version: 66.04
glider: 167
mission: 2
dive: 218
start: 6 26 109 4 26 7
data:
$ID,167
$MISSION,2
$DIVE,218
$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,-9371.6689
$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,69
$R_STBD_OVSHOOT,47
$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
$GPS1,041600,2450.428,12335.542,37,1.2,43,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-64.2
$GPS2,042544,2450.654,12335.582,16,1.5,16,-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,142.6,23892,-23.2,-12.000
$D_GRID,1889
$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,-29.40,0.000,2,0.000,0.000,140,2462,2493
$GC,50,-1.18,-121.7,3.3,-2.4,5,109,8.40,2.00,-43.90,0.000,4,0.245,0.058,2152,3753,3988
$GC,212,-0.53,-121.7,40.8,-29.8,33,219,0.77,1.92,0.00,0.000,6,0.181,0.024,2369,2405,3990
$GC,558,-0.77,-121.7,87.0,-12.7,94,564,0.17,2.10,0.00,0.000,4,0.067,0.045,2278,3757,3991
$GC,731,-0.69,-121.7,118.8,-18.5,124,737,0.15,1.85,0.00,0.000,6,0.160,0.025,2318,2448,3991
$GC,1076,-0.90,-121.7,160.2,-10.5,185,1083,0.17,2.00,0.00,0.000,4,0.067,0.044,2232,3747,3992
$GC,1280,-0.77,-121.7,191.3,-16.2,221,1286,0.22,1.75,0.00,0.000,6,0.160,0.024,2296,2494,3993
$GC,1625,-0.96,-121.7,239.3,-13.3,282,1631,0.17,1.92,0.00,0.000,4,0.066,0.044,2205,3749,3994
$GC,1812,-0.88,-121.7,269.2,-14.4,315,1820,0.20,1.73,0.00,0.000,6,0.157,0.025,2261,2516,3994
$GC,2158,-1.05,-121.7,297.2,-7.7,376,2164,0.15,1.90,0.00,0.000,4,0.072,0.045,2192,3753,3995
$GC,2239,-0.93,-121.7,307.2,-13.7,386,2243,0.20,1.73,0.00,0.000,6,0.159,0.025,2247,2529,3995
$GC,2569,-1.07,-121.7,346.7,-13.5,417,2573,0.15,1.88,0.00,0.000,4,0.072,0.046,2179,3746,3995
$GC,2626,-0.93,-121.7,355.8,-17.5,422,2630,0.20,1.73,0.00,0.000,6,0.159,0.025,2240,2548,3995
$GC,2956,-1.06,-121.7,393.1,-9.2,453,2960,0.12,1.88,0.00,0.000,4,0.077,0.048,2188,3757,3995
$GC,3086,-0.98,-121.7,408.5,-11.9,464,3093,0.15,1.67,0.00,0.000,6,0.167,0.027,2227,2581,3995
$GC,3412,-1.08,-121.7,441.2,-10.5,495,3415,0.00,1.80,0.00,0.000,4,0.000,0.048,2221,3746,3993
$GC,3485,-1.15,-121.7,449.7,-11.4,501,3492,0.12,1.65,0.00,0.000,6,0.081,0.026,2169,2582,3993
$GC,3810,-1.04,-121.7,492.5,-13.0,532,3814,0.15,1.83,0.00,0.000,4,0.171,0.048,2204,3755,3992
$GC,3844,-1.04,-121.7,496.6,-11.8,535,3848,0.00,1.65,0.00,0.000,6,0.000,0.028,2204,2598,3992
$GC,4167,-1.09,-121.7,529.1,-9.8,552,4171,0.00,2.25,0.00,0.000,4,0.000,0.028,2204,1046,3990
$GC,4201,-1.18,-121.7,532.5,-9.8,553,4207,0.12,2.33,0.00,0.000,6,0.080,0.035,2157,2586,3990
$GC,4516,-1.06,-121.7,572.9,-14.5,569,4520,0.17,1.80,0.00,0.000,4,0.183,0.051,2204,3754,3987
$GC,4651,-1.06,-121.7,589.9,-12.7,575,4654,0.00,1.67,0.00,0.000,6,0.000,0.029,2204,2593,3987
$GC,4984,-1.13,-121.7,625.0,-10.3,591,4991,0.00,1.80,0.00,0.000,4,0.000,0.054,2204,3741,3984
$GC,5104,-1.20,-121.7,638.5,-11.3,596,5108,0.12,1.60,0.00,0.000,6,0.082,0.030,2155,2638,3983
$GC,5433,-1.10,-121.7,682.8,-13.9,612,5437,0.12,1.75,0.00,0.000,4,0.183,0.051,2178,3754,3980
$GC,5511,-1.10,-121.7,692.9,-11.5,615,5514,0.00,1.60,0.00,0.000,6,0.000,0.029,2179,2646,3980
$GC,5833,-1.10,-121.7,726.8,-10.5,631,5837,0.00,2.33,0.00,0.000,4,0.000,0.030,2179,1057,3977
$GC,5855,-1.10,-121.7,729.3,-10.9,632,5859,0.00,2.38,0.00,0.000,6,0.000,0.039,2178,2609,3977
$GC,6176,-1.10,-121.7,762.4,-9.8,648,6180,0.00,1.77,0.00,0.000,4,0.000,0.055,2178,3753,3975
$GC,6226,-1.10,-121.7,767.8,-10.4,650,6230,0.00,1.60,0.00,0.000,6,0.000,0.030,2178,2651,3974
$GC,6554,-1.10,-121.7,801.6,-10.4,666,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2651,3972
$GC,6863,-1.10,-121.7,834.8,-11.0,681,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2651,3970
$GC,7172,-1.10,-121.7,872.3,-12.3,696,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2651,3968
$GC,7480,-1.10,-121.7,912.3,-13.1,711,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2651,3966
$GC,7790,-1.10,-121.7,954.4,-13.8,726,7793,0.00,1.75,0.00,0.000,4,0.000,0.059,2178,3746,3964
$GC,7828,-1.10,-121.7,959.8,-14.5,727,7835,0.00,1.62,0.00,0.000,6,0.000,0.031,2178,2661,3964
$STATE,8059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8059,begin apogee
$GC,8065,-0.22,0.0,990.1,12.8,739,8157,0.98,0.00,87.95,1.414,6,0.162,0.000,2467,2543,3532
$STATE,8157,end apogee,CONTROL_FINISHED_OK
$STATE,8157,begin climb
$GC,8160,1.18,121.7,994.0,0.0,743,8269,1.25,2.10,101.07,1.372,4,0.056,0.054,2923,3744,3035
$GC,8388,0.42,121.7,983.4,15.0,754,8393,0.98,1.92,0.00,0.000,6,0.219,0.027,2687,2473,3032
$GC,8715,0.60,183.8,957.2,7.9,770,8773,0.15,2.17,49.95,1.349,4,0.086,0.034,2746,1117,2781
$GC,8853,0.61,190.2,942.0,11.6,776,8864,0.00,2.17,6.18,1.046,6,0.000,0.038,2746,2490,2756
$GC,9174,0.62,200.5,904.3,11.3,791,9188,0.00,2.12,9.80,1.193,4,0.000,0.035,2746,1116,2714
$GC,9240,0.69,208.6,896.9,11.5,794,9254,0.00,2.17,8.68,1.155,6,0.000,0.038,2746,2500,2680
$GC,9571,0.71,224.7,859.8,10.9,810,9592,0.00,2.15,14.43,1.246,4,0.000,0.035,2746,1117,2614
$GC,9649,0.84,248.2,851.0,10.4,813,9674,0.20,2.12,19.90,1.262,6,0.078,0.038,2820,2482,2520
$GC,9987,0.70,248.2,802.8,13.8,829,9991,0.20,2.08,0.00,0.000,4,0.183,0.031,2771,1119,2514
$GC,10098,0.70,254.7,789.5,11.6,834,10108,0.00,2.08,6.05,1.030,6,0.000,0.038,2771,2456,2493
$GC,10419,0.70,254.7,751.0,12.1,849,10422,0.00,2.05,0.00,0.000,4,0.000,0.034,2772,1106,2491
$GC,10480,0.76,254.7,743.4,12.6,851,10487,0.00,2.05,0.00,0.000,6,0.000,0.038,2772,2436,2491
$GC,10795,0.76,254.7,702.4,13.6,867,10799,0.00,2.00,0.00,0.000,4,0.000,0.035,2775,1112,2490
$GC,10890,0.82,254.7,688.4,15.2,871,10895,0.10,2.00,0.00,0.000,6,0.098,0.038,2814,2418,2489
$GC,11217,0.73,254.7,631.1,17.3,887,11222,0.15,2.10,0.00,0.000,4,0.188,0.053,2777,3759,2489
$GC,11250,0.64,254.7,625.3,18.1,888,11256,0.12,1.98,0.00,0.000,6,0.193,0.029,2756,2422,2488
$GC,11567,0.77,270.0,586.8,11.0,904,11585,0.10,0.00,13.52,1.111,6,0.094,0.000,2792,2419,2430
$GC,11895,0.78,278.0,549.4,11.5,920,11909,0.00,2.00,7.85,0.999,4,0.000,0.033,2800,1119,2398
$GC,12040,0.78,278.0,531.4,12.7,926,12044,0.00,2.00,0.00,0.000,6,0.000,0.036,2800,2422,2396
$GC,12363,0.78,278.0,489.5,12.1,945,12367,0.00,1.98,0.00,0.000,4,0.000,0.034,2802,1112,2395
$GC,12510,0.80,297.9,472.6,10.7,958,12533,0.00,1.95,17.25,1.039,6,0.000,0.038,2802,2387,2316
$GC,12850,0.80,297.9,432.0,13.3,990,12853,0.00,1.92,0.00,0.000,4,0.000,0.035,2802,1118,2314
$GC,12963,0.88,297.9,417.6,12.6,1000,12967,0.00,1.92,0.00,0.000,6,0.000,0.036,2802,2380,2313
$GC,13296,0.94,298.4,376.8,12.0,1031,13300,0.12,1.90,0.00,0.000,4,0.084,0.032,2859,1117,2313
$GC,13318,0.94,298.4,373.4,13.5,1033,13322,0.00,1.92,0.00,0.000,6,0.000,0.037,2859,2379,2313
$GC,13652,0.84,298.4,319.6,14.2,1064,13656,0.17,1.90,0.00,0.000,4,0.189,0.031,2822,1104,2313
$GC,13766,0.91,301.3,305.6,11.8,1074,13777,0.00,1.92,3.95,0.629,6,0.000,0.035,2822,2377,2303
$GC,14112,0.98,326.0,267.3,10.4,1131,14143,0.12,2.22,20.75,0.869,4,0.084,0.053,2874,3759,2201
$GC,14267,0.80,326.0,244.5,14.4,1158,14273,0.30,2.05,0.00,0.000,6,0.179,0.028,2802,2377,2199
$GC,14611,1.08,358.1,212.7,9.9,1219,14643,0.22,1.95,25.80,0.812,4,0.070,0.032,2903,1109,2071
$GC,14773,1.08,358.1,190.1,15.1,1247,14780,0.00,1.92,0.00,0.000,6,0.000,0.035,2903,2365,2066
$GC,15117,1.08,358.1,141.9,14.1,1308,15123,0.00,2.17,0.00,0.000,4,0.000,0.049,2903,3765,2067
$GC,15378,1.02,366.9,110.8,11.4,1354,15392,0.15,2.05,8.05,0.639,6,0.179,0.026,2874,2367,2035
$GC,15732,1.28,422.1,79.7,8.4,1416,15781,0.20,2.30,42.90,0.674,4,0.072,0.048,2961,3772,1811
$GC,15856,1.12,422.1,62.7,15.8,1437,15863,0.25,2.08,0.00,0.000,6,0.182,0.024,2907,2356,1807
$GC,16201,1.39,460.4,27.2,9.5,1498,16238,0.20,2.30,30.33,0.611,4,0.071,0.048,2993,3766,1654
$GC,16285,1.20,460.4,15.0,15.7,1512,16292,0.28,2.03,0.00,0.000,6,0.182,0.023,2932,2370,1652
$STATE,16386,end climb,SURFACE_DEPTH_REACHED
$STATE,16386,begin surface coast
$FINISH,1.7,1.021467
$STATE,16417,end surface coast,CONTROL_FINISHED_OK
$STATE,16417,begin surface
$SM_CCo,16495,0.00,0.000,0,0,1648,462.39
$SM_GC,2.72,7.50,0.00,0.00,0.055,0.000,0.000,142,2444,1648,-7.50,0.48,462.39
$IRIDIUM_FIX,2439.44,12337.45,200998,040451
$TT8_MAMPS,0.028379
$HUMID,1537
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,23.7,38.802
$10V_AH,10.8,22.075
$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,25.825,133.225,474.400,0.000,0.000,54.512,71.838,250.220,8.000,0.000,0.000,16.954,2721.821,10349.268,584.104,2714.392,701.095,0.000,1958.458,0.000,2648.645,0.000,54.445,0.000
$DEVICE_MAMPS,245.440,77.467,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.366,1057.439,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82105,1535
$CAP_FILE_SIZE,172394,0
$CFSIZE,260165632,208158720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,212.6,1
$GPS,260609,090206,2448.768,12336.420,29,1.1,30,-3.6