version: 66.04
glider: 167
mission: 2
dive: 216
start: 6 25 109 19 8 7
data:
$ID,167
$MISSION,2
$DIVE,216
$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,-9320.9277
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,190107,2453.469,12333.793,26,2.0,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.3
$GPS2,190746,2453.493,12333.815,11,2.9,30,-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,155.0,29825,-23.2,-12.000
$D_GRID,1896
$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,-30.52,0.000,2,0.000,0.000,142,2418,2459
$GC,50,-1.18,-121.7,3.0,-1.7,5,111,8.38,2.15,-46.83,0.000,4,0.245,0.057,2152,3756,3989
$GC,157,-0.43,-121.7,22.1,-32.4,23,164,0.90,1.95,0.00,0.000,6,0.189,0.024,2403,2399,3990
$GC,502,-0.78,-121.7,66.0,-9.8,84,510,0.28,1.95,0.00,0.000,4,0.058,0.026,2283,1048,3991
$GC,567,-0.72,-121.7,76.9,-18.5,95,573,0.12,2.05,0.00,0.000,6,0.167,0.031,2306,2425,3991
$GC,912,-0.80,-121.7,128.3,-13.4,156,919,0.00,2.03,0.00,0.000,4,0.000,0.044,2302,3760,3992
$GC,1110,-0.94,-121.7,154.3,-12.2,191,1117,0.17,1.90,0.00,0.000,6,0.065,0.025,2225,2417,3993
$GC,1456,-0.83,-121.7,209.3,-14.5,252,1464,0.17,2.05,0.00,0.000,4,0.156,0.044,2275,3754,3994
$GC,1533,-0.94,-121.7,217.9,-11.3,265,1539,0.10,1.85,0.00,0.000,6,0.086,0.024,2228,2434,3994
$GC,1877,-0.94,-121.7,266.3,-13.4,326,1883,0.00,2.03,0.00,0.000,4,0.000,0.045,2221,3757,3996
$GC,2049,-0.94,-121.7,288.8,-13.3,356,2056,0.00,1.80,0.00,0.000,6,0.000,0.025,2221,2471,3996
$GC,2385,-0.94,-121.7,326.3,-11.1,395,2389,0.00,1.98,0.00,0.000,4,0.000,0.046,2217,3757,3996
$GC,2419,-0.94,-121.7,330.4,-12.1,398,2423,0.00,1.80,0.00,0.000,6,0.000,0.025,2218,2476,3996
$GC,2750,-0.99,-121.7,373.9,-13.0,429,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2476,3996
$GC,3071,-1.05,-121.7,413.5,-11.8,459,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2476,3996
$GC,3391,-1.14,-121.7,450.5,-11.4,489,3395,0.12,2.00,0.00,0.000,4,0.081,0.049,2162,3763,3995
$GC,3448,-0.98,-121.7,458.9,-14.7,494,3453,0.25,1.85,0.00,0.000,6,0.165,0.027,2230,2471,3995
$GC,3780,-1.12,-121.7,495.5,-10.5,525,3784,0.15,2.00,0.00,0.000,4,0.074,0.049,2165,3755,3993
$GC,3863,-0.97,-121.7,507.5,-15.1,530,3870,0.22,1.83,0.00,0.000,6,0.166,0.028,2226,2486,3993
$GC,4179,-1.10,-121.7,541.5,-11.0,546,4181,0.12,0.00,0.00,0.000,6,0.079,0.000,2177,2485,3992
$GC,4489,-1.10,-121.7,582.5,-13.4,561,4492,0.00,1.98,0.00,0.000,4,0.000,0.051,2176,3750,3990
$GC,4549,-1.10,-121.7,590.9,-13.7,563,4555,0.00,1.83,0.00,0.000,6,0.000,0.028,2176,2504,3989
$GC,4865,-1.10,-121.7,632.0,-13.1,579,4869,0.00,2.12,0.00,0.000,4,0.000,0.031,2176,1043,3987
$GC,4949,-1.10,-121.7,643.0,-13.2,582,4955,0.00,2.20,0.00,0.000,6,0.000,0.037,2175,2493,3986
$GC,5265,-1.10,-121.7,681.7,-12.5,598,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2493,3983
$GC,5574,-1.10,-121.7,718.0,-11.2,613,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2493,3981
$GC,5884,-1.10,-121.7,751.3,-10.7,628,5888,0.00,1.95,0.00,0.000,4,0.000,0.054,2166,3751,3979
$GC,6024,-1.04,-121.7,768.9,-13.0,634,6028,0.17,1.80,0.00,0.000,6,0.168,0.030,2211,2520,3977
$GC,6353,-1.18,-121.7,800.5,-9.6,650,6355,0.15,0.00,0.00,0.000,6,0.079,0.000,2155,2521,3975
$GC,6660,-1.12,-121.7,838.6,-12.9,665,6663,0.00,1.95,0.00,0.000,4,0.000,0.054,2152,3753,3973
$GC,6688,-1.03,-121.7,842.6,-13.8,666,6692,0.22,1.83,0.00,0.000,6,0.170,0.031,2211,2509,3972
$GC,7017,-1.19,-121.7,876.9,-10.6,682,7022,0.15,2.15,0.00,0.000,4,0.079,0.030,2156,1049,3970
$GC,7056,-1.19,-121.7,882.2,-13.8,683,7062,0.00,2.22,0.00,0.000,6,0.000,0.039,2152,2498,3970
$GC,7372,-1.12,-121.7,924.7,-13.0,699,7374,0.12,0.00,0.00,0.000,6,0.195,0.000,2181,2498,3968
$GC,7681,-1.17,-121.7,957.6,-10.0,714,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2498,3966
$GC,7991,-1.23,-121.7,987.3,-9.8,729,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2498,3965
$STATE,8029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8029,begin apogee
$GC,8034,-0.22,0.0,991.3,9.8,731,8126,0.95,0.00,88.05,1.418,6,0.157,0.000,2468,2498,3532
$STATE,8126,end apogee,CONTROL_FINISHED_OK
$STATE,8126,begin climb
$GC,8129,1.18,121.7,993.1,0.0,735,8239,1.25,2.30,101.30,1.372,4,0.058,0.033,2928,1120,3034
$GC,8318,0.60,121.7,986.0,14.1,744,8323,0.75,2.22,0.00,0.000,6,0.214,0.038,2742,2509,3032
$GC,8634,0.58,170.8,957.2,8.8,759,8677,0.00,0.00,39.88,1.342,6,0.000,0.000,2742,2509,2834
$GC,8985,0.61,198.3,920.6,10.2,776,9012,0.00,2.17,22.55,1.302,4,0.000,0.033,2746,1120,2722
$GC,9047,0.69,205.2,913.7,11.5,779,9061,0.00,2.20,7.15,1.092,6,0.000,0.038,2746,2505,2695
$GC,9378,0.70,215.3,876.5,11.3,795,9389,0.00,0.00,9.70,1.187,6,0.000,0.000,2746,2506,2654
$GC,9687,0.71,228.2,841.2,11.1,810,9707,0.00,2.17,12.10,1.222,4,0.000,0.035,2746,1134,2600
$GC,9741,0.82,228.2,834.8,12.2,812,9745,0.17,2.15,0.00,0.000,6,0.081,0.039,2810,2505,2600
$GC,10057,0.67,228.2,789.1,14.5,827,10059,0.17,0.00,0.00,0.000,6,0.194,0.000,2767,2507,2598
$GC,10366,0.68,229.3,751.4,11.9,842,10369,0.00,2.10,0.00,0.000,4,0.000,0.034,2774,1118,2596
$GC,10421,0.68,229.3,744.3,13.2,844,10425,0.00,2.12,0.00,0.000,6,0.000,0.038,2775,2496,2596
$GC,10742,0.68,229.3,701.6,13.5,860,10746,0.00,2.00,0.00,0.000,4,0.000,0.058,2775,3765,2595
$GC,10828,0.53,229.3,688.5,16.1,863,10834,0.25,1.85,0.00,0.000,6,0.186,0.030,2715,2510,2594
$GC,11144,0.75,258.0,655.3,10.1,879,11174,0.17,2.15,23.42,1.194,4,0.077,0.035,2790,1124,2480
$GC,11278,0.75,258.0,638.0,13.4,885,11282,0.00,2.10,0.00,0.000,6,0.000,0.038,2789,2467,2476
$GC,11611,0.75,258.0,593.2,13.9,901,11615,0.00,2.05,0.00,0.000,4,0.000,0.035,2794,1117,2474
$GC,11702,0.75,258.0,580.8,13.1,905,11706,0.00,2.08,0.00,0.000,6,0.000,0.038,2794,2460,2474
$GC,12034,0.75,258.0,537.0,12.6,921,12038,0.00,2.05,0.00,0.000,4,0.000,0.054,2794,3765,2473
$GC,12113,0.63,258.0,526.1,13.0,924,12118,0.20,1.92,0.00,0.000,6,0.192,0.031,2752,2474,2473
$GC,12438,0.84,314.1,495.1,8.3,942,12492,0.17,2.17,44.72,1.085,4,0.079,0.035,2825,1103,2250
$GC,12609,0.84,314.1,470.9,14.8,957,12615,0.00,2.12,0.00,0.000,6,0.000,0.038,2825,2455,2245
$GC,12936,0.84,314.1,420.5,15.1,988,12939,0.00,2.05,0.00,0.000,4,0.000,0.035,2828,1112,2242
$GC,13093,0.84,314.1,397.6,14.3,1002,13097,0.00,2.05,0.00,0.000,6,0.000,0.038,2828,2439,2242
$GC,13426,0.84,314.1,352.3,13.1,1033,13429,0.00,2.00,0.00,0.000,4,0.000,0.033,2829,1110,2242
$GC,13498,0.84,314.1,342.0,13.6,1039,13504,0.00,2.00,0.00,0.000,6,0.000,0.037,2829,2421,2242
$GC,13825,0.84,314.1,293.0,13.8,1074,13831,0.00,1.98,0.00,0.000,4,0.000,0.034,2829,1109,2241
$GC,13934,0.84,315.1,279.8,11.9,1093,13940,0.00,1.92,0.00,0.000,6,0.000,0.037,2829,2377,2241
$GC,14278,0.93,332.7,241.8,10.8,1154,14297,0.00,1.98,14.73,0.832,4,0.000,0.034,2829,1106,2175
$GC,14384,1.06,347.3,230.5,11.0,1172,14404,0.17,1.92,12.93,0.805,6,0.074,0.035,2895,2373,2115
$GC,14743,1.00,347.3,182.4,13.1,1235,14749,0.00,2.17,0.00,0.000,4,0.000,0.050,2895,3765,2112
$GC,14857,0.81,347.3,165.9,13.7,1255,14863,0.35,2.05,0.00,0.000,6,0.185,0.027,2811,2366,2112
$GC,15202,1.13,385.5,133.2,9.5,1316,15239,0.25,2.22,30.20,0.742,4,0.067,0.048,2915,3761,1958
$GC,15493,1.05,385.5,90.7,13.6,1367,15499,0.15,2.03,0.00,0.000,6,0.175,0.025,2887,2396,1954
$GC,15837,1.30,435.1,58.2,8.7,1428,15885,0.17,1.98,38.62,0.660,4,0.076,0.031,2972,1101,1757
$GC,15992,1.30,435.1,38.7,12.7,1455,15998,0.00,2.03,0.00,0.000,6,0.000,0.033,2972,2430,1753
$STATE,16249,end climb,SURFACE_DEPTH_REACHED
$STATE,16249,begin surface coast
$FINISH,1.8,1.021639
$STATE,16273,end surface coast,CONTROL_FINISHED_OK
$STATE,16273,begin surface
$SM_CCo,16350,0.00,0.000,0,0,1750,437.12
$SM_GC,2.69,7.43,0.00,0.00,0.043,0.000,0.000,142,2436,1750,-7.49,0.25,437.12
$IRIDIUM_FIX,2446.56,12331.52,190998,141459
$TT8_MAMPS,0.028379
$HUMID,1570
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.7,38.458
$10V_AH,10.8,21.891
$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,24.450,117.550,445.350,0.000,0.000,28.631,33.415,187.048,8.000,0.000,0.000,31.703,2637.134,10404.354,564.524,2585.401,548.418,0.000,1858.476,0.000,2511.823,0.000,54.419,0.000
$DEVICE_MAMPS,245.440,57.525,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.423,1042.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79040,1505
$CAP_FILE_SIZE,159162,0
$CFSIZE,260165632,208351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.022, 82.6,1
$GPS,250609,234137,2451.768,12334.711,25,1.5,26,-3.6