version: 66.04
glider: 167
mission: 2
dive: 222
start: 6 26 109 23 10 16
data:
$ID,167
$MISSION,2
$DIVE,222
$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,-9434.5283
$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,67
$R_STBD_OVSHOOT,31
$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
$GPS1,230307,2444.467,12340.089,31,1.1,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-65.6
$GPS2,230955,2444.454,12340.148,11,1.1,16,-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,143.5,10372,-23.2,-12.000
$D_GRID,1835
$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,-121.7,0.0,0.0,0,35,0.00,0.00,-17.67,0.000,2,0.000,0.000,144,2399,2211
$GC,38,-1.18,-121.7,3.1,-3.1,3,108,8.38,2.20,-56.45,0.000,4,0.245,0.057,2149,3775,3989
$GC,195,-0.23,-121.7,41.5,-40.2,29,202,1.17,1.98,0.00,0.000,6,0.204,0.023,2462,2390,3990
$GC,540,-1.12,-121.7,78.4,-8.1,90,547,0.73,2.12,0.00,0.000,4,0.060,0.044,2179,3761,3992
$GC,610,-0.54,-121.7,93.0,-26.7,102,617,0.65,1.88,0.00,0.000,6,0.170,0.023,2366,2434,3992
$GC,955,-0.84,-121.7,136.1,-10.6,163,962,0.22,2.05,0.00,0.000,4,0.059,0.045,2261,3763,3993
$GC,1025,-0.73,-121.7,147.8,-17.4,175,1031,0.17,1.88,0.00,0.000,6,0.156,0.024,2310,2429,3993
$GC,1370,-0.93,-121.7,185.2,-10.8,236,1378,0.17,2.05,0.00,0.000,4,0.062,0.044,2221,3764,3995
$GC,1541,-0.73,-121.7,212.0,-16.5,266,1548,0.30,1.83,0.00,0.000,6,0.163,0.024,2306,2465,3995
$GC,1888,-0.95,-121.7,251.0,-11.5,327,1894,0.17,2.00,0.00,0.000,4,0.064,0.044,2219,3768,3996
$GC,2150,-0.95,-121.7,287.6,-11.6,373,2156,0.00,1.73,0.00,0.000,6,0.000,0.024,2219,2532,3996
$GC,2486,-0.95,-121.7,326.7,-12.2,414,2490,0.00,1.92,0.00,0.000,4,0.000,0.046,2216,3767,3997
$GC,2677,-0.95,-121.7,350.9,-13.6,431,2680,0.00,1.73,0.00,0.000,6,0.000,0.025,2216,2540,3997
$GC,3011,-0.95,-121.7,390.4,-10.9,462,3014,0.00,1.90,0.00,0.000,4,0.000,0.048,2208,3771,3996
$GC,3123,-0.95,-121.7,403.5,-11.2,472,3127,0.12,1.70,0.00,0.000,6,0.163,0.025,2239,2571,3997
$GC,3454,-1.09,-121.7,439.0,-11.2,503,3458,0.15,1.85,0.00,0.000,4,0.071,0.048,2178,3775,3996
$GC,3512,-0.95,-121.7,447.2,-15.5,508,3517,0.22,1.70,0.00,0.000,6,0.171,0.027,2237,2582,3996
$GC,3843,-1.10,-121.7,484.4,-10.3,539,3847,0.15,1.85,0.00,0.000,4,0.072,0.050,2177,3773,3994
$GC,4034,-0.97,-121.7,511.2,-13.9,552,4038,0.20,1.67,0.00,0.000,6,0.176,0.028,2228,2610,3993
$GC,4355,-1.10,-121.7,543.9,-10.7,568,4359,0.12,1.80,0.00,0.000,4,0.080,0.050,2178,3765,3991
$GC,4469,-1.01,-121.7,559.3,-14.3,573,4474,0.12,1.67,0.00,0.000,6,0.172,0.028,2214,2630,3990
$GC,4803,-1.09,-121.7,597.2,-11.7,589,4807,0.00,1.77,0.00,0.000,4,0.000,0.051,2207,3770,3987
$GC,4895,-1.17,-121.7,607.9,-11.1,593,4899,0.12,1.62,0.00,0.000,6,0.084,0.029,2158,2646,3987
$GC,5230,-1.06,-121.7,652.6,-13.9,609,5234,0.17,1.77,0.00,0.000,4,0.176,0.051,2205,3776,3984
$GC,5281,-1.11,-121.7,659.0,-11.6,611,5285,0.00,1.62,0.00,0.000,6,0.000,0.029,2204,2649,3984
$GC,5609,-1.19,-121.7,694.6,-10.8,627,5613,0.12,1.75,0.00,0.000,4,0.085,0.053,2152,3761,3981
$GC,5669,-1.04,-121.7,702.8,-13.7,629,5676,0.22,1.60,0.00,0.000,6,0.182,0.031,2209,2658,3980
$GC,5986,-1.15,-121.7,739.7,-12.2,645,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2659,3977
$GC,6295,-1.26,-121.7,775.6,-10.9,660,6297,0.20,0.00,0.00,0.000,6,0.074,0.000,2137,2659,3975
$GC,6604,-1.09,-121.7,822.3,-15.5,675,6608,0.17,1.75,0.00,0.000,4,0.190,0.054,2178,3763,3973
$GC,6642,-1.04,-121.7,828.0,-14.3,676,6650,0.12,1.60,0.00,0.000,6,0.186,0.032,2206,2671,3973
$GC,6958,-1.16,-121.7,862.8,-10.5,692,6960,0.12,0.00,0.00,0.000,6,0.087,0.000,2162,2671,3970
$GC,7267,-1.11,-121.7,903.2,-13.2,707,7271,0.00,2.38,0.00,0.000,4,0.000,0.031,2162,1065,3969
$GC,7307,-1.11,-121.7,908.5,-13.2,709,7311,0.00,2.45,0.00,0.000,6,0.000,0.042,2162,2644,3969
$GC,7635,-1.05,-121.7,952.8,-13.7,725,7639,0.17,1.75,0.00,0.000,4,0.189,0.056,2204,3761,3967
$GC,7685,-1.15,-121.7,959.0,-11.5,727,7688,0.00,1.60,0.00,0.000,6,0.000,0.032,2204,2674,3966
$STATE,7988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7988,begin apogee
$GC,7995,-0.22,0.0,990.9,10.2,742,8090,0.88,0.00,88.40,1.418,6,0.158,0.000,2465,2543,3532
$STATE,8091,end apogee,CONTROL_FINISHED_OK
$STATE,8091,begin climb
$GC,8094,1.18,121.7,994.4,0.0,747,8202,1.27,2.15,101.07,1.374,4,0.058,0.052,2928,3769,3034
$GC,8354,0.41,121.7,976.8,16.4,758,8361,1.00,1.98,0.00,0.000,6,0.218,0.028,2685,2471,3031
$GC,8670,0.61,194.8,953.6,7.2,774,8735,0.17,2.20,58.58,1.355,4,0.082,0.035,2759,1114,2737
$GC,8786,0.61,194.8,941.1,12.8,779,8790,0.00,2.22,0.00,0.000,6,0.000,0.039,2759,2501,2734
$GC,9113,0.61,199.7,902.0,11.7,795,9122,0.00,2.15,4.72,0.943,4,0.000,0.035,2759,1109,2717
$GC,9190,0.61,199.7,892.5,12.1,798,9194,0.00,2.15,0.00,0.000,6,0.000,0.039,2760,2487,2716
$GC,9512,0.62,204.7,855.3,11.7,814,9521,0.00,2.08,5.30,1.006,4,0.000,0.033,2759,1115,2698
$GC,9644,0.68,213.5,840.9,11.4,820,9658,0.00,2.12,9.43,1.179,6,0.000,0.038,2759,2482,2661
$GC,9975,0.68,213.8,800.6,12.0,836,9979,0.00,2.08,0.00,0.000,4,0.000,0.034,2759,1117,2658
$GC,10008,0.73,214.0,796.5,12.0,837,10012,0.00,2.08,0.00,0.000,6,0.000,0.038,2759,2459,2658
$GC,10330,0.73,214.0,757.3,12.6,853,10334,0.00,2.05,0.00,0.000,4,0.000,0.054,2760,3765,2657
$GC,10353,0.67,214.0,754.3,12.9,854,10357,0.00,1.92,0.00,0.000,6,0.000,0.028,2759,2479,2657
$GC,10685,0.67,214.0,714.1,12.1,870,10689,0.00,2.05,0.00,0.000,4,0.000,0.035,2759,1100,2656
$GC,10833,0.74,214.3,696.4,12.0,876,10837,0.00,2.08,0.00,0.000,6,0.000,0.038,2759,2452,2656
$GC,11154,0.75,219.8,658.5,11.6,892,11165,0.00,2.05,6.07,1.005,4,0.000,0.035,2759,1102,2634
$GC,11199,0.85,230.9,653.5,11.3,894,11216,0.17,2.05,10.48,1.113,6,0.081,0.038,2826,2438,2590
$GC,11526,0.71,230.9,609.2,13.5,910,11530,0.20,2.03,0.00,0.000,4,0.182,0.031,2775,1105,2587
$GC,11658,0.81,268.3,595.2,9.5,915,11695,0.00,2.00,30.27,1.155,6,0.000,0.035,2776,2410,2438
$GC,12020,0.87,268.4,553.9,12.0,933,12024,0.15,2.15,0.00,0.000,4,0.087,0.054,2831,3759,2433
$GC,12082,0.65,268.4,543.6,16.2,936,12086,0.32,2.03,0.00,0.000,6,0.188,0.029,2755,2402,2432
$GC,12414,0.81,277.7,506.7,11.4,952,12429,0.15,1.98,8.35,0.979,4,0.082,0.035,2815,1109,2399
$GC,12467,0.81,277.7,498.7,15.4,954,12471,0.00,2.05,0.00,0.000,6,0.000,0.038,2815,2430,2398
$GC,12800,0.82,288.5,457.2,11.3,985,12817,0.00,0.00,10.55,0.976,6,0.000,0.000,2815,2430,2355
$GC,13138,0.82,288.5,417.7,12.1,1017,13141,0.00,2.03,0.00,0.000,4,0.000,0.035,2816,1096,2352
$GC,13199,0.82,290.3,409.9,11.9,1022,13205,0.00,2.05,0.00,0.000,6,0.000,0.037,2816,2433,2353
$GC,13526,0.82,290.3,368.8,12.2,1053,13529,0.00,2.08,0.00,0.000,4,0.000,0.053,2815,3760,2352
$GC,13576,0.70,290.3,361.6,13.9,1057,13583,0.17,2.03,0.00,0.000,6,0.188,0.028,2772,2398,2352
$GC,13901,0.93,323.9,328.2,9.8,1088,13937,0.20,1.90,28.55,0.927,4,0.074,0.032,2859,1095,2210
$GC,14009,0.93,323.9,313.5,13.7,1097,14015,0.00,2.05,0.00,0.000,6,0.000,0.035,2859,2423,2207
$GC,14347,0.93,323.9,262.1,13.7,1150,14353,0.00,2.12,0.00,0.000,4,0.000,0.054,2859,3769,2205
$GC,14483,0.83,323.9,239.8,16.2,1174,14490,0.20,2.00,0.00,0.000,6,0.179,0.028,2817,2410,2205
$GC,14828,1.02,338.3,205.2,11.0,1235,14848,0.17,1.95,12.48,0.772,4,0.072,0.031,2899,1087,2151
$GC,14938,1.02,338.3,189.5,14.4,1254,14944,0.00,2.08,0.00,0.000,6,0.000,0.035,2899,2450,2149
$GC,15281,1.02,338.3,146.4,12.4,1315,15287,0.00,2.05,0.00,0.000,4,0.000,0.051,2899,3768,2149
$GC,15345,0.95,338.3,136.8,13.4,1326,15351,0.22,1.98,0.00,0.000,6,0.175,0.026,2848,2403,2149
$GC,15690,1.26,425.8,112.4,6.2,1387,15766,0.25,2.00,67.03,0.709,4,0.067,0.031,2959,1104,1795
$GC,15925,1.32,425.8,78.8,14.4,1428,15932,0.00,2.03,0.00,0.000,6,0.000,0.033,2959,2430,1789
$GC,16270,1.32,425.8,30.7,13.5,1489,16276,0.00,2.00,0.00,0.000,4,0.000,0.029,2967,1089,1788
$GC,16395,1.39,425.8,14.8,12.4,1511,16401,0.00,1.95,0.00,0.000,6,0.000,0.035,2968,2384,1788
$STATE,16483,end climb,SURFACE_DEPTH_REACHED
$STATE,16483,begin surface coast
$FINISH,1.7,1.021519
$STATE,16513,end surface coast,CONTROL_FINISHED_OK
$STATE,16515,begin surface
$SM_CCo,16593,0.00,0.000,0,0,1786,428.29
$SM_GC,2.61,7.57,0.00,0.00,0.056,0.000,0.000,140,2436,1786,-7.50,0.25,428.29
$IRIDIUM_FIX,2437.06,12339.43,200998,181852
$TT8_MAMPS,0.028379
$HUMID,1558
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.7,39.470
$10V_AH,10.8,22.447
$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,27.650,137.250,441.275,0.000,0.000,30.576,34.587,203.691,8.000,0.000,0.000,16.753,2752.964,10342.574,552.525,2755.247,586.933,0.000,1943.508,0.000,2685.225,0.000,54.432,0.000
$DEVICE_MAMPS,244.673,153.400,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.035,1060.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82024,1532
$CAP_FILE_SIZE,172737,0
$CFSIZE,260165632,207814656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 73.3,1
$GPS,270609,034806,2443.042,12341.940,37,1.2,43,-3.6