version: 66.04
glider: 167
mission: 2
dive: 201
start: 6 22 109 22 3 0
data:
$ID,167
$MISSION,2
$DIVE,201
$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,-9042.0986
$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,70
$R_STBD_OVSHOOT,39
$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
$GPS1,215431,2502.723,12324.831,49,1.8,50,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-65.5
$GPS2,220237,2502.877,12325.022,11,1.6,16,-3.7
$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,189.0,52647,-23.2,-12.000
$D_GRID,2042
$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,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.62,0.000,2,0.000,0.000,141,2441,2366
$GC,42,-1.18,-121.7,3.1,-3.0,4,111,8.40,2.10,-52.30,0.000,4,0.246,0.058,2145,3764,3990
$GC,140,-0.38,-121.7,19.7,-37.9,20,148,1.00,1.98,0.00,0.000,6,0.200,0.024,2415,2397,3991
$GC,487,-0.78,-121.7,62.0,-8.9,81,493,0.30,2.12,0.00,0.000,4,0.056,0.046,2281,3761,3992
$GC,579,-0.66,-121.7,77.4,-17.0,97,586,0.17,1.92,0.00,0.000,6,0.160,0.025,2329,2417,3992
$GC,924,-0.78,-121.7,124.5,-12.9,158,931,0.12,2.08,0.00,0.000,4,0.077,0.045,2274,3758,3994
$GC,1139,-0.84,-121.7,157.4,-11.1,196,1147,0.00,1.85,0.00,0.000,6,0.000,0.025,2273,2449,3995
$GC,1487,-0.99,-121.7,194.7,-10.6,257,1493,0.15,0.00,0.00,0.000,6,0.071,0.000,2207,2448,3997
$GC,1831,-0.92,-121.7,241.0,-12.9,318,1838,0.15,2.03,0.00,0.000,4,0.164,0.045,2238,3766,3997
$GC,2092,-0.92,-121.7,274.0,-12.0,364,2099,0.00,1.80,0.00,0.000,6,0.000,0.025,2239,2487,3998
$GC,2437,-1.00,-121.7,314.7,-12.3,415,2441,0.00,1.95,0.00,0.000,4,0.000,0.048,2233,3760,3998
$GC,2520,-1.06,-121.7,325.8,-12.8,422,2526,0.00,1.80,0.00,0.000,6,0.000,0.027,2233,2491,3998
$GC,2848,-1.15,-121.7,366.6,-11.4,453,2852,0.17,1.98,0.00,0.000,4,0.071,0.048,2162,3764,3998
$GC,2954,-0.91,-121.7,383.4,-15.3,462,2960,0.32,1.80,0.00,0.000,6,0.170,0.026,2253,2503,3998
$GC,3279,-1.09,-121.7,417.0,-10.2,493,3284,0.17,1.95,0.00,0.000,4,0.069,0.049,2178,3757,3997
$GC,3386,-0.98,-121.7,432.7,-14.6,502,3392,0.17,1.77,0.00,0.000,6,0.170,0.028,2224,2519,3997
$GC,3711,-1.07,-121.7,470.1,-10.8,533,3715,0.00,1.92,0.00,0.000,4,0.000,0.050,2221,3759,3996
$GC,3836,-1.16,-121.7,484.0,-10.4,544,3840,0.15,1.73,0.00,0.000,6,0.075,0.029,2161,2568,3995
$GC,4162,-1.02,-121.7,529.3,-14.2,565,4166,0.17,1.85,0.00,0.000,4,0.175,0.050,2205,3754,3994
$GC,4252,-1.02,-121.7,541.0,-12.2,569,4256,0.00,1.73,0.00,0.000,6,0.000,0.029,2205,2560,3993
$GC,4586,-1.07,-121.7,581.0,-11.9,585,4589,0.00,1.88,0.00,0.000,4,0.000,0.053,2205,3758,3991
$GC,4681,-1.12,-121.7,592.8,-12.0,589,4684,0.00,1.70,0.00,0.000,6,0.000,0.029,2205,2579,3990
$GC,5009,-1.18,-121.7,627.8,-10.3,605,5013,0.12,1.85,0.00,0.000,4,0.084,0.052,2152,3760,3987
$GC,5138,-1.01,-121.7,646.0,-14.3,610,5145,0.25,1.67,0.00,0.000,6,0.176,0.030,2218,2603,3986
$GC,5456,-1.13,-121.7,677.1,-10.1,626,5457,0.12,0.00,0.00,0.000,6,0.084,0.000,2170,2603,3985
$GC,5764,-1.08,-121.7,716.2,-12.5,641,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2603,3982
$GC,6073,-1.03,-121.7,755.1,-12.8,656,6077,0.15,1.83,0.00,0.000,4,0.181,0.055,2205,3755,3980
$GC,6168,-1.12,-121.7,766.2,-11.7,660,6171,0.00,1.67,0.00,0.000,6,0.000,0.032,2205,2612,3979
$GC,6496,-1.22,-121.7,802.1,-10.8,676,6501,0.15,2.30,0.00,0.000,4,0.081,0.031,2149,1051,3977
$GC,6535,-1.14,-121.7,807.3,-13.4,678,6540,0.15,2.35,0.00,0.000,6,0.181,0.040,2178,2583,3976
$GC,6862,-1.14,-121.7,846.7,-11.8,694,6865,0.00,1.83,0.00,0.000,4,0.000,0.058,2178,3753,3975
$GC,6912,-1.14,-121.7,853.0,-12.7,696,6916,0.00,1.70,0.00,0.000,6,0.000,0.033,2178,2625,3974
$GC,7238,-1.14,-121.7,890.4,-11.8,712,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2624,3972
$GC,7551,-1.14,-121.7,925.8,-11.3,727,7555,0.00,2.33,0.00,0.000,4,0.000,0.033,2178,1054,3970
$GC,7584,-1.14,-121.7,929.9,-12.0,728,7591,0.00,2.38,0.00,0.000,6,0.000,0.042,2175,2584,3969
$GC,7899,-1.14,-121.7,965.5,-11.3,744,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2585,3969
$STATE,8123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8123,begin apogee
$GC,8129,-0.22,0.0,991.5,11.6,755,8226,1.00,0.00,88.68,1.424,6,0.164,0.000,2470,2586,3533
$STATE,8226,end apogee,CONTROL_FINISHED_OK
$STATE,8226,begin climb
$GC,8229,1.18,121.7,994.6,0.0,760,8338,1.27,2.00,101.57,1.378,4,0.057,0.055,2927,3747,3034
$GC,8507,0.41,121.7,974.3,14.4,773,8513,0.95,1.88,0.00,0.000,6,0.217,0.030,2678,2531,3031
$GC,8835,0.64,209.8,952.8,6.2,789,8915,0.22,0.00,71.50,1.357,6,0.079,0.000,2761,2530,2675
$GC,9223,0.64,209.8,907.0,12.1,808,9226,0.00,2.15,0.00,0.000,4,0.000,0.036,2762,1114,2669
$GC,9313,0.64,209.8,896.0,12.2,812,9316,0.00,2.17,0.00,0.000,6,0.000,0.039,2762,2503,2669
$GC,9644,0.64,209.8,855.3,12.4,828,9648,0.00,2.12,0.00,0.000,4,0.000,0.035,2762,1112,2667
$GC,9695,0.65,217.0,849.1,11.5,830,9705,0.00,2.17,6.12,1.062,6,0.000,0.039,2762,2516,2647
$GC,10015,0.65,217.0,809.6,12.1,845,10019,0.00,2.12,0.00,0.000,4,0.000,0.035,2762,1117,2645
$GC,10042,0.65,217.0,806.1,12.8,846,10046,0.00,2.15,0.00,0.000,6,0.000,0.039,2762,2505,2645
$GC,10370,0.65,217.0,766.5,12.0,862,10373,0.00,2.10,0.00,0.000,4,0.000,0.035,2762,1117,2644
$GC,10523,0.73,227.8,749.4,11.3,868,10539,0.00,2.08,9.75,1.162,6,0.000,0.038,2762,2468,2603
$GC,10862,0.74,239.0,710.7,11.3,885,10874,0.00,0.00,10.48,1.151,6,0.000,0.000,2762,2468,2557
$GC,11170,0.80,247.1,675.7,11.5,900,11185,0.12,2.12,7.72,1.068,4,0.091,0.035,2815,1117,2524
$GC,11387,0.75,247.1,644.0,15.0,909,11393,0.00,2.08,0.00,0.000,6,0.000,0.038,2815,2458,2521
$GC,11703,0.64,247.1,597.3,14.4,925,11705,0.22,0.00,0.00,0.000,6,0.178,0.000,2756,2459,2521
$GC,12013,0.78,276.9,564.9,10.0,940,12045,0.12,2.12,24.80,1.128,4,0.087,0.055,2801,3758,2402
$GC,12084,0.65,276.9,555.2,16.3,943,12088,0.22,1.98,0.00,0.000,6,0.188,0.030,2754,2449,2400
$GC,12411,0.83,297.9,520.0,10.6,959,12434,0.17,2.10,17.98,1.069,4,0.079,0.035,2825,1110,2317
$GC,12484,0.83,297.9,509.8,13.9,962,12488,0.00,2.15,0.00,0.000,6,0.000,0.040,2825,2452,2314
$GC,12810,0.83,297.9,464.8,14.3,989,12813,0.00,2.05,0.00,0.000,4,0.000,0.035,2832,1105,2313
$GC,12879,0.83,297.9,454.5,14.7,995,12883,0.00,2.08,0.00,0.000,6,0.000,0.039,2832,2441,2312
$GC,13211,0.78,297.9,402.4,15.0,1026,13216,0.15,2.00,0.00,0.000,4,0.180,0.032,2801,1100,2312
$GC,13324,0.86,301.3,387.7,11.8,1036,13337,0.00,2.05,3.88,0.667,6,0.000,0.036,2801,2438,2303
$GC,13655,0.95,306.2,347.7,11.7,1067,13667,0.15,1.98,5.55,0.781,4,0.081,0.031,2868,1113,2283
$GC,13740,0.85,306.2,335.0,15.7,1074,13747,0.17,2.00,0.00,0.000,6,0.189,0.037,2825,2422,2283
$GC,14067,0.85,306.2,292.6,13.0,1110,14073,0.00,2.10,0.00,0.000,4,0.000,0.053,2825,3766,2283
$GC,14079,0.85,306.2,291.0,12.3,1112,14086,0.00,1.95,0.00,0.000,6,0.000,0.028,2831,2451,2283
$GC,14424,0.85,306.2,248.0,12.8,1173,14430,0.00,1.98,0.00,0.000,4,0.000,0.032,2840,1104,2282
$GC,14654,0.85,306.2,218.0,13.5,1214,14660,0.00,2.05,0.00,0.000,6,0.000,0.037,2840,2453,2283
$GC,14998,0.96,340.0,177.8,9.8,1275,15034,0.00,2.08,27.48,0.798,4,0.000,0.033,2845,1090,2145
$GC,15076,1.13,354.0,169.6,11.1,1288,15096,0.17,2.05,12.25,0.739,6,0.077,0.036,2913,2429,2088
$GC,15436,1.08,369.1,127.8,11.0,1351,15454,0.00,0.00,12.75,0.704,6,0.000,0.000,2913,2429,2026
$GC,15792,1.11,389.6,83.5,10.6,1414,15816,0.00,2.00,16.95,0.673,4,0.000,0.031,2921,1103,1942
$GC,16069,1.25,408.4,51.8,10.8,1463,16093,0.00,2.00,15.57,0.634,6,0.000,0.034,2920,2429,1868
$GC,16433,1.42,424.2,12.4,11.0,1527,16453,0.20,1.98,13.70,0.588,4,0.070,0.029,3010,1101,1801
$STATE,16496,end climb,SURFACE_DEPTH_REACHED
$STATE,16496,begin surface coast
$FINISH,1.7,1.003420
$STATE,16515,end surface coast,CONTROL_FINISHED_OK
$STATE,16517,begin surface
$SM_CCo,16596,0.00,0.000,0,0,1797,425.60
$SM_GC,2.61,7.70,0.00,0.00,0.055,0.000,0.000,141,2446,1797,-7.50,0.54,425.60
$IRIDIUM_FIX,2453.69,12322.27,160998,171702
$TT8_MAMPS,0.028379
$HUMID,1555
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.7,35.989
$10V_AH,10.8,20.538
$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,25.300,123.725,446.725,0.000,0.000,24.332,47.008,273.121,8.250,0.000,0.000,17.057,2731.900,10379.915,590.614,2721.273,649.849,0.000,1943.435,0.000,2657.919,0.000,54.423,0.000
$DEVICE_MAMPS,246.207,58.292,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.574,1077.212,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81955,1541
$CAP_FILE_SIZE,168145,0
$CFSIZE,260165632,209625088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212, 41.4,1
$GPS,230609,024036,2502.687,12325.396,25,1.3,26,-3.7