version: 66.04
glider: 167
mission: 2
dive: 221
start: 6 26 109 18 24 40
data:
$ID,167
$MISSION,2
$DIVE,221
$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,-9417.1465
$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,50
$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
$GPS1,181431,2446.094,12338.437,41,1.1,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-67.2
$GPS2,182419,2446.193,12338.500,11,1.5,16,-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,141.3,14564,-23.2,-12.000
$D_GRID,1854
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,48,0.00,0.00,-29.12,0.000,2,0.000,0.000,139,2464,2396
$GC,51,-1.18,-121.7,3.2,-2.1,5,118,8.30,1.98,-50.08,0.000,4,0.242,0.056,2149,3748,3989
$GC,153,-0.39,-121.7,20.9,-34.2,22,160,0.95,1.92,0.00,0.000,6,0.193,0.022,2413,2395,3989
$GC,498,-0.75,-121.7,63.4,-11.2,83,505,0.28,1.92,0.00,0.000,4,0.056,0.025,2293,1053,3990
$GC,624,-0.82,-121.7,85.8,-19.2,105,630,0.00,2.10,0.00,0.000,6,0.000,0.031,2288,2461,3990
$GC,967,-0.82,-121.7,144.6,-16.6,166,973,0.00,1.98,0.00,0.000,4,0.000,0.046,2288,3764,3991
$GC,1227,-0.88,-121.7,186.0,-12.7,212,1233,0.00,1.77,0.00,0.000,6,0.000,0.024,2288,2491,3992
$GC,1572,-1.03,-121.7,221.9,-11.0,273,1579,0.17,1.95,0.00,0.000,4,0.066,0.045,2204,3761,3994
$GC,1630,-0.84,-121.7,230.9,-16.3,283,1638,0.25,1.77,0.00,0.000,6,0.161,0.024,2274,2491,3993
$GC,1977,-0.96,-121.7,271.7,-11.1,344,1984,0.12,1.95,0.00,0.000,4,0.077,0.045,2218,3762,3994
$GC,2237,-0.96,-121.7,310.5,-15.1,384,2241,0.00,1.73,0.00,0.000,6,0.000,0.025,2218,2537,3994
$GC,2571,-0.96,-121.7,349.5,-10.0,415,2576,0.00,1.88,0.00,0.000,4,0.000,0.046,2212,3761,3994
$GC,2684,-0.96,-121.7,362.0,-10.6,425,2687,0.00,1.70,0.00,0.000,6,0.000,0.025,2212,2553,3994
$GC,3016,-0.96,-121.7,398.2,-12.8,456,3020,0.00,1.85,0.00,0.000,4,0.000,0.048,2207,3756,3994
$GC,3235,-0.96,-121.7,426.3,-11.1,475,3242,0.00,1.65,0.00,0.000,6,0.000,0.027,2207,2592,3994
$GC,3561,-0.96,-121.7,463.6,-12.4,506,3564,0.00,2.22,0.00,0.000,4,0.000,0.028,2206,1064,3993
$GC,3600,-1.04,-121.7,468.6,-12.1,509,3606,0.00,2.30,0.00,0.000,6,0.000,0.035,2205,2581,3993
$GC,3936,-1.04,-121.7,505.0,-10.2,539,3939,0.00,1.80,0.00,0.000,4,0.000,0.051,2205,3760,3992
$GC,4149,-1.04,-121.7,531.3,-12.8,548,4152,0.00,1.67,0.00,0.000,6,0.000,0.028,2205,2619,3990
$GC,4471,-1.11,-121.7,569.1,-11.8,564,4475,0.00,2.28,0.00,0.000,4,0.000,0.028,2205,1052,3987
$GC,4498,-1.20,-121.7,572.5,-11.3,565,4503,0.15,2.35,0.00,0.000,6,0.076,0.037,2148,2605,3986
$GC,4817,-1.06,-121.7,611.5,-11.2,580,4821,0.17,1.77,0.00,0.000,4,0.186,0.050,2190,3759,3984
$GC,4945,-1.06,-121.7,623.7,-9.8,585,4951,0.00,1.65,0.00,0.000,6,0.000,0.029,2190,2639,3983
$GC,5261,-1.06,-121.7,652.5,-9.6,601,5265,0.00,2.33,0.00,0.000,4,0.000,0.029,2190,1045,3980
$GC,5282,-1.06,-121.7,654.7,-9.4,602,5286,0.00,2.42,0.00,0.000,6,0.000,0.038,2188,2631,3980
$GC,5609,-1.06,-121.7,687.3,-10.1,618,5613,0.00,1.75,0.00,0.000,4,0.000,0.054,2188,3765,3977
$GC,5716,-1.06,-121.7,699.0,-10.9,622,5721,0.00,1.60,0.00,0.000,6,0.000,0.030,2188,2661,3976
$GC,6031,-1.06,-121.7,731.2,-10.8,638,6035,0.00,1.73,0.00,0.000,4,0.000,0.054,2188,3758,3974
$GC,6122,-1.06,-121.7,741.9,-11.9,642,6125,0.00,1.58,0.00,0.000,6,0.000,0.032,2188,2703,3973
$GC,6454,-1.11,-121.7,783.1,-13.3,658,6459,0.00,2.42,0.00,0.000,4,0.000,0.031,2188,1056,3970
$GC,6476,-1.17,-121.7,786.2,-13.0,659,6481,0.00,2.47,0.00,0.000,6,0.000,0.039,2188,2666,3970
$GC,6797,-1.17,-121.7,829.1,-13.3,675,6801,0.00,1.70,0.00,0.000,4,0.000,0.056,2188,3760,3968
$GC,6865,-1.17,-121.7,838.1,-13.9,678,6869,0.00,1.58,0.00,0.000,6,0.000,0.032,2188,2707,3967
$GC,7198,-1.23,-121.7,879.0,-11.9,694,7200,0.12,0.00,0.00,0.000,6,0.090,0.000,2141,2706,3965
$GC,7507,-1.12,-121.7,921.1,-13.1,709,7512,0.15,2.45,0.00,0.000,4,0.186,0.030,2178,1056,3964
$GC,7548,-1.18,-121.7,925.5,-11.2,711,7552,0.00,2.47,0.00,0.000,6,0.000,0.041,2177,2653,3963
$GC,7874,-1.18,-121.7,959.2,-9.8,727,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2653,3962
$GC,8183,-1.18,-121.7,989.4,-9.7,742,8187,0.00,1.73,0.00,0.000,4,0.000,0.059,2177,3754,3960
$STATE,8191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8191,begin apogee
$GC,8199,-0.22,0.0,990.6,9.7,742,8291,0.95,0.00,87.40,1.417,6,0.161,0.000,2466,2540,3532
$STATE,8291,end apogee,CONTROL_FINISHED_OK
$STATE,8291,begin climb
$GC,8294,1.18,121.7,992.9,0.0,747,8404,1.27,2.12,101.18,1.372,4,0.058,0.051,2925,3754,3034
$GC,8450,0.40,121.7,989.4,13.8,754,8455,1.02,1.90,0.00,0.000,6,0.218,0.028,2682,2517,3032
$GC,8777,0.61,193.3,964.0,7.3,770,8842,0.17,2.08,57.67,1.352,4,0.081,0.054,2752,3750,2743
$GC,8859,0.51,193.3,955.5,12.0,773,8865,0.20,1.92,0.00,0.000,6,0.192,0.028,2711,2498,2740
$GC,9175,0.69,230.4,924.3,9.6,789,9211,0.15,2.15,31.05,1.318,4,0.083,0.033,2774,1110,2591
$GC,9274,0.69,230.4,911.9,13.7,792,9280,0.00,2.20,0.00,0.000,6,0.000,0.038,2775,2503,2588
$GC,9590,0.69,230.4,869.7,13.5,808,9594,0.00,2.12,0.00,0.000,4,0.000,0.033,2775,1108,2585
$GC,9776,0.69,230.4,844.8,13.4,816,9780,0.00,2.12,0.00,0.000,6,0.000,0.038,2775,2482,2584
$GC,10104,0.69,230.4,800.3,13.8,832,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2482,2582
$GC,10412,0.69,230.4,759.6,12.9,847,10415,0.00,2.08,0.00,0.000,4,0.000,0.033,2775,1110,2582
$GC,10508,0.70,244.4,748.8,11.1,851,10526,0.00,2.08,10.73,1.173,6,0.000,0.038,2776,2462,2535
$GC,10834,0.70,244.4,707.5,12.5,867,10837,0.00,2.05,0.00,0.000,4,0.000,0.033,2775,1105,2532
$GC,10861,0.70,244.4,703.9,12.8,868,10865,0.00,2.10,0.00,0.000,6,0.000,0.038,2776,2466,2532
$GC,11189,0.71,250.2,664.4,11.6,884,11199,0.00,2.05,6.00,0.997,4,0.000,0.033,2775,1113,2511
$GC,11313,0.77,250.2,649.4,12.7,889,11319,0.00,2.08,0.00,0.000,6,0.000,0.040,2775,2453,2510
$GC,11628,0.77,250.2,609.6,12.9,905,11632,0.00,2.03,0.00,0.000,4,0.000,0.035,2775,1111,2509
$GC,11713,0.85,256.7,599.0,11.6,908,11724,0.12,2.03,6.50,0.991,6,0.089,0.039,2822,2430,2485
$GC,12047,0.75,256.7,552.8,13.6,925,12049,0.15,0.00,0.00,0.000,6,0.178,0.000,2785,2433,2483
$GC,12356,0.75,256.7,515.1,12.7,940,12359,0.00,1.98,0.00,0.000,4,0.000,0.035,2792,1116,2483
$GC,12468,0.75,257.0,501.3,12.0,945,12472,0.00,2.00,0.00,0.000,6,0.000,0.037,2792,2425,2482
$GC,12801,0.77,272.4,463.0,11.0,975,12819,0.00,0.00,13.93,1.025,6,0.000,0.000,2792,2425,2421
$GC,13139,0.78,281.7,423.4,11.4,1007,13153,0.00,2.05,9.12,0.940,4,0.000,0.032,2800,1107,2383
$GC,13227,0.85,288.5,412.8,11.6,1014,13238,0.00,2.05,7.22,0.881,6,0.000,0.038,2800,2435,2355
$GC,13557,0.92,288.5,372.2,13.0,1045,13561,0.12,2.00,0.00,0.000,4,0.083,0.031,2858,1109,2353
$GC,13641,0.82,288.5,360.2,14.6,1052,13647,0.17,1.98,0.00,0.000,6,0.184,0.037,2815,2401,2353
$GC,13965,0.82,288.5,318.3,12.3,1083,13969,0.00,2.15,0.00,0.000,4,0.000,0.053,2815,3773,2353
$GC,14167,0.75,288.5,290.7,15.1,1106,14174,0.15,2.03,0.00,0.000,6,0.187,0.028,2786,2393,2353
$GC,14512,1.06,386.0,264.7,5.6,1167,14595,0.25,1.98,75.65,0.877,4,0.069,0.031,2898,1107,1957
$GC,14648,1.06,386.0,249.7,13.4,1190,14654,0.00,2.08,0.00,0.000,6,0.000,0.035,2897,2433,1951
$GC,14992,1.06,386.0,195.9,15.3,1251,14999,0.00,2.00,0.00,0.000,4,0.000,0.031,2903,1104,1947
$GC,15107,1.06,386.0,178.1,14.9,1271,15114,0.00,1.95,0.00,0.000,6,0.000,0.035,2903,2382,1947
$GC,15454,1.12,386.0,130.5,12.8,1332,15460,0.00,1.90,0.00,0.000,4,0.000,0.029,2911,1098,1946
$GC,15625,1.19,386.0,109.5,13.3,1362,15631,0.00,1.88,0.00,0.000,6,0.000,0.031,2911,2354,1947
$GC,15969,1.33,413.2,70.1,10.2,1423,16001,0.17,2.22,21.33,0.662,4,0.074,0.048,2986,3762,1846
$GC,16008,1.20,413.2,65.2,14.4,1429,16014,0.25,2.05,0.00,0.000,6,0.185,0.024,2931,2360,1845
$GC,16353,1.34,433.4,28.2,10.7,1490,16378,0.12,1.88,16.60,0.605,4,0.082,0.031,2989,1104,1764
$GC,16463,1.34,433.4,13.0,14.4,1509,16469,0.00,1.92,0.00,0.000,6,0.000,0.031,2988,2394,1763
$STATE,16540,end climb,SURFACE_DEPTH_REACHED
$STATE,16540,begin surface coast
$FINISH,1.8,1.021455
$STATE,16564,end surface coast,CONTROL_FINISHED_OK
$STATE,16564,begin surface
$SM_CCo,16641,0.00,0.000,0,0,1760,434.67
$SM_GC,2.68,7.57,0.00,0.00,0.052,0.000,0.000,144,2400,1760,-7.49,-0.79,434.67
$IRIDIUM_FIX,2437.06,12336.14,200998,181837
$TT8_MAMPS,0.028379
$HUMID,1570
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,39.308
$10V_AH,10.7,22.354
$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,23.550,139.425,444.375,0.000,0.000,61.642,78.003,243.654,8.000,0.000,0.000,16.820,2710.770,10473.859,566.411,2759.369,707.333,0.000,1962.111,0.000,2696.509,0.000,56.005,0.000
$DEVICE_MAMPS,241.605,59.059,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.557,1046.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82114,1527
$CAP_FILE_SIZE,169248,0
$CFSIZE,260165632,207904768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 95.3,1
$GPS,260609,230307,2444.467,12340.089,31,1.1,32,-3.6