version: 66.04
glider: 167
mission: 2
dive: 21
start: 5 24 109 8 34 12
data:
$ID,167
$MISSION,2
$DIVE,21
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4252.7905
$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,23
$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,2400
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,35
$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
$GPS1,082700,2536.017,12254.369,41,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-64.6
$GPS2,083350,2536.108,12254.479,11,1.1,11,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,133.2,55488,-15.7,-10.000
$D_GRID,821
$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,14,-0.92,-194.7,0.0,0.0,0,56,0.00,0.00,-39.55,0.000,2,0.000,0.000,146,2292,2838
$GC,59,-0.92,-194.7,3.2,-4.1,6,107,8.93,1.90,-30.80,0.000,4,0.265,0.046,2244,995,3988
$GC,205,-0.14,-194.7,38.9,-30.6,31,212,0.93,2.12,0.00,0.000,6,0.193,0.035,2494,2408,3989
$GC,550,-0.59,-194.7,59.7,-6.3,92,556,0.38,2.05,0.00,0.000,4,0.076,0.048,2353,3755,3990
$GC,727,-0.36,-194.7,87.1,-16.4,123,734,0.25,1.90,0.00,0.000,6,0.153,0.028,2424,2423,3991
$GC,1072,-0.62,-194.7,113.8,-4.5,184,1079,0.20,2.05,0.00,0.000,4,0.061,0.048,2333,3763,3991
$GC,1175,-0.39,-194.7,124.9,-12.4,202,1182,0.30,1.88,0.00,0.000,6,0.148,0.027,2420,2440,3992
$GC,1521,-0.67,-194.7,152.2,-5.7,263,1527,0.22,2.03,0.00,0.000,4,0.062,0.048,2316,3768,3992
$GC,1550,-0.67,-194.7,154.7,-8.0,268,1557,0.00,1.88,0.00,0.000,6,0.000,0.027,2316,2438,3993
$GC,1894,-0.47,-194.7,193.7,-11.8,329,1902,0.22,2.03,0.00,0.000,4,0.156,0.030,2387,1022,3993
$GC,2011,-0.68,-194.7,202.5,-7.0,349,2019,0.17,2.12,0.00,0.000,6,0.068,0.039,2308,2442,3993
$GC,2357,-0.60,-194.7,242.8,-10.5,410,2363,0.15,2.03,0.00,0.000,4,0.153,0.054,2345,3770,3993
$GC,2438,-0.70,-194.7,250.0,-7.9,424,2447,0.00,1.90,0.00,0.000,6,0.000,0.033,2344,2460,3990
$GC,2786,-0.82,-194.7,273.2,-4.1,485,2793,0.17,0.00,0.00,0.000,6,0.071,0.000,2271,2456,3993
$GC,3134,-0.61,-194.7,303.6,-10.6,544,3139,0.22,2.08,0.00,0.000,4,0.161,0.033,2341,1020,3993
$GC,3220,-0.79,-194.7,309.7,-6.5,551,3224,0.15,2.15,0.00,0.000,6,0.073,0.044,2278,2452,3993
$GC,3545,-0.71,-194.7,339.3,-8.3,581,3549,0.12,2.03,0.00,0.000,4,0.161,0.058,2312,3771,3993
$GC,3590,-0.76,-194.7,342.5,-6.7,585,3594,0.00,1.90,0.00,0.000,6,0.000,0.035,2311,2473,3993
$GC,3922,-0.83,-194.7,359.6,-4.9,616,3924,0.10,0.00,0.00,0.000,6,0.089,0.000,2268,2472,3993
$GC,4240,-0.72,-194.7,392.2,-11.2,646,4242,0.15,0.00,0.00,0.000,6,0.163,0.000,2308,2472,3992
$GC,4559,-0.80,-194.7,420.7,-9.0,676,4563,0.00,2.00,0.00,0.000,4,0.000,0.063,2305,3761,3991
$GC,4598,-0.87,-194.7,424.7,-9.5,679,4605,0.12,1.90,0.00,0.000,6,0.086,0.038,2253,2478,3990
$GC,4925,-0.73,-194.7,460.6,-10.8,710,4929,0.17,2.03,0.00,0.000,4,0.162,0.063,2302,3764,3988
$GC,4982,-0.83,-194.7,465.9,-8.2,715,4985,0.00,1.88,0.00,0.000,6,0.000,0.038,2302,2503,3987
$GC,5315,-0.93,-194.7,489.3,-6.5,746,5319,0.17,2.17,0.00,0.000,4,0.077,0.042,2223,1028,3986
$GC,5354,-0.72,-194.7,493.1,-10.6,749,5359,0.32,2.20,0.00,0.000,6,0.170,0.054,2313,2448,3986
$GC,5674,-0.85,-194.7,512.4,-5.6,769,5679,0.12,2.08,0.00,0.000,4,0.088,0.071,2261,3767,3983
$GC,5759,-0.79,-194.7,520.4,-7.4,773,5763,0.10,1.90,0.00,0.000,6,0.179,0.044,2285,2511,3982
$GC,6091,-0.79,-194.7,547.7,-9.3,789,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2511,3979
$GC,6400,-0.79,-194.7,574.8,-8.4,804,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2511,3977
$GC,6709,-0.79,-194.7,597.1,-6.9,819,6713,0.00,2.20,0.00,0.000,4,0.000,0.044,2284,1033,3975
$GC,6743,-0.84,-194.7,599.3,-7.2,820,6747,0.00,2.20,0.00,0.000,6,0.000,0.054,2284,2457,3974
$GC,7064,-0.84,-194.7,619.8,-6.0,836,7068,0.00,2.05,0.00,0.000,4,0.000,0.069,2275,3768,3973
$GC,7110,-0.84,-194.7,623.1,-7.2,838,7114,0.00,1.92,0.00,0.000,6,0.000,0.040,2275,2501,3972
$GC,7442,-0.84,-194.7,654.9,-11.1,854,7446,0.00,2.17,0.00,0.000,4,0.000,0.041,2275,1028,3970
$GC,7480,-0.84,-194.7,659.7,-12.6,855,7487,0.00,2.22,0.00,0.000,6,0.000,0.051,2275,2469,3970
$GC,7796,-0.84,-194.7,690.5,-9.3,871,7800,0.00,2.03,0.00,0.000,4,0.000,0.067,2275,3763,3968
$GC,7829,-0.84,-194.7,693.7,-9.6,872,7833,0.00,1.90,0.00,0.000,6,0.000,0.038,2275,2483,3968
$GC,8150,-0.84,-194.7,719.7,-7.4,888,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2484,3967
$GC,8460,-0.84,-194.7,742.2,-7.4,903,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2483,3966
$GC,8769,-0.84,-194.7,765.2,-7.5,918,8773,0.00,2.03,0.00,0.000,4,0.000,0.068,2274,3763,3964
$GC,8786,-0.84,-194.7,766.7,-8.1,918,8792,0.00,1.90,0.00,0.000,6,0.000,0.039,2275,2491,3964
$GC,9102,-0.84,-194.7,794.4,-9.0,934,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2491,3963
$GC,9411,-0.84,-194.7,817.8,-6.3,949,9414,0.00,2.03,0.00,0.000,4,0.000,0.067,2275,3766,3962
$GC,9434,-0.84,-194.7,819.5,-7.8,950,9438,0.00,1.88,0.00,0.000,6,0.000,0.039,2275,2506,3962
$STATE,9448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9448,begin apogee
$GC,9453,-0.22,0.0,821.0,7.7,950,9542,0.60,0.00,86.05,1.421,6,0.150,0.000,2468,2506,3532
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9545,0.92,194.7,824.0,0.0,955,9712,1.08,2.17,159.73,1.398,4,0.063,0.064,2847,3764,2738
$GC,9883,0.17,194.7,789.8,18.9,971,9889,0.95,2.03,0.00,0.000,6,0.209,0.036,2605,2456,2732
$GC,10212,0.48,314.3,770.8,5.9,987,10319,0.22,2.40,99.38,1.436,4,0.081,0.044,2696,1018,2250
$GC,10336,0.48,314.3,757.9,10.4,992,10342,0.00,2.28,0.00,0.000,6,0.000,0.044,2697,2416,2247
$GC,10651,0.48,314.3,720.0,12.5,1008,10655,0.00,2.17,0.00,0.000,4,0.000,0.063,2697,3765,2240
$GC,10713,0.41,314.3,711.2,14.5,1010,10719,0.00,2.08,0.00,0.000,6,0.000,0.038,2696,2416,2240
$GC,11028,0.41,314.3,670.5,13.7,1026,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2414,2238
$GC,11337,0.41,314.3,630.5,12.7,1041,11340,0.00,2.15,0.00,0.000,4,0.000,0.062,2697,3755,2237
$GC,11432,0.34,314.3,617.1,15.4,1045,11437,0.17,2.03,0.00,0.000,6,0.173,0.037,2655,2410,2237
$GC,11754,0.52,331.2,585.6,9.4,1061,11774,0.17,0.00,13.12,1.136,6,0.084,0.000,2719,2407,2180
$GC,12081,0.52,331.2,537.3,15.3,1077,12085,0.00,2.17,0.00,0.000,4,0.000,0.063,2719,3762,2177
$GC,12160,0.40,331.2,524.2,16.5,1080,12164,0.17,2.05,0.00,0.000,6,0.176,0.038,2674,2409,2176
$GC,12480,0.52,331.2,488.0,10.1,1100,12484,0.12,2.17,0.00,0.000,4,0.094,0.062,2719,3767,2176
$GC,12557,0.42,331.2,477.7,13.0,1106,12564,0.15,2.03,0.00,0.000,6,0.177,0.037,2681,2427,2175
$GC,12882,0.54,331.2,444.1,10.4,1137,12887,0.12,2.12,0.00,0.000,4,0.094,0.042,2732,1010,2175
$GC,12926,0.54,331.2,438.6,13.1,1140,12933,0.00,2.17,0.00,0.000,6,0.000,0.044,2732,2428,2175
$GC,13253,0.47,331.2,394.7,13.2,1171,13258,0.12,2.08,0.00,0.000,4,0.169,0.061,2700,3757,2174
$GC,13326,0.47,331.2,384.9,12.2,1177,13330,0.00,2.00,0.00,0.000,6,0.000,0.036,2703,2419,2174
$GC,13656,0.53,331.2,348.4,11.1,1208,13660,0.00,2.12,0.00,0.000,4,0.000,0.043,2706,995,2174
$GC,13735,0.64,331.2,340.0,10.6,1215,13740,0.12,2.20,0.00,0.000,6,0.091,0.043,2755,2435,2173
$GC,14061,0.53,331.2,296.8,13.6,1247,14068,0.15,2.08,0.00,0.000,4,0.171,0.059,2717,3771,2174
$GC,14192,0.53,331.2,280.5,12.0,1270,14198,0.00,1.98,0.00,0.000,6,0.000,0.035,2719,2443,2173
$GC,14536,0.53,331.2,242.2,11.1,1331,14542,0.00,2.08,0.00,0.000,4,0.000,0.060,2719,3761,2173
$GC,14644,0.53,331.2,229.0,12.4,1350,14650,0.00,1.92,0.00,0.000,6,0.000,0.035,2719,2457,2173
$GC,14987,0.71,387.7,195.3,8.1,1411,15035,0.15,0.00,43.10,0.868,6,0.082,0.000,2778,2456,1951
$GC,15375,0.71,387.7,144.5,13.1,1479,15381,0.00,2.08,0.00,0.000,4,0.000,0.058,2779,3764,1944
$GC,15449,0.60,387.7,132.4,16.3,1492,15456,0.17,1.92,0.00,0.000,6,0.167,0.033,2739,2463,1944
$GC,15797,0.77,395.4,97.3,9.7,1553,15811,0.15,2.05,6.93,0.656,4,0.078,0.057,2799,3759,1919
$GC,15834,0.71,395.4,91.9,13.9,1559,15841,0.12,1.88,0.00,0.000,6,0.182,0.031,2773,2488,1919
$GC,16179,0.95,463.3,54.3,7.7,1620,16238,0.17,0.00,52.65,0.701,6,0.077,0.000,2850,2487,1641
$STATE,16556,end climb,SURFACE_DEPTH_REACHED
$STATE,16556,begin surface coast
$FINISH,1.2,1.011666
$STATE,16584,end surface coast,CONTROL_FINISHED_OK
$STATE,16585,begin surface
$SM_CCo,16662,0.00,0.000,0,0,1634,465.58
$SM_GC,2.02,7.22,0.00,0.00,0.054,0.000,0.000,144,2396,1634,-7.49,-0.11,465.58
$IRIDIUM_FIX,2524.66,12251.72,180898,040418
$TT8_MAMPS,0.028379
$HUMID,1564
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.8,7.547
$10V_AH,10.7,5.551
$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,25.875,127.175,460.950,0.000,0.000,27.782,32.512,224.327,6.500,0.000,0.000,11.456,2946.695,10167.176,574.119,2808.723,563.947,0.000,1986.099,0.000,2746.522,0.000,45.649,0.000
$DEVICE_MAMPS,264.615,72.098,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.093,1186.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88355,1692
$CAP_FILE_SIZE,172868,0
$CFSIZE,260165632,223457280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,310.2,1
$GPS,240509,131306,2535.808,12255.136,38,0.9,39,-3.8