version: 66.04
glider: 167
mission: 2
dive: 211
start: 6 24 109 20 16 33
data:
$ID,167
$MISSION,2
$DIVE,211
$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,-9231.0098
$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,68
$R_STBD_OVSHOOT,30
$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
$GPS1,200924,2500.975,12329.984,24,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-66.4
$GPS2,201613,2501.007,12330.134,14,2.0,31,-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,190.6,44707,-23.2,-12.000
$D_GRID,2060
$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,-29.60,0.000,2,0.000,0.000,143,2405,2546
$GC,50,-1.18,-121.7,3.2,-2.2,5,104,8.43,0.00,-42.12,0.000,6,0.249,0.000,2159,2405,3989
$GC,443,-0.66,-121.7,101.7,-26.4,74,450,0.55,2.10,0.00,0.000,4,0.173,0.045,2315,3763,3991
$GC,605,-0.88,-121.7,124.5,-11.7,102,613,0.15,1.95,0.00,0.000,6,0.071,0.025,2247,2401,3992
$GC,950,-0.88,-121.7,175.0,-13.3,163,956,0.00,2.10,0.00,0.000,4,0.000,0.046,2241,3762,3994
$GC,1058,-0.88,-121.7,188.1,-11.7,182,1066,0.00,1.85,0.00,0.000,6,0.000,0.025,2241,2452,3994
$GC,1404,-0.88,-121.7,232.3,-12.3,243,1410,0.00,2.03,0.00,0.000,4,0.000,0.045,2232,3768,3995
$GC,1444,-0.88,-121.7,237.7,-13.6,250,1452,0.00,1.85,0.00,0.000,6,0.000,0.025,2232,2461,3996
$GC,1789,-0.93,-121.7,281.4,-12.8,311,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2461,3996
$GC,2127,-1.01,-121.7,324.7,-11.3,354,2134,0.00,2.03,0.00,0.000,4,0.000,0.047,2225,3774,3996
$GC,2254,-1.07,-121.7,339.5,-11.4,365,2258,0.00,1.88,0.00,0.000,6,0.000,0.026,2225,2453,3996
$GC,2585,-1.14,-121.7,378.4,-11.8,396,2589,0.15,2.05,0.00,0.000,4,0.072,0.048,2162,3773,3996
$GC,2765,-0.94,-121.7,406.6,-16.0,412,2769,0.28,1.85,0.00,0.000,6,0.163,0.026,2239,2476,3996
$GC,3096,-1.09,-121.7,440.9,-9.3,443,3098,0.15,0.00,0.00,0.000,6,0.072,0.000,2178,2475,3996
$GC,3413,-1.03,-121.7,477.9,-12.2,473,3417,0.12,2.03,0.00,0.000,4,0.174,0.050,2204,3773,3994
$GC,3588,-1.03,-121.7,498.0,-11.7,488,3594,0.00,1.88,0.00,0.000,6,0.000,0.028,2204,2468,3993
$GC,3905,-1.09,-121.7,535.5,-11.8,505,3908,0.00,2.03,0.00,0.000,4,0.000,0.051,2204,3765,3993
$GC,3955,-1.15,-121.7,541.8,-11.8,507,3959,0.00,1.85,0.00,0.000,6,0.000,0.028,2205,2480,3992
$GC,4283,-1.21,-121.7,577.7,-10.9,523,4285,0.15,0.00,0.00,0.000,6,0.075,0.000,2146,2478,3990
$GC,4591,-1.07,-121.7,616.7,-12.5,538,4595,0.17,2.03,0.00,0.000,4,0.177,0.051,2192,3766,3989
$GC,4637,-1.07,-121.7,622.2,-11.9,540,4641,0.00,1.85,0.00,0.000,6,0.000,0.029,2192,2493,3988
$GC,4970,-1.07,-121.7,657.6,-11.0,556,4973,0.00,2.00,0.00,0.000,4,0.000,0.053,2192,3762,3986
$GC,5060,-1.07,-121.7,668.2,-12.0,560,5064,0.00,1.88,0.00,0.000,6,0.000,0.029,2192,2498,3985
$GC,5393,-1.12,-121.7,707.4,-12.1,576,5397,0.00,2.12,0.00,0.000,4,0.000,0.031,2192,1046,3983
$GC,5416,-1.18,-121.7,710.2,-12.5,577,5420,0.00,2.22,0.00,0.000,6,0.000,0.038,2192,2500,3982
$GC,5749,-1.24,-121.7,749.4,-11.4,593,5754,0.12,1.98,0.00,0.000,4,0.088,0.054,2138,3766,3980
$GC,5862,-1.05,-121.7,766.3,-15.5,598,5866,0.25,1.83,0.00,0.000,6,0.176,0.030,2204,2521,3980
$GC,6199,-1.16,-121.7,800.2,-9.6,614,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2521,3977
$GC,6503,-1.28,-121.7,830.0,-9.9,629,6508,0.17,1.95,0.00,0.000,4,0.076,0.054,2125,3762,3975
$GC,6531,-1.14,-121.7,833.5,-14.0,630,6535,0.20,1.80,0.00,0.000,6,0.184,0.031,2175,2538,3974
$GC,6857,-1.14,-121.7,873.4,-12.5,646,6860,0.00,2.20,0.00,0.000,4,0.000,0.033,2175,1054,3972
$GC,6880,-1.14,-121.7,876.2,-12.4,647,6884,0.00,2.28,0.00,0.000,6,0.000,0.040,2170,2527,3972
$GC,7207,-1.14,-121.7,918.1,-12.9,663,7211,0.00,2.22,0.00,0.000,4,0.000,0.031,2169,1043,3970
$GC,7252,-1.14,-121.7,924.0,-12.8,665,7257,0.00,2.28,0.00,0.000,6,0.000,0.040,2165,2513,3970
$GC,7579,-1.14,-121.7,966.0,-12.9,681,7583,0.00,1.98,0.00,0.000,4,0.000,0.058,2165,3766,3968
$GC,7648,-1.09,-121.7,975.0,-13.8,684,7652,0.00,1.83,0.00,0.000,6,0.000,0.031,2165,2533,3968
$STATE,7771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7772,begin apogee
$GC,7777,-0.22,0.0,991.3,13.0,690,7877,1.02,0.00,89.10,1.420,6,0.165,0.000,2467,2532,3531
$STATE,7877,end apogee,CONTROL_FINISHED_OK
$STATE,7878,begin climb
$GC,7880,1.18,121.7,995.5,0.0,695,7988,1.27,2.17,101.18,1.380,4,0.058,0.054,2928,3767,3035
$GC,8196,0.40,121.7,971.8,14.7,709,8201,1.02,1.90,0.00,0.000,6,0.219,0.028,2678,2507,3031
$GC,8518,0.64,212.4,951.1,6.0,725,8597,0.20,2.12,73.20,1.360,4,0.081,0.054,2759,3761,2665
$GC,8670,0.51,212.4,933.3,14.5,731,8674,0.20,1.90,0.00,0.000,6,0.189,0.030,2711,2524,2661
$GC,8997,0.70,244.1,900.2,9.9,747,9028,0.17,2.20,25.50,1.304,4,0.079,0.035,2790,1107,2538
$GC,9086,0.70,244.1,888.5,13.5,751,9090,0.00,2.22,0.00,0.000,6,0.000,0.039,2790,2513,2535
$GC,9408,0.65,244.1,843.4,14.2,767,9412,0.15,2.15,0.00,0.000,4,0.192,0.034,2760,1098,2531
$GC,9486,0.73,244.7,833.3,12.0,770,9490,0.00,2.17,0.00,0.000,6,0.000,0.039,2760,2496,2531
$GC,9801,0.73,244.7,792.6,13.1,785,9804,0.00,2.12,0.00,0.000,4,0.000,0.035,2760,1100,2530
$GC,9862,0.81,244.7,784.4,12.6,787,9869,0.15,2.15,0.00,0.000,6,0.090,0.038,2815,2494,2530
$GC,10179,0.67,244.7,736.2,15.4,803,10180,0.20,0.00,0.00,0.000,6,0.187,0.000,2764,2496,2528
$GC,10487,0.67,244.7,695.8,12.6,818,10491,0.00,2.10,0.00,0.000,4,0.000,0.034,2772,1101,2528
$GC,10527,0.74,244.7,690.6,13.3,819,10533,0.00,2.15,0.00,0.000,6,0.000,0.039,2772,2499,2528
$GC,10843,0.74,244.7,649.0,12.7,835,10847,0.00,2.10,0.00,0.000,4,0.000,0.036,2775,1109,2526
$GC,10944,0.80,244.7,636.2,13.2,839,10948,0.00,2.15,0.00,0.000,6,0.000,0.040,2775,2504,2526
$GC,11265,0.80,244.7,595.4,12.5,855,11269,0.00,1.98,0.00,0.000,4,0.000,0.055,2776,3762,2525
$GC,11366,0.71,244.7,580.5,15.2,859,11370,0.00,1.88,0.00,0.000,6,0.000,0.031,2783,2494,2526
$GC,11688,0.73,261.0,543.3,10.9,875,11709,0.00,2.10,13.12,1.084,4,0.000,0.035,2791,1119,2467
$GC,11800,0.80,276.0,530.5,11.0,880,11822,0.00,2.15,13.88,1.065,6,0.000,0.039,2790,2504,2404
$GC,12134,0.80,278.9,492.4,11.8,899,12138,0.00,2.12,0.00,0.000,4,0.000,0.035,2790,1109,2402
$GC,12270,0.88,278.9,475.8,13.4,911,12274,0.10,2.12,0.00,0.000,6,0.092,0.038,2829,2485,2401
$GC,12594,0.81,278.9,426.4,16.5,941,12598,0.00,2.08,0.00,0.000,4,0.000,0.033,2836,1106,2401
$GC,12651,0.75,278.9,417.5,14.9,946,12656,0.17,2.12,0.00,0.000,6,0.181,0.040,2793,2480,2401
$GC,12981,0.83,290.0,376.0,11.3,977,13003,0.00,2.12,12.07,0.942,4,0.000,0.033,2800,1112,2349
$GC,13050,0.94,308.1,368.6,10.8,983,13072,0.12,2.08,15.90,0.941,6,0.087,0.037,2847,2460,2274
$GC,13390,0.89,308.1,324.1,12.6,1015,13394,0.00,2.05,0.00,0.000,4,0.000,0.032,2856,1102,2270
$GC,13469,0.89,308.1,313.6,13.0,1022,13473,0.00,2.10,0.00,0.000,6,0.000,0.036,2856,2462,2270
$GC,13807,0.82,308.1,264.6,14.8,1073,13813,0.17,2.03,0.00,0.000,4,0.178,0.030,2813,1110,2270
$GC,13927,0.93,308.1,249.8,12.1,1094,13934,0.00,2.03,0.00,0.000,6,0.000,0.038,2814,2435,2270
$GC,14273,1.07,335.2,210.2,10.2,1155,14303,0.17,2.12,21.80,0.818,4,0.074,0.051,2889,3761,2164
$GC,14355,0.84,335.2,197.1,17.7,1169,14361,0.30,2.00,0.00,0.000,6,0.186,0.028,2819,2430,2162
$GC,14701,1.02,357.2,156.0,10.5,1230,14725,0.15,1.98,18.50,0.758,4,0.076,0.032,2881,1109,2073
$GC,14788,1.02,357.2,144.6,13.2,1245,14794,0.00,2.03,0.00,0.000,6,0.000,0.036,2882,2426,2072
$GC,15132,1.11,376.2,103.0,10.8,1306,15156,0.00,2.12,15.40,0.700,4,0.000,0.052,2881,3753,1996
$GC,15287,1.11,376.2,81.3,12.8,1333,15293,0.00,2.03,0.00,0.000,6,0.000,0.026,2891,2381,1994
$GC,15631,1.32,423.4,43.5,8.9,1394,15674,0.17,1.95,36.95,0.659,4,0.075,0.032,2976,1110,1803
$GC,15786,1.32,423.4,22.8,14.0,1421,15792,0.00,1.95,0.00,0.000,6,0.000,0.035,2977,2385,1799
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,1.8,1.021662
$STATE,15949,end surface coast,CONTROL_FINISHED_OK
$STATE,15949,begin surface
$SM_CCo,16026,0.00,0.000,0,0,1797,425.60
$SM_GC,2.71,7.57,0.00,0.00,0.051,0.000,0.000,143,2391,1797,-7.50,-1.02,425.60
$IRIDIUM_FIX,2451.31,12334.81,180998,151543
$TT8_MAMPS,0.028379
$HUMID,1582
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.7,37.632
$10V_AH,10.8,21.448
$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,24.250,134.625,436.600,0.000,0.000,22.317,34.865,198.963,8.000,0.000,0.000,31.137,2596.314,10074.580,544.477,2647.493,561.536,0.000,1883.755,0.000,2566.970,0.000,56.006,0.000
$DEVICE_MAMPS,248.508,58.292,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,980.988,989.252,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78845,1450
$CAP_FILE_SIZE,163723,0
$CFSIZE,260165632,208781312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 81.4,1
$GPS,250609,004455,2459.444,12330.686,41,1.4,42,-3.7