version: 66.04
glider: 167
mission: 2
dive: 200
start: 6 22 109 17 20 29
data:
$ID,167
$MISSION,2
$DIVE,200
$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,-9024.4121
$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,54
$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
$GPS1,171307,2502.544,12324.410,31,1.3,32,-3.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.3
$GPS2,172008,2502.671,12324.609,10,1.3,16,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12329.000
$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,218.3,40810,-23.2,-12.000
$D_GRID,2068
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-30.08,0.000,2,0.000,0.000,140,2414,2567
$GC,50,-1.18,-121.7,3.4,-3.1,5,105,8.40,2.12,-41.03,0.000,4,0.247,0.041,2160,1008,3989
$GC,157,-0.59,-121.7,25.0,-31.4,23,163,0.73,2.17,0.00,0.000,6,0.188,0.034,2351,2441,3991
$GC,501,-0.77,-121.7,77.5,-11.6,84,509,0.17,2.03,0.00,0.000,4,0.068,0.047,2271,3758,3992
$GC,658,-0.67,-121.7,104.0,-18.1,111,665,0.20,1.92,0.00,0.000,6,0.158,0.025,2326,2411,3992
$GC,1003,-0.90,-121.7,145.3,-10.2,172,1010,0.17,0.00,0.00,0.000,6,0.066,0.000,2246,2410,3994
$GC,1347,-0.90,-121.7,195.3,-14.4,233,1353,0.00,2.08,0.00,0.000,4,0.000,0.046,2239,3760,3995
$GC,1444,-0.90,-121.7,209.2,-14.6,250,1450,0.00,1.85,0.00,0.000,6,0.000,0.026,2239,2452,3995
$GC,1789,-0.95,-121.7,249.7,-11.8,311,1796,0.00,2.00,0.00,0.000,4,0.000,0.046,2231,3757,3997
$GC,1909,-0.95,-121.7,265.3,-12.8,332,1915,0.00,1.80,0.00,0.000,6,0.000,0.027,2231,2485,3997
$GC,2254,-1.00,-121.7,311.2,-12.8,386,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2485,3997
$GC,2575,-1.07,-121.7,349.4,-11.3,416,2580,0.00,1.98,0.00,0.000,4,0.000,0.048,2222,3768,3997
$GC,2647,-1.07,-121.7,358.7,-12.8,422,2653,0.00,1.80,0.00,0.000,6,0.000,0.027,2222,2499,3997
$GC,2975,-1.13,-121.7,394.5,-10.5,453,2979,0.12,1.95,0.00,0.000,4,0.079,0.048,2166,3755,3997
$GC,3020,-0.95,-121.7,400.9,-14.7,457,3024,0.25,1.77,0.00,0.000,6,0.166,0.028,2234,2512,3997
$GC,3350,-1.07,-121.7,439.6,-11.7,488,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2512,3996
$GC,3673,-1.21,-121.7,476.0,-10.5,518,3677,0.20,1.95,0.00,0.000,4,0.070,0.051,2149,3760,3995
$GC,3696,-1.15,-121.7,479.1,-11.4,520,3700,0.00,1.83,0.00,0.000,6,0.000,0.030,2149,2521,3994
$GC,4034,-0.98,-121.7,526.2,-14.0,543,4038,0.25,1.92,0.00,0.000,4,0.175,0.051,2216,3760,3993
$GC,4112,-1.05,-121.7,535.2,-10.3,546,4115,0.00,1.77,0.00,0.000,6,0.000,0.031,2216,2536,3993
$GC,4434,-1.15,-121.7,568.4,-10.5,562,4438,0.12,1.92,0.00,0.000,4,0.084,0.053,2165,3761,3991
$GC,4479,-1.04,-121.7,574.1,-13.4,564,4483,0.17,1.77,0.00,0.000,6,0.173,0.029,2210,2538,3990
$GC,4813,-1.13,-121.7,610.0,-10.4,580,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2538,3989
$GC,5121,-1.22,-121.7,642.9,-10.9,595,5125,0.17,1.92,0.00,0.000,4,0.077,0.054,2137,3755,3986
$GC,5159,-1.01,-121.7,648.5,-15.5,596,5167,0.30,1.75,0.00,0.000,6,0.178,0.030,2217,2553,3985
$GC,5477,-1.15,-121.7,681.5,-9.8,612,5481,0.12,1.88,0.00,0.000,4,0.084,0.054,2166,3753,3982
$GC,5509,-1.07,-121.7,685.6,-13.0,613,5513,0.12,1.73,0.00,0.000,6,0.179,0.031,2194,2568,3982
$GC,5831,-1.12,-121.7,723.2,-11.8,629,5835,0.00,2.22,0.00,0.000,4,0.000,0.031,2194,1054,3980
$GC,5877,-1.18,-121.7,728.8,-11.9,631,5881,0.00,2.28,0.00,0.000,6,0.000,0.039,2192,2538,3980
$GC,6210,-1.18,-121.7,768.3,-11.6,647,6213,0.00,2.20,0.00,0.000,4,0.000,0.031,2192,1062,3977
$GC,6256,-1.25,-121.7,773.9,-12.4,649,6260,0.15,2.28,0.00,0.000,6,0.084,0.041,2138,2537,3977
$GC,6584,-1.10,-121.7,820.9,-14.8,665,6588,0.20,1.92,0.00,0.000,4,0.191,0.057,2190,3764,3975
$GC,6668,-1.14,-121.7,832.5,-12.1,668,6675,0.00,1.77,0.00,0.000,6,0.000,0.032,2190,2561,3974
$GC,6984,-1.21,-121.7,870.4,-11.7,684,6988,0.12,2.22,0.00,0.000,4,0.090,0.031,2145,1052,3973
$GC,7091,-1.13,-121.7,885.0,-13.8,689,7096,0.17,2.28,0.00,0.000,6,0.186,0.041,2180,2528,3972
$GC,7418,-1.13,-121.7,922.9,-10.9,705,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2529,3970
$GC,7727,-1.13,-121.7,955.9,-10.8,720,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2529,3969
$GC,8036,-1.13,-121.7,989.3,-10.6,735,8040,0.00,1.92,0.00,0.000,4,0.000,0.059,2178,3752,3967
$STATE,8044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8044,begin apogee
$GC,8052,-0.22,0.0,990.5,10.7,735,8144,0.95,0.00,88.62,1.412,6,0.163,0.000,2466,2525,3532
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8148,1.18,121.7,992.8,0.0,740,8258,1.27,2.35,100.93,1.368,4,0.058,0.034,2937,1096,3034
$GC,8342,0.58,121.7,984.3,14.4,748,8351,0.80,2.28,0.00,0.000,6,0.213,0.039,2736,2512,3032
$GC,8659,0.58,172.3,954.8,8.7,764,8705,0.00,2.10,40.90,1.339,4,0.000,0.057,2736,3755,2829
$GC,8773,0.46,172.3,942.0,12.1,769,8777,0.20,1.92,0.00,0.000,6,0.194,0.031,2696,2498,2826
$GC,9101,0.68,232.1,914.1,8.1,785,9156,0.17,2.15,48.67,1.333,4,0.083,0.057,2767,3752,2584
$GC,9190,0.55,232.1,902.8,15.2,789,9194,0.20,1.90,0.00,0.000,6,0.189,0.032,2725,2525,2582
$GC,9517,0.71,249.2,867.2,10.9,805,9539,0.15,2.20,14.07,1.235,4,0.083,0.037,2788,1096,2514
$GC,9634,0.71,249.2,850.9,13.5,810,9638,0.00,2.22,0.00,0.000,6,0.000,0.040,2789,2510,2512
$GC,9961,0.66,249.2,803.2,14.9,826,9966,0.12,2.15,0.00,0.000,4,0.193,0.035,2762,1105,2510
$GC,10039,0.73,249.2,792.4,13.1,829,10045,0.00,2.17,0.00,0.000,6,0.000,0.041,2762,2504,2510
$GC,10355,0.73,249.2,750.0,13.4,845,10358,0.00,1.98,0.00,0.000,4,0.000,0.057,2762,3762,2509
$GC,10401,0.65,249.2,742.7,17.2,847,10404,0.00,1.92,0.00,0.000,6,0.000,0.032,2772,2474,2508
$GC,10733,0.65,249.2,697.0,13.3,863,10736,0.00,2.05,0.00,0.000,4,0.000,0.039,2774,1108,2507
$GC,10834,0.71,249.2,684.4,12.2,867,10837,0.00,2.10,0.00,0.000,6,0.000,0.040,2774,2473,2507
$GC,11154,0.71,249.2,643.1,13.2,883,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2473,2506
$GC,11464,0.71,249.2,602.0,13.3,898,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2473,2506
$GC,11774,0.71,249.2,559.2,13.5,913,11777,0.00,2.08,0.00,0.000,4,0.000,0.038,2775,1106,2506
$GC,11865,0.79,249.2,547.9,12.8,917,11868,0.00,2.12,0.00,0.000,6,0.000,0.041,2775,2482,2505
$GC,12198,0.84,251.8,507.1,11.8,933,12202,0.12,2.08,0.00,0.000,4,0.091,0.034,2829,1109,2505
$GC,12278,0.75,251.8,496.5,14.2,937,12282,0.15,2.12,0.00,0.000,6,0.183,0.039,2793,2487,2505
$GC,12602,0.77,264.8,457.8,11.1,967,12624,0.00,2.05,12.05,1.006,4,0.000,0.056,2793,3755,2452
$GC,12697,0.67,264.8,445.0,13.7,975,12704,0.15,1.90,0.00,0.000,6,0.190,0.030,2765,2467,2450
$GC,13023,0.82,274.6,409.2,11.4,1006,13038,0.12,2.05,9.50,0.936,4,0.087,0.035,2817,1119,2412
$GC,13205,0.82,274.6,385.3,12.4,1022,13212,0.00,2.10,0.00,0.000,6,0.000,0.038,2817,2482,2410
$GC,13533,0.82,274.6,346.2,12.5,1053,13536,0.00,2.05,0.00,0.000,4,0.000,0.033,2823,1114,2409
$GC,13589,0.82,274.6,338.6,13.0,1058,13593,0.00,2.08,0.00,0.000,6,0.000,0.037,2823,2471,2409
$GC,13918,0.82,274.6,292.9,13.6,1093,13923,0.00,2.05,0.00,0.000,4,0.000,0.034,2830,1104,2409
$GC,14003,0.82,280.2,282.4,11.6,1108,14016,0.00,2.05,6.18,0.766,6,0.000,0.038,2829,2443,2388
$GC,14353,0.82,280.2,238.1,12.6,1170,14359,0.00,2.08,0.00,0.000,4,0.000,0.055,2830,3769,2388
$GC,14467,0.70,280.2,222.0,13.6,1190,14473,0.25,1.95,0.00,0.000,6,0.183,0.028,2772,2430,2388
$GC,14811,1.03,357.0,192.9,6.9,1251,14877,0.25,2.08,59.40,0.818,4,0.068,0.033,2884,1106,2074
$GC,15130,1.03,357.0,148.6,14.3,1307,15136,0.00,2.03,0.00,0.000,6,0.000,0.037,2884,2422,2068
$GC,15474,1.15,395.7,109.6,9.4,1368,15510,0.00,2.12,29.77,0.719,4,0.000,0.052,2884,3759,1916
$GC,15562,1.15,395.7,98.6,12.9,1383,15568,0.00,2.03,0.00,0.000,6,0.000,0.027,2892,2406,1914
$GC,15906,1.30,399.7,58.5,11.7,1444,15915,0.17,1.98,4.15,0.471,4,0.078,0.032,2975,1100,1901
$GC,16084,1.30,399.7,32.8,14.1,1475,16090,0.00,1.92,0.00,0.000,6,0.000,0.035,2975,2378,1901
$STATE,16301,end climb,SURFACE_DEPTH_REACHED
$STATE,16301,begin surface coast
$FINISH,1.6,0.998006
$STATE,16319,end surface coast,CONTROL_FINISHED_OK
$STATE,16320,begin surface
$SM_CCo,16337,17.50,0.602,0,0,1798,425.10
$SM_GC,3.71,0.00,0.00,17.50,0.000,0.000,0.602,140,2441,1798,-7.51,0.40,425.10
$IRIDIUM_FIX,2453.69,12325.57,160998,121237
$TT8_MAMPS,0.029146
$HUMID,1594
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,35.820
$10V_AH,10.8,20.444
$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,24.775,133.325,414.250,17.500,0.000,25.572,36.326,221.529,8.000,0.000,0.000,16.979,2681.349,10308.086,544.765,2646.655,588.275,0.000,1886.521,0.000,2586.146,0.000,54.432,0.000
$DEVICE_MAMPS,246.974,101.244,1412.047,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.657,1041.977,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81997,1517
$CAP_FILE_SIZE,167800,0
$CFSIZE,260165632,209715200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240, 47.0,1
$GPS,220609,215431,2502.723,12324.831,49,1.8,50,-3.7