version: 66.04
glider: 167
mission: 2
dive: 225
start: 6 27 109 12 56 12
data:
$ID,167
$MISSION,2
$DIVE,225
$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,-9480.2246
$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,99
$R_STBD_OVSHOOT,41
$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
$GPS1,124327,2440.642,12344.999,25,2.2,45,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-68.0
$GPS2,125550,2440.631,12345.087,15,1.5,15,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,313.2,123550,-23.2,-12.000
$D_GRID,1778
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.38,0.000,2,0.000,0.000,142,2448,2400
$GC,43,-1.18,-121.7,3.2,-3.4,4,109,8.38,2.05,-49.97,0.000,4,0.244,0.039,2158,1053,3989
$GC,207,-0.61,-121.7,38.0,-29.7,31,214,0.70,2.08,0.00,0.000,6,0.179,0.031,2347,2436,3990
$GC,552,-0.74,-121.7,93.1,-13.0,92,558,0.12,2.03,0.00,0.000,4,0.076,0.046,2288,3757,3991
$GC,812,-0.74,-121.7,138.0,-14.0,138,818,0.00,1.85,0.00,0.000,6,0.000,0.025,2288,2445,3992
$GC,1156,-0.81,-121.7,181.6,-11.6,199,1162,0.00,2.03,0.00,0.000,4,0.000,0.045,2280,3767,3993
$GC,1330,-0.94,-121.7,200.5,-11.4,229,1338,0.12,1.80,0.00,0.000,6,0.075,0.025,2224,2493,3993
$GC,1677,-0.88,-121.7,252.9,-14.5,290,1683,0.12,1.95,0.00,0.000,4,0.164,0.046,2256,3758,3994
$GC,1937,-0.98,-121.7,286.7,-12.6,336,1943,0.00,1.77,0.00,0.000,6,0.000,0.026,2256,2503,3994
$GC,2275,-1.14,-121.7,325.2,-10.9,377,2279,0.20,1.92,0.00,0.000,4,0.064,0.046,2165,3752,3994
$GC,2370,-0.90,-121.7,340.1,-16.6,385,2378,0.30,1.73,0.00,0.000,6,0.166,0.025,2248,2529,3994
$GC,2696,-1.06,-121.7,376.9,-11.4,416,2700,0.12,1.90,0.00,0.000,4,0.077,0.048,2192,3760,3995
$GC,2775,-0.97,-121.7,388.7,-15.2,423,2779,0.15,1.75,0.00,0.000,6,0.166,0.026,2231,2529,3994
$GC,3105,-1.08,-121.7,427.7,-9.7,454,3109,0.00,1.90,0.00,0.000,4,0.000,0.049,2231,3758,3994
$GC,3145,-1.17,-121.7,431.7,-9.7,457,3152,0.17,1.73,0.00,0.000,6,0.069,0.027,2160,2549,3993
$GC,3470,-1.02,-121.7,475.4,-14.4,488,3475,0.20,1.88,0.00,0.000,4,0.170,0.048,2210,3758,3992
$GC,3594,-1.02,-121.7,492.4,-12.5,499,3598,0.00,1.73,0.00,0.000,6,0.000,0.028,2210,2562,3992
$GC,3928,-1.07,-121.7,534.3,-12.7,518,3932,0.00,1.88,0.00,0.000,4,0.000,0.051,2207,3748,3990
$GC,4005,-1.07,-121.7,544.6,-13.2,521,4009,0.00,1.73,0.00,0.000,6,0.000,0.028,2206,2572,3990
$GC,4327,-1.13,-121.7,583.7,-12.1,537,4331,0.00,1.85,0.00,0.000,4,0.000,0.051,2205,3757,3987
$GC,4400,-1.19,-121.7,593.1,-12.2,540,4404,0.12,1.70,0.00,0.000,6,0.082,0.028,2156,2579,3986
$GC,4728,-1.06,-121.7,642.8,-15.8,556,4732,0.17,1.85,0.00,0.000,4,0.173,0.051,2205,3760,3983
$GC,4845,-1.13,-121.7,660.5,-13.8,561,4849,0.00,1.70,0.00,0.000,6,0.000,0.030,2205,2589,3982
$GC,5172,-1.21,-121.7,696.9,-10.7,577,5174,0.15,0.00,0.00,0.000,6,0.079,0.000,2148,2588,3980
$GC,5481,-1.06,-121.7,737.0,-13.4,592,5486,0.17,1.85,0.00,0.000,4,0.182,0.052,2192,3760,3976
$GC,5594,-1.06,-121.7,749.8,-10.0,597,5602,0.00,1.70,0.00,0.000,6,0.000,0.031,2192,2602,3976
$GC,5929,-1.06,-121.7,784.4,-10.8,613,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2602,3974
$GC,6239,-1.12,-121.7,819.1,-11.3,628,6242,0.00,1.85,0.00,0.000,4,0.000,0.056,2192,3750,3971
$GC,6290,-1.12,-121.7,825.0,-11.8,630,6295,0.00,1.67,0.00,0.000,6,0.000,0.031,2192,2605,3970
$GC,6617,-1.17,-121.7,860.9,-10.8,646,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2606,3968
$GC,6926,-1.23,-121.7,895.5,-10.9,661,6928,0.12,0.00,0.00,0.000,6,0.090,0.000,2145,2606,3966
$GC,7235,-1.12,-121.7,937.7,-13.4,676,7239,0.15,1.83,0.00,0.000,4,0.183,0.056,2178,3747,3964
$GC,7320,-1.12,-121.7,948.2,-11.7,679,7325,0.00,1.67,0.00,0.000,6,0.000,0.032,2178,2612,3963
$GC,7635,-1.12,-121.7,986.2,-12.2,695,7639,0.00,1.83,0.00,0.000,4,0.000,0.058,2179,3757,3962
$STATE,7666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7666,begin apogee
$GC,7673,-0.22,0.0,990.5,12.9,696,7766,0.95,0.00,87.90,1.417,6,0.164,0.000,2464,2528,3532
$STATE,7766,end apogee,CONTROL_FINISHED_OK
$STATE,7766,begin climb
$GC,7769,1.18,121.7,994.8,0.0,701,7877,1.30,2.38,101.62,1.374,4,0.056,0.032,2937,1086,3034
$GC,7903,0.68,223.6,998.1,5.3,707,7997,0.70,2.33,85.40,1.348,6,0.214,0.040,2766,2509,2619
$GC,8318,0.68,223.6,945.7,13.6,727,8322,0.00,2.20,0.00,0.000,4,0.000,0.034,2772,1083,2612
$GC,8357,0.68,223.6,940.4,14.1,728,8363,0.00,2.22,0.00,0.000,6,0.000,0.039,2772,2500,2613
$GC,8672,0.68,223.6,897.8,13.3,744,8676,0.00,2.15,0.00,0.000,4,0.000,0.034,2775,1090,2611
$GC,8718,0.68,223.6,892.0,12.7,746,8721,0.00,2.17,0.00,0.000,6,0.000,0.039,2775,2492,2610
$GC,9051,0.68,223.6,849.5,12.9,762,9054,0.00,2.15,0.00,0.000,4,0.000,0.035,2775,1078,2609
$GC,9186,0.68,223.6,832.8,13.0,768,9190,0.00,2.15,0.00,0.000,6,0.000,0.038,2775,2471,2608
$GC,9518,0.68,223.6,790.0,12.4,784,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2472,2607
$GC,9827,0.70,240.2,754.6,10.9,799,9848,0.00,2.17,12.30,1.197,4,0.000,0.035,2775,1087,2551
$GC,9955,0.71,250.2,740.3,11.3,804,9969,0.00,2.15,9.55,1.137,6,0.000,0.040,2775,2469,2510
$GC,10292,0.71,251.6,701.0,11.9,821,10296,0.00,2.12,0.00,0.000,4,0.000,0.036,2775,1080,2508
$GC,10399,0.80,265.3,688.9,11.1,825,10417,0.00,2.12,13.27,1.165,6,0.000,0.039,2775,2452,2450
$GC,10734,0.85,265.3,645.7,13.9,842,10738,0.12,2.10,0.00,0.000,4,0.088,0.035,2828,1080,2447
$GC,10913,0.78,265.3,616.8,15.5,850,10917,0.12,2.12,0.00,0.000,6,0.184,0.040,2799,2452,2446
$GC,11234,0.79,275.3,574.9,11.3,866,11249,0.00,2.12,9.25,1.050,4,0.000,0.036,2805,1087,2409
$GC,11307,0.79,275.3,566.3,12.1,869,11311,0.00,2.08,0.00,0.000,6,0.000,0.040,2805,2425,2408
$GC,11634,0.80,279.5,527.1,11.7,885,11643,0.00,2.05,4.88,0.842,4,0.000,0.035,2812,1081,2392
$GC,11792,0.80,279.5,507.7,13.0,892,11795,0.00,2.08,0.00,0.000,6,0.000,0.040,2812,2424,2391
$GC,12123,0.80,279.5,461.1,13.8,920,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2424,2391
$GC,12442,0.80,280.3,419.6,11.9,950,12446,0.00,2.03,0.00,0.000,4,0.000,0.035,2812,1078,2391
$GC,12511,0.89,311.4,412.0,9.9,956,12544,0.00,2.03,26.73,1.002,6,0.000,0.036,2812,2407,2261
$GC,12863,0.96,311.4,371.0,13.4,989,12867,0.12,2.00,0.00,0.000,4,0.084,0.032,2868,1093,2257
$GC,13004,0.89,311.4,348.3,17.6,1001,13012,0.15,2.03,0.00,0.000,6,0.183,0.038,2831,2409,2256
$GC,13329,0.91,322.3,304.7,11.3,1032,13344,0.00,2.17,9.38,0.833,4,0.000,0.054,2831,3765,2218
$GC,13367,0.91,326.8,300.2,11.7,1035,13379,0.00,2.10,5.57,0.717,6,0.000,0.027,2840,2353,2198
$GC,13717,0.97,326.8,257.2,12.0,1097,13724,0.00,2.25,0.00,0.000,4,0.000,0.051,2840,3771,2196
$GC,13753,0.89,326.8,252.1,13.9,1103,13759,0.00,2.10,0.00,0.000,6,0.000,0.027,2849,2346,2197
$GC,14097,0.97,335.2,209.9,11.4,1164,14111,0.00,2.30,8.32,0.735,4,0.000,0.048,2849,3769,2164
$GC,14145,0.97,335.2,203.6,13.2,1172,14151,0.00,2.05,0.00,0.000,6,0.000,0.026,2858,2383,2164
$GC,14489,1.12,380.4,169.8,9.0,1233,14532,0.12,2.20,35.78,0.769,4,0.082,0.049,2909,3764,1980
$GC,14619,1.01,380.4,151.3,16.4,1255,14626,0.17,2.08,0.00,0.000,6,0.179,0.026,2871,2373,1976
$GC,14964,1.21,402.3,110.8,10.6,1316,14989,0.17,1.92,18.30,0.689,4,0.076,0.031,2952,1074,1890
$GC,15231,1.25,435.7,80.6,9.8,1363,15265,0.00,2.05,26.80,0.667,6,0.000,0.032,2952,2435,1754
$GC,15605,1.30,435.7,35.0,13.3,1429,15612,0.00,2.08,0.00,0.000,4,0.000,0.048,2952,3776,1750
$GC,15652,1.25,435.7,28.2,14.1,1437,15659,0.00,2.03,0.00,0.000,6,0.000,0.024,2962,2381,1750
$STATE,15839,end climb,SURFACE_DEPTH_REACHED
$STATE,15839,begin surface coast
$FINISH,1.8,1.000470
$STATE,15867,end surface coast,CONTROL_FINISHED_OK
$STATE,15867,begin surface
$SM_CCo,15945,0.00,0.000,0,0,1749,437.62
$SM_GC,2.68,7.62,0.00,0.00,0.061,0.000,0.000,139,2451,1749,-7.51,0.68,437.62
$IRIDIUM_FIX,2432.32,12346.67,210998,121210
$TT8_MAMPS,0.029913
$HUMID,1574
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.6,39.969
$10V_AH,10.8,22.718
$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,23.075,127.375,455.050,0.000,0.000,79.008,94.329,305.014,8.000,0.000,0.000,15.995,2614.440,10065.988,555.337,2654.058,790.385,0.000,1895.105,0.000,2589.460,0.000,56.385,0.000
$DEVICE_MAMPS,243.906,80.535,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.562,1023.284,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78938,1475
$CAP_FILE_SIZE,165637,0
$CFSIZE,260165632,207577088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 53.6,1
$GPS,270609,172307,2442.917,12344.839,35,1.7,36,-3.6