version: 66.04
glider: 167
mission: 2
dive: 240
start: 6 30 109 11 27 6
data:
$ID,167
$MISSION,2
$DIVE,240
$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,-9836.4922
$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,72
$R_STBD_OVSHOOT,55
$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
$GPS1,112024,2507.845,12338.646,41,1.0,59,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.0
$GPS2,112644,2507.940,12338.735,16,1.3,16,-3.7
$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,328.7,74029,-23.2,-12.000
$D_GRID,2059
$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,-18.10,0.000,2,0.000,0.000,139,2467,2261
$GC,38,-1.18,-121.7,3.0,-2.2,3,107,8.38,2.20,-54.70,0.000,4,0.242,0.038,2156,1014,3988
$GC,190,-0.63,-121.7,31.1,-29.2,28,198,0.68,2.10,0.00,0.000,6,0.179,0.031,2337,2417,3989
$GC,536,-0.76,-121.7,85.0,-13.3,89,543,0.12,2.05,0.00,0.000,4,0.076,0.045,2275,3753,3991
$GC,796,-0.76,-121.7,129.3,-14.5,135,802,0.00,1.88,0.00,0.000,6,0.000,0.024,2275,2419,3992
$GC,1140,-0.82,-121.7,175.6,-13.6,196,1147,0.00,2.05,0.00,0.000,4,0.000,0.045,2275,3749,3993
$GC,1308,-0.91,-121.7,201.5,-15.6,225,1314,0.00,1.83,0.00,0.000,6,0.000,0.024,2275,2442,3994
$GC,1652,-1.07,-121.7,237.5,-8.9,286,1659,0.20,1.98,0.00,0.000,4,0.061,0.025,2179,1056,3995
$GC,1688,-0.93,-121.7,241.6,-12.2,292,1696,0.22,2.08,0.00,0.000,6,0.159,0.034,2240,2454,3995
$GC,2034,-1.02,-121.7,280.1,-12.4,353,2040,0.00,1.98,0.00,0.000,4,0.000,0.047,2234,3757,3996
$GC,2275,-1.07,-121.7,311.5,-13.0,388,2283,0.10,1.77,0.00,0.000,6,0.084,0.025,2189,2502,3996
$GC,2600,-1.00,-121.7,352.9,-13.8,419,2604,0.12,1.95,0.00,0.000,4,0.165,0.046,2217,3766,3996
$GC,2724,-1.00,-121.7,369.2,-13.2,430,2728,0.00,1.77,0.00,0.000,6,0.000,0.025,2217,2508,3995
$GC,3055,-1.04,-121.7,406.3,-10.9,461,3059,0.00,1.95,0.00,0.000,4,0.000,0.048,2218,3768,3996
$GC,3146,-1.04,-121.7,417.1,-12.5,469,3150,0.00,1.77,0.00,0.000,6,0.000,0.026,2217,2519,3995
$GC,3477,-1.13,-121.7,451.8,-10.2,500,3481,0.10,1.92,0.00,0.000,4,0.087,0.048,2167,3768,3994
$GC,3560,-0.97,-121.7,462.7,-14.5,507,3567,0.22,1.75,0.00,0.000,6,0.163,0.026,2228,2541,3994
$GC,3885,-1.10,-121.7,495.8,-10.4,538,3889,0.12,1.90,0.00,0.000,4,0.077,0.049,2176,3758,3993
$GC,3999,-1.00,-121.7,511.2,-14.2,545,4003,0.12,1.75,0.00,0.000,6,0.161,0.028,2214,2569,3992
$GC,4335,-1.10,-121.7,552.1,-12.0,561,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2569,3990
$GC,4640,-1.21,-121.7,588.3,-11.4,576,4642,0.17,0.00,0.00,0.000,6,0.071,0.000,2147,2569,3988
$GC,4950,-1.08,-121.7,631.1,-13.7,591,4954,0.20,1.88,0.00,0.000,4,0.176,0.051,2195,3763,3986
$GC,5045,-1.08,-121.7,642.6,-11.7,595,5048,0.00,1.73,0.00,0.000,6,0.000,0.028,2195,2570,3986
$GC,5373,-1.14,-121.7,678.4,-11.0,611,5376,0.00,1.88,0.00,0.000,4,0.000,0.053,2192,3760,3983
$GC,5524,-1.14,-121.7,695.6,-11.4,617,5529,0.00,1.73,0.00,0.000,6,0.000,0.030,2192,2576,3981
$GC,5840,-1.19,-121.7,728.6,-10.4,633,5844,0.00,1.88,0.00,0.000,4,0.000,0.054,2192,3764,3980
$GC,5910,-1.19,-121.7,736.5,-11.5,636,5913,0.00,1.73,0.00,0.000,6,0.000,0.029,2192,2582,3978
$GC,6243,-1.24,-121.7,773.5,-11.2,652,6247,0.15,1.85,0.00,0.000,4,0.081,0.052,2128,3756,3976
$GC,6282,-1.02,-121.7,779.2,-15.0,653,6289,0.32,1.70,0.00,0.000,6,0.178,0.029,2215,2591,3976
$GC,6599,-1.17,-121.7,811.5,-10.2,669,6603,0.15,1.85,0.00,0.000,4,0.078,0.054,2153,3758,3974
$GC,6712,-1.05,-121.7,826.8,-14.6,674,6716,0.15,1.73,0.00,0.000,6,0.173,0.030,2197,2607,3973
$GC,7046,-1.14,-121.7,860.2,-9.5,690,7049,0.00,1.83,0.00,0.000,4,0.000,0.055,2192,3760,3971
$GC,7091,-1.19,-121.7,865.0,-9.9,692,7095,0.00,1.70,0.00,0.000,6,0.000,0.031,2192,2603,3971
$GC,7425,-1.26,-121.7,899.3,-10.8,708,7430,0.15,1.85,0.00,0.000,4,0.084,0.055,2136,3763,3968
$GC,7531,-1.09,-121.7,914.5,-14.2,712,7539,0.20,1.67,0.00,0.000,6,0.185,0.031,2186,2621,3967
$GC,7848,-1.15,-121.7,952.1,-12.2,728,7851,0.00,1.80,0.00,0.000,4,0.000,0.055,2179,3756,3966
$GC,7909,-1.15,-121.7,960.3,-12.9,730,7915,0.00,1.70,0.00,0.000,6,0.000,0.030,2179,2619,3966
$STATE,8160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8160,begin apogee
$GC,8167,-0.22,0.0,990.8,11.4,743,8263,0.98,0.00,89.03,1.420,6,0.163,0.000,2466,2541,3531
$STATE,8264,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8266,1.18,121.7,995.0,0.0,748,8376,1.27,2.12,101.78,1.375,4,0.058,0.051,2926,3751,3035
$GC,8444,0.42,121.7,991.0,13.3,756,8450,1.00,1.95,0.00,0.000,6,0.217,0.028,2688,2482,3032
$GC,8772,0.63,207.2,967.8,6.4,772,8845,0.17,0.00,69.93,1.357,6,0.081,0.000,2752,2481,2687
$GC,9140,0.64,220.5,927.6,11.1,790,9161,0.00,2.15,12.00,1.225,4,0.000,0.033,2759,1109,2631
$GC,9208,0.72,223.7,919.8,11.8,793,9217,0.00,2.20,4.40,0.887,6,0.000,0.038,2759,2507,2618
$GC,9540,0.73,231.8,881.9,11.5,809,9554,0.00,2.17,7.95,1.143,4,0.000,0.034,2759,1117,2586
$GC,9588,0.82,235.6,876.2,11.8,811,9598,0.15,2.17,4.70,0.930,6,0.085,0.038,2815,2513,2571
$GC,9911,0.68,235.6,832.0,14.1,826,9915,0.17,2.12,0.00,0.000,4,0.183,0.031,2774,1110,2568
$GC,10078,0.68,235.6,811.5,12.0,833,10084,0.00,2.12,0.00,0.000,6,0.000,0.038,2774,2486,2567
$GC,10394,0.69,238.5,773.7,11.8,849,10398,0.00,2.08,0.00,0.000,4,0.000,0.034,2775,1112,2565
$GC,10501,0.74,245.5,761.1,11.5,853,10516,0.00,2.08,8.57,1.136,6,0.000,0.038,2775,2461,2531
$GC,10838,0.75,250.0,721.5,11.7,870,10848,0.00,2.05,5.40,0.978,4,0.000,0.033,2775,1112,2512
$GC,11000,0.83,261.1,702.5,11.3,877,11015,0.10,2.05,10.70,1.141,6,0.096,0.037,2814,2445,2467
$GC,11339,0.75,261.1,654.9,14.3,894,11342,0.00,2.03,0.00,0.000,4,0.000,0.033,2814,1108,2464
$GC,11422,0.75,261.1,642.5,14.5,897,11428,0.00,2.05,0.00,0.000,6,0.000,0.038,2814,2439,2464
$GC,11738,0.69,261.1,596.4,14.3,913,11743,0.17,2.00,0.00,0.000,4,0.179,0.031,2776,1116,2463
$GC,11830,0.78,261.1,584.9,13.3,917,11833,0.00,2.00,0.00,0.000,6,0.000,0.036,2777,2419,2462
$GC,12163,0.84,261.1,542.4,13.1,933,12167,0.10,1.95,0.00,0.000,4,0.097,0.032,2819,1106,2462
$GC,12415,0.84,262.2,508.7,11.9,944,12419,0.00,1.98,0.00,0.000,6,0.000,0.038,2819,2408,2461
$GC,12740,0.80,278.2,473.5,10.9,971,12759,0.00,0.00,14.60,1.033,6,0.000,0.000,2819,2408,2397
$GC,13079,0.80,278.2,427.3,14.0,1003,13082,0.00,1.95,0.00,0.000,4,0.000,0.031,2827,1103,2394
$GC,13147,0.80,278.2,417.6,13.4,1009,13151,0.00,2.00,0.00,0.000,6,0.000,0.037,2827,2419,2394
$GC,13479,0.82,294.0,377.1,11.0,1040,13497,0.00,0.00,14.23,0.948,6,0.000,0.000,2827,2420,2332
$GC,13817,0.82,294.0,336.1,13.2,1072,13820,0.00,1.98,0.00,0.000,4,0.000,0.031,2829,1100,2330
$GC,13855,0.82,294.0,330.8,12.2,1075,13861,0.00,2.00,0.00,0.000,6,0.000,0.033,2829,2418,2330
$GC,14185,0.84,311.6,290.7,10.8,1113,14208,0.00,2.15,15.20,0.873,4,0.000,0.049,2829,3762,2260
$GC,14248,0.76,311.6,282.9,12.4,1124,14256,0.17,2.03,0.00,0.000,6,0.183,0.025,2789,2399,2259
$GC,14595,0.96,317.2,247.0,11.6,1185,14606,0.20,0.00,5.97,0.709,6,0.070,0.000,2875,2398,2237
$GC,14944,1.03,374.2,200.9,8.2,1247,14996,0.00,1.95,45.17,0.813,4,0.000,0.030,2882,1105,2005
$GC,15109,1.13,391.6,184.4,10.9,1276,15128,0.00,2.00,14.52,0.749,6,0.000,0.034,2882,2408,1934
$GC,15468,1.25,391.6,135.5,12.1,1339,15474,0.17,2.12,0.00,0.000,4,0.074,0.049,2959,3762,1930
$GC,15560,1.03,391.6,120.4,16.7,1355,15566,0.32,2.05,0.00,0.000,6,0.179,0.024,2882,2367,1930
$GC,15904,1.25,410.1,84.9,10.8,1416,15929,0.17,2.22,15.45,0.665,4,0.076,0.045,2958,3760,1858
$GC,15959,1.09,410.1,76.8,16.5,1425,15966,0.25,2.03,0.00,0.000,6,0.179,0.024,2900,2362,1857
$GC,16304,1.38,458.9,41.7,8.8,1486,16352,0.20,1.90,38.88,0.638,4,0.067,0.029,2996,1099,1660
$GC,16476,1.38,458.9,17.8,14.1,1516,16483,0.00,1.92,0.00,0.000,6,0.000,0.029,2996,2379,1656
$STATE,16582,end climb,SURFACE_DEPTH_REACHED
$STATE,16582,begin surface coast
$FINISH,1.8,1.012477
$STATE,16608,end surface coast,CONTROL_FINISHED_OK
$STATE,16608,begin surface
$SM_CCo,16686,0.00,0.000,0,0,1651,461.41
$SM_GC,2.82,7.72,0.00,0.00,0.058,0.000,0.000,142,2436,1651,-7.49,0.25,461.41
$IRIDIUM_FIX,2456.07,12340.74,240998,060626
$TT8_MAMPS,0.029146
$HUMID,1570
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,42.486
$10V_AH,10.8,24.104
$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,25.250,128.825,478.475,0.000,0.000,28.593,31.645,181.078,8.000,0.000,0.000,16.928,2726.282,10368.387,611.791,2789.004,560.519,0.000,2008.145,0.000,2725.586,0.000,54.437,0.000
$DEVICE_MAMPS,242.372,105.079,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.185,1050.305,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82078,1539
$CAP_FILE_SIZE,171079,0
$CFSIZE,260165632,206278656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 52.3,1
$GPS,300609,160625,2510.268,12338.651,38,1.3,39,-3.7