,2734,2452,2467
$GC,12319,0.88,336.8,470.9,7.0,950,12387,0.22,2.15,61.35,1.063,4,0.073,0.035,2829,1113,2157
$GC,12561,0.88,336.8,440.5,14.0,971,12567,0.00,2.10,0.00,0.000,6,0.000,0.038,2829,2448,2150
$GC,12887,0.88,336.8,392.3,15.3,1002,12891,0.00,2.05,0.00,0.000,4,0.000,0.035,2829,1107,2148
$GC,12921,0.88,336.8,386.7,14.9,1005,12925,0.00,2.05,0.00,0.000,6,0.000,0.038,2829,2436,2148
$GC,13255,0.88,336.8,338.8,12.7,1036,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2436,2147
$GC,13582,0.94,343.9,300.5,11.5,1067,13594,0.00,1.98,5.70,0.745,4,0.000,0.033,2829,1111,2128
$GC,13651,1.03,343.9,291.1,14.1,1078,13659,0.15,2.03,0.00,0.000,6,0.081,0.036,2885,2441,2127
$GC,13998,0.92,343.9,230.0,18.3,1139,14004,0.17,0.00,0.00,0.000,6,0.189,0.000,2836,2444,2127
$GC,14342,1.05,365.2,186.3,10.6,1200,14367,0.15,2.08,18.30,0.790,4,0.081,0.051,2891,3765,2041
$GC,14402,0.90,365.2,178.3,14.0,1210,14409,0.25,2.00,0.00,0.000,6,0.183,0.028,2835,2425,2040
$GC,14748,1.15,415.3,145.5,8.7,1271,14796,0.20,2.00,39.55,0.755,4,0.072,0.032,2927,1102,1836
$GC,14944,1.15,415.3,116.9,15.4,1305,14950,0.00,1.98,0.00,0.000,6,0.000,0.035,2927,2390,1831
$GC,15288,1.27,440.0,66.8,10.4,1366,15313,0.00,2.22,19.40,0.663,4,0.000,0.050,2927,3771,1738
$GC,15364,1.27,442.3,58.2,11.8,1379,15370,0.00,2.08,0.00,0.000,6,0.000,0.025,2936,2372,1735
$GC,15709,1.39,452.0,21.3,11.4,1440,15728,0.15,2.20,11.12,0.586,4,0.077,0.048,2992,3765,1687
$GC,15740,1.33,452.0,16.8,14.4,1445,15748,0.12,2.03,0.00,0.000,6,0.204,0.025,2975,2394,1686
$STATE,15836,end climb,SURFACE_DEPTH_REACHED
$STATE,15836,begin surface coast
$FINISH,1.8,1.000255
$STATE,15862,end surface coast,CONTROL_FINISHED_OK
$STATE,15862,begin surface
$SM_CCo,15939,0.00,0.000,0,0,1683,453.56
$SM_GC,2.80,7.60,0.00,0.00,0.056,0.000,0.000,140,2390,1683,-7.50,-1.05,453.56
$IRIDIUM_FIX,2448.93,12329.54,190998,050548
$TT8_MAMPS,0.028379
$HUMID,1578
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,23.7,38.127
$10V_AH,10.8,21.715
$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,26.675,128.225,460.775,0.000,0.000,28.301,34.047,197.202,8.250,0.000,0.000,12.609,2598.689,10027.926,595.587,2539.966,559.205,0.000,1882.243,0.000,2480.768,0.000,54.434,0.000
$DEVICE_MAMPS,248.508,59.059,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,989.918,1024.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78950,1466
$CAP_FILE_SIZE,162005,0
$CFSIZE,260165632,208519168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 40.7,1
$GPS,250609,143007,2454.972,12333.249,29,1.1,30,-3.6