version: 66.04
glider: 167
mission: 2
dive: 215
start: 6 25 109 14 37 6
data:
$ID,167
$MISSION,2
$DIVE,215
$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,-9288.5967
$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,68
$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
$GPS1,143007,2454.972,12333.249,29,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-66.7
$GPS2,143643,2454.952,12333.388,10,1.1,15,-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,167.2,32396,-23.2,-12.000
$D_GRID,1924
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-30.85,0.000,2,0.000,0.000,140,2390,2468
$GC,51,-1.18,-121.7,3.3,-2.7,5,109,8.35,0.00,-44.80,0.000,6,0.244,0.000,2157,2387,3987
$GC,446,-0.69,-121.7,110.0,-23.1,75,453,0.52,2.15,0.00,0.000,4,0.172,0.044,2305,3774,3990
$GC,589,-0.83,-121.7,130.8,-12.4,100,596,0.00,1.98,0.00,0.000,6,0.000,0.026,2305,2400,3990
$GC,935,-1.02,-121.7,169.7,-12.8,161,942,0.20,2.12,0.00,0.000,4,0.066,0.045,2205,3771,3992
$GC,1028,-0.85,-121.7,185.3,-17.0,177,1034,0.22,1.90,0.00,0.000,6,0.158,0.025,2268,2439,3992
$GC,1372,-0.98,-121.7,230.7,-12.6,238,1379,0.12,2.05,0.00,0.000,4,0.074,0.046,2205,3768,3993
$GC,1506,-0.89,-121.7,251.5,-15.6,261,1513,0.20,1.85,0.00,0.000,6,0.159,0.025,2260,2464,3993
$GC,1850,-1.04,-121.7,293.9,-10.9,322,1857,0.15,2.03,0.00,0.000,4,0.071,0.047,2192,3775,3993
$GC,1902,-0.93,-121.7,301.4,-15.4,330,1908,0.17,1.83,0.00,0.000,6,0.161,0.026,2238,2493,3993
$GC,2228,-1.03,-121.7,338.0,-10.4,361,2232,0.00,1.98,0.00,0.000,4,0.000,0.048,2232,3774,3993
$GC,2252,-1.11,-121.7,340.7,-11.4,363,2256,0.10,1.83,0.00,0.000,6,0.064,0.027,2161,2521,3993
$GC,2582,-0.95,-121.7,389.4,-14.3,394,2584,0.28,0.00,0.00,0.000,6,0.163,0.000,2238,2521,3993
$GC,2902,-1.09,-121.7,423.5,-10.2,424,2906,0.12,1.92,0.00,0.000,4,0.079,0.050,2187,3760,3994
$GC,2930,-1.09,-121.7,427.0,-11.4,426,2935,0.00,1.77,0.00,0.000,6,0.000,0.028,2187,2526,3993
$GC,3256,-1.09,-121.7,466.1,-12.6,457,3260,0.00,1.92,0.00,0.000,4,0.000,0.050,2181,3767,3992
$GC,3306,-0.99,-121.7,473.5,-14.6,461,3313,0.15,1.80,0.00,0.000,6,0.166,0.028,2220,2519,3993
$GC,3639,-1.09,-121.7,513.7,-12.3,488,3642,0.00,1.95,0.00,0.000,4,0.000,0.051,2220,3768,3991
$GC,3672,-1.18,-121.7,518.1,-12.8,489,3676,0.10,1.80,0.00,0.000,6,0.067,0.028,2156,2545,3991
$GC,3993,-1.05,-121.7,565.6,-14.6,505,3998,0.17,2.17,0.00,0.000,4,0.172,0.028,2207,1052,3989
$GC,4049,-1.17,-121.7,572.4,-10.5,507,4055,0.12,2.25,0.00,0.000,6,0.081,0.037,2158,2540,3989
$GC,4365,-1.07,-121.7,612.3,-12.7,523,4369,0.17,2.20,0.00,0.000,4,0.182,0.030,2207,1054,3987
$GC,4409,-1.17,-121.7,617.4,-10.6,525,4414,0.12,2.22,0.00,0.000,6,0.082,0.038,2158,2521,3987
$GC,4731,-1.09,-121.7,659.3,-13.5,541,4735,0.12,1.92,0.00,0.000,4,0.188,0.052,2180,3770,3985
$GC,4848,-1.09,-121.7,675.0,-13.3,546,4851,0.00,1.80,0.00,0.000,6,0.000,0.029,2180,2526,3984
$GC,5175,-1.09,-121.7,715.2,-12.1,562,5178,0.00,2.15,0.00,0.000,4,0.000,0.031,2180,1056,3981
$GC,5249,-1.09,-121.7,723.9,-11.4,565,5253,0.00,2.22,0.00,0.000,6,0.000,0.039,2179,2514,3981
$GC,5570,-1.09,-121.7,759.8,-10.9,581,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2514,3978
$GC,5879,-1.09,-121.7,796.8,-12.3,596,5883,0.00,1.95,0.00,0.000,4,0.000,0.058,2178,3762,3976
$GC,5996,-1.09,-121.7,811.1,-11.4,601,6000,0.00,1.83,0.00,0.000,6,0.000,0.031,2179,2521,3975
$GC,6324,-1.09,-121.7,848.1,-11.7,617,6328,0.00,1.98,0.00,0.000,4,0.000,0.056,2178,3766,3973
$GC,6351,-1.09,-121.7,851.7,-12.6,618,6355,0.00,1.88,0.00,0.000,6,0.000,0.031,2178,2515,3972
$GC,6678,-1.09,-121.7,890.7,-12.3,634,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2515,3970
$GC,6988,-1.09,-121.7,928.9,-12.3,649,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2515,3968
$GC,7296,-1.09,-121.7,967.2,-12.4,664,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2514,3967
$STATE,7480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7480,begin apogee
$GC,7486,-0.22,0.0,990.4,12.4,673,7584,0.98,0.00,88.55,1.412,6,0.159,0.000,2469,2514,3531
$STATE,7585,end apogee,CONTROL_FINISHED_OK
$STATE,7585,begin climb
$GC,7588,1.18,121.7,994.6,0.0,678,7696,1.25,2.20,101.18,1.372,4,0.058,0.054,2924,3761,3034
$GC,7855,0.41,121.7,977.6,14.1,690,7860,1.00,1.88,0.00,0.000,6,0.219,0.030,2681,2526,3031
$GC,8183,0.61,190.0,952.9,7.5,706,8242,0.17,0.00,54.90,1.351,6,0.081,0.000,2744,2526,2757
$GC,8551,0.62,197.3,910.2,11.5,724,8564,0.00,2.22,6.88,1.097,4,0.000,0.036,2746,1109,2727
$GC,8656,0.69,206.9,898.4,11.4,728,8671,0.00,2.20,9.57,1.183,6,0.000,0.040,2746,2515,2688
$GC,8993,0.70,215.8,859.4,11.4,745,9008,0.00,2.20,8.77,1.163,4,0.000,0.036,2746,1114,2652
$GC,9043,0.80,221.6,853.5,11.6,747,9059,0.17,2.17,6.70,1.076,6,0.082,0.039,2809,2507,2628
$GC,9368,0.65,221.6,806.5,14.5,763,9370,0.20,0.00,0.00,0.000,6,0.191,0.000,2758,2509,2625
$GC,9677,0.67,235.6,772.3,11.1,778,9698,0.00,2.20,12.23,1.197,4,0.000,0.036,2759,1116,2570
$GC,9715,0.74,244.9,767.8,11.4,779,9730,0.00,2.17,9.07,1.121,6,0.000,0.037,2759,2514,2532
$GC,10053,0.81,244.9,722.9,13.9,796,10055,0.12,0.00,0.00,0.000,6,0.090,0.000,2805,2515,2528
$GC,10362,0.71,244.9,675.4,14.6,811,10366,0.00,2.12,0.00,0.000,4,0.000,0.035,2814,1112,2527
$GC,10502,0.63,244.9,655.6,14.4,817,10507,0.25,2.17,0.00,0.000,6,0.182,0.041,2749,2516,2527
$GC,10829,0.78,265.9,621.6,10.6,833,10853,0.15,2.22,17.33,1.149,4,0.077,0.035,2813,1106,2446
$GC,10899,0.78,265.9,612.4,13.5,836,10903,0.00,2.17,0.00,0.000,6,0.000,0.040,2814,2493,2444
$GC,11232,0.72,265.9,564.9,14.6,852,11236,0.15,2.10,0.00,0.000,4,0.181,0.033,2784,1110,2443
$GC,11299,0.80,265.9,555.7,13.6,855,11302,0.00,2.15,0.00,0.000,6,0.000,0.040,2784,2497,2442
$GC,11626,0.85,265.9,513.7,12.6,871,11630,0.10,2.10,0.00,0.000,4,0.097,0.035,2829,1112,2442
$GC,11710,0.80,265.9,502.2,13.8,875,11714,0.00,2.12,0.00,0.000,6,0.000,0.041,2829,2485,2442
$GC,12043,0.72,265.9,458.3,13.8,905,12047,0.20,2.00,0.00,0.000,4,0.180,0.053,2772,3765,2441
$GC,12092,0.72,265.9,451.4,13.0,909,12100,0.00,1.90,0.00,0.000,6,0.000,0.030,2775,2477,2441
$GC,12419,0.85,286.5,415.6,10.6,940,12444,0.12,2.10,17.05,0.987,4,0.091,0.035,2829,1118,2363
$GC,12490,0.85,286.5,406.9,12.2,946,12494,0.00,2.12,0.00,0.000,6,0.000,0.037,2828,2493,2361
$GC,12819,0.85,286.5,366.0,12.1,977,12823,0.00,2.10,0.00,0.000,4,0.000,0.035,2829,1104,2360
$GC,12914,0.85,286.5,354.0,12.7,985,12922,0.00,2.10,0.00,0.000,6,0.000,0.038,2829,2472,2361
$GC,13240,0.85,286.5,312.3,13.4,1016,13244,0.00,2.05,0.00,0.000,4,0.000,0.034,2829,1106,2361
$GC,13268,0.85,286.5,308.2,14.6,1018,13274,0.00,2.10,0.00,0.000,6,0.000,0.037,2828,2480,2361
$GC,13608,0.88,310.9,265.2,10.4,1074,13633,0.00,2.12,20.20,0.861,4,0.000,0.033,2829,1114,2263
$GC,13719,1.03,362.4,254.4,8.6,1093,13767,0.15,2.08,40.90,0.851,6,0.080,0.036,2885,2466,2054
$GC,14104,1.03,362.4,203.8,12.1,1161,14111,0.00,2.03,0.00,0.000,4,0.000,0.051,2885,3758,2047
$GC,14271,0.95,362.4,176.2,18.0,1190,14278,0.17,1.85,0.00,0.000,6,0.182,0.027,2851,2490,2046
$GC,14617,1.21,411.4,138.4,8.8,1251,14661,0.20,2.10,37.65,0.736,4,0.073,0.051,2932,3762,1854
$GC,14762,1.09,411.4,117.6,16.9,1276,14769,0.17,1.77,0.00,0.000,6,0.183,0.026,2898,2545,1850
$GC,15108,1.31,426.1,75.6,11.0,1337,15127,0.17,1.90,12.18,0.634,4,0.076,0.048,2976,3761,1794
$GC,15145,1.18,426.1,70.1,15.5,1343,15152,0.22,1.77,0.00,0.000,6,0.183,0.025,2927,2534,1793
$GC,15490,1.34,452.8,32.2,10.2,1404,15520,0.15,2.10,22.40,0.617,4,0.077,0.030,2995,1116,1684
$GC,15599,1.34,452.8,16.6,15.4,1423,15606,0.00,2.17,0.00,0.000,6,0.000,0.032,2994,2552,1682
$STATE,15683,end climb,SURFACE_DEPTH_REACHED
$STATE,15683,begin surface coast
$FINISH,1.9,1.021431
$STATE,15702,end surface coast,CONTROL_FINISHED_OK
$STATE,15702,begin surface
$SM_CCo,15780,0.00,0.000,0,0,1679,454.54
$SM_GC,2.82,7.70,0.00,0.00,0.058,0.000,0.000,141,2418,1679,-7.50,-0.25,454.54
$IRIDIUM_FIX,2448.93,12329.54,190998,101023
$TT8_MAMPS,0.029146
$HUMID,1539
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,38.294
$10V_AH,10.8,21.801
$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,25.250,126.400,465.550,0.000,0.000,27.903,40.888,192.512,8.000,0.000,0.000,15.592,2545.215,9981.944,589.233,2494.242,557.597,0.000,1861.214,0.000,2436.230,0.000,54.428,0.000
$DEVICE_MAMPS,243.906,57.525,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,971.924,977.379,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78992,1441
$CAP_FILE_SIZE,160309,0
$CFSIZE,260165632,208433152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 19.8,1
$GPS,250609,190107,2453.469,12333.793,26,2.0,27,-3.6