version: 66.04
glider: 167
mission: 2
dive: 207
start: 6 24 109 1 47 36
data:
$ID,167
$MISSION,2
$DIVE,207
$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,-9153.9766
$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,67
$R_STBD_OVSHOOT,42
$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
$GPS1,013955,2503.349,12327.180,38,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-65.8
$GPS2,014714,2503.512,12327.312,15,1.2,15,-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,188.3,51227,-23.2,-12.000
$D_GRID,2057
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,47,0.00,0.00,-28.95,0.000,2,0.000,0.000,139,2446,2488
$GC,50,-1.18,-121.7,3.3,-2.7,4,109,8.30,2.05,-43.30,0.000,4,0.243,0.058,2149,3763,3989
$GC,172,-0.27,-121.7,32.6,-40.1,25,179,1.12,1.98,0.00,0.000,6,0.198,0.024,2452,2392,3990
$GC,517,-1.19,-121.7,68.4,-9.0,86,523,0.75,2.12,0.00,0.000,4,0.059,0.046,2161,3755,3992
$GC,777,-0.60,-121.7,125.9,-25.5,132,784,0.65,1.83,0.00,0.000,6,0.176,0.025,2345,2468,3993
$GC,1122,-0.94,-121.7,163.8,-10.0,193,1129,0.25,2.00,0.00,0.000,4,0.058,0.046,2229,3764,3995
$GC,1331,-0.94,-121.7,195.3,-13.9,230,1337,0.00,1.80,0.00,0.000,6,0.000,0.025,2230,2494,3996
$GC,1674,-0.94,-121.7,239.3,-12.9,291,1681,0.00,1.95,0.00,0.000,4,0.000,0.045,2220,3766,3996
$GC,1855,-0.94,-121.7,264.3,-12.3,323,1862,0.00,1.75,0.00,0.000,6,0.000,0.025,2220,2527,3997
$GC,2196,-0.94,-121.7,309.1,-13.6,378,2199,0.00,1.90,0.00,0.000,4,0.000,0.047,2215,3764,3997
$GC,2335,-0.94,-121.7,329.5,-14.3,390,2342,0.00,1.75,0.00,0.000,6,0.000,0.026,2215,2557,3997
$GC,2662,-0.94,-121.7,371.4,-11.9,421,2666,0.00,1.85,0.00,0.000,4,0.000,0.047,2206,3758,3997
$GC,2757,-0.94,-121.7,383.5,-11.8,429,2764,0.12,1.67,0.00,0.000,6,0.161,0.027,2237,2583,3997
$GC,3083,-1.07,-121.7,414.3,-8.8,460,3087,0.12,1.83,0.00,0.000,4,0.077,0.048,2179,3764,3996
$GC,3162,-0.95,-121.7,424.6,-13.6,467,3168,0.20,1.67,0.00,0.000,6,0.166,0.027,2232,2593,3996
$GC,3493,-1.08,-121.7,461.8,-11.9,498,3497,0.12,1.80,0.00,0.000,4,0.081,0.049,2179,3751,3995
$GC,3607,-0.98,-121.7,479.3,-16.2,508,3611,0.17,1.62,0.00,0.000,6,0.173,0.028,2224,2618,3995
$GC,3934,-1.08,-121.7,521.4,-12.4,531,3937,0.00,1.77,0.00,0.000,4,0.000,0.052,2220,3758,3993
$GC,4019,-1.16,-121.7,532.6,-12.5,534,4025,0.15,1.62,0.00,0.000,6,0.076,0.029,2161,2631,3994
$GC,4335,-1.04,-121.7,579.6,-14.7,550,4339,0.17,1.75,0.00,0.000,4,0.173,0.049,2205,3755,3991
$GC,4395,-1.04,-121.7,588.1,-12.6,552,4401,0.00,1.62,0.00,0.000,6,0.000,0.029,2205,2650,3990
$GC,4713,-1.11,-121.7,626.0,-11.1,568,4717,0.00,1.73,0.00,0.000,4,0.000,0.054,2204,3754,3988
$GC,4808,-1.11,-121.7,636.9,-11.1,572,4812,0.00,1.60,0.00,0.000,6,0.000,0.030,2204,2669,3987
$GC,5136,-1.18,-121.7,670.3,-10.3,588,5140,0.12,1.70,0.00,0.000,4,0.084,0.054,2152,3751,3985
$GC,5198,-1.02,-121.7,678.9,-13.8,590,5205,0.22,1.58,0.00,0.000,6,0.179,0.030,2210,2683,3985
$GC,5514,-1.12,-121.7,714.8,-11.9,606,5518,0.00,2.40,0.00,0.000,4,0.000,0.030,2210,1050,3982
$GC,5565,-1.28,-121.7,720.9,-11.9,608,5570,0.22,2.45,0.00,0.000,6,0.074,0.039,2124,2652,3982
$GC,5881,-1.07,-121.7,774.1,-17.1,623,5886,0.25,1.73,0.00,0.000,4,0.191,0.054,2192,3761,3980
$GC,5914,-1.07,-121.7,779.2,-14.6,624,5917,0.00,1.62,0.00,0.000,6,0.000,0.032,2192,2670,3980
$GC,6235,-1.12,-121.7,818.8,-12.5,640,6240,0.00,2.38,0.00,0.000,4,0.000,0.031,2192,1056,3977
$GC,6304,-1.21,-121.7,827.2,-12.5,643,6309,0.12,2.42,0.00,0.000,6,0.091,0.041,2147,2632,3976
$GC,6625,-1.10,-121.7,872.5,-13.7,659,6629,0.17,1.75,0.00,0.000,4,0.191,0.055,2183,3753,3974
$GC,6663,-1.10,-121.7,877.7,-12.8,660,6669,0.00,1.65,0.00,0.000,6,0.000,0.031,2183,2651,3974
$GC,6980,-1.10,-121.7,914.8,-11.6,676,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2651,3972
$GC,7289,-1.10,-121.7,951.1,-11.7,691,7293,0.00,1.75,0.00,0.000,4,0.000,0.058,2179,3753,3970
$GC,7322,-1.10,-121.7,955.4,-12.1,692,7326,0.00,1.65,0.00,0.000,6,0.000,0.032,2179,2654,3970
$STATE,7642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7642,begin apogee
$GC,7648,-0.22,0.0,992.1,11.0,708,7744,0.98,0.00,89.03,1.416,6,0.166,0.000,2467,2538,3531
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7748,1.18,121.7,994.9,0.0,713,7856,1.25,2.12,100.68,1.372,4,0.055,0.054,2924,3748,3035
$GC,7929,0.41,121.7,987.2,16.1,721,7935,1.00,1.95,0.00,0.000,6,0.217,0.028,2684,2484,3032
$GC,8251,0.61,195.2,961.7,7.1,737,8318,0.17,2.20,58.83,1.354,4,0.081,0.035,2750,1120,2735
$GC,8386,0.61,195.2,947.6,12.2,743,8391,0.00,2.17,0.00,0.000,6,0.000,0.039,2749,2486,2731
$GC,8708,0.62,207.2,911.0,11.2,759,8722,0.00,2.12,10.23,1.202,4,0.000,0.035,2750,1104,2688
$GC,8756,0.70,217.2,905.5,11.3,760,8773,0.00,2.20,10.40,1.193,6,0.000,0.039,2750,2506,2646
$GC,9101,0.71,222.6,865.9,11.6,777,9112,0.00,2.15,5.57,1.020,4,0.000,0.035,2750,1103,2625
$GC,9265,0.80,223.0,846.6,12.0,784,9270,0.15,2.15,0.00,0.000,6,0.085,0.039,2804,2488,2623
$GC,9581,0.68,223.0,802.0,14.1,799,9585,0.15,2.10,0.00,0.000,4,0.193,0.033,2776,1105,2622
$GC,9680,0.68,223.0,789.3,12.2,803,9687,0.00,2.10,0.00,0.000,6,0.000,0.040,2776,2461,2621
$GC,9997,0.68,223.0,751.2,12.1,819,10000,0.00,2.05,0.00,0.000,4,0.000,0.035,2776,1106,2620
$GC,10132,0.68,228.4,735.5,11.6,825,10143,0.00,2.08,5.75,1.012,6,0.000,0.041,2776,2445,2601
$GC,10459,0.68,228.4,695.3,12.5,841,10463,0.00,2.03,0.00,0.000,4,0.000,0.035,2775,1106,2600
$GC,10571,0.69,233.3,682.2,11.7,846,10581,0.00,2.03,5.55,0.976,6,0.000,0.041,2775,2419,2580
$GC,10897,0.71,252.7,645.3,10.7,862,10919,0.00,2.08,16.45,1.162,4,0.000,0.036,2776,1106,2500
$GC,10930,0.74,275.8,641.6,10.5,863,10955,0.00,2.03,20.17,1.145,6,0.000,0.039,2776,2405,2406
$GC,11273,0.80,279.9,602.0,11.7,880,11283,0.00,2.20,4.07,0.779,4,0.000,0.058,2775,3755,2391
$GC,11311,0.80,279.9,596.6,14.2,881,11317,0.00,2.05,0.00,0.000,6,0.000,0.030,2776,2403,2390
$GC,11628,0.88,280.4,558.9,12.0,897,11632,0.15,1.92,0.00,0.000,4,0.084,0.035,2831,1117,2390
$GC,11734,0.82,280.4,543.9,13.7,901,11740,0.00,2.00,0.00,0.000,6,0.000,0.038,2831,2418,2389
$GC,12050,0.73,280.4,497.6,14.9,917,12054,0.20,1.98,0.00,0.000,4,0.177,0.033,2780,1107,2389
$GC,12112,0.86,292.6,489.7,11.2,922,12130,0.12,1.98,11.93,1.019,6,0.090,0.038,2828,2400,2339
$GC,12447,0.82,292.6,445.6,13.5,954,12451,0.00,1.95,0.00,0.000,4,0.000,0.035,2831,1109,2336
$GC,12486,0.82,292.6,440.2,13.6,957,12492,0.00,1.98,0.00,0.000,6,0.000,0.038,2831,2397,2336
$GC,12813,0.77,292.6,391.7,15.8,988,12817,0.15,1.92,0.00,0.000,4,0.174,0.031,2800,1110,2336
$GC,12954,0.88,302.6,374.0,11.3,1000,12972,0.00,1.88,9.27,0.904,6,0.000,0.038,2800,2339,2297
$GC,13290,0.97,302.6,331.6,12.8,1032,13294,0.17,1.85,0.00,0.000,4,0.077,0.033,2873,1109,2296
$GC,13432,0.87,302.6,308.3,17.1,1044,13440,0.17,1.85,0.00,0.000,6,0.187,0.038,2830,2326,2295
$GC,13772,0.87,302.6,258.2,12.2,1100,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2326,2295
$GC,14116,0.93,312.6,219.0,11.3,1161,14134,0.00,1.85,9.45,0.783,4,0.000,0.034,2831,1117,2256
$GC,14243,1.08,328.4,204.2,11.0,1183,14263,0.17,1.80,13.55,0.794,6,0.074,0.034,2898,2312,2192
$GC,14603,0.98,328.4,156.8,13.2,1246,14609,0.15,1.80,0.00,0.000,4,0.191,0.031,2869,1106,2190
$GC,14730,1.04,328.4,141.3,12.3,1268,14737,0.00,1.75,0.00,0.000,6,0.000,0.035,2868,2268,2190
$GC,15075,1.14,350.9,102.9,10.5,1329,15101,0.12,1.80,18.60,0.709,4,0.086,0.032,2924,1103,2100
$GC,15142,1.14,350.9,94.9,13.3,1340,15149,0.00,1.75,0.00,0.000,6,0.000,0.035,2925,2261,2099
$GC,15487,1.19,394.4,59.9,9.1,1401,15527,0.00,2.38,34.05,0.672,4,0.000,0.048,2924,3768,1921
$GC,15781,1.20,398.4,23.9,11.7,1453,15793,0.00,2.22,4.25,0.453,6,0.000,0.024,2933,2245,1906
$STATE,15987,end climb,SURFACE_DEPTH_REACHED
$STATE,15987,begin surface coast
$FINISH,1.7,1.000183
$STATE,16017,end surface coast,CONTROL_FINISHED_OK
$STATE,16017,begin surface
$SM_CCo,16035,18.00,0.599,0,0,1799,425.10
$SM_GC,3.16,0.00,0.00,18.00,0.000,0.000,0.599,141,2455,1799,-7.51,0.79,425.10
$IRIDIUM_FIX,2456.07,12327.55,170998,212156
$TT8_MAMPS,0.029146
$HUMID,1585
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.8,36.978
$10V_AH,10.8,21.086
$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,25.875,135.625,427.825,18.000,0.000,29.149,31.287,243.509,8.000,0.000,0.000,15.216,2677.799,9930.856,572.359,2697.394,608.134,0.000,1935.789,0.000,2629.525,0.000,54.438,0.000
$DEVICE_MAMPS,243.139,57.525,1415.882,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.869,1040.851,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78914,1495
$CAP_FILE_SIZE,169533,0
$CFSIZE,260165632,209113088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187, 39.0,1
$GPS,240609,061629,2503.125,12327.680,38,1.6,43,-3.7