version: 66.04
glider: 167
mission: 2
dive: 219
start: 6 26 109 9 9 11
data:
$ID,167
$MISSION,2
$DIVE,219
$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,-9384.625
$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,70
$R_STBD_OVSHOOT,42
$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
$GPS1,090206,2448.768,12336.420,29,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-63.6
$GPS2,090850,2448.880,12336.555,12,1.3,12,-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,134.1,20370,-23.2,-12.000
$D_GRID,1881
$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,-30.42,0.000,2,0.000,0.000,142,2444,2424
$GC,51,-1.18,-121.7,3.1,-1.7,5,116,8.43,2.10,-50.42,0.000,4,0.247,0.056,2152,3762,3990
$GC,235,-0.20,-121.7,50.7,-42.2,37,242,1.17,1.95,0.00,0.000,6,0.196,0.022,2471,2393,3990
$GC,580,-1.14,-121.7,90.0,-10.6,98,586,0.77,0.00,0.00,0.000,6,0.062,0.000,2173,2393,3992
$GC,924,-0.81,-121.7,163.0,-18.1,159,931,0.35,2.10,0.00,0.000,4,0.173,0.044,2274,3756,3992
$GC,1167,-0.81,-121.7,197.1,-12.7,202,1175,0.00,1.90,0.00,0.000,6,0.000,0.024,2274,2403,3994
$GC,1514,-0.92,-121.7,234.4,-10.0,263,1520,0.00,2.08,0.00,0.000,4,0.000,0.046,2274,3757,3995
$GC,1664,-1.08,-121.7,249.5,-10.6,289,1671,0.22,1.85,0.00,0.000,6,0.061,0.024,2178,2442,3995
$GC,2010,-0.92,-121.7,302.2,-15.2,349,2014,0.20,2.03,0.00,0.000,4,0.160,0.044,2232,3761,3996
$GC,2229,-0.92,-121.7,326.5,-9.5,368,2232,0.00,1.80,0.00,0.000,6,0.000,0.025,2232,2482,3996
$GC,2562,-1.02,-121.7,355.5,-8.5,399,2565,0.00,1.98,0.00,0.000,4,0.000,0.048,2232,3763,3996
$GC,2619,-1.11,-121.7,361.2,-9.7,404,2624,0.10,1.83,0.00,0.000,6,0.064,0.026,2177,2500,3996
$GC,2950,-1.01,-121.7,411.9,-16.9,435,2954,0.15,1.95,0.00,0.000,4,0.167,0.046,2207,3762,3995
$GC,3066,-1.01,-121.7,429.7,-13.3,445,3072,0.00,1.80,0.00,0.000,6,0.000,0.026,2207,2493,3995
$GC,3393,-1.01,-121.7,465.8,-9.5,476,3396,0.00,1.95,0.00,0.000,4,0.000,0.048,2205,3756,3994
$GC,3421,-1.01,-121.7,468.7,-9.6,478,3428,0.00,1.77,0.00,0.000,6,0.000,0.027,2205,2506,3993
$GC,3748,-1.06,-121.7,503.3,-11.0,508,3751,0.00,1.95,0.00,0.000,4,0.000,0.050,2205,3758,3992
$GC,3793,-1.06,-121.7,508.6,-11.4,510,3797,0.00,1.77,0.00,0.000,6,0.000,0.028,2205,2517,3992
$GC,4126,-1.12,-121.7,548.8,-13.5,526,4129,0.00,1.92,0.00,0.000,4,0.000,0.051,2205,3751,3990
$GC,4317,-1.18,-121.7,574.6,-11.9,534,4322,0.12,1.73,0.00,0.000,6,0.086,0.028,2156,2547,3988
$GC,4638,-1.07,-121.7,618.1,-14.2,550,4642,0.17,1.90,0.00,0.000,4,0.170,0.050,2205,3761,3986
$GC,4661,-1.07,-121.7,621.0,-12.7,551,4664,0.00,1.75,0.00,0.000,6,0.000,0.029,2205,2557,3986
$GC,4994,-1.16,-121.7,660.7,-11.9,567,4998,0.00,1.88,0.00,0.000,4,0.000,0.053,2204,3753,3984
$GC,5124,-1.25,-121.7,675.0,-10.8,572,5131,0.17,1.67,0.00,0.000,6,0.076,0.030,2138,2597,3982
$GC,5440,-1.09,-121.7,718.0,-14.1,588,5445,0.17,2.28,0.00,0.000,4,0.176,0.029,2187,1049,3980
$GC,5467,-1.09,-121.7,721.7,-12.7,589,5471,0.00,2.33,0.00,0.000,6,0.000,0.038,2187,2568,3980
$GC,5789,-1.09,-121.7,759.4,-12.1,605,5792,0.00,1.85,0.00,0.000,4,0.000,0.054,2187,3760,3976
$GC,5933,-1.09,-121.7,779.3,-14.3,611,5937,0.00,1.73,0.00,0.000,6,0.000,0.031,2188,2602,3975
$GC,6255,-1.15,-121.7,823.0,-13.6,627,6259,0.00,1.83,0.00,0.000,4,0.000,0.056,2187,3755,3973
$GC,6278,-1.20,-121.7,826.1,-13.4,628,6282,0.00,1.70,0.00,0.000,6,0.000,0.030,2187,2597,3973
$GC,6611,-1.25,-121.7,864.9,-10.7,644,6613,0.15,0.00,0.00,0.000,6,0.083,0.000,2131,2597,3970
$GC,6921,-1.10,-121.7,906.0,-13.2,659,6925,0.20,1.85,0.00,0.000,4,0.184,0.054,2178,3760,3969
$GC,6999,-1.10,-121.7,915.4,-11.3,662,7002,0.00,1.70,0.00,0.000,6,0.000,0.031,2179,2605,3968
$GC,7321,-1.10,-121.7,950.1,-11.0,678,7325,0.00,1.83,0.00,0.000,4,0.000,0.058,2179,3752,3966
$GC,7360,-1.10,-121.7,954.9,-11.5,679,7366,0.00,1.67,0.00,0.000,6,0.000,0.031,2179,2640,3965
$STATE,7673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7674,begin apogee
$GC,7680,-0.22,0.0,991.2,11.6,695,7775,0.98,0.00,88.15,1.414,6,0.163,0.000,2467,2547,3531
$STATE,7776,end apogee,CONTROL_FINISHED_OK
$STATE,7776,begin climb
$GC,7779,1.18,121.7,994.8,0.0,700,7888,1.25,2.05,101.00,1.373,4,0.058,0.051,2922,3753,3034
$GC,8124,0.41,121.7,965.3,15.0,715,8130,0.98,1.90,0.00,0.000,6,0.220,0.028,2685,2488,3030
$GC,8440,0.61,197.4,941.6,7.0,730,8508,0.17,2.20,60.40,1.350,4,0.082,0.034,2762,1122,2726
$GC,8560,0.61,198.6,928.9,11.9,735,8565,0.00,2.17,0.00,0.000,6,0.000,0.038,2762,2498,2723
$GC,8883,0.61,230.6,893.9,9.9,751,8912,0.00,0.00,27.90,1.303,6,0.000,0.000,2762,2498,2591
$GC,9211,0.61,230.6,855.0,12.1,767,9215,0.00,2.12,0.00,0.000,4,0.000,0.035,2762,1110,2585
$GC,9295,0.63,246.9,845.0,10.9,770,9313,0.00,2.17,13.48,1.226,6,0.000,0.041,2762,2503,2525
$GC,9629,0.63,246.9,803.1,12.2,787,9633,0.00,2.12,0.00,0.000,4,0.000,0.035,2762,1110,2521
$GC,9822,0.70,249.6,779.9,11.8,795,9826,0.00,2.15,0.00,0.000,6,0.000,0.039,2762,2498,2520
$GC,10143,0.70,249.6,739.9,12.7,811,10147,0.00,2.10,0.00,0.000,4,0.000,0.035,2762,1112,2519
$GC,10183,0.77,249.6,734.6,12.6,812,10189,0.00,2.12,0.00,0.000,6,0.000,0.040,2762,2487,2518
$GC,10499,0.77,249.6,691.9,13.2,828,10503,0.00,2.08,0.00,0.000,4,0.000,0.034,2762,1112,2518
$GC,10659,0.88,264.7,673.4,11.0,835,10681,0.20,2.05,14.65,1.170,6,0.079,0.039,2837,2442,2453
$GC,10992,0.72,264.7,625.1,14.7,851,10997,0.20,2.03,0.00,0.000,4,0.183,0.033,2788,1116,2449
$GC,11098,0.72,264.7,611.2,12.5,855,11104,0.00,2.03,0.00,0.000,6,0.000,0.039,2789,2422,2449
$GC,11414,0.72,264.7,568.8,13.9,871,11418,0.00,1.98,0.00,0.000,4,0.000,0.035,2789,1113,2448
$GC,11583,0.72,264.7,548.2,12.7,878,11587,0.00,1.98,0.00,0.000,6,0.000,0.040,2789,2401,2448
$GC,11905,0.77,304.2,515.2,9.4,894,11943,0.00,0.00,32.40,1.096,6,0.000,0.000,2789,2401,2291
$GC,12260,0.87,313.1,477.3,11.4,920,12274,0.10,2.03,8.15,0.942,4,0.095,0.035,2829,1113,2255
$GC,12405,0.87,313.1,458.1,12.4,932,12411,0.00,1.98,0.00,0.000,6,0.000,0.038,2829,2392,2252
$GC,12731,0.87,313.1,415.8,13.9,963,12735,0.00,1.92,0.00,0.000,4,0.000,0.033,2830,1114,2252
$GC,12844,0.87,313.1,400.2,14.4,973,12848,0.00,1.88,0.00,0.000,6,0.000,0.036,2831,2346,2252
$GC,13176,0.87,313.1,350.0,15.2,1004,13179,0.00,1.85,0.00,0.000,4,0.000,0.033,2830,1113,2252
$GC,13271,0.87,313.1,335.5,16.1,1012,13277,0.00,1.85,0.00,0.000,6,0.000,0.036,2830,2329,2251
$GC,13600,0.87,313.1,291.6,12.0,1048,13605,0.00,1.83,0.00,0.000,4,0.000,0.033,2831,1104,2252
$GC,13680,0.88,318.2,282.1,11.7,1062,13693,0.00,1.83,5.40,0.729,6,0.000,0.035,2830,2312,2234
$GC,14033,0.97,345.4,246.3,10.2,1124,14062,0.00,2.30,22.92,0.856,4,0.000,0.052,2830,3766,2121
$GC,14080,0.97,348.1,241.0,11.8,1132,14086,0.00,2.20,0.00,0.000,6,0.000,0.027,2838,2296,2120
$GC,14424,1.10,361.5,205.4,11.1,1193,14444,0.17,2.35,13.45,0.782,4,0.075,0.050,2913,3770,2057
$GC,14490,0.86,361.5,194.3,19.4,1204,14497,0.38,2.20,0.00,0.000,6,0.183,0.026,2822,2293,2055
$GC,14835,1.13,386.7,150.9,10.3,1265,14861,0.20,1.80,20.58,0.747,4,0.067,0.033,2916,1111,1954
$GC,14941,1.13,386.7,138.2,13.1,1283,14947,0.00,1.83,0.00,0.000,6,0.000,0.035,2916,2311,1952
$GC,15285,1.13,386.7,96.3,13.0,1344,15291,0.00,2.28,0.00,0.000,4,0.000,0.051,2916,3766,1952
$GC,15359,1.04,386.7,86.4,13.6,1357,15366,0.17,2.17,0.00,0.000,6,0.179,0.025,2880,2272,1951
$GC,15704,1.35,446.1,52.3,8.1,1418,15758,0.25,2.38,46.35,0.653,4,0.067,0.047,2985,3768,1713
$GC,15917,1.16,446.1,21.4,15.7,1455,15924,0.28,2.20,0.00,0.000,6,0.181,0.024,2923,2266,1709
$STATE,16070,end climb,SURFACE_DEPTH_REACHED
$STATE,16070,begin surface coast
$FINISH,1.8,1.021617
$STATE,16098,end surface coast,CONTROL_FINISHED_OK
$STATE,16098,begin surface
$SM_CCo,16176,0.00,0.000,0,0,1706,447.92
$SM_GC,2.67,7.43,0.00,0.00,0.051,0.000,0.000,140,2449,1706,-7.50,0.62,447.92
$IRIDIUM_FIX,2441.81,12335.48,200998,040457
$TT8_MAMPS,0.028379
$HUMID,1568
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.7,38.970
$10V_AH,10.8,22.167
$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,25.150,130.850,454.825,0.000,0.000,29.212,33.710,204.766,8.250,0.000,0.000,12.328,2656.312,10015.738,579.598,2730.742,586.160,0.000,1951.750,0.000,2672.457,0.000,56.026,0.000
$DEVICE_MAMPS,246.974,69.030,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.378,1014.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78736,1487
$CAP_FILE_SIZE,164609,0
$CFSIZE,260165632,208084992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,344.1,1
$GPS,260609,134001,2447.583,12337.454,39,1.2,40,-3.6